Shock-resistant wheel structure for robot

Abstract

The utility model discloses an anti-shock wheel structure for a robot, which comprises a first wheel, a first bearing part, a first extending part, a second wheel, a second bearing part, a second extending part and a buffer spring, the first wheel is rotatably arranged at one end of the first bearing part, the first extending part is arranged on the top surface of the first bearing part, and the second extending part is arranged on the top surface of the second bearing part. The second wheel is rotationally arranged on the bottom face of one end of the second bearing piece, the second extending piece is arranged on the top face of the second bearing piece, one end of the buffer spring is arranged at the top end of the first extending piece, the other end of the buffer spring is arranged at the top end of the second extending piece, and the other end of the first bearing piece is rotationally connected with the other end of the second bearing piece. By means of the mode, the first wheel and the second wheel are rotationally connected together through the two bearing pieces, the buffer springs used for reducing vibration are arranged on the extending pieces on the top faces of the two bearing pieces, so that when the wheel structure is in vibration, impact caused by vibration can be buffered through the buffer springs, and the anti-vibration effect is relatively good.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a shock-resistant wheel structure for robots. Background Technology

[0002] With the development of technology, robots are appearing in the public eye more and more frequently. Due to the immaturity of robot mobility technology, most robots today move quickly by using wheels on their bottoms.

[0003] As robots move, they often travel on uneven roads. However, since most robots' wheels are not equipped with suspension or other accessories, they need to slow down when passing through rough terrain. If they continue to move at high speed, it can easily cause the wheels to wobble, resulting in bumps and relatively poor shock resistance. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a wheel structure for robots that can solve the aforementioned technical problems.

[0006] (II) Technical Solution

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a wheel structure for a robot, characterized in that it includes: a first wheel; a first carrier member, wherein the first wheel is rotatably disposed at one end of the first carrier member; a first extension member, disposed on the top surface of the first carrier member; a second wheel; a second carrier member, wherein the second wheel is rotatably disposed on the bottom surface of one end of the second carrier member; a second extension member, disposed on the top surface of the second carrier member; a buffer spring, one end of which is disposed at the top end of the first extension member and the other end of which is disposed at the top end of the second extension member; wherein the other end of the first carrier member is rotatably connected to the other end of the second carrier member.

[0008] Preferably, the top end of the first extension is rotatably connected to a first rotating member, and the end of the first rotating member away from the first extension is provided with a first annular protrusion, and one end of the buffer spring is disposed in the first protrusion. The top end of the second extension is rotatably connected to a second rotating member, and the end of the second rotating member away from the second extension is provided with a second annular protrusion, and the other end of the buffer spring is disposed in the second protrusion.

[0009] Preferably, the second protrusion extends to provide a first extension post passing through the buffer spring, wherein the first extension post has a receiving hole, and the first protrusion extends to provide a second extension post located within the buffer spring and inserted into the receiving hole.

[0010] Preferably, it further includes a support base, wherein the support base includes a base plate, a first side plate disposed on one side of the base plate and a second side plate disposed on the other side of the base plate, and the base plate, the first side plate and the second side plate form a receiving groove, the other end of the first bearing member is rotatably connected to one end of the receiving groove, and the other end of the second bearing member is rotatably connected to the other end of the receiving groove.

[0011] Preferably, the other end of the first support member is provided with a first through hole, one end of the first side plate is provided with a second through hole corresponding to the first through hole, one end of the second side plate is provided with a third through hole corresponding to the second through hole, wherein a first rotating shaft passes through the third through hole, the first through hole and the second through hole, the other end of the second support member is provided with a fourth through hole, the other end of the first side plate is provided with a fifth through hole corresponding to the fourth through hole, and the other end of the second side plate is provided with a sixth through hole corresponding to the fifth through hole, wherein a second rotating shaft passes through the sixth through hole, the fourth through hole and the fifth through hole.

[0012] Preferably, the other end of the first support member and the other end of the second support member are both arc-shaped, wherein the first support member and the second support member are arranged on the same horizontal plane.

[0013] Preferably, the bottom surface of the first wheel and the bottom surface of the second wheel are on the same horizontal plane.

[0014] Preferably, one end of the first bearing member is provided with a through hole, and a through rod is provided in the through hole, wherein one end of the through rod is rotatably connected to a first wheel in a circular shape.

[0015] Preferably, the bottom surface of the through hole is planar, and the other end of the through rod is provided with a planar body corresponding to the bottom surface of the through hole.

[0016] Preferably, the second wheel is a swivel wheel, wherein the top of the second wheel is disposed on the bottom surface of one end of the second carrier via a connector.

[0017] (III) Beneficial Effects

[0018] Compared with the prior art, the present invention provides a wheel structure for robots, which has the following advantages: The wheel structure for robots disclosed in the present invention connects a first wheel and a second wheel (hereinafter referred to as omnidirectional wheel) together through a first support member and a second support member. A buffer spring is provided between the extension members at the top of the first support member and the second support member. When the wheel structure passes through rough road sections, the buffer spring can reduce shock and improve the stability of the wheel. The shock resistance effect is relatively good. In addition, the omnidirectional wheel provided on one side of the wheel can also assist the first wheel in steering, making the wheel structure more flexible and thus able to adapt to more road sections. Attached Figure Description

[0019] Figure 1 A perspective view of the wheel structure used in the robot of this utility model;

[0020] Figure 2 for Figure 1 A partial structural diagram of the wheel structure in the middle section;

[0021] Figure 3 for Figure 1 A schematic diagram of the second partial structure of the wheel structure;

[0022] Figure 4 for Figure 1 Structural diagrams of the first and second load-bearing components;

[0023] Figure 5 for Figure 1 A schematic diagram of the structure of the first wheel in the middle;

[0024] Figure 6 for Figure 1 Schematic diagram of the middle support base;

[0025] Figure 7 for Figure 1 Schematic diagram of the connection between the buffer spring and the extension component;

[0026] Figure 8 This is a schematic diagram of the structure of the first rotating component;

[0027] Figure 9 This is a schematic diagram showing the connection between the buffer spring and the second rotating component. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] like Figure 1-9 As shown, this utility model discloses a wheel structure for a robot, including a first wheel 1, a first support member 2, a first extension member 3, a second wheel 4, a second support member 5, a second extension member 6, and a buffer spring 7.

[0030] The first wheel 1 is rotatably disposed on one side of the first support member 2, while the first extension member 3 is disposed on the top surface of the first support member 2.

[0031] The second wheel 4 is rotatably mounted on the bottom surface of one end of the second support member 5, while the second extension member 6 is mounted on the top surface of the second support member 5. It should be understood that the outer diameter of the first wheel 1 is larger than the outer diameter of the second wheel 4.

[0032] Preferably, the bottom surface of the first wheel 1 and the bottom surface of the second wheel 4 are on the same horizontal plane.

[0033] One end of the buffer spring 7 is located at the top of the first extension 3, and the other end of the buffer spring 7 is located at the top of the second extension 6. That is, the first extension 3 and the second extension 6 are connected by the buffer spring 7.

[0034] Furthermore, the other end of the first load-bearing member 2 is rotatably connected to the other end of the second load-bearing member 5. It should be understood that when encountering uneven road sections, the first wheel 1 or the second wheel 4 can travel on the higher or lower terrain first. Since the first load-bearing member 2 and the second load-bearing member 5 are rotatably connected, one wheel can remain on the lower or higher terrain, allowing the wheel structure to still pass stably when traversing uneven road sections. The first extension member 3 and the second extension member 6 are connected by a buffer spring 7, which can effectively buffer vibrations, resulting in relatively good shock resistance.

[0035] Furthermore, a first rotating member 31 is rotatably connected to the top end of the first extension 3. The end of the first rotating member 31 away from the first extension 3 has a first annular protrusion 311. One end of the buffer spring 7 is disposed in the first protrusion 311. Similarly, a second rotating member 61 is rotatably connected to the top end of the second extension 6. The end of the second rotating member 61 away from the second extension 6 has a second annular protrusion 611. The other end of the buffer spring 7 is disposed in the second protrusion 611. It should be understood that when the first bearing member 2 and the second bearing member 5 move to the aforementioned uneven road sections, the first rotating member 31 will rotate at the top end of the first extension 3, and the second rotating member 61 will rotate at the top end of the second extension 6. This ensures that when the wheel structure travels on uneven road sections, the first rotating member 31 and the second rotating member 61 can still keep the buffer spring 7 continuously pressing between the first protrusion 311 and the second protrusion 611, absorbing and diluting the vibrations generated by the wheel during travel on uneven road sections, thereby enabling the wheel structure to have shock resistance.

[0036] Preferably, the second protrusion 611 extends to provide a first extension post 612 passing through the buffer spring 7, wherein the first extension post 612 has a receiving hole 613, and the first protrusion 311 extends to provide a second extension post 3111 located within the buffer spring 7 and inserted into the receiving hole 613 (the depth of the receiving hole 613 is longer than the length of the second extension post 3111, and the length of the first extension post 612 is shorter than the length of the buffer spring 7). It should be understood that the insertion of the second extension post 3111 into the receiving hole 613 of the first extension post 612 allows for a more stable connection between the first protrusion 311 and the second protrusion 611, thereby allowing the buffer spring 7 to be more stably housed between the first protrusion 311 and the second protrusion 611.

[0037] In this embodiment, the wheel structure used by the robot also includes a support base 8, wherein the support base 8 includes a base plate 81, a first side plate 82 disposed on one side of the base plate 81, and a second side plate 83 disposed on the other side of the base plate 81. The base plate 81, the first side plate 82, and the second side plate 83 form a receiving groove. The other end of the first bearing member 2 is rotatably connected to one end of the receiving groove, and the other end of the second bearing member 5 is rotatably connected to the other end of the receiving groove.

[0038] Furthermore, the other end of the first support member 2 is provided with a first through hole 21, one end of the first side plate 82 is provided with a second through hole corresponding to the first through hole 21, and one end of the second side plate 83 is provided with a third through hole corresponding to the second through hole. A first rotating shaft 22 is passed through the third through hole, the first through hole 21, and the second through hole, so that the other end of the first support member 2 is rotatably mounted on the first rotating shaft 22. The other end of the second support member 5 is provided with a fourth through hole 51, the other end of the first side plate 82 is provided with a fifth through hole corresponding to the fourth through hole 51, and the other end of the second side plate 83 is provided with a sixth through hole corresponding to the fifth through hole. A second rotating shaft 52 is passed through the sixth through hole, the fourth through hole 51, and the fifth through hole, so that the other end of the second support member 5 is rotatably mounted on the second rotating shaft 52.

[0039] Preferably, the other end of the first support member 2 and the other end of the second support member 5 are both arc-shaped. Furthermore, the first support member 2 and the second support member 5 are arranged on the same horizontal plane. It should be understood that when the first support member 2 and the second support member 5 rotate, the arc-shaped ends allow the first support member 2 and the second support member 5 to rotate in coordination.

[0040] Furthermore, one end of the first bearing member 2 is provided with a through hole 23, and a through rod 24 is provided in the through hole 23, wherein one end of the through rod 24 is rotatably connected to a first wheel 1 in a circular shape.

[0041] Furthermore, the bottom surface of the through hole 23 is planar, and the other end of the through rod 24 is provided with a planar body 241 corresponding to the bottom surface of the through hole 23. It should be understood that the planar body 241 of the through rod 24 matches the planar bottom surface of the through hole 23, thereby making the through rod 24 stably inserted into the through hole 23.

[0042] Preferably, the second wheel 4 is a swivel wheel, wherein the top of the second wheel 4 is disposed on the bottom surface of one end of the second bearing member 5 via a connecting member 41. It should be understood that, due to the flexible nature of the swivel wheel, it can play an auxiliary steering role when the first wheel 1 needs to turn; in addition, the second wheel 4 (swivel wheel) in this application can be implemented using products in the prior art, and its principle and structure will not be described in detail here.

[0043] Specific working principle:

[0044] When a robot equipped with this wheel structure travels over uneven terrain, the first wheel 1 or the second wheel 4 will briefly rise or fall as it passes over it, causing the first support member 2 and / or the second support member 5 to rotate in the receiving groove of the support base 8. At this time, the shaking caused by the undulation of the wheel (when the wheel travels on a rough road) will be transmitted upwards, and the buffer spring 7 between the first protrusion 311 and the second protrusion 611 will absorb and dilute this vibration force, thus giving the wheel structure shock resistance. Since the first wheel 1 and the second wheel 4 are not in the same vertical direction, the robot can be more stable during travel, allowing the wheel structure to adapt to more road sections.

[0045] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A shock-resistant wheel structure for a robot, characterized in that, The utility model relates to a kind of vehicle, including: First wheel; First bearing, wherein the first wheel rotation is arranged in one end of the first bearing; First extension, arranged in the top surface of the first bearing; Second wheel; Second bearing, wherein the second wheel rotation is arranged in the bottom surface of one end of the second bearing; Second extension, arranged in the top surface of the second bearing; Buffer spring, one end is arranged in the top end of the first extension, the other end is arranged in the top end of the second extension; Wherein, the other end of the first bearing is rotatably connected with the other end of the second bearing.

2. The anti-shock wheel structure for a robot according to claim 1, characterized by The top end of the first extension is rotatably connected with first rotation, and the first rotation is provided with a circular annular first protruding portion away from one end of the first extension. One end of the buffer spring is arranged in the first protruding portion. The top end of the second extension is rotatably connected with second rotation, and the second rotation is provided with a circular annular second protruding portion away from one end of the second extension. The other end of the buffer spring is arranged in the second protruding portion.

3. The anti-shock wheel structure for a robot according to claim 2, characterized by The second protruding portion is provided with a first extension column arranged in the buffer spring, and the first extension column is provided with a receiving hole. The first protruding portion is provided with a second extension column arranged in the buffer spring and inserted into the receiving hole.

4. The anti-shock wheel structure for a robot according to claim 1, characterized by It also includes a support seat, wherein the support seat includes a bottom plate, a first side plate arranged on one side of the bottom plate, and a second side plate arranged on the other side of the bottom plate. The bottom plate, the first side plate, and the second side plate form a receiving groove. The other end of the first bearing is rotatably connected in one end of the receiving groove, and the other end of the second bearing is rotatably connected in the other end of the receiving groove.

5. The anti-shock wheel structure for a robot according to claim 4, characterized by The other end of the first bearing is provided with a first through hole, one end of the first side plate is provided with a second through hole corresponding to the first through hole, one end of the second side plate is provided with a third through hole corresponding to the second through hole, and a first rotating shaft is arranged in the third through hole, the first through hole and the second through hole. The other end of the second bearing is provided with a fourth through hole, the other end of the first side plate is provided with a fifth through hole corresponding to the fourth through hole, and the other end of the second side plate is provided with a sixth through hole corresponding to the fifth through hole. A second rotating shaft is arranged in the sixth through hole, the fourth through hole and the fifth through hole.

6. The anti-shock wheel structure for a robot according to claim 4, characterized by The other end of the first bearing and the other end of the second bearing are both arc-shaped, and the first bearing and the second bearing are arranged in the same horizontal plane.

7. The anti-shock wheel structure for a robot according to claim 1, characterized by The bottom surface of the first wheel and the bottom surface of the second wheel are in the same horizontal plane.

8. The anti-shock wheel structure for a robot according to claim 7, characterized by One end of the first bearing is provided with a through hole, and a through rod is arranged in the through hole. One end of the through rod is rotatably connected with a circular first wheel.

9. The anti-shock wheel structure for a robot according to claim 8, characterized by, The bottom surface of the through hole is planar, and the other end of the through rod is provided with a planar body corresponding to the bottom surface of the through hole.

10. The anti-shock wheel structure for a robot according to claim 8, characterized by The second wheel is a universal wheel, and the top of the second wheel is arranged on the bottom surface of one end of the second bearing through a connecting piece.

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