Robotic wheel and agricultural robot

Abstract

The utility model relates to robot technical field provides a kind of robot wheel and agricultural robot.The robot wheel described above, including: wheel hub and a pair of rubber wheel, the wheel hub includes: a pair of first rolling part and second rolling part, a pair of the first rolling part is parallelly arranged, the two ends of the second rolling part are connected with a pair of the first rolling part respectively, the diameter of the second rolling part is less than the diameter of the first rolling part, to make a pair of the first rolling part between formation first annular groove, the shape of the first annular groove is compatible with the shape of the heating track, the first annular groove is used to be connected with the heating track rolling;Each rubber wheel is sleeved on the outside of the first rolling part described above.The robot wheel described above, not only can walk on the heating track in greenhouse, also can walk on farmland ground, solves the problem that existing wheel can only adapt to single ground, widens the application environment of robot wheel.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot wheel and an agricultural robot. Background Technology

[0002] Currently, agricultural robots are widely used in environments such as greenhouses and farms. Existing robot wheels are mainly divided into two categories: one is a wheel specifically designed for heating tracks in glass greenhouses, and the other is a wheel for ordinary ground use. However, both types of wheels have certain limitations.

[0003] For dedicated track wheels, existing ones are generally made of metal or special alloys and have grooves that match the track, allowing the wheels to run stably on heated tracks. However, these wheels are poorly adapted to ordinary farmland. When the metal hub contacts the ground, it is prone to slippage, causing instability in robot movement, especially in wet or uneven farmland where grip is insufficient. Due to the design limitations of the wheels, the robot cannot flexibly adapt to changes in the greenhouse environment, exhibiting poor stability and inefficient operation, particularly when ground conditions are unfavorable.

[0004] Existing conventional ground wheels, especially those with solid rubber or pneumatic tires, are typically designed to provide excellent grip and vibration damping, adapting to various ground conditions. These wheels offer good stability and can withstand heavy loads, making them particularly adaptable to unpaved farmland. However, when traveling on heated tracks, these wheels struggle to maintain stable adhesion, hindering the robot's efficient operation. This singular adaptability severely limits the multifunctional application of agricultural robots in diverse working environments. Therefore, developing a novel robotic wheel capable of traversing both heated tracks and farmland surfaces has become a pressing issue in the industry. Utility Model Content

[0005] This invention provides a robot wheel and an agricultural robot to address the shortcomings of poor adaptability of robot wheels in the prior art.

[0006] This utility model provides a robot wheel, comprising: a hub, the hub including: a pair of first rolling parts and a second rolling part, the pair of first rolling parts being arranged in parallel, the two ends of the second rolling part being respectively connected to the pair of first rolling parts, the diameter of the second rolling part being smaller than the diameter of the first rolling part, so as to form a first annular groove between the pair of first rolling parts, the shape of the first annular groove being adapted to the shape of a heating track, the first annular groove being used for rolling connection with the heating track; and a pair of rubber wheels, each rubber wheel being sleeved on the outside of one of the first rolling parts.

[0007] According to the present invention, a robot wheel is provided in which the first annular groove is a first arc-shaped groove.

[0008] According to the present invention, a robot wheel further includes a rubber ring. The first annular groove has a first groove bottom, and the first groove bottom is provided with a second annular groove. The rubber ring is embedded in the second annular groove. The second annular groove has a second groove bottom, and the surface of the rubber ring facing away from the second groove bottom is flush with the first groove bottom.

[0009] According to the present invention, a robot wheel is provided, wherein the second annular groove is a second arc-shaped groove, and the side of the rubber ring embedded in the second annular groove is an arc shape that matches the second arc-shaped groove.

[0010] According to the present invention, a robot wheel is provided in which the rubber wheel is bonded to the circumferential surface of the first rolling part.

[0011] According to the present invention, a robot wheel is provided with a third annular groove on the circumferential surface of the first rolling part, and an annular protrusion is provided on the side of the rubber wheel facing the first rolling part, the annular protrusion being embedded in the third annular groove.

[0012] According to the present invention, in a robot wheel, the connection between the groove wall of the third annular groove and the circumferential surface of the first rolling part is a rounded corner connection.

[0013] According to the present invention, a robot wheel further includes a flange, which is embedded in the first rolling part and is used to connect to a motor.

[0014] According to the present invention, a robot wheel is provided, wherein the hub is a metal hub.

[0015] This utility model also provides an agricultural robot, comprising: a robot body; at least one pair of robot wheels as described above, wherein the robot body is connected to the robot wheels.

[0016] The robot wheel provided by this utility model, by setting a hub and rubber wheels, can not only walk on the heating track in the greenhouse, but also walk on the farmland ground, solving the problem that existing wheels can only adapt to a single type of ground, and broadening the application environment of robot wheels. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a front view of the robot wheel provided by this utility model.

[0019] Figure 2 This is a perspective view of the robot wheel provided by this utility model.

[0020] Figure 3 This is a cross-sectional view of the robot wheel provided by this utility model.

[0021] Figure label:

[0022] 10. Hub; 11. First rolling part; 12. Second rolling part; 13. First annular groove; 20. Rubber wheel; 21. Annular protrusion; 30. Rubber ring; 40. Flange; 100. Heating rail; 111. Third annular groove. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] The following is combined with Figures 1-3 This invention describes the robot wheel and agricultural robot of this utility model.

[0025] like Figure 1 and Figure 3As shown, in an embodiment of this utility model, the robot wheel includes a hub 10 and a pair of rubber wheels 20. The hub 10 includes a pair of first rolling portions 11 and a pair of second rolling portions 12. The pair of first rolling portions 11 are arranged in parallel, and both ends of the second rolling portion 12 are respectively connected to the pair of first rolling portions 11. The diameter of the second rolling portion 12 is smaller than the diameter of the first rolling portion 11, so that a first annular groove 13 is formed between the pair of first rolling portions 11. The shape of the first annular groove 13 is adapted to the shape of the heating track 100, and the first annular groove 13 is used for rolling connection with the heating track 100. A rubber wheel 20 is sleeved on the outside of each first rolling portion 11.

[0026] Specifically, in this embodiment, the robot wheel consists of two parts: a hub 10 and a rubber wheel 20. A first annular groove 13 is formed between the two first rolling parts 11 of the hub 10. The shape of the first annular groove 13 matches the shape of the heating track 100 in the glass greenhouse. Specifically, when the cross-sectional shape of the heating track 100 is rectangular, the first annular groove 13 is a rectangular groove; when the cross-sectional shape of the heating track 100 is circular, the first annular groove 13 is an arc-shaped groove. When the agricultural robot walks on the heating track 100, the second rolling part 12 rolls along the heating track 100. The pair of first rolling parts 11 are located on both sides of the heating track 100, which can prevent the robot wheel from slipping due to insufficient friction with the heating track 100, ensuring that the robot wheel and the heating track 100 are in close contact, and improving the grip of the robot wheel on the heating track 100.

[0027] Optionally, in embodiments of this invention, the hub 10 can be made of high-strength metal to provide sufficient rigidity. Simultaneously, the metal hub can withstand larger loads, increasing the load-bearing capacity of the robot wheel and effectively preventing deformation under high loads. Especially when the robot wheel is in a high-temperature, high-humidity environment such as a greenhouse, the metal hub can maintain a longer service life.

[0028] Optionally, in an embodiment of this invention, the rubber wheel 20 is fitted onto the outside of the first rolling part 11. When the agricultural robot walks in the field, the rubber wheel 20 contacts the ground, providing better wear resistance and grip. The rubber wheel 20 has good wear resistance, which can effectively reduce performance degradation caused by wear. The rubber wheel 20 not only provides good grip on uneven ground, but also increases friction in slippery environments, preventing the robot wheels from slipping. At the same time, the rubber wheel 20 also has good shock absorption performance, which can effectively reduce vibration during the movement of the agricultural robot and improve the stability of operation, especially when working on complex terrain such as farmland, providing a smoother driving experience. The combination of the metal hub and the rubber wheel 20 makes the robot wheels walk more smoothly in the field, reducing vibration and noise, and improving the working efficiency of the agricultural robot.

[0029] Optionally, in an embodiment of the present invention, the rubber wheel 20 may be bonded or snapped to the first rolling part 11 before being bonded.

[0030] Optionally, in an embodiment of this utility model, each robot wheel can bear a load of 150kg, ensuring that the robot wheel can drive stably in a high-load agricultural environment. The increased load capacity enables the robot wheel to adapt to high-load operations, such as farmland cultivation and greenhouse inspection.

[0031] The robot wheel provided in this embodiment of the utility model, by setting a hub and rubber wheels, can not only walk on the heating track in the greenhouse, but also walk on the farmland ground, solving the problem that existing wheels can only adapt to a single type of ground, and broadening the application environment of robot wheels.

[0032] like Figure 1 As shown, in this embodiment of the present invention, the first annular groove 13 is a first arc-shaped groove. In this embodiment, the heating track 100 is a galvanized steel pipe, and therefore, the shape of the first annular groove 13 is also arc-shaped to match the shape of the galvanized steel pipe, so that the robot wheel will not slip when it walks along the heating track 100.

[0033] like Figure 3 As shown, in an embodiment of this utility model, the robot wheel further includes a rubber ring 30. The first annular groove 13 has a first groove bottom, and the first groove bottom has a second annular groove, in which the rubber ring 30 is embedded. The second annular groove has a second groove bottom, and the surface of the rubber ring 30 facing away from the second groove bottom is flush with the first groove bottom.

[0034] Specifically, a rubber ring 30 is filled at the bottom of the first annular groove 13 so that when the second rolling part 12 contacts the heating track 100, the rubber ring 30 can contact the heating track 100, increasing the friction between the metal contact surface and the heating track 100, ensuring that the robot wheel can travel steadily on the heating track 100, avoiding the robot wheel from slipping on the heating track 100, and ensuring the efficient operation of the agricultural robot.

[0035] Furthermore, in an embodiment of this utility model, the second annular groove is a second arc-shaped groove, and the side of the rubber ring 30 embedded in the second annular groove is an arc shape that matches the second annular groove.

[0036] Optionally, in one embodiment of the present invention, the rubber wheel 20 is bonded to the circumferential surface of the first rolling part 11 so that the two form an integral whole.

[0037] Alternatively, in another embodiment of this utility model, such as Figure 2 As shown, the circumferential surface of the first rolling part 11 is provided with a third annular groove 111, and the side of the rubber wheel 20 facing the first rolling part 11 is provided with an annular protrusion 21, which is embedded in the third annular groove. In this embodiment, the rubber wheel 20 and the first rolling part 11 are first connected by mechanical connection. At the same time, the circumferential surface of the first rolling part 11 is bonded to the surface of the rubber wheel 20 without the annular protrusion 21, so that the hub 10 and the rubber wheel 20 are firmly connected by mechanical connection and bonding, preventing the rubber wheel 20 from falling off the hub 10 during driving. At the same time, the annular protrusion 21 can increase the friction between the hub 10 and the rubber wheel 20, enhancing the anti-slip effect.

[0038] Furthermore, in an embodiment of this utility model, the connection between the groove wall of the third annular groove 111 and the circumferential surface of the first rolling part 11 is a rounded corner connection to prevent the annular protrusion 21 from being cut off by the sharp edge of the connection, thereby reducing the risk of damage to the rubber wheel 20, enhancing the overall stability of the robot wheel, and ensuring that the robot wheel can operate stably and continuously in various working environments.

[0039] like Figure 2 As shown, in this embodiment of the invention, the robot wheel further includes a flange 40, which is embedded in the first rolling part 11 and is used to connect to the motor. Connecting the robot wheel and the motor via the flange 40 ensures a stable connection between them, avoiding loosening due to vibration. The flange 40 not only improves transmission efficiency but also reduces vibration loss and increases working efficiency. Under high-load working conditions, the flange 40 maintains a tight connection between the robot wheel and the motor, ensuring stable operation of the robot wheel.

[0040] This utility model embodiment also provides an agricultural robot, including: a robot body and at least a pair of robot wheels. The robot body is connected to the robot wheels, and the robot body includes a motor, which is connected to a flange 40. When the motor rotates, it can drive the wheel hub 10 to rotate, thereby enabling the agricultural robot to walk on the heated track 100 or in the field.

[0041] The agricultural robot provided in this embodiment of the utility model, by setting robot wheels, enables the agricultural robot to walk on both greenhouse tracks and farmland ground, and will not slip during the walking process, thereby improving the stability of the agricultural robot when driving and thus ensuring the working efficiency of the agricultural robot.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot wheel, characterized in that, include: A hub, comprising: a pair of first rolling parts and a second rolling part, the pair of first rolling parts being arranged in parallel, the two ends of the second rolling part being respectively connected to the pair of first rolling parts, the diameter of the second rolling part being smaller than the diameter of the first rolling part, so as to form a first annular groove between the pair of first rolling parts, the shape of the first annular groove being adapted to the shape of the heating track, and the first annular groove being used for rolling connection with the heating track; A pair of rubber wheels, each of which is fitted over the outside of one of the first rolling portions.

2. The robot wheel according to claim 1, characterized in that, The first annular groove is a first arc-shaped groove.

3. The robot wheel according to claim 1 or 2, characterized in that, It also includes a rubber ring, wherein the first annular groove has a first groove bottom, the first groove bottom is provided with a second annular groove, and the rubber ring is embedded in the second annular groove; The second annular groove has a second groove bottom, and the surface of the rubber ring facing away from the second groove bottom is flush with the first groove bottom.

4. The robot wheel according to claim 3, characterized in that, The second annular groove is a second arc-shaped groove, and the side of the rubber ring embedded in the second annular groove is an arc shape that matches the second arc-shaped groove.

5. The robot wheel according to claim 1, characterized in that, The rubber wheel is bonded to the circumferential surface of the first rolling part.

6. The robot wheel according to claim 5, characterized in that, The first rolling part has a third annular groove on its circumferential surface, and the rubber wheel has an annular protrusion on the side facing the first rolling part, the annular protrusion being embedded in the third annular groove.

7. The robot wheel according to claim 6, characterized in that, The connection between the groove wall of the third annular groove and the circumferential surface of the first rolling part is a rounded corner connection.

8. The robot wheel according to claim 1, characterized in that, It also includes a flange, which is embedded in the first rolling part and is used to connect to the motor.

9. The robot wheel according to claim 1, characterized in that, The wheel hub is a metal wheel hub.

10. An agricultural robot, characterized in that, include: The robot itself; At least one pair of robot wheels according to any one of claims 1-9, wherein the robot body is connected to the robot wheels.

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