Omnidirectional wheel and mowing robot

Abstract

The omni-directional wheel comprises a wheel body and a roller assembly, the wheel body comprises a first supporting part and a second supporting part which are coaxially arranged side by side, a plurality of first installation parts are arranged in the circumferential direction of the wheel body at intervals, the interiors of the first installation parts are hollowed out, and the roller assembly is arranged on the first installation parts. A first mounting space used for containing the roller assembly is formed between every two adjacent first mounting parts, each first mounting part is provided with a first protruding part extending towards the corresponding first mounting space, the first protruding parts are rotationally connected with the roller assembly, and the roller assembly comprises a first roller body and a second roller body which are detachably connected with each other; the first roller body and the second roller body are hollow, and the axis of the roller assembly is perpendicular to the axis of the wheel body. The first mounting parts and the roller assemblies are designed to be of hollow structures, so that the self weight of the omnidirectional wheel is effectively reduced, materials needed for producing the omnidirectional wheel are saved, and the bearing capacity and the service life of the omnidirectional wheel can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of robotics, and 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 robots. 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, the main structural components and rollers of current omnidirectional wheels are mostly solid, which not only increases the weight but also significantly reduces the load-bearing capacity and service life of the structure. Utility Model Content

[0003] To address the above-mentioned technical problems, the present application provides an omnidirectional wheel comprising a wheel body and a roller assembly. The wheel body comprises a first support portion and a second support portion arranged side by side and coaxially. The first support portion is provided with a plurality of first mounting portions spaced circumferentially, each of which is hollowed out. A first mounting space for accommodating the roller assembly is formed between two adjacent first mounting portions. Each first mounting portion is provided with a first protrusion extending into the first mounting space, and the first protrusion is rotatably connected to the roller assembly. The second support portion is provided with a plurality of second mounting portions spaced circumferentially, each of which is hollowed out. A second mounting space for accommodating the roller assembly is formed between two adjacent second mounting portions. Each second mounting portion is provided with a second protrusion extending into the second mounting space, and the second protrusion is rotatably connected to the roller assembly. The roller assembly comprises a roller body, which comprises a first cylindrical body and a second cylindrical body that are detachably connected to each other. The first and second cylindrical bodies are hollowed out, and the axes of the roller bodies are both perpendicular to the axis of the wheel body.

[0004] According to the basic principles of structural mechanics, for components that bear bending and torsional loads, their strength and stiffness are mainly provided by the area far away from the centroid of the cross section, and the area near the centroid of the cross section contributes very little to the strength and stiffness of the component. Therefore, designing the first mounting part, the second mounting part and the roller body as a hollow structure can not only effectively reduce the dead weight and save materials, but also ensure the load-bearing capacity and service life of the omnidirectional wheel.

[0005] In some embodiments, a first rib is axially disposed within the first cylinder, a second rib is disposed in the middle of the first cylinder, and is perpendicular to the first rib. A third rib is axially disposed within the second cylinder, and a fourth rib is disposed in the middle of the second cylinder, perpendicular to the third rib. The ribs can enhance the strength, rigidity, and local stability of the roller body, thereby increasing the service life of the roller assembly.

[0006] In some embodiments, a first positioning post and a first positioning hole are provided within the first cylindrical body, and a second positioning hole is provided within the second cylindrical body to cooperate with the first positioning post, and a second positioning post is provided to cooperate with the first positioning hole. When the first cylindrical body and the second cylindrical body are connected, the first positioning post is partially inserted into the second positioning hole, and the second positioning post is partially inserted into the first positioning hole, thereby restricting relative movement between the first cylindrical body and the second cylindrical body.

[0007] In some embodiments, the roller assembly further includes a roller cover disposed around the roller body, the roller cover being capable of rotating with the roller body. The roller cover can effectively disperse the load borne by the roller body, improving the stress state of the roller body, and thereby increasing the service life of the roller assembly.

[0008] Furthermore, the outer surface of the roller body is provided with a plurality of annular recesses along the axial direction, the central axes of the annular recesses being perpendicular to the axis of the roller body. The inner surface of the roller cover is provided with a plurality of annular limiting protrusions along the axial direction, which are adapted to the recesses, the central axes of the annular limiting protrusions being perpendicular to the axis of the roller body, and the limiting protrusions interfering with the recesses to limit the movement of the roller cover relative to the roller body.

[0009] Furthermore, the cross section of the roller cover is in a spindle shape along its axial direction, with a larger middle portion and smaller ends. When the omnidirectional wheel rotates, the roller cover contacts the ground more smoothly, reducing impact.

[0010] In some embodiments, the first mounting portion and the second mounting portion are cross-arranged in the circumferential direction of the wheel body, so that more roller assemblies can be provided while reducing the size of the omnidirectional wheel, so that the omnidirectional wheel can contact the ground more smoothly during operation and reduce the impact on the omnidirectional wheel.

[0011] In some embodiments, the first support portion and the second support portion are integrally formed, the production process is simple, and the integral forming is stronger and more durable.

[0012] In some embodiments, the first support portion and the second support portion are detachably connected. Since an omnidirectional wheel has a large number of roller assemblies and a large number of components connected to the roller assemblies, the detachable connection between the first support portion and the second support portion facilitates maintenance. If a small component is damaged, the entire wheel does not need to be replaced, thereby reducing maintenance costs.

[0013] The present application also provides a lawn mowing robot, comprising the above-mentioned omnidirectional wheels.

[0014] Beneficial effects of the present application: The present invention provides an omnidirectional wheel and a lawn mowing robot, comprising a wheel body and a roller assembly. The wheel body comprises a first support portion and a second support portion that are interconnected and coaxially arranged. A plurality of first mounting portions are spaced apart along the circumference of the wheel body. The first mounting portions are hollowed out, and a first mounting space for accommodating the roller assembly is formed between two adjacent first mounting portions. Each first mounting portion is provided with a first protrusion extending toward the first mounting space. The first protrusion is rotatably connected to the roller assembly. The roller assembly comprises a first roller body and a second roller body that are detachably connected to each other. The first roller body and the second roller body are hollowed out, and the axis of the roller assembly is perpendicular to the axis of the wheel body. By designing the first mounting portion and the roller assembly as a hollow structure, not only is the deadweight of the omnidirectional wheel effectively reduced, saving the material required for producing the omnidirectional wheel, but also the load-bearing capacity and service life of the omnidirectional wheel can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0016] Figure 1 is a stereoscopic view of an embodiment of the present application;

[0017] Figure 2 is a three-dimensional view of the first support portion and the second support portion;

[0018] Figure 3 It is an exploded schematic diagram of the roller body;

[0019] Figure 4 is a cross-sectional view of the roller assembly;

[0020] Figure 5 It is a three-dimensional view of the roller cover. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other alternative implementations obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] Figures 1 to 5 An embodiment of the present application is shown, providing an omnidirectional wheel, comprising a wheel body 1 and a roller assembly 2. The wheel body 1 includes a first support portion 11 and a second support portion 12 arranged side by side and coaxially. The first support portion 11 is provided with a plurality of first mounting portions 111 spaced circumferentially. Each of the first mounting portions 111 is hollowed out, and a first mounting space 112 for accommodating the roller assembly 2 is formed between two adjacent first mounting portions 111. Each first mounting portion 111 is provided with a first protrusion 113 extending toward the first mounting space 112, and the first protrusion 113 is rotatably connected to the roller assembly 2. The second support portion 12 is provided with a plurality of second mounting portions 121 spaced circumferentially. Each of the second mounting portions 121 is hollowed out, and a second mounting space 122 for accommodating the roller assembly 2 is formed between two adjacent second mounting portions 121. Each second mounting portion 121 is provided with a second protrusion 123 extending toward the second mounting space, and the second protrusion 123 is rotatably connected to the roller assembly 2.

[0023] The roller assembly 2 includes a roller body 21 , which includes a first cylinder 211 and a second cylinder 212 detachably connected to each other. The first cylinder 211 and the second cylinder 212 are hollow inside, and the axis of the roller assembly 2 is perpendicular to the axis of the wheel body 1 .

[0024] According to the basic principles of structural mechanics, for components that bear bending and torsional loads, their strength and stiffness are mainly provided by the area far away from the centroid of the cross section, and the area near the centroid of the cross section contributes very little to the strength and stiffness of the component. Therefore, designing the first mounting portion 111, the second mounting portion 121 and the roller body 21 as a hollow structure can not only effectively reduce the dead weight and save materials, but also ensure the load-bearing capacity and service life of the omnidirectional wheel.

[0025] In the present application, the first cylinder 211 and the second cylinder 212 can be fastened together in the form of a snap, or can be connected by bolts, or simply glued.

[0026] Furthermore, if Figure 3As shown, in this embodiment, a first rib 2111 is axially disposed within the first cylinder 211, a second rib 2112 is disposed in the middle of the first cylinder 211 and is perpendicular to the first rib 2111, a third rib 2121 is axially disposed within the second cylinder 212, and a fourth rib 2122 is disposed in the middle of the second cylinder 212 and is perpendicular to the third rib 2121. The ribs can improve the strength, rigidity, and local stability of the roller body, thereby extending the service life of the roller assembly.

[0027] Furthermore, if Figure 3 As shown, in this embodiment, a first positioning post 2113 and a first positioning hole 2114 are provided inside the first cylinder 211, and a second positioning hole 2123 that cooperates with the first positioning post 2113 and a second positioning post 2124 that cooperates with the first positioning hole 2114 are provided inside the second cylinder 212. When the first cylinder 211 and the second cylinder 212 are connected, the first positioning post 2113 is partially inserted into the second positioning hole 2123, and the second positioning post 2124 is partially inserted into the first positioning hole 2114, thereby limiting the relative movement between the first cylinder 211 and the second cylinder 212.

[0028] Furthermore, if Figure 4 As shown, in this embodiment, the roller assembly 2 further includes a roller cover 22 that is sleeved around the roller body 21 and rotates with the roller body 21. The roller cover 22 effectively distributes the load borne by the roller body, improving the stress state of the roller body and thereby increasing the service life of the roller assembly. Materials for the roller cover 22 include, but are not limited to, rubber, nylon, polyester, polycarbonate, and the like.

[0029] Furthermore, if Figure 4 and Figure 5 As shown in the embodiment, the outer surface of the roller body 21 is provided with a plurality of annular recesses 213 along the axial direction. The central axes of the annular recesses 213 are perpendicular to the axis of the roller body 21. The inner surface of the roller cover 22 is provided with a plurality of annular limiting protrusions 221 along the axial direction, which are compatible with the annular recesses 213. The central axes of the annular limiting protrusions 221 are perpendicular to the axis of the roller body 21. The annular limiting protrusions 221 abut against the recesses 213 to limit the movement of the roller cover 22 relative to the roller body 21. Of course, the limiting protrusions can also be provided on the roller body 21 and the recesses on the roller cover 22, which can also achieve the purpose of limiting the movement of the roller cover 22 relative to the roller body 21. In addition, a plurality of second recesses 222 extending around the axis can also be provided on the outer surface of the roller cover 22 to increase the friction between the roller cover 22 and the ground, thereby improving the maneuverability of the omnidirectional wheel.

[0030] The cross section of the roller cover 22 can be a conventional cylindrical shape or other shapes. Preferably, the cross section of the roller cover 22 is a spindle shape with a larger center and smaller ends along its axial direction. When the omnidirectional wheel rotates, the roller cover 22 contacts the ground more smoothly, reducing impact.

[0031] Furthermore, in an embodiment, Figure 1 As shown, the first mounting portion 111 and the second mounting portion 121 are cross-arranged in the circumferential direction of the wheel body 1, so that more roller assemblies can be provided while reducing the size of the omnidirectional wheel, so that the omnidirectional wheel can contact the ground more smoothly during operation and reduce the impact on the omnidirectional wheel.

[0032] In the present application, the first support portion 11 and the second support portion 12 can be integrally formed, which has a simple production process and is more solid and durable.

[0033] The first support portion 11 and the second support portion 12 can also be connected in a detachable manner. Figure 2 As shown, the first support portion 11 has a third installation space 13 running through the middle, and the third installation space 13 is used to accommodate the hub motor. A plurality of second protrusions 131 are circumferentially arranged in the third installation space 13. The second protrusions 131 are hollowed out, and each second protrusion 131 is provided with a third positioning hole 132.

[0034] The second support portion 12 has a fourth mounting space 14 extending through it. This space is designed to accommodate the in-wheel motor. The shape and size of this space match those of the third mounting space 13. A mounting flange 141 is located at the end of this space. This flange 141 extends along the circumference of the space and into the interior. Multiple first through-holes 142 are provided along the circumference of the flange 141 for securing the in-wheel motor. Third protrusions 143 are located within the fourth mounting space 14, corresponding to the second protrusions 131. These protrusions 143 have the same shape as the second protrusions 131, but are hollowed out. Each protrusion 143 is equipped with a third positioning post 144. When the first support portion 11 is connected to the second support portion 12, the third positioning posts 144 are partially received in the third positioning holes 132, securing the first and second support portions 11, 12 with bolts, thereby restricting relative movement between the two portions.

[0035] Since there are more roller assemblies 2 provided on the omnidirectional wheel and more parts connected to the roller assemblies 2, the first support part 11 and the second support part 12 are detachably connected, which makes maintenance easier. When a small part is damaged, there is no need to replace the entire wheel body 1, thereby reducing maintenance costs.

[0036] The present invention further provides a lawn mower robot comprising the above-mentioned omnidirectional wheels. The lawn mower robot can move in all directions, and the omnidirectional wheels adopt a lightweight design, which effectively reduces the weight of the lawn mower robot.

[0037] Finally, it should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] The above is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An omnidirectional wheel, characterized in that: Comprising a wheel body and a roller assembly; The wheel body includes a first support portion and a second support portion arranged side by side and coaxially, a plurality of first mounting portions are arranged on the first support portion at intervals along the circumferential direction, the interior of the first mounting portion is hollowed out, and a first mounting space for accommodating the roller assembly is formed between two adjacent first mounting portions, each of the first mounting portions is provided with a first protrusion extending toward the first mounting space, and the first protrusion is rotatably connected to the roller assembly; A plurality of second mounting portions are provided on the second support portion at intervals along the circumferential direction. The interior of the second mounting portions is hollowed out, and a second mounting space for accommodating the roller assembly is formed between two adjacent second mounting portions. Each second mounting portion is provided with a second protrusion extending toward the second mounting space, and the second protrusion is rotatably connected to the roller assembly. The roller assembly includes a roller body, which includes a first cylinder and a second cylinder that are detachably connected to each other. The interiors of the first cylinder and the second cylinder are hollow, and the axis of the roller body is perpendicular to the axis of the wheel body.

2. The omnidirectional wheel according to claim 1, characterized in that: A first rib is axially arranged inside the first cylinder, a second rib is perpendicular to the first rib at the middle position inside the first cylinder, a third rib is axially arranged inside the second cylinder, and a fourth rib is perpendicular to the third rib in the middle of the second cylinder.

3. The omnidirectional wheel according to claim 1, characterized in that: A first positioning post and a first positioning hole are provided inside the first cylinder, and a second positioning hole matched with the first positioning post and a second positioning post matched with the first positioning hole are provided inside the second cylinder.

4. The omnidirectional wheel according to claim 1, characterized in that: The roller assembly further comprises a roller cover which is sleeved on the periphery of the roller body, and the roller cover can rotate along with the roller body.

5. The omnidirectional wheel according to claim 4, characterized in that: The outer surface of the roller body is provided with a plurality of annular recessed portions along the axial direction, and the central axes of the annular recessed portions are perpendicular to the axis of the roller body; The inner surface of the roller sleeve is provided with a plurality of annular limiting protrusions adapted to the recessed portion along the axial direction, the center axis of the annular limiting protrusion is perpendicular to the axis of the roller body, and the limiting protrusions are in conflict with the recessed portion to limit the movement of the roller sleeve relative to the roller body.

6. The omnidirectional wheel according to claim 5, characterized in that: The cross section of the roller sleeve is in a spindle shape along its axial direction, with a larger middle portion and smaller ends.

7. The omnidirectional wheel according to claim 1, characterized in that: The first mounting portion and the second mounting portion are arranged crosswise in the circumferential direction of the wheel body.

8. The omnidirectional wheel according to claim 1, characterized in that: The first supporting portion and the second supporting portion are integrally formed.

9. The omnidirectional wheel according to claim 1, characterized in that: The first supporting portion and the second supporting portion are detachably connected.

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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