CN219237161U

CN219237161U - Running gear and self-walking equipment

Info

Publication number: CN219237161U
Application number: CN202223108539.8U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Jiuwei Technology Suzhou Co ltd
Current assignee: Jiuwei Technology Suzhou Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-06-23
Anticipated expiration: 2032-11-23

Abstract

The application provides a walking device, which comprises a steering assembly and at least two wheels, wherein each wheel is provided with a central axis and an annular contact surface; the central axis passes through a space surrounded by the corresponding contact surface; the contact surface is contacted with the ground when the wheel walks; the central axis and the ground are arranged at an included angle; the line connecting the centers of the two wheels is defined as the axis; the steering assembly is configured to drive the wheels to change the included angle between the central axis and the coupling line, so that the traveling device does linear motion or curved motion; when the walking device moves linearly, the central axes of at least two wheels are parallel; when the running gear makes a curved motion, the central axes of at least two wheels are not parallel. Steering is realized by changing the inclination direction of the wheels, and the steering angle is accurate.

Description

Running gear and self-walking equipment

Technical Field

The application relates to the technical field of mechanical movement, in particular to a walking device and self-walking equipment.

Background

Along with the improvement of living standard, more and more self-walking intelligent devices enter the life of people, thereby bringing great convenience for people. The self-walking equipment can finish tasks appointed by a user within a certain range according to the instruction and can automatically move according to a preset program within the appointed range. The steering of the existing self-walking equipment is usually realized by virtue of differential rotation of a pair of power wheels, the steering precision is low, the steering precision is easily interfered by the actual working environment, the steering is easy to slip on a smooth ground, and the steering is not easy to control. On the other hand, most of the power wheels are embedded in the self-walking equipment, occupy a large space and are not beneficial to the layout of other components in the equipment.

Disclosure of Invention

The application provides a running gear and walk equipment by oneself, realizes turning to from running equipment through the incline direction who changes the wheel, turns to the angle accuracy.

The application provides a walking device, which comprises a steering assembly and at least two wheels, wherein each wheel is provided with a central axis and an annular contact surface; the central axis passes through a space surrounded by the corresponding contact surface; the contact surface is contacted with the ground when the wheel walks; the central axis and the ground are arranged at an included angle; the line connecting the centers of the wheels is defined as a connecting axis;

the steering assembly is configured to drive the wheels to change the included angle between the central axis and the coupling line, so that the traveling device does linear motion or curved motion;

when the walking device moves linearly, the central axes of at least two wheels are parallel; when the running gear makes a curved motion, the central axes of at least two wheels are not parallel.

Further is: the included angle between the central axis and the ground is more than or equal to 3 degrees and less than 90 degrees.

Further is: the included angle between the central axis and the coupling line is more than or equal to 3 degrees and less than or equal to 177 degrees.

Further is: the steering assembly comprises a first turnover mechanism and a second turnover mechanism; the wheel is fixedly connected with the first turnover mechanism; the first turnover mechanism is arranged on the second turnover mechanism;

the first tilting mechanism is configured to rotate the wheel about a first axis; the second flipping mechanism is configured to rotate the first flipping mechanism and the wheel about a second axis; the first axis is perpendicular to a central axis of the wheel; the second axis is perpendicular to the first axis and the central axis of the wheel.

Further is: the first turnover mechanism comprises a first motor and a first turnover shaft; the first overturning shaft is fixedly connected with the wheel; the first motor drives the first overturning shaft to rotate around the first axis.

Further is: the second turnover mechanism comprises a second motor and a second turnover block; the first motor is fixedly arranged on the second overturning block; the first overturning shaft is rotatably supported on the second overturning block through a bearing; the second motor is configured to drive the second flipping block to rotate about a second axis.

Further is: the steering assembly further includes a base; the second motor is fixedly arranged on the base; the second tilting shaft is rotatably supported to the base through a bearing.

Further is: the device also comprises a power mechanism; the power mechanism is configured to drive the wheel to rotate.

Further is: the power mechanism is an outer rotor hub motor; the wheel is in power connection with an outer rotor of the hub motor.

The application also provides self-walking equipment which comprises a shell, and a working assembly, an energy assembly and an auxiliary wheel which are arranged in the shell; the walking device is also included; the steering assembly is fixedly connected with the shell; the energy source assembly is configured to power the working assembly and the running gear.

The beneficial effects of this application are: the axis of wheel is the contained angle setting with ground in this application, and the wheel keeps the slope promptly, can change the direction of advance through the contained angle that changes axis and allies oneself with the axis, realizes 360 and turns to, and the steering angle is controlled by first motor and second motor, turns to accurate reliably. On the other hand, the wheel slope of this application sets up, and it is less in vertical direction occupation space, can let more space for the overall arrangement of other subassemblies in the self-walking equipment.

Drawings

Fig. 1 is a schematic structural view of a walking device according to an embodiment of the present application;

fig. 2 is a schematic cross-sectional view of a self-walking device having the walking device shown in fig. 1.

The reference numerals in the drawings are: 110. a wheel; 120. a power mechanism; 201. a base; 210. a first motor; 220. a first inversion shaft; 230. a second motor; 240. a second flipping block; 310. a housing; 320. an auxiliary wheel; l1, a first axis; l2, second axis.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "plurality" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and/or "upper" and the like are merely for convenience of description and are not limited to one location or one spatial orientation. The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

The application provides a walking device, as shown in fig. 1, comprising a steering assembly and at least two wheels 110, wherein each wheel 110 is provided with a central axis and an annular contact surface; the central axis passes through a space surrounded by the corresponding contact surface; the contact surface is in contact with the ground when the wheel 110 is walking; the central axis and the ground are arranged at an included angle, namely, the wheel 110 is obliquely arranged, and the included angle between the central axis and the ground is more than or equal to 3 degrees and less than 90 degrees; the line of the centers of the wheels 110 is defined as a linkage axis; the steering assembly is configured to drive the wheels 110 to change the angle between the central axis and the link axis, thereby changing the advancing direction of the running gear, so that the running gear moves in a straight line or a curved line.

The running gear in this embodiment includes a steering assembly and two wheels 110, the included angles between the central axes of the two wheels 110 and the ground are 85 °, and when the running gear makes a linear motion, the central axes of the two wheels 110 are parallel (i.e. the inclination directions of the two wheels 110 are the same); when the running gear moves in a curve, the central axes of the two wheels 110 are not parallel (i.e., the inclination directions of the two wheels 110 are not the same). In the running process of the running gear, the included angle between the central axes of the two wheels and the connecting axis is 85 degrees at the minimum and 95 degrees at the maximum.

The running gear in another embodiment includes steering assembly and two wheels 110, and the axis of two wheels 110 is 45 with the contained angle on ground, and during running gear motion, the axis of two wheels is minimum 45 with the axis of alliing oneself with, is 135 at most. In other embodiments, the running gear may include three or more wheels 110, where the angle between the central axis of the wheels and the ground may be 60 °, 20 °, or 3 °, and the angle between the central axes of the wheels 110 and the axis of the linkage may be 3 ° or more and 177 ° or less during the running gear movement.

On the basis of the above, as shown in fig. 1, the steering assembly comprises a first tilting mechanism and a second tilting mechanism; the wheel 110 is fixedly connected with the first turnover mechanism; the first turnover mechanism is arranged on the second turnover mechanism; the first flipping mechanism is configured to rotate the wheel 110 about a first axis L1; the second flipping mechanism is configured to rotate the first flipping mechanism and the wheel 110 about a second axis L2; the first axis L1 is perpendicular to the central axis of the wheel 110; the second axis L2 is perpendicular to the first axis L1 and the central axis of the wheel 110.

As shown in fig. 1, in the present embodiment, the first tilting mechanism includes a first motor 210 and a first tilting shaft 220; the first turning shaft 220 is fixedly connected with the wheel 110; the first motor 210 drives the first rotating shaft 220 to rotate around the first axis L1. The second tilting mechanism includes a second motor 230 and a second tilting block 240; the first motor 210 is fixedly mounted on the second overturning block 240; the first turning shaft 220 is rotatably supported to the second turning block 240 through a bearing; the second motor 230 is configured to drive the second flipping block 240 to rotate about the second axis L2. The first flipping shaft 220 is flipped around the second axis L2 along with the second flipping block 240, and is also rotated around the first axis L1 under the driving of the first motor 210. The steering assembly further comprises a base 201; the second motor 240 is fixedly mounted on the base 201; the second flipping block 240 is rotatably supported to the base 201 by a bearing.

The first motor 210 turns the wheel 110 around the first axis L1 to change an angle between the central axis of the wheel 110 and a first vertical plane passing through the first axis L1, and the second motor 230 turns the wheel 110 around the second axis L2 to change an angle between the central axis of the wheel 110 and a second vertical plane passing through the second axis L2, so that the direction of the central axis of the wheel 110 (i.e., the tilting direction of the wheel 110) is changed, 360 ° steering can be achieved, and the steering angle is controlled by the first motor 210 and the second motor 230, and steering accuracy is reliable.

The running gear in this embodiment further includes a power mechanism 120; the power mechanism 120 is configured to drive the wheels 110 in rotation to move the running gear, so that the wheels 110 act as both steering and power wheels. In actual use, the power mechanism 120 can always rotate along a certain direction of the driving wheel 110, and can also rotate along the forward direction or the reverse direction of the driving wheel 110, and the steering is realized by matching with the steering assembly.

The power mechanism 120 in the embodiment is an external rotor hub motor, and the wheel 110 is in power connection with the external rotor of the hub motor to realize rotation, so that transmission elements can be omitted, and the structure of the running gear is simplified. Other forms of motors may be used in other embodiments as a power mechanism for rotation of the drive wheel 110.

The present application also provides a self-walking device, as shown in fig. 2, including a housing 310, and a working assembly, an energy assembly and an auxiliary wheel 320 disposed in the housing 310; the walking device is also included; the steering assembly is fixedly connected with the shell; the energy source assembly is configured to power the working assembly and the running gear. The self-walking device in this embodiment is a sweeping robot, and in other embodiments may be a self-walking intelligent mower or the like.

The foregoing description is only a preferred embodiment of the present application, and is not intended to limit the utility model to the particular embodiment disclosed, but is not intended to limit the utility model to the particular embodiment disclosed, as the equivalent of some alterations or modifications can be made without departing from the scope of the present application.

Claims

1. The utility model provides a running gear, includes steering assembly and at least two wheels, its characterized in that:

each wheel is provided with a central axis and an annular contact surface; the central axis passes through a space surrounded by the corresponding contact surface; the contact surface is contacted with the ground when the wheel walks; the central axis and the ground are arranged at an included angle; the line connecting the centers of the two wheels is defined as the axis;

2. A running gear according to claim 1, wherein: the included angle between the central axis and the ground is more than or equal to 3 degrees and less than 90 degrees.

3. A running gear according to claim 1, wherein: the included angle between the central axis and the coupling line is more than or equal to 3 degrees and less than or equal to 177 degrees.

4. A running gear according to claim 1, wherein: the steering assembly comprises a first turnover mechanism and a second turnover mechanism; the wheel is fixedly connected with the first turnover mechanism; the first turnover mechanism is arranged on the second turnover mechanism;

5. The running gear of claim 4 wherein: the first turnover mechanism comprises a first motor and a first turnover shaft; the first overturning shaft is fixedly connected with the wheel; the first motor drives the first overturning shaft to rotate around the first axis.

6. The running gear of claim 5, wherein: the second turnover mechanism comprises a second motor and a second turnover block; the first motor is fixedly arranged on the second overturning block; the first overturning shaft is rotatably supported on the second overturning block through a bearing; the second motor is configured to drive the second flipping block to rotate about a second axis.

7. The running gear of claim 6, wherein: the steering assembly further includes a base; the second motor is fixedly arranged on the base; the second turning block is rotatably supported to the base through a bearing.

8. A running gear according to claim 1, wherein: the device also comprises a power mechanism; the power mechanism is configured to drive the wheel to rotate.

9. The running gear of claim 8, wherein: the power mechanism is an outer rotor hub motor; the wheel is in power connection with an outer rotor of the hub motor.

10. A self-walking device comprises a shell, a working assembly, an energy assembly and an auxiliary wheel; the method is characterized in that: further comprising a running gear according to any one of claims 1 to 9; the steering assembly is fixedly connected with the shell; the energy source assembly is configured to power the working assembly and the running gear.