Universal wheel, running mechanism and autonomous mobile transportation robot

摘要

The present disclosure includesUniversal wheelRegarding running mechanism and autonomous mobile transportation robotUniversal wheelHolder andEquipped with a roller mounted on the holder through a wheel shaftUniversal wheelFurther comprising a first hinge structure and a second hinge structureThe first hinge structure defines a first rotation axis perpendicular to the axis of the wheel axisA second hinge axis defines a second axis of rotation parallel to the first axis of rotationThe holder is connected to the second hinge structure through a first hinge structureHolder with rollerYou can rotate around the first rotation axisAndThe holder includes the roller and the first hinge structureYou can rotate around the second rotation axisThe reference rotation axis passing through the center point of the roller andFirst rotation axisThe second axis is parallel to each other but not collinearThe reference rotation axis passes the landing point of the roller.The universal wheel according to the present disclosure avoids unwanted rocking during the course of steering of the running mechanism, thereby ensuring progressive stability.Diagram