CN105751815A - Omni wheel of floor sweeping robot - Google Patents
Omni wheel of floor sweeping robot Download PDFInfo
- Publication number
- CN105751815A CN105751815A CN201610280829.0A CN201610280829A CN105751815A CN 105751815 A CN105751815 A CN 105751815A CN 201610280829 A CN201610280829 A CN 201610280829A CN 105751815 A CN105751815 A CN 105751815A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- wheel
- trundle
- omni
- hub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
- B60B2200/40—Articles of daily use
- B60B2200/49—Domestic appliances, e.g. vacuum cleaners
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an omni wheel of a floor sweeping robot.The omni wheel comprises a main rotating shaft and a hub, a through hole is formed in the middle of the hub, the main rotating shaft penetrates through the through hole to be fixedly installed on a bottom shell of the floor sweeping robot, the left side and the right side of the hub are totally provided with eight rolling wheel grooves, and each side is provided with four rolling wheel grooves which are arranged around the main rotating shaft in an annular mode, a small rolling wheel is movably installed inside each rolling wheel groove, the rolling wheel on the left side and the rolling wheel on the right side are arranged in a staggered mode, the center axis of each small rolling wheel is perpendicular to that of the hub, the hub can rotate positively or reversely around the main rotating shaft, and therefore the floor sweeping robot can move forward or backward; meanwhile, the eight small rolling wheels on the left side and the right side rotate, friction between the small rolling wheels at the bottom and the ground exists, the floor sweeping robot is driven to conduct steering without dead corner by 360 degrees, the maneuverability is high, and the response is fast; in addition, the small rolling wheels are arranged in the annular mode, it is guaranteed that the small rolling wheels can make contact with the ground at any time in the rotating process of the hub, the radian of an arc of the peripheral side of each small rolling wheel ranges from 0.69 rad to 0.87 rad, the small rolling wheels fully make contact with the ground, and steering is convenient.
Description
Technical field
The present invention relates to wheel field, be specifically related to the omni-directional wheel of a kind of sweeping robot.
Background technology
Sweeping robot, it is relatively common a kind of household cleaning electrical equipment, in cleaning process, its internal controller can control two trailing wheels of bottom and a front-wheel completes cleaning process by default track, but because indoor barrier is more, usual sweeping robot all needs often to turn to thus avoiding knocking barrier so that damaging, now, trailing wheel generally provides only power, and front-wheel then controls to turn to, but is no matter front-wheel or trailing wheel is that one direction rotates, turn to dumb, response time is slow, and mobility is poor, and service life is not long.
Summary of the invention
In order to solve existing sweeping robot and turn to slowly, the technical barrier such as mobility difference, the invention provides a kind of omni-directional wheel rational in infrastructure, swift, concrete technical scheme is as follows:
A kind of omni-directional wheel of sweeping robot, including main shaft and wheel hub, through hole it is provided with in the middle part of wheel hub, main shaft is fixedly installed in the drain pan of sweeping robot through through hole, and wheel hub the right and left side is provided with 8 roller grooves altogether, and the roller groove of monolateral side has 4,4 roller grooves are around main shaft annular array, being movably installed with trundle in roller groove, the trundle of the left and right sides is crisscross arranged, and the central shaft of trundle and the central shaft of wheel hub are mutually perpendicular to.
Preferably, described trundle outer circumferential side is circular arc, and the radian of circular arc is 0.69～0.87rad.
Preferably, being provided with installing hole in described roller groove, trundle is provided with the auxiliary spindle matched with installing hole, and wheel hub is divided into left part, middle part and right part, and the installing hole half of left side roller groove is located at left part；Second half is located at middle part, and the installing hole half of right roller groove is located at right part；Second half is located at middle part.
Preferably, described trundle includes auxiliary spindle, internal member and rubber wheel, and auxiliary spindle runs through internal member, and internal member outer circumferential side suit rubber wheel, auxiliary spindle is movably installed in installing hole.
Preferably, described left part, right part clamping or be bolted in middle part.
Preferably, described trundle outer circumferential side part is exposed from roller groove, and it is 50%～80% that exposed portion volume accounts for whole trundle volume.
Beneficial effects of the present invention: when sweeping robot uses the omni-directional wheel of the present invention, wheel hub can around main shaft forward or reverse, thus realizing advance or the retrogressing of sweeping robot, simultaneously, 8 trundles of the left and right sides rotate, the trundle of bottom and ground friction, sweeping robot 360 degree is driven to turn to without dead angle, mobility strong, reaction is quick, additionally, trundle annular array, it is ensured that in hub rotation process, trundle at any time can with earth surface, and the radian of trundle outer circumferential side circular arc is 0.69～0.87rad, fully and earth surface, it is simple to turn to.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the present invention；
Fig. 2 is the exploded view of the present invention；
Fig. 3 is the exploded view of the wheel hub of the present invention；
Fig. 4 is the front view of the present invention；
Fig. 5 is the side view of the present invention；
Fig. 6 is the exploded view of the trundle of the present invention；
Fig. 7 is the sectional view of the trundle of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
nullAs depicted in figs. 1 and 2，A kind of omni-directional wheel of sweeping robot，Including main shaft 1 and wheel hub 2，It is provided with through hole in the middle part of wheel hub 2，Main shaft 1 is fixedly installed in the drain pan of sweeping robot through through hole，Wheel hub 2 the right and left side is provided with 8 roller grooves 201 altogether，The roller groove 201 of monolateral side has 4，4 roller grooves 201 are around main shaft 1 annular array，Trundle 3 it is movably installed with in roller groove 201，The central shaft of the central shaft of trundle 3 and wheel hub 2 is mutually perpendicular to，Wheel hub 2 is when main shaft 1 rotates，8 trundles 3 control to turn to，Can fully and earth surface through experimental results demonstrate that monolateral side is provided with 4 trundles of annular array，If the quantity of the trundle 3 that cause is monolateral is less than 4，When the friction of bottom and earth surface previous trundle 3 with wheel hub 2 be rotated away from bottom surface after，Later trundle 3 can not in time and earth surface，There will be one when turning to stagnant，Reduce and turn to mobility；And if the quantity of monolateral trundle 3 more than 4 time, the requirement on machining accuracy of wheel hub 2 is higher, and assemble very time-consuming, and DeGrain.
As shown in Figure 4 and Figure 5, the trundle 3 of the left and right sides is crisscross arranged, trundle 3 outer circumferential side is circular arc, the radian of circular arc is 0.69～0.87rad, trundle 3 outer circumferential side part is exposed from roller groove 201, it is 50%～80% that exposed portion volume accounts for whole trundle 3 volume, being beneficial to trundle 3 can CONTACT WITH FRICTION abundant with ground, wheel hub 2 and earth surface can be avoided simultaneously, if reciprocal frictional force can be subject to during because of the wheel hub 2 rotated and earth surface, the direction of this active force is inconsistent with the rotation direction of trundle 3, the turnaround time of omni-directional wheel can be reduced, omni-directional wheel even can be made time serious not turn to.
As it is shown on figure 3, be provided with installing hole 202 in roller groove 201, trundle 3 is provided with the auxiliary spindle 31 matched with installing hole 202, and wheel hub 2 is divided into left part 22, middle part 21 and right part 23, left part 22 clamping or be bolted in middle part 21, right part 23 clamping or be bolted in middle part 21.Installing hole 202 half of left side roller groove 201 is located at left part；Second half is located at middle part, the auxiliary spindle 31 of trundle 3 be pre-installed in middle part 21 half installing hole 202 in carry out pre-determined bit, cover left part 22 afterwards, auxiliary spindle 31 penetrates in installing hole 202 completely, preventing trundle 3 from dropping, right side trundle 3 installation method is identical with left side trundle 3.
As shown in Figure 6 and Figure 7, trundle 3 includes auxiliary spindle 31, internal member 32 and rubber wheel 33, auxiliary spindle 31 is movable installs installing hole 22, auxiliary spindle 31 runs through internal member 32, internal member 32 one annulus of outer socket, internal member 32 outer circumferential side suit rubber wheel 33, rubber wheel 33 contacts with ground friction, internal member 32 prevents the rubber wheel 33 rotated from directly torsional forces is acted on auxiliary spindle 31, and auxiliary spindle 31 causes fatigue damage, rubber wheel 33 difficult drop-off.
Above content is in conjunction with concrete preferred implementation further description made for the present invention; it cannot be assumed that specific embodiment of the invention is confined to these explanations; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. the omni-directional wheel of a sweeping robot, including main shaft and wheel hub, through hole it is provided with in the middle part of wheel hub, main shaft is fixedly installed in the drain pan of sweeping robot through through hole, it is characterised in that: wheel hub the right and left side is provided with 8 roller grooves altogether, and the roller groove of monolateral side has 4,4 roller grooves are around main shaft annular array, being movably installed with trundle in roller groove, the trundle of the left and right sides is crisscross arranged, and the central shaft of trundle and the central shaft of wheel hub are mutually perpendicular to.
2. the omni-directional wheel of a kind of sweeping robot according to claim 1, it is characterised in that: described trundle outer circumferential side is circular arc, and the radian of circular arc is 0.69～0.87rad.
3. the omni-directional wheel of a kind of sweeping robot according to claim 1, it is characterized in that: in described roller groove, be provided with installing hole, trundle is provided with the auxiliary spindle matched with installing hole, and wheel hub is divided into left part, middle part and right part, and the installing hole half of left side roller groove is located at left part；Second half is located at middle part, and the installing hole half of right roller groove is located at right part；Second half is located at middle part.
4. the omni-directional wheel of a kind of sweeping robot according to claim 3, it is characterised in that: described trundle includes auxiliary spindle, internal member and rubber wheel, and auxiliary spindle runs through internal member, and internal member outer circumferential side suit rubber wheel, auxiliary spindle is movably installed in installing hole.
5. the omni-directional wheel of a kind of sweeping robot according to claim 3, it is characterised in that: described left part, right part clamping or be bolted in middle part.
6. the omni-directional wheel of a kind of sweeping robot according to claim 1, it is characterised in that: described trundle outer circumferential side part is exposed from roller groove, and it is 50%～80% that exposed portion volume accounts for whole trundle volume.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610280829.0A CN105751815A (en) | 2016-04-29 | 2016-04-29 | Omni wheel of floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610280829.0A CN105751815A (en) | 2016-04-29 | 2016-04-29 | Omni wheel of floor sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105751815A true CN105751815A (en) | 2016-07-13 |
Family
ID=56326258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610280829.0A Withdrawn CN105751815A (en) | 2016-04-29 | 2016-04-29 | Omni wheel of floor sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105751815A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314024A (en) * | 2016-09-12 | 2017-01-11 | 常州摩本智能科技有限公司 | Omnidirectional mobile device |
| CN106985608A (en) * | 2017-04-14 | 2017-07-28 | 常州市吉庆机电有限公司 | A kind of universal wheel |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
| WO2018058386A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市工匠社科技有限公司 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
| CN108068539A (en) * | 2017-10-30 | 2018-05-25 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
| CN108567526A (en) * | 2017-03-12 | 2018-09-25 | 广东凯洋医疗科技集团有限公司 | Drive assembly after a kind of wheelchair vehicle intelligence |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| JP2020138729A (en) * | 2019-03-01 | 2020-09-03 | 達闥科技（北京）有限公司Ｃｌｏｕｄｍｉｎｄｓ （Ｂｅｉｊｉｎｇ） Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｃｏ．， Ｌｔｄ． | Caster module and robot |
| CN113752746A (en) * | 2020-06-05 | 2021-12-07 | 鸿富锦精密电子(天津)有限公司 | Omnidirectional wheel and movable device applying same |
| CN114472377A (en) * | 2022-01-17 | 2022-05-13 | 德州职业技术学院（德州市技师学院） | Ultrasonic dust removal equipment for cleaning pipeline |
-
2016
- 2016-04-29 CN CN201610280829.0A patent/CN105751815A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314024A (en) * | 2016-09-12 | 2017-01-11 | 常州摩本智能科技有限公司 | Omnidirectional mobile device |
| WO2018058386A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市工匠社科技有限公司 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
| CN108567526A (en) * | 2017-03-12 | 2018-09-25 | 广东凯洋医疗科技集团有限公司 | Drive assembly after a kind of wheelchair vehicle intelligence |
| CN106985608A (en) * | 2017-04-14 | 2017-07-28 | 常州市吉庆机电有限公司 | A kind of universal wheel |
| CN107804117A (en) * | 2017-04-14 | 2018-03-16 | 常州市吉庆机电有限公司 | A kind of universal wheel |
| CN107745608A (en) * | 2017-10-30 | 2018-03-02 | 桂林电子科技大学 | Omnidirectional's wheel load capacity improves structure |
| CN108068539A (en) * | 2017-10-30 | 2018-05-25 | 深圳市工匠社科技有限公司 | A kind of small-sized double omni-directional wheel |
| WO2019085477A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市工匠社科技有限公司 | Chassis for omnidirectional movement, and miniature double-row omnidirectional wheel for same |
| JP2020138729A (en) * | 2019-03-01 | 2020-09-03 | 達闥科技（北京）有限公司Ｃｌｏｕｄｍｉｎｄｓ （Ｂｅｉｊｉｎｇ） Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｃｏ．， Ｌｔｄ． | Caster module and robot |
| CN113752746A (en) * | 2020-06-05 | 2021-12-07 | 鸿富锦精密电子(天津)有限公司 | Omnidirectional wheel and movable device applying same |
| CN114472377A (en) * | 2022-01-17 | 2022-05-13 | 德州职业技术学院（德州市技师学院） | Ultrasonic dust removal equipment for cleaning pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160713 |
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| WW01 | Invention patent application withdrawn after publication |