Anti-winding silent household robot walking wheel
Patent Information
- Application Number
- CN202522100332.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-29
- Publication Date
- 2026-09-22
- Estimated Expiration
- 2035-09-29
AI Technical Summary
[0003]在当前的居家机器人技术领域中，其底部所普遍采用的行走轮装置通常由外部防护外壳及内部可灵活转动的滚轮组件构成，然而，在实际运行过程中，该结构暴露出显著的技术缺陷：当滚轮进行高速旋转以驱动机器人移动时，受流体力学效应与机械摩擦作用的影响，地面存在的各类轻质杂物——尤其是人类或宠物脱落的毛发、衣物纤维以及地毯绒丝等柔性线状物质，极易通过滚轮与外壳间存在的微小间隙被吸入并附着于外壳内壁表面，随着使用时间的持续累积，这些异物会在滚轮轴向方向形成致密的缠绕层，不仅显著增大滚轮转动时的阻力矩，导致驱动系统负载异常升高，还会引发滚轮卡滞、打滑等机械故障，严重制约行走轮的正常运动性能，缩短设备使用寿命，鉴于此，亟需开发一种防缠绕静音居家机器人行走轮解决所述的问题
1、本实用新型中，通过在安装仓的内壁转动安装一个轮体，并且在轮体的表面滑动套接一个刮片，在使用一段时间，安装仓的内部积累了较多的毛发、衣物纤维以及地毯绒丝等柔性线状物质后，使用者需要通过第一限位单元将所述刮片限制在所述轮体的表面，然后通过驱动单元驱动轮体转动，即可带动刮片转动，使得刮片插入安装仓的内壁，实现对柔性线状物质的刮除，这种方式对柔性线状物质的去除方式利用了现有技术中轮体本身就可以转动的这一特征，实现了对柔性线状物质的快速去除。
Smart Images
Figure CN224776781U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot walking wheel technology, specifically an anti-tangling and silent home robot walking wheel. Background Technology
[0002] Home robots are service robots designed specifically for home environments. They aim to meet the needs of family life and improve convenience and quality of life through automation technology. The concept is that they are service robots used in home environments or similar environments to meet the needs of users.
[0003] In the current field of home robot technology, the walking wheel device commonly used at the bottom of the robot usually consists of an outer protective shell and an internal roller assembly that can rotate flexibly. However, in actual operation, this structure has revealed significant technical defects: when the roller rotates at high speed to drive the robot to move, due to the effects of hydrodynamics and mechanical friction, various lightweight debris on the ground—especially human or pet hair, clothing fibers, and carpet fibers—are easily sucked in through the tiny gap between the roller and the shell and adhere to the inner wall surface of the shell. With the continuous accumulation of use time, these foreign objects will form a dense entanglement layer in the axial direction of the roller. This not only significantly increases the resistance torque when the roller rotates, causing an abnormal increase in the load on the drive system, but also causes mechanical failures such as roller jamming and slippage, seriously restricting the normal movement performance of the walking wheel and shortening the service life of the device. In view of this, it is urgent to develop an anti-entanglement silent home robot walking wheel to solve the above problems. Utility Model Content
[0004] The purpose of this invention is to address the problem that tiny gaps between the rollers and the outer shell of home robots can lead to the absorption and adhesion of foreign objects onto the inner surface of the outer shell. Over time, these foreign objects accumulate and form a dense entanglement layer in the axial direction of the rollers. This not only significantly increases the resistance torque during roller rotation, causing abnormally high loads on the drive system, but also leads to mechanical failures such as roller jamming and slippage, severely restricting the normal movement performance of the walking wheels and shortening the service life of the equipment. This invention provides a robot walking wheel.
[0005] To achieve the above objectives, this utility model specifically adopts the following technical solution: A robot walking wheel includes: a mounting compartment, on the inner wall of which a wheel is rotatably mounted; and a drive unit for driving the wheel to rotate. The surface of the wheel is slidably fitted with a scraper, and the device also includes a first limiting unit and an installation unit. The first limiting unit is used to restrict the scraper to the surface of the wheel, and the installation unit is used to install the installation compartment onto the bottom of the home robot.
[0006] Furthermore, the drive unit includes an installation space and a drive space formed in the inner wall of the installation chamber. A drive motor is fixedly installed on the inner wall of the drive space, and the drive unit also includes a transmission unit for transmitting the rotational tendency of the output end of the drive motor to the wheel.
[0007] Furthermore, the transmission unit includes a small gear fixedly installed on the surface of the wheel body, a first gear meshing on the surface of the small gear, a second gear meshing on the surface of the first gear, the small gear, the first gear, and the second gear being rotatably inserted into the inner wall of the drive space, and also includes two transmission wheels, the two transmission wheels being fixedly installed on the surface of the second gear and the output end of the drive motor respectively, and a transmission belt being slidably sleeved on the surface of the two transmission wheels.
[0008] Furthermore, the first limiting unit includes two limiting grooves, both of which are formed on the surface of the wheel body. Both ends of the scraper are provided with limiting protrusions, and the surfaces of the two limiting protrusions are slidably inserted into the inner walls of the two limiting grooves.
[0009] Furthermore, an installation ring is provided below the installation chamber, and a plurality of bristles are fixedly installed on the surface of the installation ring. It also includes a second limiting unit, which is used to install the installation ring onto the surface of the installation chamber.
[0010] Furthermore, the second limiting unit includes a raised ring disposed on the surface of the mounting ring, the surface of the raised ring being slidably inserted into the surface of the mounting chamber, and a plurality of mounting bolts being threadedly inserted into the surface of the mounting chamber, the surfaces of the plurality of mounting bolts being threadedly inserted into the surface of the raised ring.
[0011] Furthermore, the installation unit includes an installation protrusion disposed on the surface of the installation chamber, a slide rod is slidably inserted into the surface of the installation protrusion, and an abutment nut is threadedly sleeved on the surface of the slide rod.
[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. In this utility model, a wheel is rotatably installed on the inner wall of the installation chamber, and a scraper is slidably fitted onto the surface of the wheel. After a period of use, when a large amount of flexible linear material such as hair, clothing fibers, and carpet fibers accumulates inside the installation chamber, the user needs to restrict the scraper to the surface of the wheel through the first limiting unit. Then, the wheel is driven to rotate by the driving unit, which in turn drives the scraper to rotate, allowing the scraper to insert into the inner wall of the installation chamber and scrape off the flexible linear material. This method of removing flexible linear material utilizes the feature of the wheel itself being able to rotate in the prior art, achieving rapid removal of flexible linear material.
[0013] 2. In this utility model, by setting an installation ring below the installation chamber, the user can install the installation ring below the installation chamber through the second limiting unit during use. This will restrict several bristles, which are fixedly installed on the surface of the installation ring, to the gap between the installation chamber and the wheel body. The bristles can block the flexible linear material and prevent it from entering the interior of the installation chamber. Attached Figure Description
[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial cross-sectional view of the present invention; Figure 3 This is a partial cross-sectional view of the present invention from another angle; Figure 4 This is a partial schematic diagram of a partial cross-sectional view of the present invention from another angle; Figure 5 This is a partial cross-sectional view of the present invention from another angle.
[0015] In the diagram: 1. Mounting chamber; 2. Wheel body; 3. Drive unit; 31. Mounting space; 32. Drive space; 33. Drive motor; 34. Transmission unit; 341. Pinion gear; 342. First gear; 343. Second gear; 344. Transmission wheel; 345. Transmission belt; 4. Scraper; 5. First limiting unit; 51. Limiting groove; 52. Limiting protrusion; 6. Mounting unit; 61. Mounting protrusion; 62. Slide rod; 63. Contact nut; 7. Mounting ring; 8. Brush bristles; 9. Second limiting unit; 91. Protruding ring; 92. Mounting bolt. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.
[0017] This embodiment provides an anti-entanglement silent home robot wheel, mainly to address the problem of tiny gaps between the robot's wheels and its outer shell being sucked in and adhering to the inner surface of the shell. With continuous use, these foreign objects accumulate and form a dense entanglement layer in the axial direction of the wheel. This not only significantly increases the resistance torque during wheel rotation, leading to abnormally high load on the drive system, but also causes mechanical failures such as wheel jamming and slippage, severely restricting the normal movement performance of the wheel and shortening the device's lifespan. The following technical solution is provided, which will be discussed in conjunction with... Figures 1-5 Please provide a detailed explanation: A type of anti-tangling, silent home robot walking wheel includes: an installation chamber 1 with a wheel 2 rotatably mounted on its inner wall, and a scraper 4 slidably sleeved on the surface of the wheel 2. After a period of use, the user first disassembles the home robot, and then releases the installation chamber 1 from the bottom of the home robot through an installation unit 6. The scraper 4 is then restricted to the surface of the wheel 2 by a first limiting unit 5. The wheel 2 is then driven to rotate by a drive unit 3, which drives the scraper 4 and the wheel 2 to rotate synchronously. Finally, the scraper 4 scrapes away the flexible linear material accumulated on the inner wall of the installation chamber 1, thus completing the removal of the flexible linear material. The drive unit 3 mainly consists of an installation space 31 and a drive space 32 formed in the inner wall of the installation chamber 1. The wheel 2 is rotatably inserted into the inner wall of the installation space 31. During use, the user needs to electrically connect the drive motor 33 to the home robot. Subsequently, the home robot's control system can control the output end of the drive motor 33, which is fixedly installed on the inner wall of the drive space 32, to rotate. The rotation trend of the drive motor 33 output end can be transmitted to the wheel body 2 through the transmission unit 34, which further drives the wheel body 2 to rotate, thereby driving the home robot. The main components of the first limiting unit 5 are: two limiting protrusions 52 respectively opened at both ends of the scraper 4 (the scraper 4 is made of elastic material), and limiting grooves 51 are opened on both sides of the wheel body 2. In use, the user slides the surfaces of the two limiting protrusions 52 into the inner walls of the two limiting grooves 51 respectively, thereby limiting the scraper 4 on the surface of the wheel body 2. The main components of the mounting unit 6 are: mounting protrusions 61 set on the surface of the mounting compartment 1. In use, the user inserts the mounting compartment 1 into the bottom of the home robot, so that the surface of the mounting protrusion 61 fits against the surface of the small hole reserved in the home robot. A sliding rod can be inserted into the surface of the mounting protrusion 61, so that the surface of the sliding rod 62 slides into the inner wall of the small hole. Finally, the contact nut 63 is threaded onto the surface of the sliding rod 62, thereby installing the mounting compartment 1 at the bottom of the home robot.
[0018] By rotating a wheel 2 on the inner wall of the installation chamber 1 and sliding a scraper 4 on the surface of the wheel 2, after a period of use, when a lot of flexible linear materials such as hair, clothing fibers, and carpet fibers accumulate inside the installation chamber 1, the user needs to use the first limiting unit 5 to restrict the scraper 4 to the surface of the wheel 2, and then drive the wheel 2 to rotate through the drive unit 3, which will drive the scraper 4 to rotate, so that the scraper 4 can be inserted into the inner wall of the installation chamber 1 to scrape off the flexible linear materials. This method of removing flexible linear materials utilizes the feature that the wheel 2 itself can rotate in the existing technology, and achieves rapid removal of flexible linear materials.
[0019] By setting an installation ring 7 below the installation chamber 1, the user can install the installation ring 7 below the installation chamber 1 through the second limiting unit 9 during use. This will restrict several bristles 8, which are fixedly installed on the surface of the installation ring 7, to the gap between the installation chamber 1 and the wheel body 2. The bristles 8 can block the flexible linear material and prevent it from entering the interior of the installation chamber 1.
[0020] like Figure 2 and Figure 3 As shown, in some embodiments, the main components of the transmission unit 34 are: a first gear 342 and a second gear 343 rotatably inserted into the inner wall of the drive space 32, and a small gear 341 fixedly installed on the surface of the wheel body 2, with the small gear 341 meshing with the surface of the first gear 342. The first gear 342 and the second gear 343 mesh with each other. It also includes two transmission wheels 344, which are respectively fixedly installed on the surface of the second gear 343 and the output end of the drive motor 33. A transmission belt 345 is slidably sleeved on the surface of the two transmission wheels 344. Therefore, in use, the user can control the output end of the drive motor 33 to rotate through the home robot, which can drive one of the transmission wheels 344 fixedly installed on the output end of the drive motor 33 to rotate, thereby further driving the other transmission wheel 344, the second gear 343, the first gear 342, the small gear 341, and the wheel body 2.
[0021] like Figure 3 and Figure 4 As shown, in some embodiments, a mounting ring 7 is provided below the mounting chamber 1, and a plurality of bristles 8 are fixedly mounted on the surface of the mounting ring 7. In use, the user installs the mounting ring 7 on the surface of the mounting chamber 1 through the second limiting unit 9, which can restrict the plurality of bristles 8 between the mounting chamber 1 and the wheel body 2. During the use of the home robot, the plurality of bristles 8 can block flexible linear materials and prevent them from entering the inner wall of the mounting chamber 1. The main components of the second limiting unit 9 are: a plurality of mounting bolts 92, and a raised ring 91 is fixedly mounted on the surface of the mounting ring 7. In use, the user first slides the surface of the raised ring 91 onto the surface of the mounting chamber 1, and then inserts the surfaces of the plurality of mounting bolts 92 into the surface of the mounting chamber 1 with threads, so that the surfaces of the plurality of mounting bolts 92 are all threaded into the surface of the raised ring 91, thereby restricting the plurality of bristles 8 below the mounting chamber 1.
[0022] The working process of this utility model: First, the user needs to slide the surface of the protruding ring 91 into the surface of the mounting chamber 1, and thread the surfaces of several mounting bolts 92 into the mounting chamber 1 and the surface of the protruding ring 91 to limit the position of several bristles 8 below the mounting chamber 1. Secondly, the user needs to place the device on the inner wall of the slot reserved at the bottom of the home robot, then insert the surface of the slide rod 62 into the inner wall of the mounting protrusion 61 and the small hole reserved in the slot, and finally thread the contact nut 63 onto the surface of the slide rod 62 to achieve a stable positioning of the device on the inner wall of the slot at the bottom of the home robot.
[0023] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A type of anti-tangling, silent home robot walking wheel, characterized in that, include: The mounting chamber (1) has a wheel (2) rotatably mounted on its inner wall and also includes a drive unit (3) for driving the wheel (2) to rotate. The surface of the wheel (2) is slidably fitted with a scraper (4), and also includes a first limiting unit (5) and an installation unit (6). The first limiting unit (5) is used to restrict the scraper (4) to the surface of the wheel (2), and the installation unit (6) is used to install the installation compartment (1) on the bottom of the home robot.
2. The anti-tangling silent home robot walking wheel according to claim 1, characterized in that: The drive unit (3) includes an installation space (31) and a drive space (32) opened on the inner wall of the installation compartment (1). The inner wall of the drive space (32) is fixedly installed with a drive motor (33) and also includes a transmission unit (34). The transmission unit (34) is used to transmit the rotation trend of the output end of the drive motor (33) to the wheel body (2).
3. The anti-tangling silent home robot walking wheel according to claim 2, characterized in that: The transmission unit (34) includes a small gear (341) fixedly installed on the surface of the wheel body (2), a first gear (342) meshing on the surface of the small gear (341), a second gear (343) meshing on the surface of the first gear (342), the small gear (341), the first gear (342), and the second gear (343) being rotatably inserted into the inner wall of the drive space (32), and also includes two transmission wheels (344), the two transmission wheels (344) being fixedly installed on the surface of the second gear (343) and the output end of the drive motor (33) respectively, and a transmission belt (345) is slidably sleeved on the surface of the two transmission wheels (344).
4. The anti-tangling silent home robot walking wheel according to claim 1, characterized in that: The first limiting unit (5) includes two limiting grooves (51) that are both opened on the surface of the wheel body (2). Both ends of the scraper (4) are provided with limiting protrusions (52). The surfaces of the two limiting protrusions (52) are slidably inserted into the inner walls of the two limiting grooves (51).
5. The anti-tangling silent home robot walking wheel according to claim 1, characterized in that: An installation ring (7) is provided below the installation chamber (1). Several bristles (8) are fixedly installed on the surface of the installation ring (7). It also includes a second limiting unit (9), which is used to install the installation ring (7) on the surface of the installation chamber (1).
6. The anti-tangling silent home robot walking wheel according to claim 5, characterized in that: The second limiting unit (9) includes a raised ring (91) disposed on the surface of the mounting ring (7). The surface of the raised ring (91) is slidably inserted into the surface of the mounting chamber (1). A plurality of mounting bolts (92) are threaded into the surface of the mounting chamber (1). The surfaces of the plurality of mounting bolts (92) are all threaded into the surface of the raised ring (91).
7. The anti-tangling silent home robot walking wheel according to claim 1, characterized in that: The installation unit (6) includes an installation protrusion (61) disposed on the surface of the installation chamber (1), a slide rod (62) is slidably inserted into the surface of the installation protrusion (61), and an abutment nut (63) is threaded onto the surface of the slide rod (62).