A driving wheel module and a wheeled robot

Abstract

The present invention discloses a driving wheel module and a wheeled robot, wherein the driving wheel module comprises a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected to the base; a preset gap channel is arranged on the corresponding side of the driving wheel body and the base, wherein the preset gap channel is a gap structure that is bent and extended. After the wheeled robot is equipped with the driving wheel module, slender foreign objects are prevented from getting stuck in the wheel body or applying resistance to the wheel body, thereby achieving an anti-winding effect, and even if the slender foreign objects are stuck in the gap structure space, the normal rotation of the wheel body will not be hindered.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, in particular to an anti-winding driving wheel module and a wheeled robot. Background Art

[0002] The spherical robot is a new type of wheeled robot with a spherical appearance and a rolling motion mode. The wheeled robot places sensors, drive devices and additional equipment in a spherical shell, and relies on the drive device inside the spherical shell to achieve rolling motion. The drive device is a wheeled structure, and winding objects are easily entangled between the wheel and the wheel shaft, and it is not easy to clean when entanglement occurs. When the driving wheel of the wheeled robot rotates around the rotating shaft, slender foreign objects such as hair and clothing threads will be entangled in the gap between the driving wheel and the rotating shaft. During the process of traveling, the slender foreign objects will be continuously drawn in with the continuous rotation of the wheel body, and will continue to accumulate between the driving wheel and the rotating shaft. The continuous accumulation will eventually cause the driving wheel to be unable to rotate, affecting the transmission mechanism of the motor and causing damage to the machine. Since the small wheeled robot has a compact structure and a small available space, it is impossible to intermittently gather the hair through a combination of a sliding plate, a gathering fastening component, etc. like the large structure of a sweeping robot, and then use a blade to perform axial fragmentation on the entangled hair. Summary of the invention

[0003] In order to prevent hair foreign bodies from being entangled in the driving wheels of a wheeled robot, the present invention discloses an anti-entanglement driving wheel module and a wheeled robot. The specific technical solution is as follows:

[0004] A driving wheel module comprises a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected to the base; a preset gap channel is arranged on the corresponding side of the driving wheel body and the base, wherein the preset gap channel is a bent and extended gap structure.

[0005] Furthermore, the driving wheel body comprises a frustum shell and a wheel surface end cover, and the wheel surface end cover is connected to the end of the frustum shell with the smallest radius.

[0006] Furthermore, there is a gap between the end with the largest radius of the frustum shell and the base, and the opening of the gap is the entrance to the preset gap channel from the outside of the wheeled robot; wherein the preset gap channel is a gap channel that bends and extends from the outer edge of the frustum shell toward its axis.

[0007] Furthermore, the preset gap channel includes a first gap structure, a second gap structure and a third gap structure; in the direction from the center of the base to the vertex of the wheel surface end cover, the first gap structure, the second gap structure and the third gap structure are connected in sequence, and the first gap structure, the second gap structure and the third gap structure all extend toward the central position of the wheel surface end cover; wherein, there are protrusion structures in the first gap structure, the second gap structure and the third gap structure to prevent foreign matter from invading in a predetermined direction.

[0008] Furthermore, a shaft mounting hole is provided at the top position of the wheel end cover along the axial direction for being sleeved on the output shaft of the drive motor; the wheel end cover is also provided with a bearing mounting hole for mounting the bearing on the peripheral side of the drive motor, and the bearing mounting hole is arranged on the outside of the shaft mounting hole; wherein the drive motor is configured to be fixed on the base.

[0009] Furthermore, a stepped slot is opened on the side of the base; the stepped slot is a slot structure opened from the outer side to the inner side of the base, which is used to cooperate to fix the control circuit board and the drive motor, and separate the control circuit board from the conical shell; wherein, the control circuit board is configured to be fixed in the base and electrically connected to the drive motor.

[0010] Furthermore, the first gap structure is the gap formed between the entrance of the preset gap channel and the outermost step end face of the stepped groove; the second gap structure is the gap formed between the concave cavity opened at the inner edge of the wheel surface end cover and the corresponding step surface of the stepped groove; the third gap structure is the gap formed between the innermost step end face of the stepped groove and the wheel surface end cover.

[0011] Furthermore, after the bearing is assembled in the bearing mounting hole, the bearing is designed as a closed structure, wherein, in the direction from the center of the base to the vertex of the wheel surface end cover, the bearing is assembled at the top of the preset gap channel, so that the bearing blocks the passage of the third gap structure leading to the shaft mounting hole.

[0012] Furthermore, the width of the entrance of the preset gap channel is 1.2 mm.

[0013] Furthermore, the outer side surface of the wheel surface end cover is snap-fitted and connected to the inner side surface of the frustum shell through a snap-fit ​​structure.

[0014] A wheeled robot is equipped with the driving wheel module.

[0015] The present invention is directed to a small wheeled robot, in which a gap channel with a curved and extended shape similar to a serpentine structure is provided at the gap between the driving wheel and the base. Without affecting the movement of the machine, the hair foreign matter is stuck in the gap structure space through the blocking effect of the limited gap structure space, thereby effectively preventing slender foreign matter from entering the motor axis position of the wheeled robot, thereby preventing the slender foreign matter from getting stuck in the wheel body or applying resistance to the wheel body, thereby achieving an anti-entanglement effect, and even if the slender foreign matter is stuck in the gap structure space, it will not hinder the normal rotation of the wheel body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a planar cross-sectional view of an anti-entanglement wheeled robot disclosed in an embodiment of the present invention.

[0017] Figure 2 It is a schematic diagram of the structural decomposition of a wheeled robot disclosed in another embodiment of the present invention.

[0018] Reference numerals:

[0019] 100, entrance of preset gap channel; 10, driving wheel body; 101, wheel end cover; 1011, concave cavity opened at the inner edge of the wheel end cover; 1012, bearing mounting hole; 1013, shaft mounting hole; 1014, bearing; 102, cone housing;

[0020] 11. base; 111. stepped slots provided on the side of the base; 112. drive motor; 113. control circuit board;

[0021] 1031, a winding material on the periphery of the first step of the stepped slot extending from the outer edge of the cone housing 102 to the vertex of the wheel face end cover 101;

[0022] 1032, a winding material on the side of the second step of the stepped slot extending from the outer edge of the cone housing 102 to the vertex of the wheel face end cover;

[0023] 1021, a female buckle provided on the cone housing 102; 1015, a male buckle provided on the wheel surface end cover 101. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiment of the present invention will be described in detail below in conjunction with the drawings in the embodiment of the present invention. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0025] The present invention discloses a driving wheel module, which includes a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected to the base; a preset gap channel is arranged on the corresponding side of the driving wheel body and the base, wherein the preset gap channel is a bent and extended gap structure. In some embodiments, it is allowed to assemble only one driving wheel body on the left or right side of the base and be rotatably connected to the base, which does not affect the preset gap channel arranged on the corresponding side of the driving wheel body and the base. For the preset gap channel arranged on the corresponding side of the driving wheel body and the base, please refer to the following embodiments for details.

[0026] As an example, combining Figure 1 and Figure 2 It can be seen that the driving wheel module includes a base 11 and two driving wheel bodies, and the driving wheel body on the left side corresponds to Figure 2 The driving wheel body 10 is symmetrically arranged on both sides of the base 11 and is rotatably connected to the base 11. Specifically, the driven component is driven to rotate relative to the base 11. The driving wheel body is regarded as rotating around the rotating shaft passing through the base 11. The two driving wheel bodies have a completely symmetrical structure. The outer shell of each driving wheel body can be a hemispherical shell or a semi-ellipsoidal shell, and the line from the center of the driving wheel body to the vertex coincides with the axis of the base 11 (the axis of rotation of the driving wheel body relative to the base). A preset gap channel is provided on the corresponding side of each driving wheel body and the base, wherein the preset gap channel is a bent and extended gap structure to prevent foreign matter from entering the axis of the driving wheel body, corresponding to Figure 1 The dashed line with an arrow indicates the gap where Figure 1The two slender winding lines successively passed by the dotted line are foreign objects entering the preset gap channel of the driving wheel module from the outside, and respectively enter the middle part of the preset gap channel and the gap close to the axis of the driving wheel body 10 (the central axis of the driving wheel body 10 as the wheel body). It can be understood that the external foreign objects enter the preset gap channel at different stages, and the obstructions and blocking effects experienced are different, but as a whole, they do not enter the relevant rotating shaft of the driving wheel body 10 to exert resistance or jam the rotating shaft. Therefore, in this embodiment, it is necessary to set the gap fit between the driving wheel body and the base to be similar to a serpentine structure, forming a cavity structure composed of multiple continuous bending parts, and increasing the difficulty of slender objects invading the central axis position of the driving wheel body through a compact space. Even if the hair foreign object is stuck in the preset gap channel, it cannot continue to enter the axial position of the driving wheel body, thereby ensuring that the driving wheel module operates normally in the mobile device to which it belongs, and does not affect the normal movement of the mobile robot equipped with the driving wheel module.

[0027] As an example, combining Figure 1 and Figure 2 It can be seen that the driving wheel body includes a frustum shell 102 and a wheel end cover 101, and the wheel end cover 101 is connected to the end with the smallest radius of the frustum shell 102, and the left end of the frustum shell 102 is connected to the right end of the wheel end cover 101 to form a stable driving wheel body 10, and also realize the close fit between the driving wheel body and the base 11. Preferably, the outer side of the wheel end cover 101 can be a spherical surface, so that the driving wheel body forms a hemispherical wheel, which enhances the stability of the movement of the driving wheel module.

[0028] As an embodiment, there is a gap between the end of the cone housing 102 with the largest radius and the base 11, and the opening of the gap is accessible from the outside of the wheeled robot. Figure 1 The entrance 100 of the preset gap channel indicated by the dotted line is shown; wherein the preset gap channel is a gap channel extending from the outer edge of the frustum shell 102 to its axis, and the bending extension here is Figure 1 The dotted arrow points to the center axis of the driving wheel body 10 in a gradient manner, forming a plurality of protrusion structures for blocking foreign matter from passing through the local gap area, corresponding to Figure 1 The concave cavity and right-angle protrusion of the preset gap channel.

[0029] As an embodiment, the preset gap channel includes a first gap structure, a second gap structure and a third gap structure; in the direction from the center of the base 11 to the vertex of the wheel end cover 101, the first gap structure, the second gap structure and the third gap structure are sequentially connected, and the first gap structure, the second gap structure and the third gap structure are all progressively extended toward the central position of the wheel end cover 101, then these three gap structures gradually block the invasion of foreign objects by means of continuous and compact serpentine channels, wherein the first gap structure, the second gap structure and the third gap structure all have protruding structures to prevent foreign objects from invading in a predetermined direction, thereby setting up a three-layer blocking mechanism, blocking the passage of foreign objects from three different stages or three different types of gap areas as much as possible, and if necessary, the foreign objects are stuck in the corresponding gap structure.

[0030] As an example, see Figure 1 and Figure 2 It can be seen that the vertex position of the wheel end cover 101 is along the axial direction (corresponding to Figure 1 A shaft mounting hole 1013 is provided (in the axial direction of the output shaft of the driving motor 112), which is used to be sleeved on the output shaft of the driving motor 112, wherein the aperture of the shaft mounting hole 1013 may be larger than the radius of the output shaft of the driving motor 112, and the shaft mounting hole 1013 is arranged at the central position of the inner side surface of the wheel surface end cover 101 and is integrally formed with the wheel surface end cover 101, and related reinforcing ribs are also designed to be fixed on the wheel surface end cover 101. The wheel surface end cover 101 is also provided with a bearing mounting hole 1012, which is used to install a bearing 1014 on the peripheral side of the driving motor 112 but not directly connected to the relevant wheel shaft components of the driving motor 112 (including relying on gear meshing connection), and the bearing mounting hole 1012 is molded as an annular mounting hole on the inner side surface of the wheel surface end cover 101, and the bearing mounting hole 1012 is arranged on the outer side of the shaft mounting hole 1013, such as Figure 2As shown, the bearing mounting holes 1012 are distributed around the outer side of the shaft mounting hole 1013. In the same wheel end cover 101, one shaft mounting hole 1013 corresponds to two bearing mounting holes 1012, and is connected to the same wheel end cover 101 by the corresponding skeleton reinforcement. The bearing mounting hole 1012 is a step hole opened from the outside to the inside; the bearing 1014 is arranged in the bearing mounting hole, and one end abuts against the bottom of the step hole, that is, one drive motor 112 corresponds to two bearings 1014; preferably, one end of the bearing 1014 abuts against the bottom of the bearing mounting hole 1012, and the other end of the bearing 1014 does not protrude from the wheel end cover 101; preferably, one end of the drive motor 112 abuts against the bottom of the shaft mounting hole 1013 to drive the wheel end cover 101 to rotate, and the output shaft of the drive motor 112 can be partially accommodated in the shaft mounting hole 1013, and some gaps can be reserved. Wherein, the drive motor 112 is configured to be fixed in the base 11. The aforementioned peripheral side means that the distance between the side of the bearing mounting hole 1012 and the side of the rotating shaft mounting hole 1013 does not exceed the predetermined distance threshold range, so that the bearing 1014 is installed on the peripheral side of the driving motor 112. Furthermore, the bearing 1014 can be selected to cover the end of the output shaft of the driving motor 112, thereby completing the installation of the wheel end cover 101, the frustum housing 102 and the base 11, so that the line connecting the vertex of the wheel end cover 101 and the axis of the frustum housing 102 coincides with the axis of the base 11.

[0031] In some embodiments, the output shaft of the drive motor 112 rotates coaxially with the shaft mounting hole 1013, thereby driving the wheel end cover 101 to rotate coaxially with the output shaft of the drive motor 112; under the rotation of the output shaft of the drive motor 112, the bearing mounting hole 1012 follows the output shaft of the drive motor 112 to rotate, and drives the bearing 1014 to rotate synchronously, wherein the relevant shaft and the mounting hole are in interference contact, and then the drive motor 112 drives the drive wheel body 10 to rotate relative to the base 11, and the robot equipped with the drive wheel module walks in a rolling manner, which can break through the limitations of various terrains and realize obstacle crossing functions in various environments.

[0032] In some embodiments, the drive motor 112 can be meshed and connected with the bearing 1014 through a gear assembly. The gear assembly is installed between the drive motor 112 and the bearing 1014, specifically, it is assembled in the hole between the bearing mounting hole 1012 and the shaft mounting hole 1013, or the gear assembly is selectively installed in the bearing mounting hole 1012 and meshed and connected with the bearing 1014. The bearing mounting hole 1012 is an annular mounting hole, which is an inwardly concave cavity and can form a gap structure with the base 11. Its accommodating area is larger than the accommodating area of ​​the shaft mounting hole 1013.

[0033] As an example, see Figure 1 and Figure 2 It can be seen that a stepped slot 111 is provided on the side of the base 11; the stepped slot 111 is a slot structure provided from the outside to the inside of the base 11, and presents a stepped shape feature in the direction from the outside to the inside of the base 11, and is used to fix the control circuit board 113 and the drive motor 112, and the stepped slot 111 is provided on the side of the base 11. Figure 2 The cover surface in the middle separates the control circuit board 113 from the frustum shell 102. The control circuit board 113 can be fixedly assembled above the drive motor 112 through a carrier, wherein the control circuit board 113 is configured to be fixed in the base 11 and electrically connected to the drive motor 112, and the control circuit board 113 is used to control the operation of the drive motor 112. The control circuit board 113 is assembled in the accommodating cavity inside the base 11, and the control circuit board 113 is supported and separated from the drive wheel body 10 by the stepped slot 111. In combination with the above-mentioned embodiments, it can be known that the wheel end cover 101, the upper end face 112 of the drive motor, the stepped slot 111, and the end face of the bearing 1014 (or the bearing mounting hole 1012, considering the case where no bearing is installed) are composed Figure 1 The serpentine gap channel shown, i.e., the preset gap channel disclosed in the aforementioned embodiment, is mainly a gap channel structure formed by the groove formed on the side circumference of the wheel end cover 101 and the step surface of the stepped groove 111, which has the effect of blocking the passage of small foreign objects.

[0034] As a preferred embodiment, combined with Figure 1 and Figure 2 It can be seen that in the preset gap channel, starting from the entrance 100 of the preset gap channel, the first gap structure is constructed as a gap formed between the entrance 100 of the preset gap channel and the outermost step end surface of the stepped slot 111, and in the vertical direction, corresponds to Figure 1 The gap space between the uppermost step surface of the stepped slot 111 and the entrance 100 forms a first-level blocking structure. When the hair moves downward along the dotted line and enters the first gap structure, the end with the largest radius of the frustum shell 102 (corresponding to Figure 2 The gap between the rightmost end of the cone housing 102 and the base 11 is used to prevent hair from being rolled into the interior of the driving wheel body 10, thereby blocking slender foreign objects from entering the interior of the driving wheel body 10 at the source entrance.

[0035] Preferably, the width of the entrance of the preset gap channel is 1.2 mm, so that long and thin foreign objects such as hair are difficult to be drawn into the gap channel formed between the driving wheel body 10 and the base 11 .

[0036] Combination Figure 1 and Figure 2It can be seen that the second gap structure is the gap formed between the concave cavity 1011 opened at the inner edge of the wheel end cover 101 and the corresponding step surface of the stepped groove 111. Figure 1 The gap structure corresponding to the right side of the concave cavity 1011 and the step surface of the corresponding stepped slot 111 includes a gap channel formed between the vertical step surface or the horizontal step surface and the concave cavity 1011 at the same horizontal height. The specific step surface involves the direction extending from the outer edge of the frustum shell 102 to its axis, which can be regarded as Figure 1 In the direction of the dotted line with an arrow in the figure, the first step surface to the third step surface (including horizontal surfaces and vertical surfaces), in some embodiments, the specific number of step surfaces can be adjusted according to the corresponding step surfaces opened by the stepped slot 111. Figure 1 The stepped groove 111 in the second gap structure blocks the slender foreign matter entering the second gap structure three times by setting three step surfaces, so that a blocking method in which the gap width is gradually reduced can be formed. In addition, the larger accommodating volume space in the concave cavity 1011 can entangle some slender foreign matter (playing a accommodating effect), so that the second gap structure can effectively prevent hair from being rolled into the position of the output shaft of the driving motor 112.

[0037] Preferably, the stepped slot 111 can be a protective sheet and a support frame for the control circuit board 113. The gap formed between the stepped slot 111 and the control circuit board 113 is not connected to the preset gap channel, or there is a partial connecting space on the upper end surface of the drive motor 112, but it is all at the bottom and is not easily invaded by external slender objects. In this way, it is prevented that the slender objects introduced from the entrance 100 of the preset gap channel are entangled in the corresponding electrical components during the rotation of the driving wheel body 10 relative to the stepped slot 111, thereby protecting the electrical stability of the control circuit board 113 and maintaining the normal operation of the output shaft of the drive motor 112.

[0038] The third gap structure is the gap formed between the innermost step end surface of the stepped slot 111 and the wheel end cover 101, which can be Figure 1 In the direction in which the dotted line with an arrow in FIG. 1 extends, if the bearing mounting hole 1012 is not equipped with the bearing 1014, it is represented as a third-level step surface ( Figure 1 A gap structure is formed between the bottom step end surface) and the bearing mounting hole 1012, which plays the role of the last blocking and a small amount of foreign matter accommodation, reducing the probability of slender foreign matter winding around the output shaft of the drive motor 112; if the bearing mounting hole 1012 is equipped with a closed structure bearing 1014, it is represented as the third step surface ( Figure 1A gap structure is formed between the bottom step end face) and the opposite side of the bearing 1014, which plays a final and more thorough blocking role, further preventing slender foreign objects such as hair from entering the rotating shaft of the drive motor 112 and the gear assembly connected thereto.

[0039] Combination Figure 1 and Figure 2 It can be seen that, under the premise that the bearing 1014 is assembled in the bearing mounting hole 1012 and the bearing 1014 is a closed structure, the bearing 1014 is assembled at the top of the preset gap channel in the direction from the center of the base 11 to the vertex of the wheel end cover 101, so that the bearing 1014 blocks the passage from the third gap structure to the shaft mounting hole 1013. Among them, the bearing 1014 can be made of waterproof material to form a sealing device, further preventing slender foreign matter from entering the motor-related shaft through the gap to jam the driving wheel body 10. In this embodiment, the top of the preset gap channel is along Figure 1 The direction in which the dotted line with an arrow in the figure extends is located at the bottom of the gap between the base 11 and the driving wheel body 10, which is equivalent to the end position of the gap channel. The bearing 1014 plays a supporting role, and the wheel surface end cover 101 can be supported on the outer side of the output shaft of the driving motor 112, or the bearing mounting hole 1012 can be abutted against the wheel surface end cover 101, so that the bearing 1014 can be stably sleeved on the circumference of the output shaft of the driving motor 112 to prevent the driving wheel body 10 from shaking axially along the output shaft of the driving motor 112 during rotation. Moreover, the bearing 1014 reduces the friction coefficient of the driving wheel body 10 during ground movement and ensures its rotation accuracy when following the rotation of the output shaft of the driving motor 112 and the driving wheel body 10.

[0040] It should be added that the outer side of the wheel end cover 101 is connected to the inner side of the cone housing 102 by a snap-fit ​​structure, wherein Figure 2 As shown, a male buckle 1015 is provided on the circumference of the outer side surface of the wheel surface end cover 101, and a female buckle 1021 is provided on the circumference of the inner side surface of the end with the smallest radius of the frustum shell 102, so that the user can buckle the male buckle 1015 (protrusion) into the female buckle 1021 (groove), so that the male buckle 1015 and the female buckle 1021 are clamped, and the wheel surface end cover 10 and the frustum shell 102 form a tightly buckled whole.

[0041] When quoting drawing descriptions, new features that appear are described. In order to avoid repeated quotations of drawings resulting in less concise descriptions, features that have been described clearly will not be quoted in the drawings one by one.

[0042] The present invention also discloses a wheeled robot, which is equipped with the driving wheel module disclosed in the above embodiment. As a wheeled robot, in the driving wheel module, two driving wheel bodies need to be symmetrically arranged on both sides of the base, and the shells of the two driving wheel bodies (shells composed of a frustum shell and a wheel surface end cover) are both hemispherical shells. In addition, they can also be semi-ellipsoidal shells. The output shafts of the two symmetrically arranged driving motors are arranged on the same straight line, and the straight line is the central axis of the driving wheel module or the base in the horizontal direction. In some embodiments, the output shafts of the two symmetrically arranged driving motors are all placed in the rotating shaft mounting holes provided in the wheel surface end cover on the corresponding side, so that the distance between the two driving wheel bodies is relatively small, which is conducive to the miniaturization of the wheeled robot. Each drive motor and a corresponding control circuit board connected to it are surrounded by the same base, wherein a stepped slot is installed above the output shaft of the drive motor on the left, and a stepped slot is also installed above the output shaft of the drive motor on the right. The two stepped slots cooperate to fix a control circuit board, which is used to control the drive motor on the left; a stepped slot is installed below the output shaft of the drive motor on the left, and a stepped slot is also installed below the output shaft of the drive motor on the right. The two stepped slots cooperate to fix another control circuit board, which is used to control the drive motor on the right. Thus, under the electrical connection of the two control circuit boards, the movement of the wheeled robot is controlled, and the state of the wheeled robot is adjusted in real time. Correspondingly, each drive wheel body forms the preset gap channel with the corresponding side of the base, and four preset gap channels are simultaneously formed in the same wheeled robot, symmetrical about the geometric center of the wheeled robot, including Figure 1 The preset clearance channel at the upper left, the preset clearance channel at the upper right, the preset clearance channel at the lower left and the preset clearance channel at the lower right provide enough clearance to accommodate slender foreign objects and avoid getting stuck in the driving wheel bodies on the left and right sides.

[0043] Preferably, a power module, a communication module and a sensor module are also fixedly installed in the base of the wheeled robot, and the power module, the communication module and the sensor module are all electrically connected to the control circuit board, and the power module supplies power to the control circuit board, the drive motor, the communication module and the sensor module.

[0044] Preferably, the sensor module includes a camera, the base is provided with a camera mounting hole between the two driving wheel bodies, and the camera is embedded in the camera mounting hole. The wheeled robot also includes a gyroscope sensor electrically connected to the control circuit board, and the gyroscope sensor is used to obtain the posture information of the wheeled robot for the control circuit board to adjust the position of the camera.

[0045] Preferably, the power module is fixed in a counterweight frame provided on the bottom cover of the wheeled robot, and the power module is located below all control circuit boards and all drive motors.

[0046] Preferably, the communication module includes a WiFi module, which is used to support the wheeled robot to communicate with an external device, so as to output images captured by the camera to the external device or accept control instructions from the external device to perform new tasks.

[0047] Preferably, the wheeled mobile robot also has a lighting module, which includes an LED lamp. The base is provided with an LED lamp mounting hole near the camera mounting hole, which is used to install the LED lamp near the camera to improve the ambient brightness and improve the image quality obtained by the camera.

[0048] Preferably, the power module includes a battery and a matching circuit thereof, the battery is preferably a lithium battery, the matching circuit includes a charging control unit and a discharging control unit, the base is provided with a charging interface electrically connected to the charging control unit, and the discharging control unit is electrically connected to the control circuit board, the drive motor, the camera, the communication module and the lighting module.

[0049] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A driving wheel module, characterized in that: The driving wheel module comprises a base and at least one driving wheel body; The driving wheel body is arranged on one side of the base and is rotatably connected to the base; A preset gap channel is provided on one side of the driving wheel body and the corresponding side of the base, wherein the preset gap channel is a bent and extended gap structure; The driving wheel body comprises a frustum shell and a wheel surface end cover, wherein the wheel surface end cover is connected to the end of the frustum shell with the smallest radius; The preset gap channel includes a first gap structure, a second gap structure and a third gap structure; In the direction from the center of the base to the vertex of the wheel face end cover, the first gap structure, the second gap structure and the third gap structure are connected in sequence, and the first gap structure, the second gap structure and the third gap structure all extend toward the central position of the wheel face end cover; Among them, there are protrusion structures in the first gap structure, the second gap structure and the third gap structure to prevent foreign matter from invading in a predetermined direction; A rotating shaft mounting hole is provided at the top position of the wheel end cover along the axial direction, for being sleeved on the output shaft of the driving motor; The wheel surface end cover is also provided with a bearing mounting hole for mounting the bearing on the peripheral side of the driving motor, and the bearing mounting hole is arranged on the outside of the rotating shaft mounting hole; Wherein, the driving motor is configured to be fixed to the base; The side of the base is provided with a stepped slot; The stepped slot is a slot structure opened from the outside to the inside of the base, which is used to fix the control circuit board and the drive motor, and to separate the control circuit board from the cone housing; Wherein, the control circuit board is configured to be fixed in the base and electrically connected to the drive motor; The first gap structure is a gap formed between the entrance of the preset gap channel and the outermost step end surface of the stepped groove; The second gap structure is a gap formed between the concave cavity opened at the inner edge of the wheel surface end cover and the corresponding step surface of the stepped groove; The third gap structure is the gap formed between the innermost step end surface of the stepped groove and the wheel face end cover; There is a gap between the end of the frustum shell with the largest radius and the base, and the opening of the gap is an entrance to the preset gap channel from the outside of the wheeled robot; Wherein, the preset gap channel is a gap channel that bends and extends from the outer edge of the frustum shell toward the axis thereof.

2. The driving wheel module according to claim 1, characterized in that: After the bearing is assembled in the bearing mounting hole, the bearing is designed as a closed structure, wherein the bearing is assembled at the top end of the preset gap channel in the direction from the center of the base to the vertex of the wheel surface end cover, so that the bearing blocks the passage of the third gap structure leading to the shaft mounting hole.

3. The driving wheel module according to claim 1, characterized in that: The width of the entrance of the preset gap channel is 1.2 mm.

4. The driving wheel module according to claim 1, characterized in that: The outer side surface of the wheel surface end cover is snap-fitted and connected to the inner side surface of the frustum shell through a snap-fit ​​structure.

5. A wheeled robot, characterized in that: The wheeled robot is equipped with the driving wheel module according to any one of claims 1 to 4.

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