Wheel set and robot

Abstract

The utility model provides a kind of wheel set and robot.Wheel set includes: base assembly;Wheel body, wheel body is set to base assembly;Cover assembly, cover assembly is set to base assembly, located the side of base assembly away from wheel body, cover assembly can rotate relative to base assembly;Slip ring, slip ring is set to one of base assembly and cover assembly, and it extends along the circumference of cover assembly;Brush, brush is set to the other of base assembly and cover assembly, and brush is contacted with slip ring.The utility model is set to the setting mode of slip ring and brush cooperation, even in the case where cover assembly rotates relative to base assembly, it can keep the stable electrical connection relationship of cable inside cover assembly and cable inside base assembly, improve the stability and reliability of electrical connection between cable located in cover assembly and cable located in base assembly, and then it is conducive to AMR long-term normal working condition.

Description

Technical Field

[0001] This utility model relates to the field of industrial mobile robot technology. Specifically, it relates to a wheel assembly and a robot. Background Technology

[0002] Currently, in related technologies, the wheel sets of heavy-duty AMRs (Autonomous Mobile Robots) typically have a main body and a rotating part arranged vertically. When the autonomous mobile robot is rotating, the rotating part will rotate relative to the main body, which will cause the cable connecting the main body and the rotating part to twist, which can easily lead to cable breakage and affect the normal operation of the AMR. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] Therefore, the first aspect of this utility model proposes a wheel set.

[0005] The second aspect of this utility model proposes a robot.

[0006] In view of the above, a first aspect of the present invention provides a wheel assembly, comprising: a base assembly, a wheel body, a cover assembly, a slip ring, and a brush. The wheel body is disposed on the base assembly; the cover assembly is disposed on the base assembly, located on the side of the base assembly away from the wheel body, and the cover assembly is rotatable relative to the base assembly; the slip ring is disposed on one of the base assembly and the cover assembly, extending circumferentially along the cover assembly; the brush is disposed on the other of the base assembly and the cover assembly, and the brush contacts the slip ring.

[0007] In this technical solution, a wheel is mounted on a base assembly for overall wheel movement. A cover assembly is also mounted on the base assembly, with the wheel and cover assembly located on opposite sides of the base assembly. The cover assembly is rotatable relative to the base assembly. A slip ring is mounted on one of the base assembly and the cover assembly, and a brush is mounted on the other. The slip ring and brush are in contact to ensure circuit continuity. The slip ring extends circumferentially along the cover assembly, allowing the brush to slide within it even when the cover assembly and base assembly rotate relative to each other. The slip ring and brush maintain contact, ensuring the circuit remains continuous and guaranteeing uninterrupted signal transmission. This invention, through the combination of slip rings and brushes, allows the cables in the cover assembly and base assembly to be slidably connected. Even when the cover assembly rotates relative to the base assembly, the electrical connection between the cables inside the cover assembly and the base assembly is maintained, improving the stability and reliability of the electrical connection between them. This, in turn, helps the AMR maintain normal operation over a long period. In addition, the combination of slip ring and brush not only results in a compact structure that reduces space requirements, but also minimizes frictional resistance in the sliding connection between the slip ring and brush, allowing the base assembly to rotate more smoothly relative to the cover assembly.

[0008] Optionally, the base assembly is provided with a first mounting groove, the slip ring is disposed in the first mounting groove, the cover assembly is provided with a second mounting groove, and the brush is disposed in the second mounting groove.

[0009] Optionally, the base assembly is provided with a first mounting groove, the brush is disposed in the first mounting groove, the cover assembly is provided with a second mounting groove, and the slip ring is disposed in the second mounting groove.

[0010] In some technical solutions of this utility model, optionally, there are multiple slip rings arranged radially along the cover assembly; there are multiple brushes, each brush contacting a multiple slip ring.

[0011] In this technical solution, there can be multiple slip rings and multiple brushes. Multiple brushes contact multiple slip rings respectively, thereby enabling the conduction of multiple circuits. Multiple slip rings are arranged radially, so that there can be corresponding slip rings at connection points with different rotation radii after brushes are set, thereby enabling the establishment of circuits with different functions and improving the applicability of the wheel set.

[0012] Optionally, multiple slip rings can be connected in parallel. Parallel slip rings can connect cables with the same function to achieve multi-point connection of the same function cable, thereby improving the reliability of the circuit; they can also connect cables with different functions, so that multiple functions coexist and realize the diversity of functions; or both methods can coexist. It can be set according to the actual situation to ensure the reliability of the circuit and take into account the diversity of functions.

[0013] Optionally, each slip ring can correspond to one brush or multiple brushes to achieve multi-point connection and improve reliability.

[0014] Optionally, each slip ring can be equipped with two brushes, and the two brushes are connected in parallel to establish a dual circuit with the same function, ensuring stable transmission of electrical signals.

[0015] In some technical solutions of this utility model, optionally, the multiple slip rings include a drive ring and a signal ring, and the wheel set also includes a shielding component, which is disposed between the drive ring and the signal ring and arranged around the signal ring.

[0016] In this technical solution, multiple slip rings include a drive ring and a signal ring. The drive ring is used to connect to the power source and provide driving force for the wheel body. The signal ring is used to connect to the monitoring device, so as to transmit information such as the wheel body speed in real time. The wheel set also includes a shielding component set between the drive ring and the signal ring. The shielding component is arranged around the signal ring. The shielding component can shield the electromagnetic interference of the drive ring to the signal ring, avoid signal ring distortion, and help improve the accuracy of the information transmitted by the signal ring.

[0017] Alternatively, the shielding assembly may be a copper ring.

[0018] For example, 26 slip rings can be provided, each slip ring is provided with two brushes, and a total of 54 brushes are provided. Among them, the 6 slip rings on the outermost ring are used to connect the drive ring, and the other 20 slip rings are used to connect the signal ring. The shielding component is provided between the drive ring and the signal ring.

[0019] In some technical solutions of this utility model, optionally, the base assembly includes a base body and a first insulating component. The base body is provided with a first mounting groove, and a slip ring is disposed in the first mounting groove. The first insulating component is disposed between the inner wall of the first mounting groove and the slip ring.

[0020] In this technical solution, the base assembly includes a base body and a first insulating component. The base body is provided with a first mounting groove, and both the slip ring and the first insulating component are disposed in the first mounting groove. The first insulating component is located between the inner wall of the first mounting groove and the slip ring, thereby blocking the electrical connection between the base body and the slip ring, which helps to ensure the parallel connection between multiple slip rings.

[0021] Optionally, in some technical solutions of this utility model, the base body is provided with a wire hole, which communicates with the first mounting groove. The base assembly also includes a bottom plate, which is located on the side of the base body away from the first mounting groove. The bottom plate and the base body enclose a first cavity, which communicates with the wire hole.

[0022] In this technical solution, the base is provided with a wire hole that communicates with the first mounting groove. A base plate is also provided on the side of the base away from the first mounting groove. The base plate and the base are arranged together to form a first cavity that communicates with the wire hole. The first cavity is used to accommodate cables and electrical components, so that the cables can enter the first mounting groove from the first cavity through the wire hole and connect with the slip ring.

[0023] Optionally, a first sealing element is provided at the connection between the base plate and the seat to improve the sealing performance of the first cavity; a first waterproof connector is provided on the base plate, one end of which is connected to the inside of the first cavity, and the other end is located on the side of the base plate away from the seat.

[0024] Optionally, the first seal is an O-ring.

[0025] Optionally, in some technical solutions of this utility model, the cover assembly includes a cover body, the cover body is disposed on the base assembly, the cover body is provided with a second mounting groove, and the brush is disposed in the second mounting groove.

[0026] In this technical solution, the cover assembly includes a cover body disposed on the base assembly, and a second mounting groove is provided on the cover body. The second mounting groove is used to install the brush. The provision of the second mounting groove can achieve precise positioning of the brush position, ensuring that the brush is in a position that facilitates cooperation with the slip ring, thereby improving the reliability of the cooperation between the brush and the slip ring.

[0027] Optionally, there can be multiple second mounting slots. Each brush can have a corresponding second mounting slot, or multiple brushes can be arranged at intervals within a single second mounting slot.

[0028] Optionally, in some technical solutions of this utility model, the cover assembly further includes an elastic element, which is disposed in the second mounting groove and located between the inner wall of the second mounting groove and the end of the brush away from the slip ring.

[0029] In this technical solution, the cover assembly also includes an elastic element, which is disposed inside the second mounting groove. The elastic element is located between the end of the brush away from the slip ring and the inner wall of the second mounting groove. When the cover assembly is disposed in the base assembly, the elastic element will be in a compressed state. Under the elastic force of the elastic element, a certain pressure is generated between the slip ring and the brush, thereby causing the brush to tend to move towards the slip ring, which is conducive to good contact between the slip ring and the brush and reduces the probability of contact failure during rotation.

[0030] Optionally, the cover assembly also includes a second insulating portion located between the inner wall of the second mounting groove and the brush. The second insulating portion is used to wrap the brush and the elastic element, thereby facilitating the parallel connection between multiple brushes.

[0031] In some technical solutions of this utility model, optionally, the cover assembly further includes a top plate and a wire. The top plate is disposed on the side of the cover away from the base assembly, and the top plate and the cover enclose a second cavity. One end of the wire is connected to the brush, and the other end of the wire extends into the second cavity.

[0032] In this technical solution, the cover assembly also includes a top plate and a wire. The top plate is located on the side of the cover away from the base assembly. One end of the wire is connected to the brush. The top plate is located on the cover and forms a second cavity. The other end of the wire extends into the second cavity. The second cavity is used to accommodate cables and electrical components, so that the wire can pass through the second cavity and connect to the brush. The brush contacts the slip ring to form an electrical connection. The slip ring is then connected to the first cavity, so that the circuit between the first cavity and the second cavity is connected.

[0033] Optionally, a second sealing element is provided at the connection between the top plate and the cover to improve the sealing performance of the second cavity; a second waterproof connector is provided on the top plate, one end of which is connected to the inside of the second cavity, and the other end is located on the side of the top plate away from the cover.

[0034] Optionally, the second seal is an O-ring.

[0035] Optionally, in some technical solutions of this utility model, the wheel set also includes a bearing, the inner ring of which is connected to the base assembly, and the outer ring of which is connected to the cover assembly.

[0036] In this technical solution, the wheelset also includes a bearing, with the inner ring of the bearing connected to the base assembly and the outer ring of the bearing connected to the cover assembly, thereby enabling smooth relative rotation between the cover assembly and the base assembly.

[0037] Optionally, the wheelset also includes a third seal, which is disposed between the outer ring of the bearing and the cover assembly to ensure the sealing between the outer ring of the bearing and the cover assembly, thereby achieving the technical effects of oil prevention, water prevention, and pollution prevention.

[0038] Optionally, the third seal can be a Y-type sealing ring, which can reduce wear while ensuring sealing performance and help extend service life.

[0039] Understandably, the first, second, and third seals all serve to prevent contaminants such as water and oil from entering the mating area between the slip ring and the brush, thereby improving safety.

[0040] Optionally, in some technical solutions of this utility model, the wheel set also includes an encoder, which is disposed on the base assembly and connected to the outer ring of the bearing, for detecting the rotation angle of the base assembly relative to the cover assembly.

[0041] In this technical solution, the wheel set also includes an encoder mounted on the base assembly. When the wheel rotates, the base assembly and the encoder can rotate together with the wheel. At the same time, the encoder is connected to the outer ring of the bearing, which allows the encoder to detect the swing angle of the wheel and the base assembly by detecting the rotation angle of the outer ring of the bearing.

[0042] In some technical solutions of this utility model, optionally, there are multiple wheels, which are respectively disposed on both sides of the base assembly. The wheel set also includes multiple driving components, which are arranged in parallel and connected to the multiple wheels respectively, for driving the multiple wheels to rotate.

[0043] In this technical solution, there are multiple wheels, and the multiple wheels are arranged on both sides of the base assembly, which can increase the contact area between the wheels and the sliding surface, thereby improving the maximum load capacity of the AMR. In addition, the wheel set also includes multiple drive components, which are arranged in parallel and connected to multiple wheels respectively. The multiple drive components can drive multiple wheels to rotate respectively.

[0044] Optionally, the drive components can provide the same driving force for the wheels located on the same side of the base assembly to ensure that the wheels located on the same side of the base assembly have the same rotation direction and rotation speed, and to avoid interference between the wheels.

[0045] When movement in a straight line is required, multiple drive components can provide the same driving force to the wheels located on both sides of the base assembly, so that all wheels maintain the same rotation direction and rotation speed, thereby enabling the wheel set to move in a straight line. When the wheel set needs to change its direction of movement, multiple drive components can provide two different driving forces to the wheels located on both sides of the base assembly, so that the wheels on both sides of the base assembly generate a speed difference, thereby enabling the wheel set to rotate and change the direction of movement of the wheel set.

[0046] Optionally, the number of drive components can be set to two, and the two drive components control the wheels located on both sides of the base component. The number of wheels is four, with two wheels on each side of the base component. One wheel on each side of the base component is connected to the drive component, and the other wheel can be a swivel wheel. By controlling the drive direction and drive speed of the two drive components, the two drive components drive the controlled wheels to rotate, and the swivel wheel moves accordingly, so that the wheel set can move forward, backward and turn.

[0047] The second aspect of this utility model provides a robot, including any of the wheel sets described above.

[0048] In this technical solution, since it has the wheelset of any of the above technical solutions, all the beneficial effects of the wheelset of any of the above technical solutions will not be elaborated here.

[0049] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0050] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a wheel assembly according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a wheel assembly according to an embodiment of the present invention; Figure 3 This is a cross-sectional schematic diagram of a cover assembly and a base assembly according to an embodiment of the present invention; Figure 4 for Figure 3 A magnified view of a portion of region A in the middle; Figure 5 This is a schematic diagram showing the distribution of slip rings according to an embodiment of the present invention.

[0051] in, Figures 1 to 5 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10 Base assembly, 11 Base body, 13 Base plate, 15 First insulating component, 17 First seal, 19 First waterproof connector, 111 Wire hole, 113 First mounting groove, 115 First cavity, 20 Wheel body, 30 Cover assembly, 31 Cover body, 32 Elastic component, 33 Top plate, 34 Wire, 36 Second seal, 38 Second waterproof connector, 311 Second mounting groove, 313 Second cavity, 40 Slip ring, 41 Drive ring, 43 Signal ring, 50 Brush, 60 Shielding component, 71 Bearing, 711 Inner ring, 713 Outer ring, 73 Third seal, 81 Encoder, 90 Drive component. Detailed Implementation

[0052] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0053] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0054] The following reference Figures 1 to 5This invention describes a wheel assembly and a robot according to some embodiments of the present invention.

[0055] In one embodiment of this utility model, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a wheelset is provided, comprising a base assembly 10, a wheel body 20, a cover assembly 30, a slip ring 40, and a brush 50. The wheel body 20 is disposed on the base assembly 10; the cover assembly 30 is disposed on the base assembly 10, located on the side of the base assembly 10 away from the wheel body 20, and the cover assembly 30 is rotatable relative to the base assembly 10; the slip ring 40 is disposed on one of the base assembly 10 and the cover assembly 30, extending circumferentially along the cover assembly 30; the brush 50 is disposed on the other of the base assembly 10 and the cover assembly 30, and the brush 50 contacts the slip ring 40.

[0056] In this embodiment, the wheel 20 is mounted on the base assembly 10 and is used for the overall movement of the wheel assembly. The cover assembly 30 is mounted on the base assembly 10, with the wheel 20 and cover assembly 30 located on opposite sides of the base assembly 10. The cover assembly 30 is rotatable relative to the base assembly 10. A slip ring 40 is provided on one of the base assembly 10 and the cover assembly 30, and a brush 50 is provided on the other. The slip ring 40 and the brush 50 are in contact to achieve circuit conduction; and the slip ring 40 extends circumferentially along the cover assembly 30. Figure 2 (The direction indicated by the middle arrow C is the circumferential direction of the cover assembly 30). Thus, when the cover assembly 30 and the base assembly 10 rotate relative to each other, the brush 50 can slide in the slip ring 40. The slip ring 40 and the brush 50 can always maintain contact, so that the circuit is always in a conductive state, ensuring uninterrupted transmission of electrical signals. Through the arrangement of the slip ring 40 and the brush 50, the cable located in the cover assembly 30 and the cable located in the base assembly 10 are slidably connected through the slip ring 40 and the brush 50. Even when the cover assembly 30 rotates relative to the base assembly 10, the electrical connection between the cables inside the cover assembly 30 and the cables inside the base assembly 10 can be maintained, which improves the stability and reliability of the electrical connection between the cables in the cover assembly 30 and the cables in the base assembly 10, and thus helps the AMR maintain normal operation for a long time. In addition, the arrangement of the slip ring 40 and the brush 50 not only makes the structure compact and reduces the space occupied, but also reduces the frictional resistance of the sliding connection between the slip ring 40 and the brush 50, so that the base assembly 10 can rotate more smoothly relative to the cover assembly 30.

[0057] Optionally, the base assembly 10 is provided with a first mounting groove 113, the slip ring 40 is disposed in the first mounting groove 113, the cover assembly 30 is provided with a second mounting groove 311, and the brush 50 is disposed in the second mounting groove 311.

[0058] Optionally, the base assembly 10 is provided with a first mounting groove 113, the brush 50 is disposed in the first mounting groove 113, the cover assembly 30 is provided with a second mounting groove 311, and the slip ring 40 is disposed in the second mounting groove 311.

[0059] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0060] like Figure 3 , Figure 4 and Figure 5 As shown, there are multiple slip rings 40 arranged radially along the cover assembly 30; there are multiple brushes 50, each of which contacts a multiple slip ring 40.

[0061] In this embodiment, there can be multiple slip rings 40 and multiple brushes 50. Multiple brushes 50 contact multiple slip rings 40 respectively, thereby enabling the conduction of multiple circuits; the multiple slip rings 40 are arranged radially. Figure 3 The direction indicated by the middle arrow R is the radial direction of the cover assembly 30, so that after setting the brush 50 at the connection point with different rotation radii, there can be a corresponding slip ring 40, thereby realizing the establishment of circuits with different functions and improving the applicability of the wheel set.

[0062] Optionally, multiple slip rings 40 can be connected in parallel. The parallel slip rings 40 can connect cables with the same function to achieve multi-point connection of the same function cable and improve the reliability of the circuit; they can also connect cables with different functions, so that multiple functions coexist and realize the diversity of functions. Both methods can coexist. It can be set according to the actual situation to ensure the reliability of the circuit and take into account the diversity of functions.

[0063] Optionally, each slip ring 40 can correspond to one brush 50 or multiple brushes 50 to achieve multi-point connection and improve reliability.

[0064] Optionally, each slip ring 40 may be equipped with two brushes 50, and the two brushes 50 are connected in parallel to establish a dual circuit with the same function, ensuring stable transmission of electrical signals.

[0065] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0066] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the multiple slip rings 40 include a drive ring 41 and a signal ring 43. The wheel set also includes a shielding component 60, which is disposed between the drive ring 41 and the signal ring 43 and arranged around the signal ring 43.

[0067] In this embodiment, the multiple slip rings 40 include a drive ring 41 and a signal ring 43. The drive ring 41 is used to connect to a power source to provide driving force for the wheel 20, and the signal ring 43 is used to connect to a monitoring device to transmit information such as the rotational speed of the wheel 20 in real time. The wheel set also includes a shielding component disposed between the drive ring 41 and the signal ring 43. The shielding component is arranged around the signal ring 43 and can shield the electromagnetic interference of the drive ring 41 to the signal ring 43, avoid distortion of the signal ring 43, and improve the accuracy of the information transmitted by the signal ring 43.

[0068] Alternatively, the shielding assembly may be a copper ring.

[0069] For example, 26 slip rings 40 can be provided, and each slip ring 40 is provided with two brushes 50, for a total of 54 brushes 50. Among them, the six slip rings 40 located on the outermost ring are used to connect to the drive ring 41, and the other 20 slip rings 40 are used to connect to the signal ring 43. The shielding component is provided between the drive ring 41 and the signal ring 43.

[0070] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0071] like Figure 3 , Figure 4 and Figure 5 As shown, the base assembly 10 includes a base body 11 and a first insulating component 15. The base body 11 is provided with a first mounting groove 113, and a slip ring 40 is disposed in the first mounting groove 113. The first insulating component 15 is disposed between the inner wall of the first mounting groove 113 and the slip ring 40.

[0072] In this embodiment, the base assembly 10 includes a base body 11 and a first insulating component 15. The base body 11 is provided with a first mounting groove 113. The slip ring 40 and the first insulating component 15 are both disposed in the first mounting groove 113. The first insulating component 15 is located between the inner wall of the first mounting groove 113 and the slip ring 40. Thus, the first insulating component 15 can block the electrical connection between the base body 11 and the slip ring 40, which helps to ensure the parallel connection between multiple slip rings 40.

[0073] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0074] like Figure 3 , Figure 4 and Figure 5As shown, the base body 11 is provided with a wire hole 111, which is connected to the first mounting groove 113. The base assembly 10 also includes a base plate 13, which is located on the side of the base body 11 away from the first mounting groove 113. The base plate 13 and the base body 11 form a first cavity 115, which is connected to the wire hole 111.

[0075] In this embodiment, the base 11 is provided with a wire hole 111 that communicates with the first mounting groove 113. The base 11 is also provided with a base plate 13 on the side away from the first mounting groove 113. The base plate 13 and the base are arranged together to form a first cavity 115 that communicates with the wire hole 111. The first cavity 115 is used to accommodate cables and electrical components, so that the cables can enter the first mounting groove 113 from the first cavity 115 through the wire hole 111 and connect with the slip ring 40.

[0076] Optionally, a first sealing element 17 is provided at the connection between the base plate 13 and the seat 11 to improve the sealing performance of the first cavity 115; a first waterproof connector 19 is provided on the base plate 13, one end of the first waterproof connector 19 is connected to the inside of the first cavity 115, and the other end is located on the side of the base plate 13 away from the seat 11.

[0077] Optionally, the first seal 17 is an O-ring.

[0078] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0079] like Figure 3 and Figure 4 As shown, the cover assembly 30 includes a cover body 31, which is disposed on the base assembly 10. The cover body 31 is provided with a second mounting groove 311, and the brush 50 is disposed in the second mounting groove 311.

[0080] In this embodiment, the cover assembly 30 includes a cover body 31 disposed on the base assembly 10. The cover body 31 is provided with a second mounting groove 311, which is used to mount the brush 50. The setting of the second mounting groove 311 can achieve precise positioning of the brush 50, ensuring that the brush 50 is in a position that is easy to cooperate with the slip ring 40, thereby improving the reliability of the cooperation relationship between the brush 50 and the slip ring 40.

[0081] Optionally, there can be multiple second mounting slots 311. Each brush 50 may have a corresponding second mounting slot 311, or multiple brushes 50 may be arranged at intervals within a single second mounting slot 311.

[0082] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0083] like Figure 3 and Figure 4 As shown, the cover assembly 30 also includes an elastic element 32, which is disposed in the second mounting groove 311 and located between the inner wall of the second mounting groove 311 and the end of the brush 50 away from the slip ring 40.

[0084] In this embodiment, the cover assembly 30 further includes an elastic element 32, which is disposed inside the second mounting groove 311. The elastic element 32 is located between the end of the brush 50 away from the slip ring 40 and the inner wall of the second mounting groove 311. When the cover assembly 30 is disposed on the base assembly 10, the elastic element 32 will be in a compressed state. Under the elastic force of the elastic element 32, a certain pressure is generated between the slip ring 40 and the brush 50, thereby causing the brush 50 to tend to move towards the slip ring 40, which is conducive to good contact between the slip ring 40 and the brush 50 and reduces the probability of contact failure during rotation.

[0085] Optionally, the cover assembly 30 also includes a second insulating portion located between the inner wall of the second mounting groove 311 and the brush 50. The second insulating portion is used to wrap the brush 50 and the elastic member 32, thereby helping to ensure the parallel connection between multiple brushes 50.

[0086] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0087] like Figure 3 and Figure 4 As shown, the cover assembly 30 also includes a top plate 33 and a wire 34. The top plate 33 is disposed on the side of the cover body 31 away from the base assembly 10. The top plate 33 and the cover body 31 enclose a second cavity 313. One end of the wire 34 is connected to the brush 50, and the other end of the wire 34 extends into the second cavity 313.

[0088] In this embodiment, the cover assembly 30 further includes a top plate 33 and a wire 34. The top plate 33 is disposed on the side of the cover body 31 away from the base assembly 10. One end of the wire 34 is connected to the brush 50. The top plate 33 is disposed on the cover body 31, forming a second cavity 313. The other end of the wire 34 extends into the second cavity 313. The second cavity 313 is used to accommodate cables and electrical components, so that the wire 34 can pass through the second cavity 313 and connect to the brush 50. The brush 50 contacts the slip ring 40 to form an electrical connection. The slip ring 40 is then connected to the first cavity 115, so that the circuit between the first cavity 115 and the second cavity 313 is connected.

[0089] Optionally, a second sealing element 36 is provided at the connection between the top plate 33 and the cover 31 to improve the sealing performance of the second cavity 313; a second waterproof connector 38 is provided on the top plate 33, one end of the second waterproof connector 38 is connected to the inside of the second cavity 313, and the other end is located on the side of the top plate 33 away from the cover 31.

[0090] Optionally, the second seal 36 is an O-ring.

[0091] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0092] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the wheelset also includes a bearing 71, the inner ring 711 of which is connected to the base assembly 10, and the outer ring 713 of which is connected to the cover assembly 30.

[0093] In this embodiment, the wheel assembly also includes a bearing 71, the inner ring 711 of which is connected to the base assembly 10, and the outer ring 713 of which is connected to the cover assembly 30, thereby enabling smooth relative rotation between the cover assembly 30 and the base assembly 10.

[0094] Optionally, the wheelset also includes a third seal 73, which is disposed between the outer ring 713 of the bearing 71 and the cover assembly 30 to ensure the sealing between the outer ring 713 of the bearing 71 and the cover assembly 30, thereby achieving the technical effects of oil prevention, water prevention and pollution prevention.

[0095] Optionally, the third seal 73 can be a Y-type sealing ring, which can reduce wear while ensuring sealing performance and help extend service life.

[0096] It is understandable that the first seal 17, the second seal 36, and the third seal 73 can all prevent contaminants such as water and oil from entering the mating area between the slip ring 40 and the brush 50, thereby improving safety.

[0097] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0098] like Figure 1 and Figure 2 As shown, the wheel assembly also includes an encoder 81, which is disposed on the base assembly 10 and connected to the outer ring 713 of the bearing 71, for detecting the rotation angle of the base assembly 10 relative to the cover assembly 30.

[0099] In this embodiment, the wheel set also includes an encoder 81 mounted on the base assembly 10. When the wheel 20 rotates, the base assembly 10 and the encoder 81 can rotate together with the wheel 20. At the same time, the encoder 81 is connected to the outer ring 713 of the bearing 71, so that the encoder 81 can detect the swing angle of the wheel 20 and the base assembly 10 by detecting the rotation angle of the outer ring 713 of the bearing 71.

[0100] This embodiment provides a wheelset, and in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0101] like Figure 1 and Figure 2 As shown, there are multiple wheels 20, which are respectively disposed on both sides of the base assembly 10. The wheel set also includes multiple drive components 90, which are arranged in parallel and connected to the multiple wheels 20 respectively, for driving the multiple wheels 20 to rotate.

[0102] In this embodiment, there are multiple wheels 20, and the multiple wheels 20 are arranged on both sides of the base assembly 10, which can increase the contact area between the wheels 20 and the sliding surface, thereby improving the maximum load capacity of the AMR. In addition, the wheel set also includes multiple drive components 90, which are arranged in parallel and connected to the multiple wheels 20 respectively. The multiple drive components 90 can drive the multiple wheels 20 to rotate respectively.

[0103] Optionally, the drive component 90 can provide the same driving force for the wheels 20 located on the same side of the base assembly 10, so as to ensure that the wheels 20 located on the same side of the base assembly 10 have the same rotation direction and rotation speed, and avoid interference between the wheels 20.

[0104] When movement along a straight line is required, multiple drive components can provide the same driving force to the wheels 20 located on both sides of the base assembly 10, so that all wheels 20 maintain the same rotation direction and rotation speed, thereby realizing the movement of the wheel set along a straight line; when the wheel set needs to change the direction of movement, multiple drive components can provide two different driving forces to the wheels 20 located on both sides of the base assembly 10, so that the wheels 20 on both sides of the base assembly 10 generate a speed difference, thereby making the wheel set rotate, thus realizing the change of the direction of movement of the wheel set.

[0105] Optionally, the number of drive components can be set to two, and the two drive components control the wheels 20 located on both sides of the base component 10 respectively. The number of wheels 20 is four, with two wheels 20 on each side of the base component 10. One wheel 20 on either side of the base component 10 is connected to the drive component, and the other wheel 20 can be a swivel wheel. Thus, by controlling the drive direction and drive speed of the two drive components, the two drive components drive the controlled wheels 20 to rotate, and the swivel wheel moves accordingly, thereby realizing the forward, backward and turning of the wheel set.

[0106] The second aspect of this utility model provides a robot, including any of the wheel sets described in the above embodiments.

[0107] In this embodiment, since the robot has the wheel set of any of the above embodiments, the robot has all the beneficial effects of the wheel set of any of the above embodiments, which will not be elaborated here.

[0108] In the claims, description, and accompanying drawings of this utility model, the term "plural" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this utility model. The terms "connect," "install," "fix," etc., should be interpreted broadly. For example, "connect" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood based on the specific circumstances described above.

[0109] In the claims, description, and drawings of this utility model, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In the claims, description, and drawings of this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0110] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A wheelset, characterized in that, include: Base assembly; A wheel body, the wheel body being disposed on the base assembly; A cover assembly is disposed on the base assembly and located on the side of the base assembly away from the wheel body, and the cover assembly is rotatable relative to the base assembly; A slip ring, wherein the slip ring is disposed on one of the base assembly and the cover assembly and extends circumferentially along the cover assembly; A brush, disposed on the other of the base assembly and the cover assembly, the brush being in contact with the slip ring.

2. The wheelset according to claim 1, characterized in that, The slip rings are multiple, and the multiple slip rings are arranged radially along the cover assembly; The number of brushes is multiple, and each brush contacts a plurality of slip rings.

3. The wheelset according to claim 2, characterized in that, The plurality of slip rings include a drive ring and a signal ring, and the wheel assembly further includes: A shielding component is disposed between the drive ring and the signal ring, and is arranged around the signal ring.

4. The wheelset according to claim 1, characterized in that, The base assembly includes: A base body, wherein the base body is provided with a first mounting groove, and the slip ring is disposed in the first mounting groove; A first insulating component is disposed between the inner wall of the first mounting groove and the slip ring.

5. The wheelset according to claim 4, characterized in that, The base body is provided with a wire hole, which communicates with the first mounting slot. The base assembly further includes: A base plate is disposed on the side of the seat away from the first mounting groove. The base plate and the seat together form a first cavity, which is connected to the wire hole.

6. The wheelset according to claim 1, characterized in that, The cover assembly includes: A cover body is disposed on the base assembly, and the cover body is provided with a second mounting groove, and the brush is disposed in the second mounting groove.

7. The wheelset according to claim 6, characterized in that, The cover assembly also includes: An elastic element is disposed in the second mounting groove, located between the inner wall of the second mounting groove and the end of the brush away from the slip ring.

8. The wheelset according to claim 6, characterized in that, The cover assembly also includes: A top plate is disposed on the side of the cover away from the base assembly, and the top plate and the cover together form a second cavity; A wire, one end of which is connected to the brush, and the other end of which extends into the second cavity.

9. The wheelset according to any one of claims 1 to 8, characterized in that, Also includes: The bearing has an inner ring connected to the base assembly and an outer ring connected to the cover assembly.

10. The wheelset according to claim 9, characterized in that, Also includes: An encoder is disposed on the base assembly and connected to the outer ring of the bearing for detecting the rotation angle of the base assembly relative to the cover assembly.

11. The wheelset according to any one of claims 1 to 8, characterized in that, The wheel assembly comprises multiple wheels, each disposed on one side of the base assembly. The wheel assembly further includes: Multiple drive components are arranged in parallel and connected to multiple wheels respectively, for driving the multiple wheels to rotate.

12. A robot, characterized in that, Includes the wheel set as described in any one of claims 1 to 11.

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