The invention discloses a universal wheel unit and a robot. The universal wheel unit comprises a connecting piece; the wheel carrier is rotatably connected to the connecting piece, and the rotating axis of the wheel carrier is arranged in the first direction; the rolling pieces are arranged on the wheel frame in a rolling mode and provided with rolling center points, the number of the rolling pieces is N, and the N sets of rolling pieces are not in linkage; wherein the rolling center points of the N groups of rolling elements are sequentially arranged along a second direction, the second direction is perpendicular to the first direction, and N is a positive integer greater than or equal to 2; the point, farthest from the connecting piece in the first direction, of each rolling piece is a rolling far point, the distance between the rolling far point and the connecting piece in the first direction is a far point distance, and the far point distances of the N sets of rolling pieces in the second direction are gradually increased or gradually decreased. According to the universal wheel unit provided by the embodiment of the invention, the obstacle crossing ability can be improved, the occupied space is small, and the adaptive capacity to the environment can also be improved.
本发明公开了一种万向轮单元及机器人。万向轮单元包括:连接件;轮架,轮架可转动地连接在连接件上,轮架的旋转轴线沿第一方向设置;滚动件,滚动件可滚动地设置在轮架上且具有滚动中心点,滚动件为N组,N组滚动件互不联动;其中,N组滚动件的滚动中心点沿第二方向依次排布,第二方向与第一方向相垂直,N为大于等于2的正整数;每个滚动件在第一方向上与连接件距离最远的点为滚动远点,滚动远点与连接件在第一方向上的距离为远点距离,在第二方向上N组滚动件的远点距离逐渐变大或者逐渐减小。根据本发明实施例的万向轮单元,可提高其越障能力,且占用空间小,还能提高对环境适应能力。
Universal wheel unit and robot
万向轮单元及机器人
2022-12-20
Patent
Electronic Resource
Chinese
IPC: | B60B VEHICLE WHEELS , Räder für Fahrzeuge |
Universal wheel, fork arm provided with universal wheel and vehicle carrying robot
European Patent Office | 2021
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