Omnidirectional wheel and mowing robot

Abstract

The omnidirectional wheel comprises a roller retainer, a first end cover and a roller assembly, the roller retainer comprises a supporting part and a plurality of first installation parts, the first installation parts are arranged at intervals in the circumferential direction of the supporting part, a first installation space is formed between every two adjacent first installation parts, and the roller assembly is arranged in the first installation space. A first containing groove is formed in the first mounting part, the first containing groove extends from the first mounting end face to the interior of the first mounting part, and when the first end cover is detachably connected with the roller retainer, the first end cover can seal the first containing groove to form a first mounting hole; the roller assembly comprises a roller shaft and a roller wheel, when the roller assembly is arranged in the first installation space, the two ends of the roller shaft are fixed in the first installation holes respectively, and the roller wheel is arranged on the roller shaft in a sleeving mode. When weeds are clamped by the mower, the first end cover is directly detached, and the roller assembly can be taken down from the roller retainer, so that the mower is more convenient, and rapid cleaning of the weeds can be realized.

Description

Technical Field

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

[0002] Omnidirectional wheels enable movement in various directions and are widely used in industrial robotics. Multiple sets of omnidirectional wheels can be combined to form a mobile platform at the bottom of the robot, increasing its flexibility and enabling it to move forward and backward, as well as turn, adapting to various application scenarios. Existing lawn mowers equipped with omnidirectional wheels significantly improve mowing efficiency. However, during mowing, weeds can easily accumulate at the junction between the hub and the wheel, or in other gaps, preventing the wheel from turning. The wheel must be removed to clear the weeds, but existing omnidirectional wheels are difficult to disassemble between the hub and the wheel, making it difficult to quickly clear weeds. Utility Model Content

[0003] The main technical problem solved by the utility model is to provide an omnidirectional wheel and a lawn mowing robot, which solves the problem that the wheel and the hub of the existing omnidirectional wheel are inconvenient to disassemble and the grass cannot be quickly cleaned when it is stuck.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide an omnidirectional wheel and a lawn mowing robot, comprising:

[0005] The roller cage includes a support portion and a first mounting portion, the support portion having a first connecting end surface, a plurality of first mounting portions arranged at intervals along the circumferential direction of the support portion, and a first mounting space formed between two adjacent first mounting portions, the first mounting portion having a first mounting end surface, the first mounting end surface and the first connecting end surface being in the same plane, a first receiving groove being formed on the first mounting portion, and the first receiving groove extending from the first mounting end surface to the interior of the first mounting portion;

[0006] a first end cover, the first end cover being detachably connected to the roller retainer and being located on a side close to the first connecting end surface, the first end cover being capable of closing the first receiving groove to form a first mounting hole, the opening of the first mounting hole being oriented toward the first mounting space;

[0007] The roller assembly is arranged in the first installation space. The roller assembly includes a roller shaft and a roller wheel. The two ends of the roller shaft are respectively fixed in a first installation hole; the roller wheel is sleeved on the roller shaft and can rotate relative to the roller shaft. The axis of the roller shaft is perpendicular to the axis of the roller retainer.

[0008] In some embodiments, the support portion has a second connecting end face, and multiple second mounting portions are also spaced apart in the circumferential direction of the support portion, and a second mounting space is formed between two adjacent second mounting portions. The second mounting portion has a second mounting end face, and the second mounting end face is parallel to and far away from the first mounting end face. The second mounting end face and the second connecting end face are in the same plane, and a second accommodating groove is provided on the second mounting portion, and the second accommodating groove extends from the second mounting end face to the interior of the second mounting portion; the omnidirectional wheel also includes a second end cover, which is detachably connected to the roller retainer, and the second end cover is located on the side close to the second connecting end face. The second end cover can close the second accommodating groove to form a second mounting hole, and the opening of the second mounting hole faces the second mounting space; a roller assembly is also provided in the second mounting space, and when the roller assembly is provided in the second mounting space, the two ends of the roller shaft are respectively fixed in a second mounting hole, and the roller wheel sleeve is provided on the roller shaft.

[0009] In some embodiments, the first mounting portion and the second mounting portion are arranged crosswise in a circumferential direction of the support portion.

[0010] In some embodiments, the first mounting portion extends from the first mounting end surface toward the second mounting end surface, and the cross-sectional area of ​​the first mounting portion gradually decreases; the second mounting portion extends from the second mounting end surface toward the first mounting end surface, and the cross-sectional area of ​​the second mounting portion gradually decreases.

[0011] In some embodiments, the roller assembly further includes two bearings, one bearing is close to the front end of the roller shaft, and the other bearing is close to the rear end of the roller shaft, and the bearings are located between the roller shaft and the roller wheel.

[0012] In some embodiments, the roller wheel includes a roller hard core and a roller soft skin. The roller hard core is sleeved on the periphery of the roller shaft, and the roller soft skin is sleeved on the periphery of the roller hard core and can rotate relative to the roller shaft together with the roller hard core.

[0013] In some embodiments, the interior of the roller core has a first cavity and a second cavity, the radius of the first cavity is larger than that of the second cavity, the two second cavities are respectively connected to the two ends of the first cavity, the bearing is located in the second cavity, and the two ends of the roller shaft extend from one second cavity respectively.

[0014] In some embodiments, the outer surface of the roller core has a recessed portion, and the inner surface of the roller cover has a limiting protrusion matched with the recessed portion, and the limiting protrusion conflicts with the recessed portion to limit the movement of the roller cover.

[0015] In some embodiments, the first end cover includes a first connecting portion and a second connecting portion, the second connecting portion is spaced apart along the circumferential direction of the first connecting portion, the first connecting portion is adapted to the supporting portion, and the second connecting portion is adapted to the first mounting portion; the second end cover includes a third connecting portion and a fourth connecting portion, the fourth connecting portion is spaced apart along the circumferential direction of the third connecting portion, the third connecting portion is adapted to the supporting portion, and the fourth connecting portion is adapted to the second mounting portion.

[0016] The present invention also provides a lawn mowing robot comprising the above-mentioned omnidirectional wheels.

[0017] The present invention has the following beneficial effects: In the present invention, the roller holder includes a support portion and a first mounting portion, wherein a plurality of first mounting portions are spaced apart along the circumferential direction of the support portion, forming a first mounting space between two adjacent first mounting portions. The first mounting portion is provided with a first receiving groove, wherein a first mounting end surface of the first mounting portion and a first connecting end surface of the support portion are coplanar, and the first receiving groove extends from the first mounting end surface toward the interior of the first mounting portion. When the first end cap is removably connected to the roller holder, the first end cap can close the first receiving groove to form a first mounting hole, with the opening of the first mounting hole facing the first mounting space. The roller assembly includes a roller shaft and a roller wheel. When the roller assembly is disposed in the first mounting space, each end of the roller shaft is fixed in one of the first mounting holes, and the roller wheel is sleeved on the roller shaft. When the lawn mower is stuck in weeds, the roller assembly can be removed from the roller holder by simply removing the first end cap, which is more convenient and enables quick weed removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of an embodiment of the present utility model;

[0019] Figure 2 This is a schematic diagram of the explosion structure of an embodiment of the utility model;

[0020] Figure 3 This is a schematic structural diagram of a roller cage, a first end cover, and a second end cover according to an embodiment of the present invention;

[0021] Figure 4 This is a structural diagram of a roller cage according to an embodiment of the present invention;

[0022] Figure 5 This is a structural schematic diagram of a roller cage according to an embodiment of the present invention from another perspective;

[0023] Figure 6 This is a schematic structural diagram of a roller assembly according to an embodiment of the present invention;

[0024] Figure 7 yes Figure 6 Schematic diagram of the cross-sectional structure in the AA direction;

[0025] Figure 8 It is a structural diagram of an embodiment of the present utility model. DETAILED DESCRIPTION

[0026] To facilitate understanding of the present invention, the present invention is described in more detail below with reference to the accompanying drawings and specific embodiments. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0027] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art in the technical field of this utility model. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0028] Figures 1-8 The utility model shows an embodiment of an omnidirectional wheel, comprising a roller holder 1, a first end cap 2, and a roller assembly 3. The first end cap 2 is detachably connected to the roller holder 1, and the connection between the first end cap 2 and the roller holder 1 allows for the fixation of multiple roller assemblies 3. The roller holder 1 is also connected to a hub motor 4, which drives the roller holder 1 to rotate, thereby enabling the omnidirectional wheel to move. A lawn mower equipped with this omnidirectional wheel can move in multiple directions, providing greater flexibility. When a weed is stuck, the first end cap 2 can be simply disassembled from the roller holder 1 to remove the roller assembly 3, enabling quick weed removal and preventing weeds from accumulating at the connection between the roller assembly 3 and the roller holder 1 or in other gaps.

[0029] Specifically, such as Figure 4 As shown, the roller cage 1 includes a support portion 11 and a first mounting portion 12. The support portion 11 has a first connecting end surface 111. A plurality of first mounting portions 12 are spaced apart along the circumferential direction of the support portion 11. A first mounting space 13 is formed between two adjacent first mounting portions 12. The first mounting portion 12 has a first mounting end surface 121. The first mounting end surface 121 and the first connecting end surface 111 are coplanar. A first accommodating groove 122 is formed on the first mounting portion 12. The first accommodating groove 122 extends from the first mounting end surface 121 to the interior of the first mounting portion 12.

[0030] Combine Figure 3 and Figure 4As shown, the first end cover 2 is detachably connected to the roller retainer 1, and the first end cover 2 is located on a side close to the first connecting end surface 111. The first end cover 2 can close the first receiving groove 122 to form a first mounting hole 123. The opening of the first mounting hole 123 faces the first mounting space 13.

[0031] Combine Figure 1 and Figure 3 As shown, the roller assembly 3 is arranged in the first installation space 13. Figure 3 and Figure 6 As shown, the roller assembly 3 includes a roller shaft 31 and a roller wheel 32. The two ends of the roller shaft 31 are respectively fixed in a first mounting hole 123; the roller wheel 32 is sleeved on the roller shaft 31 and can rotate relative to the roller shaft 31. The axis of the roller shaft 31 is perpendicular to the axis of the roller retainer 1.

[0032] In the present invention, multiple first mounting portions 12 are arranged at intervals along the circumferential direction of the support portion 11, and a first mounting space 13 is formed between two adjacent first mounting portions 12. A first accommodating groove 122 is provided on the first mounting portion 12, and the first mounting end face 121 of the first mounting portion 12 and the first connecting end face 111 of the support portion 11 are in the same plane. The first accommodating groove 122 extends from the first mounting end face 121 to the interior of the first mounting portion 12. When the first end cover 2 is detachably connected to the roller retainer 1, the first end cover 2 can close the first accommodating groove 122 to form a first mounting hole 123, and the opening of the first mounting hole 123 faces the first mounting space 13; the roller assembly 3 includes a roller shaft 31 and a roller wheel 32. When the roller assembly 3 is arranged in the first mounting space 13, the two ends of the roller shaft 31 are respectively fixed in a first mounting hole 123, and the roller wheel 32 is sleeved on the roller shaft 31. When the lawn mower is stuck with weeds, the first end cover 2 can be directly removed to remove the roller assembly 3 from the roller holder 1, which is more convenient and can achieve rapid weed cleaning.

[0033] In some embodiments, as Figure 5 As shown, the support portion 11 has a second connection end surface 112, and a plurality of second mounting portions 14 are spaced apart in the circumferential direction of the support portion 11, and a second mounting space 15 is formed between two adjacent second mounting portions 14. The second mounting portion 14 has a second mounting end surface 141. Figure 4 and Figure 5 As shown, the second mounting end surface 141 and the first mounting end surface 121 are parallel to and far away from each other. Figure 5 As shown, the second mounting end surface 141 and the second connection end surface 112 are in the same plane, and a second receiving groove 142 is formed on the second mounting portion 14. The second receiving groove 142 extends from the second mounting end surface 141 to the inside of the second mounting portion 14. Figure 3 and Figure 5As shown, the omnidirectional wheel further includes a second end cover 5, which is detachably connected to the roller holder 1 and is located on a side close to the second connection end surface 112. The second end cover 5 can close the second receiving groove 142 to form a second mounting hole 143, and the opening of the second mounting hole 143 faces the second mounting space 15. Figure 3 and Figure 6 As shown, a roller assembly 3 is also disposed in the second mounting space 15. When the roller assembly 3 is disposed in the second mounting space 15, the ends of the roller shaft 31 are respectively fixed in a second mounting hole 143, and the roller wheel 32 is sleeved on the roller shaft 31. By providing the second mounting portion 14 in the circumferential direction of the support portion 11, a second mounting space 15 is formed between the plurality of second mounting portions 14. When the second end cap 5 is detachably connected to the roller retainer 1, the plurality of roller assemblies 3 can be fixed in the second mounting space 15. By removing the second end cap 5, the roller assembly 3 in the second mounting space 15 can be removed, making it easier to clean weeds. The plurality of roller wheels 32 in the first mounting space 13 form one group, and the plurality of roller wheels 32 in the second mounting space 15 form another group. The two groups of roller wheels 32 cooperate with each other, making the omnidirectional wheel more stable during travel.

[0034] In some embodiments, combined Figure 2 and Figure 3 As shown, the first end cap 2 includes a first connecting portion 21 and a second connecting portion 22, which are spaced apart along the circumferential direction of the first connecting portion 21. The first connecting portion 21 is adapted to the support portion 11, and the second connecting portion 22 is adapted to the first mounting portion 12. The second end cap 5 includes a third connecting portion 51 and a fourth connecting portion 52, which are spaced apart along the circumferential direction of the third connecting portion 51. The third connecting portion 51 is adapted to the support portion 11, and the fourth connecting portion 52 is adapted to the second mounting portion 14. The first and second end caps 2 and 5 are connected to the roller cage 1 to form a single unit, providing a more stable structure.

[0035] In some embodiments, combined Figure 4 and Figure 5 As shown, the first mounting portion 12 extends from the first mounting end surface 121 toward the second mounting end surface 141, and the cross-sectional area of ​​the first mounting portion 12 gradually decreases. The second mounting portion 14 extends from the second mounting end surface 141 toward the first mounting end surface 121, and the cross-sectional area of ​​the second mounting portion 14 gradually decreases. While the first and second mounting portions 12, 14 ensure support and fixation for the roller assembly 3, their cross-sectional arrangement along the circumference of the support portion 11 fully utilizes the space circumferentially of the support portion 11.

[0036] In some embodiments, as Figure 4 and Figure 5As shown, the first mounting portion 12 and the second mounting portion 14 are arranged crosswise in the circumferential direction of the support portion 11. Figure 1 and Figure 3 As shown, a group of roller wheels 32 located in the first installation space 13 and a group of roller wheels 32 located in the second installation space 15 are also cross-arranged along the circumferential direction of the support portion 11, so that at least one group of roller wheels 32 is in contact with the ground when the omnidirectional wheel turns, and the walking process is more stable.

[0037] In some embodiments, as Figure 7 As shown, the roller assembly 3 further includes two bearings 33, one bearing 33 is close to the front end of the roller shaft 31, and the other bearing 33 is close to the rear end of the roller shaft 31. The bearings 33 are located between the roller shaft 31 and the roller wheel 32. By providing two bearings 33 between the roller shaft 31 and the roller wheel 32, the roller wheel 32 is more stable when rotating relative to the roller shaft 31.

[0038] In some embodiments, as Figure 7 As shown, the roller wheel 32 includes a roller hard core 321 and a roller soft cover 322. The roller hard core 321 is sleeved around the periphery of the roller shaft 31, and the roller soft cover 322 is sleeved around the periphery of the roller hard core 321 and can rotate together with the roller hard core 321 relative to the roller shaft 31. By adopting a two-layer structure, the roller wheel 32 has an inner layer of the roller hard core 321 sleeved around the periphery of the roller shaft 31 to provide support, and an outer layer of the roller soft cover 322 sleeved around the periphery of the roller hard core 321. The roller soft cover 322 is in direct contact with the ground, thereby achieving a better cushioning effect.

[0039] In some embodiments, as Figure 7 As shown, the interior of the roller core 321 has a first cavity 3211 and a second cavity 3212. The radius of the first cavity 3211 is larger than that of the second cavity 3212. The two second cavities 3212 are connected at both ends of the first cavity 3211. The bearings 33 are located in the second cavities 3212, and the two ends of the roller shaft 31 extend from each second cavity 3212. The provision of the first cavity 3211 reduces the weight of the roller core 321. At the same time, the two bearings 33 are respectively disposed in the two second cavities 3212. The second cavities 3212 limit the bearings 33, making the rotation process more stable.

[0040] In some embodiments, as Figure 7 and Figure 8As shown, the outer surface of the roller core 321 has a recessed portion 3213, and the inner surface of the roller cover 322 has a limiting protrusion 3221 that matches the recessed portion 3213. The limiting protrusion 3221 abuts against the recessed portion 3213 to limit the movement of the roller cover 322. The abutment between the limiting protrusion 3221 and the recessed portion 3213 makes the roller cover 322 more stable when it is mounted on the roller core 321. When the roller wheel 32 rotates, the roller cover 322 can withstand greater friction, preventing the roller cover 322 from falling off the roller core 321.

[0041] In some embodiments, as Figure 6 As shown, the outer surface of the roller soft skin 322 is provided with a plurality of annular protrusions 3222 at intervals. The annular protrusions 3222 can increase the friction between the omnidirectional wheel and the ground when moving, preventing the omnidirectional wheel from spinning in place and being unable to move forward.

[0042] The present invention also provides a lawn mowing robot including the above-mentioned omnidirectional wheels. The lawn mowing robot can move in all directions, can quickly solve the problem of grass jamming, and is more efficient.

[0043] As can be seen, the utility model discloses an omnidirectional wheel and a lawn mowing robot. The omnidirectional wheel includes a roller holder, a first end cap, and a roller assembly. The roller holder includes a support portion and a first mounting portion. A plurality of first mounting portions are spaced apart along the circumference of the support portion, with a first mounting space formed between two adjacent first mounting portions. The first mounting portion is provided with a first receiving groove. The first mounting end surface of the first mounting portion and the first connecting end surface of the support portion are coplanar. The first receiving groove extends from the first mounting end surface toward the interior of the first mounting portion. When the first end cap is detachably connected to the roller holder, the first end cap can close the first receiving groove to form a first mounting hole, with the opening of the first mounting hole facing the first mounting space. The roller assembly includes a roller shaft and a roller wheel. When the roller assembly is disposed in the first mounting space, the two ends of the roller shaft are respectively fixed in one of the first mounting holes, and the roller wheel is sleeved on the roller shaft. When the lawn mower is stuck in the grass, the first end cap can be simply removed to remove the roller assembly from the roller holder, which is more convenient and can achieve quick weed clearing.

[0044] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An omnidirectional wheel, characterized in that: include: A roller cage, the roller cage comprising a support portion and a first mounting portion, the support portion having a first connecting end surface, a plurality of first mounting portions being spaced apart along a circumferential direction of the support portion, a first mounting space being formed between two adjacent first mounting portions, the first mounting portion having a first mounting end surface, the first mounting end surface being coplanar with the first connecting end surface, a first accommodating groove being formed on the first mounting portion, the first accommodating groove extending from the first mounting end surface to the interior of the first mounting portion; a first end cover, the first end cover being detachably connected to the roller retainer and being located on a side close to the first connecting end surface, the first end cover being capable of closing the first receiving groove to form a first mounting hole, the opening of the first mounting hole being oriented toward the first mounting space; A roller assembly, wherein the roller assembly is arranged in the first installation space, and the roller assembly includes a roller shaft and a roller wheel, and the two ends of the roller shaft are respectively fixed in one of the first installation holes; the roller wheel is sleeved on the roller shaft and can rotate relative to the roller shaft, and the axis of the roller shaft is perpendicular to the axis of the roller retainer.

2. The omnidirectional wheel according to claim 1, characterized in that: The support portion has a second connecting end face, and a plurality of second mounting portions are also spaced apart in the circumferential direction of the support portion, and a second mounting space is formed between two adjacent second mounting portions, and the second mounting portion has a second mounting end face, and the second mounting end face is parallel to and far away from the first mounting end face, and the second mounting end face and the second connecting end face are in the same plane, and a second accommodating groove is provided on the second mounting portion, and the second accommodating groove extends from the second mounting end face to the interior of the second mounting portion; the omnidirectional wheel also includes a second end cover, and the second end cover is detachably connected to the roller retainer, and the second end cover is located on the side close to the second connecting end face, and the second end cover can close the second accommodating groove to form a second mounting hole, and the opening of the second mounting hole faces the second mounting space; the roller assembly is also provided in the second mounting space, and when the roller assembly is provided in the second mounting space, the two ends of the roller shaft are respectively fixed in one of the second mounting holes, and the roller wheel is sleeved on the roller shaft.

3. The omnidirectional wheel according to claim 2, characterized in that: The first mounting portion and the second mounting portion are arranged crosswise in a circumferential direction of the support portion.

4. The omnidirectional wheel according to claim 2, characterized in that: The first mounting portion extends from the first mounting end surface toward the second mounting end surface, and the cross-sectional area of ​​the first mounting portion gradually decreases; the second mounting portion extends from the second mounting end surface toward the first mounting end surface, and the cross-sectional area of ​​the second mounting portion gradually decreases.

5. The omnidirectional wheel according to claim 1, characterized in that: The roller assembly also includes two bearings, one of which is close to the front end of the roller shaft and the other is close to the rear end of the roller shaft. The bearings are located between the roller shaft and the roller wheel.

6. The omnidirectional wheel according to claim 5, characterized in that: The roller wheel includes a roller hard core and a roller soft skin. The roller hard core is sleeved on the periphery of the roller shaft, and the roller soft skin is sleeved on the periphery of the roller hard core and can rotate relative to the roller shaft together with the roller hard core.

7. The omnidirectional wheel according to claim 6, characterized in that: The interior of the roller core has a first cavity and a second cavity, the radius of the first cavity is larger than that of the second cavity, the two second cavities are respectively connected at the two ends of the first cavity, the bearing is located in the second cavity, and the two ends of the roller shaft extend from one of the second cavities respectively.

8. The omnidirectional wheel according to claim 7, characterized in that: The outer surface of the roller hard core has a recessed portion, and the inner surface of the roller soft cover has a limiting protrusion matched with the recessed portion. The limiting protrusion conflicts with the recessed portion to limit the movement of the roller soft cover.

9. The omnidirectional wheel according to claim 2, characterized in that: The first end cover includes a first connecting portion and a second connecting portion, the second connecting portion is spaced apart along the circumferential direction of the first connecting portion, the first connecting portion is adapted to the supporting portion, and the second connecting portion is adapted to the first mounting portion; the second end cover includes a third connecting portion and a fourth connecting portion, the fourth connecting portion is spaced apart along the circumferential direction of the third connecting portion, the third connecting portion is adapted to the supporting portion, and the fourth connecting portion is adapted to the second mounting portion.

10. A lawn mowing robot, characterized in that: The omnidirectional wheel comprises the omnidirectional wheel according to any one of claims 1 to 9.

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