Universal wheel and mowing robot

Abstract

The utility model discloses a universal wheel and a mowing robot. The universal wheel comprises a base, a plurality of large rotating wheel assemblies and a plurality of small rotating wheel assemblies. The large rotating wheel assemblies and the small rotating wheel assemblies are rotationally installed on the base, and the large rotating wheel assemblies and the small rotating wheel assemblies are alternately arranged in the circumferential direction of the base. The large rotating wheel assembly provides main supporting force, the small rotating wheel assembly is beneficial to providing additional stability on a small gap or an uneven surface, and the mowing robot with the universal wheel can be more flexible and stable in running and turning.

Description

Technical Field

[0001] The utility model relates to the technical field of lawn mowing robot accessories, in particular to a universal wheel and a lawn mowing robot. Background Art

[0002] In the field of automated gardening equipment, the development of robotic lawn mowers has become a significant trend, aiming to reduce the labor intensity of manual lawn maintenance. The robot's mobility is crucial to its performance, and the design of its universal wheels, a core component, directly impacts the robot's maneuverability and efficiency. These wheels must be flexible enough to adapt to diverse operating environments, such as sharp turns, pivoting, and navigating potholes.

[0003] In the prior art, in order to improve the flexibility of omnidirectional wheels, a solution adopted is to arrange multiple circumferential wheels of equal size at equal intervals around the rim, such as the "Universal wheel and universal wheel set that are easy to disassemble and assemble" shown in Chinese patent CN102490547A. However, for actions such as sharp turns on the spot, especially turning on uneven surfaces, the circumferential wheels are equal in size, and the contact area between each circumferential wheel and the ground is large, which increases friction, makes steering difficult, and results in insufficient flexibility of the universal wheel. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a highly flexible universal wheel and a lawn mowing robot.

[0005] The first technical solution adopted by the utility model to solve its technical problem is:

[0006] A universal wheel comprises a base, several large rotating wheel assemblies, and several small rotating wheel assemblies;

[0007] The large wheel assembly and the small wheel assembly are both rotatably mounted on the base. Along the circumference of the base, the large wheel assembly and the small wheel assembly are alternately arranged.

[0008] As for the universal wheel described above, the rotation axis of the large wheel assembly and the rotation axis of the small wheel assembly are both intersected and perpendicular to the rotation axis of the base.

[0009] The universal wheel as described above, wherein the large wheel assembly includes a large rotating shaft and a large rotating wheel, and the small wheel assembly includes a small rotating shaft and a small rotating wheel;

[0010] The large rotating wheel is fixed outside the large rotating shaft and is connected to the base with the large rotating shaft as the rotating axis;

[0011] The small rotating wheel is fixed outside the small rotating shaft and is connected to the base with the small rotating shaft as the rotating axis;

[0012] The minimum distance from the large rotation axis to the center of the base is d; the minimum distance from the small rotation axis to the center of the base is D; D and d satisfy the relationship: D>d.

[0013] As for the universal wheel mentioned above, the large rotating wheel is in the shape of a long drum.

[0014] The universal wheel as described above, wherein the base includes a plurality of Y-shaped brackets equal to the number of the small rotating wheel assemblies, the Y-shaped brackets including a main branch and two sub-branches, the main branch being arranged toward the rotation center of the base, and the sub-branches being arranged toward the circumference of the base;

[0015] The small rotating wheel assembly is rotatably arranged between the two sub-branches of the same Y-shaped bracket;

[0016] The large rotating wheel assembly is rotatably arranged between adjacent Y-shaped brackets.

[0017] As for the universal wheel as described above, the large rotating wheel assembly is rotatably arranged between the sub-branches of the adjacent Y-shaped brackets.

[0018] As for the universal wheel as described above, the base includes a detachably connected upper wheel base and a lower wheel base, and the large rotating wheel assembly and the small rotating wheel assembly are installed between the upper wheel base and the lower wheel base.

[0019] As for the universal wheel as described above, the large rotating wheel assembly and the small rotating wheel assembly both protrude from the outer periphery of the base.

[0020] As for the universal wheel as described above, the surfaces of the large rotating wheel assembly and the small rotating wheel assembly are provided with a plurality of anti-slip protrusions.

[0021] The second technical solution adopted by the present invention to solve its technical problem is:

[0022] A lawn mowing robot comprises the universal wheel as described above.

[0023] The beneficial effects of the utility model are:

[0024] By alternately arranging large and small wheel assemblies on the base, the universal wheel in the present application can be made to turn more flexibly; wherein, the large wheel assembly provides the main supporting force, while the small wheel assembly helps to provide additional stability in smaller gaps or uneven surfaces. The lawn mowing robot using the universal wheel will have more flexible and stable driving and turning activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 Schematic diagram of the structure of the universal wheel in this embodiment;

[0027] Figure 2 is a cross-sectional view of the universal wheel in this embodiment;

[0028] Figure 3 Schematic diagram of the partial structure of the universal wheel in this embodiment;

[0029] Figure 4 It is an exploded view of the universal wheel in this embodiment. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technical personnel in this field without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the present invention can be combined interactively without conflicting with each other.

[0031] Reference Figures 1 to 2 A universal wheel comprises a base 1, several large wheel assemblies 2, and several small wheel assemblies 3;

[0032] The large wheel assembly 2 and the small wheel assembly 3 are both rotatably mounted on the base 1 . Along the circumference of the base 1 , the large wheel assembly 2 and the small wheel assembly 3 are alternately arranged.

[0033] During the steering process of the universal wheel, the large wheel assembly 2 provides the main supporting force to ensure the smooth running of the universal wheel. The large wheel assembly 2 has a larger contact area with the ground, and the friction to be overcome in turning is also larger. When turning, the small wheel assembly 3 has a smaller contact area with the ground, so the friction to be overcome by the small wheel assembly 3 is also smaller, and the turning is more flexible.

[0034] In one embodiment, the rotation axis of the large wheel assembly 2 and the rotation axis of the small wheel assembly 3 are both perpendicular to the rotation axis of the base 1, that is, the rotation direction of the base 1 is perpendicular to the rotation direction of the large wheel assembly 2 and the small wheel assembly 3, which is particularly suitable for situations where the lawn mowing robot makes sharp turns.

[0035] Reference Figures 1 to 3 , further, the large wheel assembly 2 includes a large rotating shaft 21 and a large rotating wheel 22, and the small wheel assembly 3 includes a small rotating shaft 31 and a small rotating wheel 32;

[0036] The large rotating wheel 22 is fixed outside the large rotating shaft 21 and is connected to the base 1 with the large rotating shaft 21 as the rotating axis;

[0037] The small rotating wheel 32 is fixed outside the small rotating shaft 31 and is connected to the base 1 with the small rotating shaft 31 as the rotating axis;

[0038] The minimum distance from the large rotating shaft 21 to the center of the base 1 is d; the minimum distance from the small rotating shaft 31 to the center of the base 1 is D; D and d satisfy the relationship: D>d.

[0039] It can be seen that along the circumference of the base 1, the large rotating shaft 21 and the small rotating shaft 31 are staggered, which can adapt to the small-volume universal wheel; compared with the case where the minimum distance between the large rotating shaft 21 and the small rotating shaft 31 and the center of the base 1 is the same, the universal wheel radius in the latter solution is larger. The large universal wheel radius corresponds to a universal wheel with a larger mass, a larger contact area with the ground during driving, and a greater friction to be overcome when turning. Correspondingly, the lawn mower robot needs a greater driving force to drive the universal wheel in the latter solution to rotate; the universal wheel in this embodiment can avoid the above-mentioned technical problems, so the turning is more flexible, the friction during turning is small, and the driving energy consumption of the lawn mower robot can be reduced.

[0040] Specifically, the length of the large rotating shaft 21 is greater than the length of the small rotating shaft 31 , and the length of the large rotating wheel 22 is greater than the length of the small rotating wheel 32 .

[0041] Furthermore, the large rotating wheel 22 is in the shape of a long drum, so as to adapt to the circular outer peripheral side of the universal wheel and reduce the resistance brought by the large rotating wheel 22 when the universal wheel moves laterally along its axial direction.

[0042] Specifically, the small wheel 32 is in the shape of a long drum, and its function is the same as that of the large wheel 22, which will not be described in detail here.

[0043] Reference Figure 1 In one embodiment, the base 1 includes a plurality of Y-shaped brackets 11, the number of which is equal to the number of the small rotating wheel assemblies 3. The Y-shaped bracket 11 includes a main branch 111 and two sub-branches 112. The main branch 111 is arranged toward the rotation center of the base 1, and the sub-branches 112 are arranged toward the circumference of the base 1.

[0044] The small rotating wheel assembly 3 is rotatably arranged between the two sub-branches 112 of the same Y-shaped bracket 11;

[0045] The large wheel assembly 2 is rotatably disposed between adjacent Y-shaped brackets 11 .

[0046] In this embodiment, when a large wheel assembly 2 contacts the ground, the pressure of the fuselage is transmitted to a large wheel assembly 2 through two Y-shaped brackets 11; when a small wheel assembly 3 contacts the ground, the pressure of the fuselage is transmitted to two sub-branches 112 via the main branch 111, and then transmitted to a small wheel assembly 3; such a structural design can ensure the stability of the connection between the large wheel assembly 2, the small wheel assembly 3 and the base 1, and reduce the probability of damage to the large wheel assembly 2 and the small wheel assembly 3 during driving.

[0047] Specifically, the cross-sectional area of the end of the sub-branch 112 facing away from the main branch 111 is larger than the cross-sectional area of the end of the sub-branch 112 close to the main branch 111. In this way, the structural strength of the end of the sub-branch 112 is high. When the weight of the fuselage is transferred to the small wheel assembly 3 through the end of the sub-branch 112, the probability of damage caused by stress concentration in the sub-branch 112 can be reduced.

[0048] Furthermore, the large wheel assembly 2 is rotatably disposed between the sub-branches 112 of the adjacent Y-shaped brackets 11 .

[0049] In any of the above embodiments, the base 1 includes a detachably connected upper wheel base 12 and a lower wheel base 13, with the large rotating wheel assembly 2 and the small rotating wheel assembly 3 mounted between the upper wheel base 12 and the lower wheel base 13. If any one of the small rotating wheel assembly 3 or the small rotating wheel assembly 3 is damaged, the upper wheel base 12 and the lower wheel base 13 can be separated, the damaged small rotating wheel assembly 3 and / or the small rotating wheel assembly 3 replaced, and then the upper wheel base 12 and the lower wheel base 13 reassembled. Compared to the prior art method of replacing the entire universal wheel, the solution of this embodiment can improve the utilization rate of the universal wheel manufacturing materials and reduce resource waste.

[0050] It can be understood that in this embodiment, the "upper" in the wheel base 12 and the "lower" in the wheel base 13 are used to indicate that the wheel base 12 and the wheel base 13 are arranged relative to each other; for example, it can be understood that the wheel base 12 and the wheel base 13 are arranged side by side in the horizontal direction, which is not limited to indicating that the wheel base 12 is located above the wheel base 13.

[0051] Specifically, the wheel base 12 and the wheel base 13 are detachably connected by screws, buckles, etc.

[0052] Specifically, a wheel cover 14 is provided on one side of the wheel base 12 facing away from the wheel base 13. The wheel base 13 is located close to the lawn mower robot. The wheel cover 14 is used to shield the screws connecting the wheel base 12 and the wheel base 13 to prevent rainwater from corroding the screws and affecting the disassembly of the wheel base 12 and the wheel base 13.

[0053] More specifically, the wheel cover 14 and the wheel base 12 are connected by threaded connection or snap connection.

[0054] In one embodiment, the large wheel assembly 2 and the small wheel assembly 3 both protrude from the outer periphery of the base 1 to prevent the sub-branch 112 from directly contacting the ground, generating friction resistance, and affecting the normal travel of the universal wheel.

[0055] Reference Figure 1 In one embodiment, the surfaces of the large wheel assembly 2 and the small wheel assembly 3 are provided with several anti-skid protrusions 4 to prevent the universal wheels from slipping during driving.

[0056] Specifically, the anti-slip protrusion 4 is in the shape of an elongated strip, and the length direction of the anti-slip protrusion 4 is perpendicular to the rotation axis of the large wheel assembly 2 and the small wheel assembly 3 .

[0057] A lawn mowing robot comprises the universal wheels as described in the above embodiments, so that the lawn mowing robot also has the beneficial effects possessed by any of the above embodiments.

[0058] The above is a specific description of the preferred implementation of the present invention, but the invention of the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A universal wheel, characterized in that: It comprises a base (1), a plurality of large rotating wheel assemblies (2), and a plurality of small rotating wheel assemblies (3); The large wheel assembly (2) and the small wheel assembly (3) are both rotatably mounted on the base (1), and the large wheel assembly (2) and the small wheel assembly (3) are alternately arranged along the circumference of the base (1).

2. The universal wheel according to claim 1, wherein: The rotation axis of the large wheel assembly (2) and the rotation axis of the small wheel assembly (3) are both intersecting and perpendicular to the rotation axis of the base (1).

3. The universal wheel according to claim 2, wherein: The large rotating wheel assembly (2) includes a large rotating shaft (21) and a large rotating wheel (22), and the small rotating wheel assembly (3) includes a small rotating shaft (31) and a small rotating wheel (32); The large rotating wheel (22) is fixed outside the large rotating shaft (21) and is connected to the base (1) with the large rotating shaft (21) as a rotating axis; The small rotating wheel (32) is fixed outside the small rotating shaft (31) and is connected to the base (1) with the small rotating shaft (31) as a rotating axis; The minimum distance between the large rotating shaft (21) and the center of the base (1) is d; the minimum distance between the small rotating shaft (31) and the center of the base (1) is D; D and d satisfy the relationship: D>d.

4. The universal wheel according to claim 3, wherein: The large rotating wheel (22) is in the shape of a long drum.

5. The universal wheel according to claim 1, wherein: The base (1) comprises a plurality of Y-shaped brackets (11) equal in number to the number of the small rotating wheel assemblies (3), the Y-shaped brackets (11) comprising a main branch (111) and two sub-branches (112), the main branch (111) being arranged toward the rotation center of the base (1), and the sub-branches (112) being arranged toward the circumference of the base (1); The small rotating wheel assembly (3) is rotatably arranged between the two sub-branches (112) of the same Y-shaped bracket (11); The large rotating wheel assembly (2) is rotatably arranged between adjacent Y-shaped brackets (11).

6. The universal wheel according to claim 5, characterized in that: The large rotating wheel assembly (2) is rotatably arranged between the sub-branches (112) of the adjacent Y-shaped brackets (11).

7. The universal wheel according to claim 5 or 6, characterized in that: The base (1) comprises a detachably connected upper wheel base (12) and an under-wheel base (13), and the large rotating wheel assembly (2) and the small rotating wheel assembly (3) are installed between the upper wheel base (12) and the under-wheel base (13).

8. The universal wheel according to claim 1, wherein: The large rotating wheel assembly (2) and the small rotating wheel assembly (3) both protrude from the outer periphery of the base (1).

9. The universal wheel according to claim 1, wherein: The surfaces of the large rotating wheel assembly (2) and the small rotating wheel assembly (3) are provided with a plurality of anti-slip protrusions (4).

10. A lawn mowing robot, characterized in that: The invention comprises a universal wheel as described in any one of claims 1 to 9.

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