A universal wheel device and mobile robot
Patent Information
- Application Number
- CN202522604524.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-08
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-12-08
AI Technical Summary
[0003]目前现有辅助越障轮设计多采用等直径小轮，要么架设于万向轮支架两侧，要么置于支架内侧，由于万向轮在行进过程中会绕水平轴360°旋转，所以增加的小轮要么增加万向轮组件旋转时占用的空间，要么做的比较小，难以在有限的空间内最大限度的发挥小轮辅助越障的能力
[0029]其中，万向轮组件30和辅助小轮组件40均转动装设于固定支架20，固定支架20的底部具有向外倾斜延伸的第一支臂22和第二支臂23，向外倾斜延伸的第一支臂22将万向轮31配置为偏置于中心轴21，以使得万向轮31具有偏心距M，万向轮31的半径为R1，则万向轮31的外缘与中心轴21的水平距离L1=M+ R1。同样地，向外倾斜延伸的第二支臂23也利用了万向轮31内侧的空间，通过调整第二支臂23的倾斜角度和长度，可将辅助小轮41的外缘与中心轴21的水平距离L2设定为与万向轮31的外缘与中心轴21的水平距离L1相同，通过万向轮组件和辅助小轮41的偏置，保证万向轮组件旋转时占用空间不变，且辅助小轮最大外径做到最大。
Smart Images
Figure CN224828305U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and in particular to a universal wheel device and a mobile robot. Background Technology
[0002] When designing the chassis of a lawnmower robot, the steering flexibility during lawnmowing operations is taken into consideration. A chassis solution combining drive wheels and omnidirectional wheels is usually adopted. The drive wheels themselves have driving force, and their diameter is usually relatively large (over 200mm). Therefore, the drive wheels are usually not the bottleneck of the machine's obstacle-crossing ability. On the contrary, due to the special structure of the omnidirectional wheels themselves, their diameter is usually the main limiting factor for the overall obstacle-crossing height of the machine. Therefore, it is necessary to provide an omnidirectional wheel-assisted obstacle-crossing solution that can improve the obstacle-crossing ability of the omnidirectional wheels without increasing its space occupation.
[0003] Currently, most existing obstacle-crossing wheel designs use small wheels of equal diameter, either mounted on both sides of the swivel wheel bracket or placed inside the bracket. Since the swivel wheel rotates 360° around the horizontal axis during travel, adding small wheels either increases the space occupied by the swivel wheel assembly when it rotates, or makes them too small, making it difficult to maximize the obstacle-crossing ability of the small wheels within a limited space. Utility Model Content
[0004] To solve the above technical problems, this utility model provides a universal wheel device and a mobile robot that does not increase the space occupied by the universal wheel device, but improves the obstacle-crossing ability of the universal wheel.
[0005] One embodiment of this utility model provides a universal wheel device, comprising:
[0006] Mounting base;
[0007] A fixed bracket, which is 360° horizontally rotatable relative to the mounting base about a central axis extending in a vertical direction, and the bottom of the fixed bracket has a first arm and a second arm extending outwardly at an angle.
[0008] The omnidirectional wheel assembly includes omnidirectional wheels, which are rotatably supported at the end of the first support arm via a first rotating shaft;
[0009] An auxiliary wheel assembly, the auxiliary wheel assembly including an auxiliary wheel, the auxiliary wheel being rotatably supported at the end of the second support arm via a second rotating shaft;
[0010] The first arm and the second arm form different acute angles with the central axis, so that the outer edges of the auxiliary wheel and the omnidirectional wheel are kept at a constant horizontal distance from the central axis under any horizontal rotation angle of the fixed bracket.
[0011] In one embodiment, the outer periphery of the auxiliary wheel is an arc segment.
[0012] In one embodiment, the first arm and the second arm are located in the same vertical plane;
[0013] The first arm forms a first angle with the central axis, and the second arm forms a second angle with the central axis. The first angle is smaller than the second angle, so that the second rotation axis is higher than the first rotation axis.
[0014] In one embodiment, the first rotation axis is parallel to the second rotation axis, and both are orthogonal to the central axis.
[0015] In one embodiment, the caster wheel is mounted on the first rotating shaft via a first rotary bearing to rotate around the first rotating shaft;
[0016] The first arm includes a pair of spaced-apart first forks, and the two ends of the first rotating shaft have flat heads so as to be respectively installed in the first slots at the ends of the first forks.
[0017] The omnidirectional wheel assembly includes omnidirectional wheel decorative parts, which are mounted on both ends of the first rotating shaft and fixed to the outer surface of the first fork arm.
[0018] In one embodiment, the auxiliary wheel is mounted on the second rotating shaft via a second rotary bearing to rotate around the second rotating shaft;
[0019] The second arm includes a pair of spaced-apart second forks, and the two ends of the second rotating shaft have flat heads to be respectively installed in the second slots at the ends of the second forks;
[0020] The auxiliary wheel assembly includes auxiliary wheel washers, which are mounted at both ends of the second rotating shaft and fixed to the outer surface of the second fork arm.
[0021] In one embodiment, the central shaft is mounted on the mounting base via a sliding bracket, the position of which within the mounting base is adjustable in the vertical direction.
[0022] The central shaft includes a first shaft end and a second shaft end passing through the sliding bracket. The first shaft end is limited to the sliding bracket by a central shaft retaining spring, and the second shaft end is limited to the sliding bracket by a set of gaskets.
[0023] In one embodiment, the central shaft is rotatably supported on the sliding bracket via a central shaft rotary bearing mounted on the first and second shaft ends; the gasket assembly includes a first gasket and a second gasket stacked in the vertical direction.
[0024] The diameter of the second shim is smaller than the outer diameter of the central shaft rotating bearing, and the second shim is fitted to the central shaft rotating bearing.
[0025] In one embodiment, it includes a magnet mounted on the sliding bracket.
[0026] Another embodiment of this application also provides a mobile robot, including:
[0027] The fuselage, wherein at least one universal wheel device as described above is installed on the bottom surface of the fuselage;
[0028] Wherein, at any horizontal rotation angle of the fixed bracket, the gap between the outer edge of the auxiliary wheel and the outer edge of the omnidirectional wheel and the outer edge of the body remains constant.
[0029] Both the caster wheel assembly 30 and the auxiliary wheel assembly 40 are rotatably mounted on the fixed bracket 20. The bottom of the fixed bracket 20 has a first arm 22 and a second arm 23 extending outwards. The first arm 22 positions the caster wheel 31 off-center from the central axis 21, so that the caster wheel 31 has an eccentricity M. The radius of the caster wheel 31 is R1, and the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21 is L1 = M + R1. Similarly, the second arm 23 also utilizes the space inside the caster wheel 31. By adjusting the tilt angle and length of the second arm 23, the horizontal distance L2 between the outer edge of the auxiliary wheel 41 and the central axis 21 can be set to be the same as the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21. Through the offset of the caster wheel assembly and the auxiliary wheel 41, the space occupied by the caster wheel assembly remains unchanged when rotating, and the maximum outer diameter of the auxiliary wheel is maximized. Attached Figure Description
[0030] The following figures are for illustrative purposes only and do not limit the scope of the present invention.
[0031] Figure 1 This is a structural schematic diagram of the mobile robot of this utility model.
[0032] Figure 2 This is a bottom view of the mobile robot of this utility model.
[0033] Figure 3 This is a structural schematic diagram of the universal wheel device of this utility model.
[0034] Figure 4 This is a structural schematic diagram of the universal wheel assembly in this utility model.
[0035] Figure 5 This is a schematic diagram of the structure of the universal wheel decorative cover in this utility model.
[0036] Figure 6 This is a schematic diagram of the auxiliary wheel in this utility model.
[0037] Figure 7 This is a schematic diagram of the structure of the auxiliary small wheel washer in this utility model.
[0038] Figure 8 This is a structural schematic diagram of the universal wheel device of this utility model. Detailed Implementation
[0039] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, specific embodiments of the present utility model are now described with reference to the accompanying drawings, in which the same reference numerals denote the same parts.
[0040] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.
[0041] To keep the drawings concise, only the parts related to this utility model are shown schematically in each drawing, and do not represent their actual structure as a product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.
[0042] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.
[0043] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.
[0044] In this document, terms such as "equal" and "same" are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several subranges contained therein.
[0045] The exemplary embodiments will now be described more fully with reference to the accompanying drawings.
[0046] like Figures 1 to 3 As shown, one embodiment of this utility model provides a universal wheel device, comprising:
[0047] Mounting base 10;
[0048] The fixed bracket 20 is 360° horizontally rotating relative to the mounting base 10 about a central axis 21 extending in the vertical direction. The bottom of the fixed bracket 20 has a first arm 22 and a second arm 23 extending outwardly.
[0049] The caster wheel assembly 30 includes a caster wheel 31, which is rotatably supported at the end of the first support arm 22 via a first rotating shaft 32.
[0050] The auxiliary wheel assembly 40 includes an auxiliary wheel 41, which is rotatably supported at the end of the second support arm 23 via a second rotating shaft 42.
[0051] The first arm 22 and the second arm 23 form different acute angles with the central axis 21, so that the outer edges of the auxiliary wheel 41 and the swivel wheel 31 are kept at a constant horizontal distance from the central axis 21 under any horizontal rotation angle of the fixed bracket 20.
[0052] The omnidirectional wheel assembly is threadedly attached to the chassis housing of the mobile robot via the mounting base 10. The omnidirectional wheel assembly can rotate 360° in the horizontal plane around the central axis 21.
[0053] Both the caster wheel assembly 30 and the auxiliary wheel assembly 40 are rotatably mounted on the fixed bracket 20. The bottom of the fixed bracket 20 has a first arm 22 and a second arm 23 extending outwards. The first arm 22 positions the caster wheel 31 off-center from the central axis 21, so that the caster wheel 31 has an eccentricity M. The radius of the caster wheel 31 is R1, and the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21 is L1 = M + R1. Similarly, the second arm 23 also utilizes the space inside the caster wheel 31. By adjusting the tilt angle and length of the second arm 23, the horizontal distance L2 between the outer edge of the auxiliary wheel 41 and the central axis 21 can be set to be the same as the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21. Through the offset of the caster wheel assembly and the auxiliary wheel 41, the space occupied by the caster wheel assembly remains unchanged when rotating, and the maximum outer diameter of the auxiliary wheel is maximized.
[0054] The outer periphery of the auxiliary wheel 41 is an arc segment, so the overall shape of the auxiliary wheel 41 forms an ellipsoid, thereby reducing the space occupied by the auxiliary wheel while maximizing its maximum outer diameter.
[0055] Specifically, the first arm 22 and the second arm 23 are located in the same vertical plane;
[0056] The first arm 22 forms a first angle with the central axis 21, and the second arm 23 forms a second angle with the central axis 21, with the first angle being smaller than the second angle, so that the second rotation axis 42 is higher than the first rotation axis 32.
[0057] Therefore, it can be seen that the auxiliary wheel 41 is positioned using the space above the inner side of the omnidirectional wheel assembly, and the fact that the auxiliary wheel 41 is positioned higher than the omnidirectional wheel 31 does not hinder the mobile robot from crossing obstacles. Figure 1 As shown, the auxiliary wheels 41 can provide height transition support for the mobile robot in the direction of travel, so as to avoid the robot tilting due to excessive amplitude caused by excessive height difference before and after overcoming obstacles.
[0058] Specifically, the first rotation axis 32 and the second rotation axis 42 are parallel and both are orthogonal to the central axis 21. The central axis 21 extends vertically, while the first rotation axis 32 and the second rotation axis 42 extend in a horizontal plane.
[0059] In one embodiment, the caster wheel 31 is mounted on the first rotating shaft 32 via the first rotating bearing 33 to rotate around the first rotating shaft 32;
[0060] The first support arm 22 includes a pair of spaced-apart first forks, and the two ends of the first rotating shaft 32 have flat heads so as to be respectively installed in the first slots 221 at the ends of the first forks;
[0061] The omnidirectional wheel assembly 30 includes omnidirectional wheel trim 34, which is mounted on both ends of the first rotating shaft 32 and fixed to the outer surface of the first fork arm.
[0062] The end of the first rotating shaft 32 is formed into a flat head with two parallel planes whose dimensions correspond to the opening diameter of the first slot 221, so as to restrict the rotation of the first rotating shaft 32 relative to the first support arm 22.
[0063] In one embodiment, the auxiliary wheel 41 is mounted on the second rotating shaft 42 via the second rotating bearing 43 to rotate around the second rotating shaft 42;
[0064] The second arm 23 includes a pair of spaced-apart second forks, and the two ends of the second rotating shaft 42 have flat heads so as to be respectively installed in the second slots 231 at the ends of the second forks;
[0065] The auxiliary wheel assembly 40 includes an auxiliary wheel washer 44, which is mounted on both ends of the second rotating shaft 42 and fixed to the outer surface of the second fork arm.
[0066] The end of the second rotating shaft 42 is formed into a flat head with two parallel planes whose dimensions correspond to the opening diameter of the second slot 231, so as to restrict the rotation of the second rotating shaft 42 relative to the second support arm 23.
[0067] The caster wheel is fixed to the fixed bracket by screws passing through the caster wheel end cap. The auxiliary wheel is fixed to the other side of the fixed bracket by screws passing through the washer. The caster wheel fixed bracket has a first slot and a second slot. The ends of the first rotating shaft and the second rotating shaft are both set as flat heads to form limiting parts installed in the first slot and the second slot.
[0068] The first and second rotating shafts are fixed in position relative to the fixed bracket by the limiting part. The universal wheel 31 is rotatable relative to the first rotating shaft 32 by the first rotating bearing 33, and the auxiliary wheel 41 is rotatable relative to the second rotating shaft 42 by the second rotating bearing 43.
[0069] The first support arm 22 has a pair of spaced-apart first forks, and a first rotation shaft 32 is supported between the pair of first forks and is perpendicular to the first forks. A caster wheel 31 is located between the pair of first forks. The second support arm 23 includes a pair of spaced-apart second forks, and a second rotation shaft 42 is supported between the pair of second forks and is perpendicular to the second forks. An auxiliary wheel 41 is located between the pair of second forks.
[0070] Combination Figure 5 and Figure 7 As shown, the universal wheel decorative piece 34 includes a first positioning shaft 341 and a first limiting part 342 that play a role in fixing and limiting relative to the fixed bracket, and the auxiliary small wheel pad 44 includes a second positioning shaft 441 and a second limiting part 442 that play a role in fixing and limiting relative to the fixed bracket.
[0071] The central shaft 21 is mounted on the mounting base 10 via a sliding bracket 50, and the position of the sliding bracket 50 within the mounting base 10 is adjustable in the vertical direction.
[0072] The central shaft 21 includes a first shaft end and a second shaft end that pass through the sliding bracket. The first shaft end is limited to the sliding bracket 50 by the central shaft retaining spring 51, and the second shaft end is limited to the sliding bracket 50 by the shim set.
[0073] Specifically, the central shaft 21 is rotatably supported on the sliding bracket 50 via a central shaft rotation bearing 54 mounted on the first shaft end and the second shaft end; the gasket assembly includes a first gasket 52 and a second gasket 53 stacked in the vertical direction.
[0074] The diameter of the second shim 53 is smaller than the outer diameter of the central shaft rotating bearing 54, and the second shim 53 fits against the central shaft rotating bearing 54.
[0075] The universal wheel's swivel shaft has a bearing installed at each of its upper and lower ends, which cooperates with the sliding bracket to enable the universal wheel assembly to rotate 360° in the horizontal plane. The axial sliding freedom of the bearing is restricted by the snap ring, the first washer, and the second washer at the shaft end. The diameter of the second washer is smaller than the diameter of the outer ring of the bearing.
[0076] Furthermore, it includes: a magnet 55 mounted on the sliding bracket 50.
[0077] When the robot is lifted, the sliding bracket will slide downward relative to the fixed base of the universal wheel (sliding distance L6). At this time, the Hall effect device inside the machine can detect the change in the magnetic flux of the magnet on the sliding bracket, and thus determine that the robot has been lifted.
[0078] like Figure 1 and Figure 2 As shown, another embodiment of this application also provides a mobile robot, including:
[0079] Fuselage 1, the bottom surface of the fuselage is equipped with at least one such Figure 3 The omnidirectional wheel device shown;
[0080] Among them, under any horizontal rotation angle of the fixed bracket 20, the gap between the outer edge of the auxiliary wheel 41 and the outer edge of the universal wheel 31 and the outer edge of the body 1 remains constant.
[0081] The auxiliary wheels are arc-shaped and do not increase the space they occupy when the caster wheel assembly rotates around its axis. That is, the gap L3 between the auxiliary wheels and the front end of the outer casing does not decrease, the gap L5 between the auxiliary wheels and the side wall of the outer casing does not decrease, and the gap L4 between the auxiliary wheels and the rotating area of the cutting disc does not decrease. The cutting disc is located at the center of the bottom surface of the machine body.
[0082] Both the caster wheel assembly 30 and the auxiliary wheel assembly 40 are rotatably mounted on the fixed bracket 20. The bottom of the fixed bracket 20 has a first arm 22 and a second arm 23 extending outwards. The first arm 22 positions the caster wheel 31 off-center from the central axis 21, so that the caster wheel 31 has an eccentricity M. The radius of the caster wheel 31 is R1, and the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21 is L1 = M + R1. Similarly, the second arm 23 also utilizes the space inside the caster wheel 31. By adjusting the tilt angle and length of the second arm 23, the horizontal distance L2 between the outer edge of the auxiliary wheel 41 and the central axis 21 can be set to be the same as the horizontal distance L1 between the outer edge of the caster wheel 31 and the central axis 21. Through the offset of the caster wheel assembly and the auxiliary wheel 41, the space occupied by the caster wheel assembly remains unchanged when rotating, and the maximum outer diameter of the auxiliary wheel is maximized.
[0083] The detailed descriptions listed above are merely specific descriptions of feasible implementation methods of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementation methods or modifications made without departing from the spirit of the present utility model, such as combinations, divisions or repetitions of features, should be included within the scope of protection of this utility model.
Claims
1. A universal wheel device, characterized in that, include: Mounting base (10); A fixed bracket (20) is 360° horizontally rotatable relative to the mounting base (10) about a central axis (21) extending in the vertical direction. The bottom of the fixed bracket (20) has a first arm (22) and a second arm (23) extending outwardly. The caster assembly (30) includes a caster wheel (31) which is rotatably supported at the end of the first support arm (22) via a first rotating shaft (32); An auxiliary wheel assembly (40) includes an auxiliary wheel (41) which is rotatably supported at the end of the second arm (23) via a second rotating shaft (42); The first arm (22) and the second arm (23) form different acute angles with the central axis (21) respectively, so that the outer edge of the auxiliary wheel (41) and the outer edge of the universal wheel (31) are limited to a constant horizontal distance from the central axis (21) under any horizontal rotation angle of the fixed bracket (20).
2. The universal wheel device according to claim 1, characterized in that, The outer periphery of the auxiliary wheel (41) is an arc segment.
3. The universal wheel device according to claim 1, characterized in that, The first arm (22) and the second arm (23) are located in the same vertical plane; The first arm (22) forms a first angle with the central axis (21), and the second arm (23) forms a second angle with the central axis (21). The first angle is smaller than the second angle, so that the second rotation axis (42) is higher than the first rotation axis (32).
4. The universal wheel device according to claim 3, characterized in that, The first rotation axis (32) is parallel to the second rotation axis (42), and both are orthogonal to the central axis (21).
5. The universal wheel device according to claim 1, characterized in that, The caster wheel (31) is mounted on the first rotating shaft (32) via the first rotating bearing (33) to rotate around the first rotating shaft (32); The first support arm (22) includes a pair of spaced-apart first forks, and the two ends of the first rotating shaft (32) have flat heads so as to be respectively installed in the first slots (221) at the ends of the first forks; The omnidirectional wheel assembly (30) includes omnidirectional wheel decorations (34), which are mounted on both ends of the first rotating shaft (32) and fixed to the outer surface of the first fork arm.
6. The universal wheel device according to claim 1, characterized in that, The auxiliary wheel (41) is mounted on the second rotating shaft (42) via the second rotating bearing (43) to rotate around the second rotating shaft (42); The second arm (23) includes a pair of spaced-apart second forks, and the two ends of the second rotating shaft (42) have flat heads so as to be respectively installed in the second slots (231) at the ends of the second forks; The auxiliary wheel assembly (40) includes auxiliary wheel pads (44), which are mounted on both ends of the second rotating shaft (42) and fixed to the outer surface of the second fork arm.
7. The universal wheel device according to claim 1, characterized in that, The central shaft (21) is mounted on the mounting base (10) via a sliding bracket (50), the position of which within the mounting base (10) is adjustable in the vertical direction; The central shaft (21) includes a first shaft end and a second shaft end passing through the sliding bracket. The first shaft end is limited to the sliding bracket (50) by a central shaft retaining ring (51), and the second shaft end is limited to the sliding bracket (50) by a set of gaskets.
8. The universal wheel device according to claim 7, characterized in that, The central shaft (21) is rotatably supported on the sliding bracket (50) via a central shaft rotation bearing (54) mounted on the first and second shaft ends; the gasket assembly includes a first gasket (52) and a second gasket (53) stacked in the vertical direction. The diameter of the second shim (53) is smaller than the outer diameter of the central shaft rotating bearing (54), and the second shim (53) fits against the central shaft rotating bearing (54).
9. The universal wheel device according to claim 7, characterized in that, include: Magnet (55) installed on the sliding bracket (50).
10. A mobile robot, characterized in that, include: The fuselage (1) is provided with at least one universal wheel device as described in any one of claims 1 to 9 on its bottom surface; Wherein, at any horizontal rotation angle of the fixed bracket (20), the gap between the outer edge of the auxiliary wheel (41) and the outer edge of the universal wheel (31) and the outer edge of the body (1) remains constant.