Tire and robot
By setting multiple toothed units around the tire, the problem of sideslip when the robot moves on uneven ground is solved, improving grip and work efficiency, and reducing damage to the grass.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-29
- Publication Date
- 2026-03-03
AI Technical Summary
When a robot moves on uneven ground, its wheels are prone to slipping, which affects the efficiency of its work.
Multiple toothed units, including first tooth and second tooth, are set on the outer periphery of the tire. The toothed units are embedded in the mud to improve grip and reduce sideslip.
It enhances tire grip, reduces sideslip, improves robot operation, and lowers the probability of damage to the grass.
Smart Images
Figure CN223961970U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a tire and a robot. Background Technology
[0002] Currently, functional robots can be equipped with wheels, which allow them to move on the ground. For example, lawnmower robots can move across the grass using their rotating wheels to mow different areas of the lawn.
[0003] When a robot moves along its wheels, uneven ground and / or debris on the ground can cause the wheels to slip, affecting the robot's performance. Utility Model Content
[0004] In view of the above, it is necessary to provide a tire and a robot that can improve the robot's working performance by reducing tire lateral slippage and solve the above-mentioned defects.
[0005] In a first aspect, embodiments of this application provide a tire, comprising: a tire body; a plurality of toothed units, all of which are disposed on the outer periphery of the tire body, the outer periphery of the tire body being used to contact the ground, and the plurality of toothed units being spaced apart along a direction surrounding the tire body; wherein, each toothed unit includes a first tooth and a second tooth, the first tooth and the second tooth being spaced apart along the axial direction of the tire body.
[0006] Optionally, both the first tooth and the second tooth are strip-shaped and extend along the axial direction of the tire, with the length of the first tooth being greater than the length of the second tooth.
[0007] Optionally, the first tooth is strip-shaped and extends along the axial direction of the tire, and the second tooth is a cone or boss with a circular or polygonal cross-section.
[0008] Optionally, the arrangement order of the first and second convex teeth in each toothed unit is the reverse of the arrangement order of the first and second convex teeth in the adjacent toothed unit.
[0009] Optionally, the height at which the first tooth protrudes from the outer periphery of the tire body is the same as the height at which the second tooth protrudes from the outer periphery of the tire body.
[0010] Optionally, in each toothed unit, the first tooth protrudes from the centerline of the tire body or is level with the centerline of the tire body on the side closest to the second tooth; wherein the distance from the centerline of the tire body to both sides of the tire body in the axial direction is equal.
[0011] Optionally, multiple tread grooves are provided on the outer periphery of the tire body, with each tread groove located between two corresponding tooth units.
[0012] Optionally, multiple tread grooves are provided between every two adjacent toothed units, and at least some of the tread grooves are spaced apart along the axial direction of the tire between every two toothed units, with each tread groove spaced apart from the centerline of the tire carcass; wherein the distance from the centerline of the tire carcass to both sides of the tire carcass in the axial direction is equal.
[0013] Optionally, multiple positioning grooves are provided inside the tire body, and the multiple positioning grooves are spaced apart along the direction surrounding the tire body. The multiple positioning grooves are used to accommodate multiple positioning protrusions that respectively receive the wheel hub, so as to realize the connection between the tire and the wheel hub.
[0014] Secondly, embodiments of this application provide a robot, including: a body, the body having a hub; and a tire as described above, the tire being connected to the hub.
[0015] The tire and robot provided in this application can be equipped with multiple toothed units on the tire body, and each toothed unit can have multiple teeth (e.g., a first tooth and a second tooth). This strengthens the tire's grip by embedding multiple teeth into the soil, reduces tire slippage, and improves the robot's performance. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the robot in the embodiments of this application.
[0017] Figure 2 This is a schematic diagram of the first structure of the tire in the embodiments of this application.
[0018] Figure 3 yes Figure 2 The front view.
[0019] Figure 4 This is a schematic diagram of the second structure of the tire in an embodiment of this application.
[0020] Explanation of key component symbols:
[0021] 100. Robot; 101. Vehicle body; 10. Wheel hub; 102. Working device; 103. Tire; 20. Tire carcass; 21. Positioning groove; 22. Tread groove; 30. Convex tooth unit; 31. First convex tooth; 32. Second convex tooth. Detailed Implementation
[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.
[0023] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.
[0024] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0025] Please see Figure 1 , Figure 1 An embodiment of this application provides a robot 100.
[0026] In embodiments of this application, the robot 100 may include a vehicle body 101 and a working device 102. The working device 102 may be mounted on the vehicle body 101. The vehicle body 101 may move on the ground, and the working device 102 may perform operations while the vehicle body 101 is moving.
[0027] The vehicle body 101 can be equipped with multiple hubs 10, and the robot 100 can also include multiple wheels. Each hub 10 can be connected to a corresponding wheel. The wheel can contact the ground to support the robot 100. A drive device for rotating the hubs 10 and tires 103 can be installed inside the vehicle body 101, and the rotation of the hubs 10 and tires 103 enables the vehicle body 101 to move on the ground.
[0028] It is understandable that the principle by which the drive device drives the wheel hub 10 and the tire 103 to rotate can be a general principle in the relevant field, and will not be elaborated here.
[0029] It is understood that the number of wheel hubs 10 and tires 103 can be the same. In the embodiments of this application, the number of wheel hubs 10 and tires 103 is not specifically limited. For example, the number of wheel hubs 10 and tires 103 is four, where two wheel hubs 10 and two tires 103 form the two front wheels of the robot 100, and the two front wheels are spaced apart along the width direction of the vehicle body 101; the remaining two wheel hubs 10 and two tires 103 form the two rear wheels of the robot 100, and the two rear wheels are spaced apart along the width direction of the vehicle body 101.
[0030] It is understood that the working device 102 can be adjusted according to the type of robot 100. For example, robot 100 can be a lawnmower robot, and the working device 102 can perform lawnmowing operations. When robot 100 moves on the grass, the working device 102 works to mow the grass. The principle of the working device 102 performing lawnmowing operations is a general principle in the relevant field and will not be elaborated here.
[0031] For example, robot 100 can also be a transport robot, a snow-shoveling robot, etc., which will not be elaborated in the embodiments of this application.
[0032] The following examples illustrate embodiments of this application, assuming that robot 100 is a lawnmower robot.
[0033] In one embodiment, each wheel hub 10 may have multiple positioning protrusions (not shown) on its outer periphery, and these protrusions may be spaced apart along the direction surrounding the wheel hub 10. Each tire 103 may have multiple positioning grooves 21 on its inner side, and these grooves may be spaced apart along the direction surrounding the tire 103. Each positioning groove 21 corresponds one-to-one with a positioning protrusion. Each positioning protrusion can pass through its corresponding positioning groove 21, and the tire 103 can be fitted onto the wheel hub 10, thereby achieving the connection between the wheel hub 10 and the tire 103.
[0034] It is understood that each positioning protrusion can be fixedly connected to the corresponding wheel hub 10. In the embodiments of this application, the fixing method is not specifically limited. For example, the fixing method may include, but is not limited to, integral molding fixing, welding fixing, bolt fixing, screw fixing, interference fit fixing, etc.
[0035] Please refer to the following: Figures 2 to 4 In some embodiments, tire 103 may include tire body 20 and a plurality of toothed units 30.
[0036] The tire carcass 20 may be annular, and the tire carcass 20 has an outer periphery and an inner side that are opposite each other in the radial direction of the tire 103. A plurality of positioning grooves 21 may be formed on the inner side of the tire carcass 20 and are spaced apart in the direction surrounding the tire carcass 20.
[0037] Multiple toothed units 30 protrude from the outer periphery of the tire body 20 and are fixedly connected to the tire body 20. The multiple toothed units 30 can be spaced apart along the direction surrounding the tire body 20. Each toothed unit 30 protrudes radially from the outer periphery of the tire body 20.
[0038] It is understood that for components with a circular or annular cross-section, the axial direction can be the direction of the component's central axis, and the radial direction can be the direction of the component's cross-sectional diameter. In the embodiments of this application, the axial direction of the tire body 20 coincides with the axial direction of the tire 103, and the radial direction of the tire body 20 can coincide with the radial direction of the tire 103.
[0039] It is understandable that the parts of the tire body 20 not covered by the toothed units 30 can contact the ground, allowing the tire 103 to support the robot 100 on the ground. When the robot 100 moves on the grass, the multiple toothed units 30 can embed themselves into the soil when the tire body 20 contacts the grass, thereby increasing the grip of the tire 103, reducing the probability of the tire 103 skidding, reducing the impact of tire 103 skidding on the operation of the robot 100, and thus improving the operation performance of the robot 100.
[0040] In some embodiments, each tooth unit 30 may include a first tooth 31 and a second tooth 32. The first tooth 31 and the second tooth 32 extend outward from the outer side of the tire body 20 in the radial direction of the tire 103 at the same height, that is, the side of the first tooth 31 facing away from the tire body 20 and the side of the second tooth 32 facing away from the tire body 20 may be flush. The first tooth 31 and the second tooth 32 may be spaced apart in the axial direction of the tire 103 and are respectively adjacent to the tire body 20 on both sides in the axial direction.
[0041] It is understood that both the first tooth 31 and the second tooth 32 can embed themselves in the soil when the robot 100 travels on the grass, thereby enhancing the grip of the tire 103 and reducing the probability of the tire 103 skidding. By configuring each tooth unit 30 to include multiple teeth and providing multiple tooth units 30 on the tire body 20, the density of teeth on the tire 103 can be increased, thereby reducing the height at which multiple teeth extend radially outward from the tire body 20, and thus reducing the depth at which each tooth embeds into the soil. In this way, the probability of the tire 103 turning over soil and vegetation when the robot 100 travels on the grass can be reduced, and the probability of the tire 103 damaging the grass can be reduced while improving the robot 100's operational efficiency by reducing tire skidding.
[0042] In some embodiments, the length of the first tooth 31 in the axial direction of the tire 103 may be greater than the length of the second tooth 32 in the axial direction of the tire 103. The arrangement order of the first tooth 31 and the second tooth 32 in each tooth unit 30 may be the opposite of the arrangement order of the first tooth 31 and the second tooth 32 in adjacent tooth units 30, that is, multiple tooth units 30 with the first tooth 31 and the second tooth 32 arranged in opposite order may be staggered on the tire body 20.
[0043] It is understandable that the tire body 20 can be defined to have a first side and a second side relative to each other in the axial direction; for example, the first side can be... Figure 3 The side marked A in the middle, the second side can be Figure 3 The side marked B. In a toothed unit 30, the first tooth 31 can be located on the first side and the second tooth 32 can be located on the second side. In this case, the arrangement order of the first tooth 31 and the second tooth 32 is that the first tooth 31 comes first and the second tooth 32 comes later. In a toothed unit 30 adjacent to this toothed unit 30, the first tooth 31 can be located on the second side and the second tooth 32 can be located on the first side. In this case, the arrangement order of the first tooth 31 and the second tooth 32 is that the second tooth 32 comes first and the second tooth 32 comes later. That is, the arrangement order of the first tooth 31 and the second tooth 32 in two adjacent toothed units 30 is opposite.
[0044] It is understandable that, compared to all the second teeth 32 being located on one side of the tire body 20 in the axial direction, and all the first teeth 31 being located on the other side of the tire body 20, by staggering the multiple tooth units 30, each second tooth 32 can have first teeth 31 on both sides in the direction surrounding the tire 103 with a length greater than the length of the second tooth 32. This can reduce the occurrence of at least one tire 103's second teeth 32 being suspended in the air due to the presence of ditches or protrusions on the ground. It can also reduce the impact of the second teeth 32 being suspended on the tire 103's grip, improve the tire 103's grip, and improve the stability of the robot 100's movement.
[0045] In some embodiments, in each toothed unit 30, the end of the first tooth 31 facing the second tooth 32 may be flush with or protrude from the centerline of the tire body 20.
[0046] It can be understood that the centerline of the carcass 20 can be a dividing line around the center of the carcass 20, and the distance between the centerline of the carcass 20 and the first side of the carcass 20 is equal to the distance between the centerline of the carcass 20 and the second side of the carcass 20. For example, the centerline of the carcass 20 can be shown as... Figure 3 The dashed line marked with M in the middle.
[0047] It is understandable that having one end of the multiple first convex teeth 31 flush with or beyond the centerline of the tire body 20 can enhance the grip of the middle part of the tire body 20 and reduce the probability of the tire 103 skidding.
[0048] In the embodiments of this application, the shapes of the first tooth 31 and the second tooth 32 are not specifically limited.
[0049] In the first case, such as Figure 2 and Figure 3As shown, both the first tooth 31 and the second tooth 32 are strip-shaped, and both the first tooth 31 and the second tooth 32 are convex ridges extending along the axial direction of the tire 103.
[0050] In the second case, such as Figure 4 As shown, the first tooth 31 is strip-shaped and is a convex ridge extending along the axial direction of the tire 103. The second tooth 32 is a cone or boss with a circular or polygonal cross-section.
[0051] It is understood that when the second tooth 32 is a cone or a boss, there can be multiple second teeth 32 in each tooth unit 30, and when there are multiple second teeth 32, the multiple second teeth 32 can be spaced apart along the axial direction of the tire 103.
[0052] In some embodiments, a plurality of tread grooves 22 are formed on the outer periphery of the tire body 20. The tread grooves 22 can accommodate soil and / or vegetation on the grass, thereby increasing the grip of the tire 103 on the grass and reducing the probability of the tire 103 skidding. At least one tread groove 22 is provided between every two adjacent tooth units 30.
[0053] In the embodiments of this application, the number and distribution of the tread grooves 22 are not specifically limited. For example, as Figures 2 to 4 As shown, the tire body 20 can be provided with two sets of tread grooves 22. The two sets of tread grooves 22 can be spaced apart along the axial direction of the tire 103 and are located on both sides of the centerline of the tire body 20. Each set of tread grooves 22 can include multiple tread grooves 22 arranged in the direction surrounding the tire 103. In each set of tread grooves 22, the number of tread grooves 22 located between two adjacent tooth units 30 can be multiple, and the multiple tread grooves 22 can be spaced apart or arranged adjacently in the direction surrounding the tire 103.
[0054] The tire 103 and robot 100 provided in the embodiments of this application can have multiple toothed units 30 staggered on the tire body 20, and each toothed unit 30 has multiple teeth (e.g., first tooth 31 and second tooth 32), thereby strengthening the grip of the tire 103 by embedding multiple teeth into the soil, reducing the occurrence of tire 103 lateral slippage, and improving the working effect of the robot 100.
[0055] Meanwhile, the increase in the number of convex teeth in each convex tooth unit 30 can enable the tire 103 to maintain grip when the height of the convex teeth is reduced. This can reduce the occurrence of the tire 103 digging out soil and / or vegetation in the grass while reducing the sideslip of the tire 103. This can reduce the damage of the tire 103 to the grass and improve the operation effect of the robot 100.
[0056] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.
Claims
1. A tire, characterized in that, include: fetus; Multiple toothed units are provided on the outer periphery of the tire body, the outer periphery of the tire body is used to contact the ground, and the multiple toothed units are spaced apart along the direction surrounding the tire body; Each of the toothed units includes a first tooth and a second tooth, and the first tooth and the second tooth are spaced apart along the axial direction of the tire body.
2. The tire as described in claim 1, characterized in that, Both the first and second convex teeth are strip-shaped and extend along the axial direction of the tire. The length of the first convex tooth is greater than the length of the second convex tooth.
3. The tire as described in claim 1, characterized in that, The first tooth is strip-shaped and extends along the axial direction of the tire, while the second tooth is a cone or boss with a circular or polygonal cross-section.
4. The tire as described in claim 1, characterized in that, The arrangement order of the first and second protrusions in each of the protrusion units is the opposite of the arrangement order of the first and second protrusions in adjacent protrusion units.
5. The tire as described in claim 1, characterized in that, The height at which the first protrusion protrudes from the outer periphery of the tire is the same as the height at which the second protrusion protrudes from the outer periphery of the tire.
6. The tire as claimed in claim 1, characterized in that, In each of the toothed units, the first tooth protrudes from the centerline of the tire body or is level with the centerline of the tire body on the side near the second tooth; The distance from the centerline of the tire body to both sides of the tire body in the axial direction is equal.
7. The tire as claimed in claim 1, characterized in that, The outer periphery of the tire body is provided with multiple tire tread grooves, and each tire tread groove is located between two corresponding tooth units.
8. The tire as claimed in claim 7, characterized in that, Multiple tread grooves are provided between every two adjacent toothed units, and at least a portion of the tread grooves are spaced apart along the axial direction of the tire between every two toothed units, and each tread groove is spaced apart from the centerline of the tire body. The distance from the centerline of the tire body to both sides of the tire body in the axial direction is equal.
9. The tire as claimed in claim 1, characterized in that, The tire body has multiple positioning grooves on its inner side, which are spaced apart along the direction surrounding the tire body. The multiple positioning grooves are used to accommodate multiple positioning protrusions of the wheel hub, so as to realize the connection between the tire and the wheel hub.
10. A robot, characterized in that, include: The fuselage, which is equipped with wheel hubs; The tire as claimed in any one of claims 1 to 9, wherein the tire is connected to the wheel hub.