Walking device and mobile household robot

Abstract

The utility model discloses a walking device which comprises a motor bin and two driving wheel sets, the two driving wheel sets are arranged on the left side and the right side of the motor bin respectively, each driving wheel set comprises a first driving wheel and a second driving wheel, the two first driving wheels are arranged diagonally, and the two second driving wheels are arranged diagonally; wherein a motor is arranged in the motor bin, an output shaft of the motor extends out of the motor bin and is detachably connected with the first driving wheel and the second driving wheel, and the diameter of the output shaft connected with the first driving wheel is smaller than that of the output shaft connected with the second driving wheel. Correspondingly, the utility model further discloses a movable household robot which comprises a shell and the walking device, and the walking device is detachably arranged at the bottom end of the shell. The walking device is simple in structure, low in cost, high in detachability and convenient to clean subsequently.

Description

Technical Field

[0001] The utility model relates to the technical field of domestic robots, in particular to a walking device and a mobile domestic robot. Background Art

[0002] As is well known, with the rapid improvement of the economic level, more and more families begin to raise pets; pets refer to organisms that people raise for spiritual purposes rather than economic purposes. The pet industry is now a new and vigorous project, and the company of pets has become crucial.

[0003] At present, domestic pet companion robots have been developed on the market, which can walk indoors at home and observe the living conditions of pets; however, considering the actual use situation at home, the walking device of domestic pet companion robots is very likely to be locked by the long hair of the owner when in use.

[0004] Since the existing domestic pet companion robots usually adopt an integrated design, once the walking device is affected by hair or other foreign objects and the movement of the walking device is restricted, the user needs to clean the entire domestic pet companion robot, and the cleaning process is very inconvenient, especially affecting the cleaning experience.

[0005] Even if a detachable walking device is adopted, once the user disassembles the multiple drive wheels on the walking device for cleaning, it is very easy to install different types of drive wheels in the wrong position during subsequent installation, and it will affect the dynamic balance of the subsequent robot walking. Summary of the Utility Model

[0006] The technical problem to be solved by the utility model is to provide a walking device and a mobile domestic robot to solve the problems that the walking device of the existing domestic robot is not easy to disassemble and clean and is easy to affect the dynamic balance after disassembly and cleaning.

[0007] To solve the above technical problem, the technical solution of the utility model is: a walking device, including a motor housing and two drive wheel sets, the two drive wheel sets are respectively arranged on the left and right sides of the motor housing, the drive wheel set includes a first drive wheel and a second drive wheel, the two first drive wheels are arranged diagonally, and the two second drive wheels are arranged diagonally; wherein, a motor is arranged in the motor housing, and the output shaft of the motor extends out of the motor housing and is detachably connected to the first drive wheel and the second drive wheel respectively, and the diameter of the output shaft connected to the first drive wheel is smaller than the diameter of the output shaft connected to the second drive wheel.

[0008] Further, in the walking device of the utility model, the drive wheel set further includes a crawler belt, and the crawler belt surrounds the first drive wheel and the second drive wheel of the drive wheel set to form a wheeled structure.

[0009] Furthermore, in the walking device of the present utility model, a tooth groove is provided on the outer peripheral wall of the first driving wheel, and a protruding tooth is provided on the inner ring wall of the crawler belt. The protruding tooth is meshed and matched with the tooth groove.

[0010] Furthermore, in the walking device of the present utility model, an annular groove is provided on the outer peripheral wall of the first driving wheel. The annular groove surrounds the first driving wheel, and an annular rib corresponding and matched with the annular groove is provided on the inner ring wall of the crawler belt.

[0011] Furthermore, in the walking device of the present utility model, an annular accommodation groove is provided on the outer peripheral wall of the second driving wheel. The annular accommodation groove surrounds the second driving wheel, and at least part of the crawler belt is wound around the annular accommodation groove.

[0012] Furthermore, in the walking device of the present utility model, the outer contour diameter of the first driving wheel is the same as the outer contour diameter of the second driving wheel.

[0013] Furthermore, in the walking device of the present utility model, a flat portion is provided on the outer wall of the output shaft connected to the first driving wheel or the output shaft connected to the second driving wheel.

[0014] Furthermore, in the walking device of the present utility model, a front drive motor and a rear drive motor are provided in the motor housing. The left and right ends of the front drive motor and the rear drive motor are respectively provided with a first output shaft and a second output shaft. The first output shaft extends out of the motor housing and is detachably connected to the first driving wheel, and the second output shaft extends out of the motor housing and is detachably connected to the second driving wheel.

[0015] Correspondingly, another object of the present utility model is to design a mobile household robot, which can be used to accompany pets. It includes a housing and the walking device of the present utility model as described above. The walking device is detachably provided at the bottom end of the housing.

[0016] Furthermore, in the mobile household robot of the present utility model, a groove is provided at the bottom end of the housing. The walking device is detachably provided in the groove, and at least part of the walking device extends out of the groove.

[0017] The beneficial effects of the present utility model are as follows: By optimizing its own structure, the walking device improves its disassembly performance. Its driving wheel set can be separated from the motor compartment, and both the first driving wheel and the second driving wheel of the driving wheel set can be disassembled from the output shaft of the motor for cleaning, so as to meet the cleaning requirements of users for the walking device. Among them, in order to facilitate users to accurately install each wheel after disassembling the first driving wheel and the second driving wheel, the diameter of the output shaft connected to the first driving wheel of the walking device is set to be smaller than the diameter of the output shaft connected to the second driving wheel, so as to ensure that after cleaning by the user, the correct driving wheels can be accurately installed on both sides of the motor compartment, thus not affecting the dynamic balance during subsequent movement.

[0018] In summary, it can be seen that the walking device designed by the present utility model has a simple structure, low cost, and can achieve a strong disassembly effect. It can be effectively applied to mobile household robots and is detachably arranged at the bottom of the housing. Once the walking device is affected by hair or other foreign objects and its movement is restricted, the user can disassemble the walking device from the housing of the robot and disassemble and clean the driving wheel set. The cleaning process is very simple, and subsequent assembly of the driving wheels can be accurately operated without professional knowledge. Its use experience is good, and it has good promotion prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the mobile household robot according to the present utility model in one embodiment;

[0020] Figure 2 It is an exploded view of the structure of the mobile household robot according to the present utility model in one embodiment;

[0021] Figure 3 It is a schematic structural diagram of the walking device according to the present utility model from one perspective in one embodiment;

[0022] Figure 4 For Figure 3 the exploded view of the structure of the shown walking device;

[0023] Figure 5 For Figure 4 the enlarged partial view of the A position shown;

[0024] Figure 6 It is a schematic structural diagram of the first driving wheel and the second driving wheel of the walking device according to the present utility model in one embodiment;

[0025] Figure 7 It is a schematic structural diagram of the crawler belt of the walking device according to the present utility model in one embodiment;

[0026] Figure 8 Schematic diagram of the structure inside the motor compartment of the walking device according to one embodiment of the present utility model.

[0027] Label description:

[0028] 1. Housing; 11. Groove;

[0029] 2. Walking device; 21. Motor compartment; 211. Motor; 212. First output shaft; 213. Second output shaft; 22. First driving wheel; 221. Tooth groove; 222. Annular groove; 23. Second driving wheel; 231. Annular accommodating groove; 24. Crawler belt; 241. Protruding tooth; 242. Annular rib; 25. Flat part. Specific embodiments

[0030] To describe in detail the technical content, achieved purpose and effects of the present utility model, the following is described in conjunction with the embodiments and with reference to the drawings.

[0031] Please refer to Figure 1 and Figure 8 As shown, the present utility model designs a mobile household robot, which can be specifically used to walk indoors at home and observe the living state of pets. The mobile household robot specifically includes: a housing 1 and a walking device 2. The walking device 2 is detachably provided at the bottom end of the housing 1, so that when the walking device 2 is affected by hair or other foreign objects and its movement is restricted, the user can detach the walking device 2 from the housing 1 and clean it, thus simplifying the cleaning process and preventing the cleaning water from entering the circuit part inside the housing 1, optimizing the user experience.

[0032] Among them, as shown in Figure 1 and Figure 2 In this embodiment, considering aesthetics, the housing 1 of the mobile household robot can be spherical as a whole, which is more beautiful and cute in shape and is also easier to avoid obstacles. And, to further improve aesthetics and passability, a groove 11 is provided at the bottom of the housing 1, and the walking device 2 can be specifically arranged in the groove 11 to present a posture of being partially embedded in the housing 1; among them, to ensure that the walking device 2 can normally drive the robot to walk, at least part of the walking device 2 needs to extend out of the groove 11 to contact the ground.

[0033] Refer to Figures 3 - 7, in practical applications, the walking device 2 specifically includes: a motor compartment 21 and two drive wheel sets. The two drive wheel sets are respectively arranged on the left and right sides of the motor compartment 21, and both of these drive wheel sets include a first drive wheel 22 and a second drive wheel 23. Among them, in this embodiment, in order to enhance the passability and reliability of the walking device 2 when facing obstacles and avoid restricted movement, the outer shapes of the above-mentioned first drive wheel 22 and second drive wheel 23 are not the same, and the drive wheel set is also provided with a crawler 24 to utilize the crawler 24 to surround the first drive wheel 22 and the second drive wheel 23 of the drive wheel set and form a wheeled structure.

[0034] It should be noted that, as Figure 6 and Figure 7 shown, in order to ensure that the above-mentioned crawler 24 can effectively surround the first drive wheel 22 and the second drive wheel 23 of the drive wheel set and is not easily loosened, in this embodiment, a tooth groove 221 is provided on the outer peripheral wall of the first drive wheel 22 of the above-mentioned drive wheel set, a raised tooth 241 is provided on the inner peripheral wall of the above-mentioned crawler 24, and the raised tooth 241 of the crawler 24 can be meshed and matched with the tooth groove 221 on the first drive wheel 22; and, an annular groove 222 is provided on the outer peripheral wall of the above-mentioned first drive wheel 22, the annular groove 222 is arranged around the first drive wheel 22, and an annular rib 242 corresponding and matched with the above-mentioned annular groove 222 is provided on the inner peripheral wall of the crawler 24. Based on this setting, the mutual matching of the crawler 24 and the first drive wheel 22 can be restricted, preventing the crawler 24 from loosening from the first drive wheel 22; at the same time, it is also convenient for users to disassemble the crawler 24 from the outer peripheral wall of the first drive wheel 22 for cleaning, reducing the cleaning difficulty of the crawler 24.

[0035] Correspondingly, in order to prevent the crawler 24 from being easily loosened from the second drive wheel 23, in this embodiment, an annular accommodation groove 231 is also provided on the outer peripheral wall of the second drive wheel 23. The annular accommodation groove 231 is arranged around the second drive wheel 23, and both sides of the annular accommodation groove 231 have retaining edges. At least part of the crawler 24 can be correspondingly wound in the annular accommodation groove 231 of the second drive wheel 23 to prevent the crawler 24 from laterally displacing and disengaging from the second drive wheel 23; at the same time, this matching form between the crawler 24 and the second drive wheel 23 is also an easily detachable matching form, and users can also very simply disassemble the crawler 24 from the second drive wheel 23 and clean it.

[0036] In addition, it should be emphasized that, in this embodiment, in order to obtain better walking ability, in actual design, the two first drive wheels 22 of the above-mentioned walking device 2 are arranged diagonally, and the two second drive wheels 23 are arranged diagonally, which can further enhance the dynamic balance of the walking device 2 and improve the walking movement ability.

[0037] In addition, as Figure 6As shown, in this embodiment, although the structures of the above-mentioned first drive wheel 22 and second drive wheel 23 are significantly different, the outer contour diameters of the above-mentioned first drive wheel 22 and second drive wheel 23 can still be controlled to be exactly the same to obtain better balance during walking and ensure that it is not easy to roll over.

[0038] As Figure 8 shown, when the walking device 2 is actually applied, a motor 211 is provided in the motor housing 21 of the walking device 2, and the output shaft of the motor 211 can extend out of the motor housing 21 and be detachably connected to the above-mentioned first drive wheel 22 and second drive wheel 23 respectively, and the first drive wheel 22 and the second drive wheel 23 can be sleeved on the output shaft of the motor 211.

[0039] To ensure the matching stability between the first drive wheel 22 or the second drive wheel 23 and the output shaft of the above-mentioned motor 211, in this embodiment, a flat portion 25 can also be provided on the outer wall of the output shaft connected to the first drive wheel 22 or the output shaft connected to the second drive wheel 23, that is, the flat portion 25 is provided on the cylindrical output shaft (see Figure 5 ), and the first drive wheel 22 or the second drive wheel 23 is correspondingly matched therewith to ensure that the output shaft can drive the drive wheel to rotate.

[0040] Among them, in this embodiment, two motors 211 can be specifically provided in the motor housing 21, that is, a front drive motor and a rear drive motor. The left and right ends of the above-mentioned front drive motor and rear drive motor are respectively provided with a first output shaft 212 and a second output shaft 213, and the above-mentioned first output shaft 212 extends out of the motor housing 21 and is sleeved and connected to the first drive wheel 22 of a drive wheel set, and the above-mentioned second output shaft 213 extends out of the motor housing 21 and is sleeved and connected to the second drive wheel 23 of another drive wheel set. At this time, when the user needs to clean the walking device 2, the drive wheel set can be only detached from the output shaft of the motor 211, and the drive wheel set and the track 24 can be cleaned to avoid water entering the motor housing 21.

[0041] Of course, the present invention also takes into account the possible assembly error problems during subsequent assembly of the drive wheel. Therefore, in the present invention, the diameter of the first output shaft 212 connected to the first drive wheel 22 is designed to be smaller than the diameter of the second output shaft 213 connected to the second drive wheel 23 (see Figure 4 ), to ensure that after the user cleans, the correct drive wheels can be accurately installed on the left and right sides of the motor housing 21, and thus the dynamic balance during subsequent travel is not affected.

[0042] As can be seen from the above, the walking device 2 designed by the present utility model has a simple structure, low cost, and can achieve a strong detachable effect. It can be effectively applied to mobile household robots and is detachably arranged at the bottom end of the housing 1. Once the walking device 2 is affected by hair or other foreign objects and the movement of the walking device 2 is restricted, the user can detach the above-mentioned walking device 2 from the housing 1 of the robot and disassemble and clean the drive wheel set. The cleaning process is very simple, and subsequent assembly of the drive wheel does not require professional knowledge to operate accurately. It has a good user experience and has good promotion prospects and application value.

[0043] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in the relevant technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. A walking device, comprising a motor housing and two drive wheel sets, the two drive wheel sets are respectively arranged on the left and right sides of the motor housing, and is characterized in that, The drive wheel set includes a first drive wheel and a second drive wheel. The two first drive wheels are arranged diagonally, and the two second drive wheels are arranged diagonally. Wherein, a motor is provided in the motor housing, and the output shaft of the motor extends out of the motor housing and is detachably connected to the first drive wheel and the second drive wheel respectively, and the diameter of the output shaft connected to the first drive wheel is smaller than the diameter of the output shaft connected to the second drive wheel.

2. The walking device according to claim 1, characterized in that, The drive wheel set further includes a crawler belt, and the crawler belt surrounds the first drive wheel and the second drive wheel of the drive wheel set to form a wheeled structure.

3. The walking device according to claim 2, characterized in that, Tooth grooves are provided on the outer peripheral wall of the first drive wheel, and protruding teeth are provided on the inner peripheral wall of the crawler belt, and the protruding teeth are meshed and matched with the tooth grooves.

4. The walking device according to claim 2, characterized in that, An annular groove is provided on the outer peripheral wall of the first drive wheel, and the annular groove surrounds the first drive wheel. An annular rib corresponding to and matched with the annular groove is provided on the inner peripheral wall of the crawler belt.

5. The walking device according to claim 2, characterized in that, An annular accommodation groove is provided on the outer peripheral wall of the second drive wheel, and the annular accommodation groove surrounds the second drive wheel, and at least part of the crawler belt is wound in the annular accommodation groove.

6. The walking device according to claim 1, characterized in that The outer contour diameter of the first drive wheel is the same as the outer contour diameter of the second drive wheel.

7. The walking device according to claim 1, characterized in that, A flat portion is provided on the outer wall of the shaft of the output shaft connected to the first drive wheel or the output shaft connected to the second drive wheel.

8. The walking device according to claim 1, characterized in that, A front drive motor and a rear drive motor are provided in the motor housing. The left and right ends of the front drive motor and the rear drive motor are respectively provided with a first output shaft and a second output shaft. The first output shaft extends out of the motor housing and is detachably connected to the first drive wheel, and the second output shaft extends out of the motor housing and is detachably connected to the second drive wheel.

9. A mobile household robot, characterized in that, It includes a housing and the traveling device according to any one of claims 1-8, and the traveling device is detachably provided at the bottom end of the housing.

10. The mobile household robot according to claim 9, characterized in that, A groove is provided at the bottom end of the housing, and the traveling device is detachably provided in the groove, and at least part of the traveling device extends out of the groove.

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