阅读说明：本技术 一种可爬阶万向轮组 (Universal wheel set capable of climbing steps ) 是由 不公告发明人 于 2020-12-08 设计创作，主要内容包括：本发明提供了一种可爬阶万向轮组,属于一般脚轮技术领域,包括行走轮,所述行走轮的前进方向上装有辅助块,在垂直于辅助块所在平面的侧向水平投影上辅助块前端面超过行走轮前端面；辅助块前下端面向后下倾斜,且在该前端面上有向内凹陷的导向部。本发明通过极为简单的辅助块即可有效实现上台阶,对原有技术改动小,整体成本低,结构简洁、工作稳定可靠,无论是平地行进还是上台阶均不影响改进前的原有灵活性,对原有结构的体积改变极小,适用范围广。(The invention provides a universal wheel group capable of climbing steps, which belongs to the technical field of common trundles and comprises a travelling wheel, wherein an auxiliary block is arranged in the advancing direction of the travelling wheel, and the front end surface of the auxiliary block exceeds the front end surface of the travelling wheel on the lateral horizontal projection perpendicular to the plane where the auxiliary block is arranged; the front lower end surface of the auxiliary block inclines backwards and downwards, and an inwards concave guide part is arranged on the front end surface. The invention can effectively realize the step climbing through the extremely simple auxiliary block, has small change on the prior art, low overall cost, simple structure, stable and reliable work, does not influence the original flexibility before improvement no matter the vehicle runs on the flat ground or climbs the step, has extremely small change on the volume of the original structure and has wide application range.)

1. The utility model provides a universal wheelset of can climbing rank, includes walking wheel (11), its characterized in that: an auxiliary block (21) is arranged in the advancing direction of the travelling wheel (11), and the front end face of the auxiliary block (21) exceeds the front end face of the travelling wheel (11) on the lateral horizontal projection of a plane where the auxiliary block (21) is vertical to; the front lower end surface of the auxiliary block (21) is inclined downward and backward, and the front end surface is provided with an inward concave guide part (31).

2. The climbable caster set of claim 1, wherein: the auxiliary block (21) is triangular or fan-shaped.

3. The climbable caster set of claim 1, wherein: the lower end of the auxiliary block (21) is lower than the rotating shaft of the travelling wheel (11).

4. The climbable caster set of claim 1, wherein: the auxiliary block (21) is rotatably fixed by an auxiliary rotating wheel (22), and a torsion spring is arranged in the auxiliary rotating wheel (22).

5. The climbable caster set of claim 1, wherein: a plurality of guide wheels (24) are arranged on the front lower end face of the auxiliary block (21), and a guide part (31) is formed among the guide wheels (24).

6. The climbable caster set of claim 1, wherein: the front end of the auxiliary block (21) is a vertical plane or an arc surface.

7. The climbable caster set of claim 6, wherein: the front end of the auxiliary block (21) is provided with a front end wheel (23).

8. The climbable caster set of claim 4, wherein: the auxiliary rotating wheel (22) is positioned right above the traveling wheel (11).

9. The climbable caster set of claim 2, wherein: a protective groove (25) is formed in the top of the auxiliary block (21), and the shape of the protective groove (25) is matched with that of a horizontal rotating assembly (12) on the traveling wheel (11).

10. The climbable caster set of claim 4, wherein: the distance between the lower end of the auxiliary block (21) and the auxiliary rotating wheel (22) is smaller than the diameter of the walking wheel (11) and larger than the radius of the walking wheel (11).

Technical Field

The invention relates to a universal wheel set capable of climbing steps, and belongs to the technical field of common trundles.

Background

The existing robot can move freely on the flat ground, if the robot wants to run on the ground with certain steps, the wheels must be enlarged or changed into a crawler-type structure to increase the trafficability of the robot, for example, the utility model with application number CN201820137379.4 discloses a composite rolling wheel, which adopts the means that universal wheels are uniformly distributed on the circumference of a wheel disc, however, the size of the scheme is obviously overlarge, and the wheels are enlarged in a phase-changing way.

However, in practical application, the space occupied by the wheels is large when the diameters of the wheels are increased, the structure of other parts is seriously extruded when the size of the robot is fixed, the gravity center of the robot moves upwards due to the fact that the wheels occupy the large space, the robot is not favorable for stable movement, a crawler-type structure is used, the structure is complex, and movement is not flexible.

Disclosure of Invention

In order to solve the technical problems, the invention provides the universal wheel set capable of climbing steps, which can effectively realize climbing steps through the extremely simple auxiliary block, has small change on the prior art, low overall cost, simple structure and stable and reliable work.

The invention is realized by the following technical scheme.

The invention provides a universal wheel set capable of climbing steps, which comprises a travelling wheel, wherein an auxiliary block is arranged in the advancing direction of the travelling wheel, and the front end surface of the auxiliary block exceeds the front end surface of the travelling wheel on the lateral horizontal projection perpendicular to the plane of the auxiliary block; the front lower end surface of the auxiliary block inclines backwards and downwards, and an inwards concave guide part is arranged on the front end surface.

The auxiliary block is triangular or fan-shaped.

The lower end of the auxiliary block is lower than the rotating shaft of the travelling wheel.

The auxiliary block is rotatably fixed by an auxiliary rotating wheel, and a torsional spring is arranged in the auxiliary rotating wheel.

A plurality of guide wheels are arranged on the front lower end face of the auxiliary block, and guide parts are formed among the guide wheels.

The front end of the auxiliary block is a vertical plane or an arc surface.

The front end of the auxiliary block is provided with a front end wheel.

The auxiliary rotating wheel is positioned right above the traveling wheel.

A protective groove is formed in the top of the auxiliary block, and the shape of the protective groove is matched with that of a horizontal rotating assembly on the travelling wheel.

The distance between the lower end of the auxiliary block and the auxiliary rotating wheel is smaller than the diameter of the walking wheel and larger than the radius of the walking wheel. The invention has the beneficial effects that: the auxiliary block can effectively realize the step climbing, the change of the prior art is small, the whole cost is low, the structure is simple, the work is stable and reliable, the original flexibility before the improvement is not influenced no matter the ground is advanced or the step climbing is carried out, the change of the volume of the original structure is extremely small, and the application range is wide.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of one embodiment of the present invention;

FIG. 3 is a view illustrating the state of FIG. 2 in a flat state;

fig. 4 is a schematic view of fig. 2 in a stepped state.

In the figure: 11-a traveling wheel, 12-a horizontal rotating assembly, 13-a mounting rod, 21-an auxiliary block, 22-an auxiliary rotating wheel, 23-a front end wheel, 24-a guide wheel, 25-a protective groove, 31-a guide part and 32-a protective part.

Detailed Description

The invention will be further explained with reference to the drawings.

The universal wheel set capable of climbing steps as shown in fig. 1 comprises a walking wheel 11, wherein an auxiliary block 21 is arranged in the advancing direction of the walking wheel 11, and the front end surface of the auxiliary block 21 exceeds the front end surface of the walking wheel 11 on the lateral horizontal projection of the plane where the auxiliary block 21 is positioned; the auxiliary block 21 is inclined rearward and downward at its front lower end surface, and has an inwardly recessed guide portion 31 on its front end surface.

From this, when walking wheel 11 met the step at the in-process of advancing, the slope of terminal surface down before supplementary piece 21 was passed through to the border position on the step for the step becomes the incline direction resistance to walking wheel 11's horizontal resistance, thereby can be to walking wheel 11 application of force in the vertical direction, realize the promotion to walking wheel 11.

Preferably, the auxiliary block 21 has a triangular shape or a fan shape. Generally, it is not impossible to adopt other shapes and structures for the auxiliary block 21, but the triangle or the fan shape is significantly superior to other structures in the present invention as the simplest and the least processing cost solution.

Further, in order to ensure that the lifting is in place, the situation that the resistance is too large due to the fact that the vertical surface of the step is in direct contact with the front end face of the walking wheel 11 from the horizontal direction is avoided, and the lower end of the auxiliary block 21 is lower than the rotating shaft of the walking wheel 11.

Furthermore, during the lifting process, the downward rotation of the auxiliary block 21 is more beneficial to the transformation of the resistance direction, so that the auxiliary block 21 is rotatably fixed by the auxiliary rotating wheel 22, and the auxiliary rotating wheel 22 is internally provided with a torsion spring.

Preferably, rolling friction is used instead of sliding friction, which is labor-saving and causes less wear, so that the guide wheels 24 are mounted on the front lower end surface of the auxiliary block 21, and the guide portion 31 is formed between the guide wheels 24.

For the too high step, the step edge is higher than the front lower end surface of the auxiliary block 21, and the front end of the auxiliary block 21 directly contacts the vertical surface of the step, so in order to reduce the damage to the auxiliary block 21 caused by the contact, the front end of the auxiliary block 21 is a vertical plane or an arc surface.

Further, in the case of the above-mentioned over-height step, it is preferable to lift the auxiliary block 21 to a position where the edge of the step contacts the front lower end surface of the auxiliary block 21, and the installation of the roller obviously facilitates the lifting operation of the auxiliary block 21 in this case, and the front end of the auxiliary block 21 is installed with the front end wheel 23. Meanwhile, the front end wheel 23 can also play a role in collision buffering.

As a solution for optimizing the rotation axis of the auxiliary mass 21, the auxiliary runner 22 is located directly above the road wheels 11. As an optimal scheme for convenient installation and interference avoidance, the top of the auxiliary block 21 is provided with a protective groove 25, and the shape of the protective groove 25 is matched with that of the horizontal rotating assembly 12 on the road wheel 11.

Preferably, to ensure that the rotation of the auxiliary block 21 does not obstruct the traveling of the road wheels 11, the distance between the lower end of the auxiliary block 21 and the auxiliary wheel 22 is smaller than the diameter of the road wheels 11 and larger than the radius of the road wheels 11.

Example 1

As shown in fig. 1, the walking wheel comprises a walking wheel 11, an auxiliary block 21 is arranged on the walking wheel 11 in the advancing direction, and the front end surface of the auxiliary block 21 exceeds the front end surface of the walking wheel 11 on the lateral horizontal projection perpendicular to the plane of the auxiliary block 21; the auxiliary block 21 has a front lower end surface inclined downward rearward, and three inwardly recessed guide portions 31 on the front end surface.

The front lower end surface of the auxiliary block 21 inclines backwards and downwards so that a part of horizontal pulling force of the mounting rod 13 on the traveling wheel 11 is converted into vertical lifting pulling force on the traveling wheel 11; the guide part 31 can guide the position of hard collision at the edge of the step, and the groove formed on the front lower end surface of the auxiliary block 21 in the long-term use process is avoided.

Example 2

The scheme of the embodiment 1 is adopted, the auxiliary block 21 is rotatably fixed by the auxiliary rotating wheel 22, and the auxiliary rotating wheel 22 is internally provided with a torsion spring.

Based on the rotation of the auxiliary block 21, the proportion of converting the horizontal pulling force into the vertical lifting pulling force is further increased, and the labor is saved.

Example 3

The scheme of the embodiment 1 is adopted, a plurality of guide wheels 24 are arranged on the front lower end surface of the auxiliary block 21, a guide part 31 is formed among the guide wheels 24, and a front end wheel 23 is arranged on the front end of the auxiliary block 21 to form a protection part 32. Based on the rolling of the guide wheel 24, the friction force of the step edge in the lifting process is reduced, and meanwhile, the proportion of converting the horizontal pulling force into the vertical lifting pulling force is increased.

Example 4

As shown in fig. 2, adopting the combination of the above embodiments, which is the most preferable solution of the present invention, the traveling wheel 11 is mounted to the structure such as the trunk or the robot leg through the mounting rod 13, and the operation principle thereof is as shown in fig. 3 and 4, when traveling on flat ground, the auxiliary block 21 is in a relatively high position under the action of the torsion spring, and the traveling wheel 11 provides horizontal pulling force through the mounting rod 13 and is guided by the horizontal rotating assembly 12; when a step is met, the auxiliary block 21 rotates downwards to lift the travelling wheel 11 based on the limit of the guide part 31, meanwhile, the guide wheel 24 rolls to realize the alternative rolling of the travelling wheel 11, and the auxiliary block 21 rotates to return under the action of the torsion spring after the step is formed.