Robot motion wheel and robot

Abstract

The utility model discloses a robot moving wheel and a robot, and belongs to the technical field of moving wheels. Comprising an axle, an anti-skid hub is coaxially arranged on the axle and comprises an anti-skid rim and anti-skid spokes, a water absorption groove is formed in the end face of the side, away from the axle, of the anti-skid rim in the circumferential direction, a water absorption rubber strip is arranged in the water absorption groove, and the top of the water absorption rubber strip protrudes out of the water absorption groove. When the moving wheel of the robot passes through a wet road surface, the water absorption rubber strip can absorb water on the road surface, and the water absorption rubber strip can still keep a high friction coefficient after absorbing water, so that the moving wheel of the robot is prevented from slipping. When the moving wheel is driven away from the wet area, water in the water absorption rubber strip can be thrown out along with high-speed rotation of the moving wheel, and water drainage of the water absorption rubber strip is achieved. Furthermore, drainage holes are axially formed in the anti-skid rim and penetrate through the side wall of the water suction groove. And water in the water absorption rubber strip can be discharged from the two sides of the anti-skid rim through the drainage holes, so that water discharge is further promoted.

Description

Technical Field

[0001] This application relates to the field of motion wheel technology, and more particularly to a robotic motion wheel and a robot. Background Technology

[0002] With the continuous advancement of technology, robotics is also developing rapidly. As a key component for robot movement, the performance of the motion wheel directly affects the robot's efficiency and adaptability. Currently, most robot motion wheels widely used in the market are rubber wheels, which have good elasticity and wear resistance. However, when rubber wheels travel in wet areas, the coefficient of friction of rubber material decreases significantly under humid conditions, making it difficult for the robot motion wheel to maintain stable grip.

[0003] Furthermore, existing robotic wheels exhibit significant limitations in obstacle crossing. When a robot needs to traverse obstacles, the insufficient elasticity of the rubber wheels often prevents it from passing smoothly, thus limiting the robot's application range and scenarios. Utility Model Content

[0004] The purpose of this application is to provide a robot motion wheel to solve the problem that existing robot motion wheels cannot adapt to complex road environments.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0006] On one hand, this application provides a robotic motion wheel, comprising:

[0007] axle;

[0008] An anti-slip wheel hub is coaxially mounted on the axle. The anti-slip wheel hub includes an anti-slip rim and anti-slip spokes. A water-absorbing groove is circumferentially provided on the end face of the anti-slip rim away from the axle. A drain hole is axially provided on the anti-slip rim, and the drain hole penetrates the side wall of the water-absorbing groove.

[0009] An absorbent strip is provided inside the absorbent groove, with the top of the absorbent strip protruding from the absorbent groove.

[0010] When the robot's wheels traverse wet surfaces, the absorbent strips absorb the moisture. Even after absorbing water, the strips maintain a high coefficient of friction, preventing wheel slippage and improving the robot's stability and operational efficiency in wet environments. As the wheels move away from the wet area, the high-speed rotation of the wheels dislodges the water from the absorbent strips, allowing for drainage. Furthermore, this design incorporates axial drainage holes on the anti-slip rims, penetrating the sidewalls of the absorbent grooves. Water from the absorbent strips can drain through these holes from both sides of the anti-slip rims, further promoting drainage and ensuring the absorbent strips quickly regain their absorbency.

[0011] Optionally, the anti-slip rim includes a plurality of first arc-shaped rims, and the anti-slip spokes include a plurality of first spokes radially connected to the first arc-shaped rims.

[0012] In this design, multiple first arc-shaped rims and first spokes together form an anti-slip hub.

[0013] In this design, a water-absorbing rubber strip of a different material can be installed in each of the first arc-shaped wheel rims to test the slippage performance of rubber strips made of different materials. This allows for better selection of water-absorbing rubber strips under varying road surface humidity levels.

[0014] Optionally, an obstacle-crossing hub is coaxially disposed on the axle. The obstacle-crossing hub includes a plurality of second arc-shaped rims and second spokes radially disposed on each of the second arc-shaped rims. The second arc-shaped rims and the first arc-shaped rims are interspersed on the same axial plane.

[0015] In this design, the hub of the robot's motion wheel is composed of an obstacle-crossing hub and an anti-slip hub, enabling the robot's motion wheel to adapt to various complex road environments.

[0016] Optionally, the second arc-shaped rim is provided with a plurality of elastic elements on the side opposite to the second spoke. The elastic elements include an arc plate and a spring radially disposed on the arc plate, and one end of the spring is connected to the second arc-shaped rim.

[0017] When the robot's wheels encounter an obstacle, the spring on the elastic component in direct contact with the obstacle is compressed. This compression creates a height difference between the elastic component connected to the compressed spring and its adjacent components, allowing the robot's wheels to smoothly traverse the obstacle. Furthermore, the elastic component effectively mitigates the impact force of the obstacle on the wheels. During the robot's movement, when encountering uneven road surfaces, the elastic component absorbs and disperses this vibrational energy through its elastic deformation, thus providing shock absorption.

[0018] Optionally, the spring coefficients on several of the elastic elements may be different.

[0019] The springs on multiple elastic components have different spring constants. During the rotation of the curved plate, each plate experiences different centrifugal forces, resulting in a height difference that facilitates better obstacle clearance. To suit different usage environments, springs with different spring constants can be selected and tested to find the spring best suited to the road conditions.

[0020] Optionally, the anti-slip unit and the obstacle-crossing unit are arranged alternately.

[0021] By alternating anti-slip units and obstacle-crossing units, the obstacle-crossing hub and the anti-slip hub together form the hub of the robot's motion wheel.

[0022] Optionally, the axle has multiple mounting grooves, each mounting groove having an axially arranged mounting hole. The first spoke and the second spoke are respectively provided with a first fixing hole and a second fixing hole corresponding to the mounting hole. The first spoke and the second spoke are fixedly installed in the mounting groove by bolts.

[0023] On the other hand, this application provides a robot that includes the aforementioned robot motion wheels.

[0024] Compared with existing technologies, the beneficial effects achieved by this application are as follows: This application enables stable movement of the robot's motion wheel in wet environments by setting a water-absorbing groove on the anti-slip rim and setting a water-absorbing strip inside the water-absorbing groove. When the robot's motion wheel passes over a wet surface, the water-absorbing strip can absorb the moisture from the surface, and the water-absorbing strip can still maintain a high coefficient of friction after absorbing water, preventing the robot's motion wheel from slipping and improving the robot's stability and movement efficiency in wet environments. When the motion wheel moves away from the wet area, as the motion wheel rotates at high speed, the water in the water-absorbing strip will be thrown out, realizing the drainage of the water-absorbing strip. In addition, this application sets drainage holes axially on the anti-slip rim, and the drainage holes penetrate the side wall of the water-absorbing groove. The water in the water-absorbing strip can be discharged from both sides of the anti-slip rim through the drainage holes, thereby further promoting the drainage of moisture and ensuring that the water-absorbing strip can quickly restore its water absorption capacity. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure 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 only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 These are side views of some embodiments provided in this application;

[0027] Figure 2 This is a schematic diagram of the overall structure of some embodiments provided in this application;

[0028] Figure 3 These are front views of some embodiments provided in this application;

[0029] Figure 4 These are exploded views of some embodiments provided in this application.

[0030] Explanation of reference numerals in the attached drawings: 1-Axle; 2-Anti-slip hub; 3-Water-absorbing strip; 4-Obstacle-crossing hub; 5-Bolt; 11-Mounting groove; 12-Mounting hole; 21-Anti-slip rim; 22-Anti-slip spoke; 41-Second arc-shaped rim; 42-Second spoke; 43-Elastic element; 211-Water absorption groove; 212-Drainage hole; 213-Drainage groove; 214-First arc-shaped rim; 221-First spoke; 2211-First fixing hole; 421-Second fixing hole; 431-Arc plate; 432-Spring. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure / application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0032] Example 1

[0033] This embodiment describes a robot motion wheel, referencing... Figure 1 and Figure 2 In this embodiment, the robot's motion wheel includes an axle 1, on which an anti-slip hub 2 is coaxially mounted. The anti-slip hub 2 includes an anti-slip rim 21 and anti-slip spokes 22. A water-absorbing groove 211 is circumferentially arranged on the end face of the anti-slip rim 21 facing away from the axle 1. A water-absorbing strip 3 is disposed within the water-absorbing groove 211, with the top of the water-absorbing strip 3 protruding from the water-absorbing groove 211. When the robot's motion wheel passes over a wet surface, the water-absorbing strip 3 can absorb the moisture from the surface, and the water-absorbing strip 3 can still maintain a high coefficient of friction after absorbing water, preventing the robot's motion wheel from slipping and improving the robot's stability and movement efficiency in wet environments. When the motion wheel leaves the wet area, as the motion wheel rotates at high speed, the water inside the water-absorbing strip 3 will be flung out, achieving drainage of the water-absorbing strip 3.

[0034] Furthermore, a drain hole 212 is axially provided on the anti-slip rim 21, and the drain hole 212 penetrates the side wall of the water absorption groove 211. Water in the water-absorbing strip 3 can be discharged from both sides of the anti-slip rim 21 through the drain hole 212, thereby further promoting the discharge of water and ensuring that the water-absorbing strip 3 can quickly restore its water absorption capacity. Furthermore, a drain groove 213 is provided on the end face of the side wall of the water absorption groove 211.

[0035] In this embodiment, the absorbent strip 3 is made of one or any combination of natural rubber, rust-resistant latex, and polyurethane. By selecting one or any combination of natural rubber, rust-resistant latex, and polyurethane as the material for the absorbent strip 3, the robot's motion wheel in this embodiment can be made of a suitable material according to different application environments and requirements. This flexibility not only improves the adaptability and durability of the motion wheel but also reduces manufacturing costs and maintenance difficulty.

[0036] Example 2:

[0037] Based on the same inventive concept as Embodiment 1, with reference to Figure 1 and Figure 2 In this embodiment, the robot's motion wheel includes an axle 1, on which an anti-slip hub 2 is coaxially mounted. The anti-slip hub 2 includes an anti-slip rim 21 and anti-slip spokes 22. The anti-slip rim 21 includes multiple first arc-shaped rims 214, and the anti-slip spokes 22 include multiple first spokes 221 radially connected to the first arc-shaped rims 214. A water-absorbing groove 211 is circumferentially arranged on the end face of the anti-slip rim 21 facing away from the axle 1, and a drain hole 212 is axially arranged on the anti-slip rim 21, penetrating the sidewall of the water-absorbing groove 211. Furthermore, a water-absorbing strip 3 is provided within the water-absorbing groove 211, with the top of the water-absorbing strip 3 protruding from the water-absorbing groove 211. In this embodiment, the anti-slip hub 2 is formed by multiple first arc-shaped rims 214 and first spokes 221. The slip resistance of different materials for the water-absorbing strip can be tested by setting a different material of water-absorbing strip 3 in each first arc-shaped rim 214. This allows for better selection of water-absorbing rubber strips 3 for different road surface humidity levels.

[0038] Further, refer to Figure 3 and Figure 4An obstacle-crossing hub 4 is coaxially mounted on the axle 1. The obstacle-crossing hub 4 includes multiple second arc-shaped rims 41 and second spokes 42 radially disposed on each second arc-shaped rim 41. The second arc-shaped rims 41 and the first arc-shaped rims 214 are interposed on the same axial plane. Specifically, the axle 1 has multiple mounting grooves 11, each with an axially disposed mounting hole 12. The first spokes 221 and the second spokes 42 are respectively provided with a first fixing hole 2211 and a second fixing hole 421 corresponding to the mounting holes 12. The first spokes 221 and the second spokes 42 are fixedly mounted in the mounting grooves 11 by bolts 5. In this embodiment, the second arc-shaped rims 41 and the first arc-shaped rims 214 are arranged alternately.

[0039] In this embodiment, the hub of the robot's motion wheel is formed by the obstacle-crossing hub 4 and the anti-slip hub 2, enabling the robot's motion wheel to adapt to various complex road environments. Furthermore, the second arc-shaped rim 41 has several elastic elements 43 on its side facing away from the second spokes 42. Each elastic element 43 includes an arc plate 431 and a spring 432 radially disposed on the arc plate 431, with one end of the spring 432 connected to the second arc-shaped rim 41.

[0040] When the robot's wheels encounter an obstacle, the spring 432 on the elastic element 43, which is in direct contact with the obstacle, is compressed. A height difference is created between the elastic element 43 connected to the compressed spring 432 and its adjacent elastic elements 43. This height difference allows the robot's wheels to smoothly overcome the obstacle. Furthermore, the elastic element 43 effectively mitigates the impact force of the obstacle on the wheels. During the robot's movement, when encountering uneven road surfaces, the elastic element 43 can absorb and disperse this vibration energy through its elastic deformation, thus playing a shock-absorbing role.

[0041] In this embodiment, the springs 432 on the multiple elastic elements 43 have different elastic coefficients. During the rotation of the arc plate 431, each arc plate 431 will have different centrifugal forces, thereby generating a height difference, which facilitates better overcoming of obstacles. For different usage environments, springs 432 with different elastic coefficients can be selected for testing to obtain springs 432 that are adapted to road conditions.

[0042] The robot wheels in this embodiment have broad applicability and can be applied to various scenarios. For example, they are suitable for garden robots and cleaning robots that frequently operate in wet or rainy environments, ensuring stable mobility even in adverse weather conditions. Furthermore, these robot wheels are also suitable for industrial robots in humid factory environments, such as food processing plants and chemical plants, enabling them to operate efficiently in these challenging environments. They are also suitable for rescue robots working at disaster sites such as floods and muddy areas, as their excellent obstacle-crossing and anti-slip capabilities ensure stable movement in complex and changing environments, allowing them to complete rescue missions.

[0043] Example 3:

[0044] This embodiment provides a robot that uses the robot motion wheel described in Embodiment 1 or Embodiment 2.

[0045] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this disclosure / application, and these improvements and modifications should also be considered within the protection scope of this disclosure / application.

Claims

1. A robot motion wheel, characterized in that, include: Wheel and axle (1); Anti-slip wheel hub (2) is coaxially disposed on the wheel axle (1). The anti-slip wheel hub (2) includes an anti-slip wheel rim (21) and anti-slip wheel spokes (22). The anti-slip wheel rim (21) has a water absorption groove (211) circumferentially disposed on the end face away from the wheel axle (1). The anti-slip wheel rim (21) has a drain hole (212) axially disposed on the upper side of the anti-slip wheel rim (21). The drain hole (212) penetrates the side wall of the water absorption groove (211). A water-absorbing strip (3) is disposed in the water-absorbing groove (211), and the top of the water-absorbing strip (3) protrudes from the water-absorbing groove (211).

2. The robot motion wheel according to claim 1, characterized in that, The anti-slip rim (21) includes a plurality of first arc-shaped rims (214), and the anti-slip spokes (22) include a plurality of first spokes (221) that are radially connected to the first arc-shaped rims (214).

3. The robot motion wheel according to claim 2, characterized in that, An obstacle-crossing hub (4) is coaxially arranged on the axle (1). The obstacle-crossing hub (4) includes a plurality of second arc-shaped rims (41) and second spokes (42) radially arranged on each of the second arc-shaped rims (41). The second arc-shaped rims (41) and the first arc-shaped rims (214) are interspersed on the same axial plane.

4. The robot motion wheel according to claim 3, characterized in that, The second arc-shaped rim (41) has a plurality of elastic elements (43) on the side opposite to the second spoke (42). The elastic elements (43) include an arc plate (431) and a spring (432) radially disposed on the arc plate (431). One end of the spring (432) is connected to the second arc-shaped rim (41).

5. The robot motion wheel according to claim 4, characterized in that, The spring coefficients of the springs (432) on some of the elastic elements (43) are not the same.

6. The robot motion wheel according to claim 3, characterized in that, The second arc-shaped rim (41) is arranged alternately with the first arc-shaped rim (214).

7. The robot motion wheel according to claim 3, characterized in that, The axle (1) has multiple mounting grooves (11), and the mounting grooves (11) have axially arranged mounting holes (12). The first spoke (221) and the second spoke (42) are respectively provided with a first fixing hole (2211) and a second fixing hole (421) corresponding to the mounting holes (12). The first spoke (221) and the second spoke (42) are fixedly installed in the mounting grooves (11) by bolts (5).

8. The robot motion wheel according to claim 1, characterized in that, A drainage groove (213) is provided on the side wall end face of the water absorption groove (211).

9. The robot motion wheel according to claim 1, characterized in that, The absorbent strip (3) is made of one or any combination of natural rubber, rust-preventive latex and polyurethane.

10. A robot, characterized in that, The robot includes the robot motion wheel as described in any one of claims 1-9.

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