Driving rubber coated wheel and walking robot

Abstract

The utility model relates to a driving rubber coated wheel and a walking robot, and belongs to the technical field of robot walking. Comprising a mounting boss and a rubber coating layer, the rubber coating layer is coated on the outer surface of the mounting boss; a plurality of anti-skid salient points are arranged on the surface of the rubber coating layer, the middle parts of the anti-skid salient points penetrate through the rubber coating layer, and an axial drainage groove is axially formed in the rubber coating layer; a circumferential drainage groove is formed in the circumferential direction of the rubber coating layer; soft rubber plug grooves are formed in the surfaces of the anti-skid protruding points, and soft rubber is installed in the soft rubber plug grooves. An obstacle crossing groove is formed in the circumferential direction of the rubber coating layer; according to the driving rubber coating wheel provided by the invention, for different working conditions, the problems of water drainage and moisture prevention can be effectively solved by adopting the circumferential water drainage grooves and the axial water drainage grooves, meanwhile, the anti-skid convex points are arranged on the surface of the rubber coating wheel and used for discharging dust, and soft rubber is mounted in part of the anti-skid convex points, so that the problem of dust accumulation is solved; the obstacle crossing groove with a large size is adopted, and the large contact area is achieved.

Description

Technical Field

[0001] The utility model relates to a driving rubber-coated wheel and a walking robot, belonging to the technical field of robot walking. Background Art

[0002] Currently, the driving wheels widely used in walking robots are rubber driving wheels, which have many limitations in actual applications, affecting the robot's ability to move. For example, rubber wheels perform poorly when crossing obstacles such as steps and stones. On the one hand, rubber wheels are prone to slipping on smooth or wet surfaces, resulting in insufficient grip, affecting the stability of the robot. On the other hand, it is difficult to effectively cross obstacles, limiting its application in complex terrain. The rubber wheels of such outdoor robots are often easily contaminated with dust, mud and other dirt during driving. At the same time, water is easily accumulated in humid environments, increasing the risk of slipping and shortening the tire life. They cannot self-clean, resulting in reduced friction and increased energy consumption, further affecting their performance. As a result, it is difficult to meet the use needs of walking robots in diverse environments. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a driving rubber-coated wheel to solve the following problems: due to the diverse environments faced by current robot wheels used for outdoor work, the current rubber-coated wheels may slip, have difficulty in overcoming obstacles, and be unable to self-clean.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] In a first aspect, a driving rubber-coated wheel comprises: a mounting boss and a rubber-coated layer;

[0006] The rubber layer covers the outer surface of the mounting boss; a plurality of anti-slip protrusions are provided on the surface of the rubber layer, a water seepage hole is provided in the middle of the anti-slip protrusion and the water seepage hole penetrates the rubber layer, and a groove formed between two adjacent anti-slip protrusions in the circumferential direction of the rubber layer is an axial drainage groove; a circumferential drainage groove is provided around the rubber layer;

[0007] The anti-slip convex point includes a first anti-slip point, a surface of the first anti-slip point is provided with a soft rubber plug groove, and a soft rubber is installed in the soft rubber plug groove;

[0008] Furthermore, the first anti-slip point and the second anti-slip point are arranged crosswise.

[0009] The rubber coating layer is provided with an obstacle crossing groove in the circumference thereof.

[0010] Furthermore, the anti-slip protrusions further include a second anti-slip point, and the surface of the second anti-slip point is not installed with soft rubber.

[0011] Furthermore, the anti-slip convex dots are arranged in a circular array on the surface of the rubber coating.

[0012] Furthermore, the obstacle-crossing grooves are arranged in a circumferential array on the surface of the rubber coating, and the obstacle-crossing grooves evenly divide the circumferential drainage grooves.

[0013] Furthermore, the arc of the obstacle groove from two points on the surface of the rubber coating layer to the axis of the rubber coating layer is at least 10°.

[0014] Furthermore, the mounting boss further comprises mounting circular holes, and a plurality of mounting circular holes are provided in an annular array on the surface of the mounting boss; the mounting circular holes (3) penetrate the mounting boss (2) and are arranged in an annular array around the axis of the mounting boss (2).

[0015] In a second aspect, a walking robot comprises a driving rubber-coated wheel as described in the first aspect.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The driving rubber-coated wheel provided in this application can effectively solve the problem of drainage and moisture prevention under different working conditions by adopting circumferential drainage grooves and axial drainage grooves. At the same time, anti-skid bumps on the surface of the rubber-coated wheel are used to drain dust, and soft rubber is installed in some of the anti-skid bumps. Dust-proof rubber material is used to solve the problem of dust accumulation; in addition, for the problem of obstacle crossing, this design adopts a larger obstacle crossing groove to give it a larger contact area, thereby increasing the force during the obstacle crossing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a top view of a driving rubber-coated wheel provided by the utility model;

[0020] Figure 2 The utility model provides a schematic diagram of the structural surface of a driving rubber-coated wheel.

[0021] Description of reference numerals:

[0022] 1. Anti-slip bumps; 2. Mounting bosses; 3. Mounting holes; 4. Circumferential drainage grooves; 5. Axial drainage grooves; 6. Soft rubber plug grooves; 7. Obstacle crossing grooves. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings of the embodiments of the present disclosure / this application to clearly and completely describe the technical solutions in the embodiments of the present disclosure / this application. Obviously, the described embodiments are only some of the embodiments of the present disclosure / this application, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present disclosure / this application, its application, or use. Example

[0024] This embodiment provides a driving rubber-coated wheel, comprising: a mounting boss 2 and a rubber layer, wherein the surface of the mounting boss 2 is provided with mounting circular holes 3, and the mounting circular holes 3 on the surface of the mounting boss 2 are arranged in a ring shape, and the driving rubber-coated wheel is installed through the mounting circular holes 3.

[0025] The rubber layer is covered on the outer surface of the mounting boss 2; a plurality of anti-slip bumps 1 are provided on the surface of the rubber layer, a water seepage hole is provided in the middle of the anti-slip bump 1 and the water seepage hole passes through the rubber layer, that is, the middle of the anti-slip bump 1 is a hollow structure and extends to the interior of the rubber layer, and the anti-slip bumps 1 are a uniform array, so the groove formed between two adjacent anti-slip bumps 1 in the circumferential direction of the rubber layer is an axial drainage groove 5; the axial drainage grooves 5 are provided in plurality; a circumferential drainage groove 4 is provided in the circumference of the rubber layer, and the circumferential drainage groove 4 is located in the middle of the rubber layer, and the circumferential drainage groove 4 is at the same distance from the two side surfaces of the rubber layer.

[0026] In order to ensure that the driving rubber-coated wheel can be dust-proof, the soft rubber plug groove 6 on the surface of some anti-slip bumps 1 is filled with soft rubber, that is, the first anti-slip point. The soft rubber installed on the surface of the first anti-slip point can be optionally set to different materials, and at least two.

[0027] In order to realize the obstacle crossing function of driving the rubber-coated wheel, an obstacle crossing groove 7 is provided in the circumference of the rubber coating layer, and the arc of the obstacle crossing groove 7 from two points on the surface of the rubber coating layer to the axis of the rubber coating layer is at least 10°, so that there can be a sufficiently large contact area to increase the force during the obstacle crossing process.

[0028] The second anti-skid point of the anti-skid protrusion 1 is not filled with soft rubber, so that it can serve as a drainage function to drive the rubber-coated wheel.

[0029] The anti-slip convex points 1 are arranged in a circular array on the surface of the rubber coating.

[0030] The obstacle-crossing grooves 7 are arranged in a circumferential array on the surface of the rubber coating, and the obstacle-crossing grooves 7 evenly divide the circumferential drainage grooves 4 .

[0031] This embodiment is based on ordinary rubber wheels. In order to enable the moving robot to move effectively in dusty or wet areas, the rubber wheels are grooved in the circumferential position and also have drainage grooves in the axial direction to better drain out the water or dust squeezed during the movement. At the same time, soft rubber can be installed in the anti-slip bumps 1 between each drainage groove. Rubbers of different materials are selected to effectively solve the problem of slipping in wet areas or dust. When facing higher steps, four large obstacle grooves 7 are designed to provide greater vertical force during the obstacle crossing process. Example

[0032] A walking robot, the wheels used for movement adopt the driving rubber-coated wheels in Example 1, and are fixed through the mounting circular holes 3, and then the driving rubber-coated wheels are driven by the mounting bosses 2.

[0033] In the description of this disclosure / application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure / application based on specific circumstances.

[0034] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present disclosure / application. These improvements and modifications should also be regarded as the scope of protection of the present disclosure / application.

Claims

1. A driving rubber-coated wheel, characterized in that: include: Installing the boss (2) and the rubber layer; The rubber coating is coated on the outer surface of the mounting boss (2); a plurality of anti-skid protrusions (1) are provided on the outer surface of the rubber coating, a water seepage hole is provided in the middle of the anti-skid protrusion (1) and the water seepage hole penetrates the rubber coating, and a groove formed between two adjacent anti-skid protrusions (1) in the circumferential direction of the rubber coating is an axial drainage groove (5); a circumferential drainage groove (4) is provided in the circumference of the rubber coating; The anti-slip protrusion (1) comprises a first anti-slip point, a surface of the first anti-slip point is provided with a soft rubber plug groove (6), and a soft rubber is installed in the soft rubber plug groove (6); An obstacle crossing groove (7) is provided in the circumference of the rubber coating layer.

2. The driving rubber-coated wheel according to claim 1, characterized in that: The anti-slip protrusion (1) further includes a second anti-slip point, and the surface of the second anti-slip point is not installed with soft rubber.

3. The driving rubber-coated wheel according to claim 2, characterized in that: The first anti-slip points and the second anti-slip points are arranged crosswise.

4. The driving rubber-coated wheel according to claim 1, characterized in that: The anti-slip convex points (1) are arranged in a circular array on the outer surface of the rubber coating.

5. The driving rubber-coated wheel according to claim 1, characterized in that: The obstacle-crossing grooves (7) are arranged in a circumferential array on the surface of the rubber coating, and the obstacle-crossing grooves (7) evenly divide the circumferential drainage grooves (4).

6. The driving rubber-coated wheel according to claim 5, characterized in that: The arc of the obstacle groove (7) from two points on the surface of the rubber coating layer to the axis of the rubber coating layer is at least 10°.

7. The driving rubber-coated wheel according to claim 6, characterized in that: The mounting boss (2) further comprises mounting circular holes (3), a plurality of mounting circular holes (3) are provided in an annular array on the surface of the mounting boss (2), and the mounting circular holes (3) penetrate the mounting boss (2) and are provided in an annular array around the axis of the mounting boss (2).

8. A walking robot, characterized in that: The wheels used for the movement of the walking robot adopt the driving rubber-coated wheels according to any one of claims 1 to 7, and the driving rubber-coated wheels are driven by the mounting boss (2).

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