CN111267555A

CN111267555A - Self-moving robot and travelling wheel

Info

Publication number: CN111267555A
Application number: CN202010176010.6A
Authority: CN
Inventors: 吴永东; 刘亚; 班永; 程文杰; 齐贺男; 栾福进
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2020-06-12

Abstract

The embodiment of the application provides a self-moving robot and a traveling wheel. Wherein, from mobile robot includes: a machine body and a travelling wheel; the traveling wheel is arranged on the machine body; the road wheel includes a tire having a tread in contact with a surface; a groove which encircles the tire for one circle is arranged on the tire surface; the groove is internally provided with a protruding structure, and the protruding structure and two opposite groove walls of the groove are provided with gaps. The technical scheme that this application embodiment provided adopts and sets up protruding structure in the slot, and protruding structure and two relative cell walls in slot all have gapped designs, and drainage performance is good to reduce the probability of appearing skidding the phenomenon because of the ground water is many.

Description

Self-moving robot and travelling wheel

Technical Field

The application relates to the technical field of robots, in particular to a self-moving robot and a traveling wheel.

Background

With the development of science and technology, various types of robots appear in the lives of people, such as shopping guide robots, floor sweeping robots and the like. Most of the existing robots with self-moving capability are provided with traveling wheels on a machine body, and the robots are moved by the traveling wheels.

In the current market, the appearance structure of a traveling wheel of a robot is single, such as a rubber tire with sawteeth, and the robot is suitable for running on a relatively flat ground with less water; when the water is on the ground with more water, the phenomenon of skidding often appears.

Disclosure of Invention

Embodiments of the present application provide a self-moving robot and a travel wheel that solve or improve the above-mentioned problems.

In one embodiment of the present application, a self-moving robot is provided. This from mobile robot includes:

a body;

the traveling wheel is arranged on the machine body;

wherein the road wheel comprises a tire having a tread in contact with a surface; a groove which encircles the tire for one circle is arranged on the tire surface; the groove is internally provided with a protruding structure, and the protruding structure and two opposite groove walls of the groove are provided with gaps.

In another embodiment of the present application, a travel wheel is provided. The travelling wheel comprises a tyre;

the tire has a tread in contact with a surface;

a groove which encircles the tire for one circle is arranged on the tire surface;

the groove is internally provided with a protruding structure, and the protruding structure and two opposite groove walls of the groove are provided with gaps.

The technical scheme that this application embodiment provided adopts and sets up protruding structure in the slot, and protruding structure and two relative cell walls in slot all have gapped designs, and drainage performance is good to reduce the probability of appearing skidding the phenomenon because of the ground water is many.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be utilized in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic structural view of a self-moving robot as a sweeping robot according to an embodiment of the present application;

FIG. 2 is a schematic front view of a travel wheel according to an embodiment of the present disclosure;

FIG. 3a is a schematic side view of a travel wheel according to an embodiment of the present disclosure;

FIG. 3b is a schematic view of a raised structure in the form of a plurality of discontinuous bead segments;

FIG. 4 is a schematic side view of a travel wheel according to an embodiment of the present application;

FIG. 5 is a schematic front view of a travel wheel according to another embodiment of the present disclosure;

FIG. 6 is a schematic side view of a travel wheel provided in accordance with another embodiment of the present application;

FIG. 7 is an isometric view of a travel wheel provided in accordance with another embodiment of the present application;

fig. 8a is an exploded view of a travel wheel mounting hub carrier according to an embodiment of the present application;

fig. 8b is a schematic structural view of the travel wheel provided by the embodiment of the present application after being assembled with a hub carrier;

FIG. 9a is an exploded view of a travel wheel assembly hub carrier according to another embodiment of the present application;

fig. 9b is a schematic structural view of a travel wheel provided in another embodiment of the present application after being assembled with a hub carrier.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that the descriptions of "first", "second", etc. in this document are used for distinguishing different structures, components, etc. and do not represent a sequential order. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

An embodiment of the present application provides a self-moving robot. Referring to fig. 1, the self-moving robot is an example of a sweeping robot, and includes a body 100 and a travel wheel 200. Wherein, the running wheel 200 is disposed on the machine body 100, and specifically, the running wheel 200 is installed at the bottom of the machine body 100. With reference to fig. 2, 3a, 3b, 4, 5, 6, 7, the running wheel 200 comprises a tyre having a tread 1 in contact with a surface; a groove 3 which surrounds the tire for one circle is arranged on the tire surface 1; the groove 3 is internally provided with a convex structure 4, and the convex structure 4 and two opposite groove walls of the groove 3 are provided with gaps.

In a particular embodiment, referring to fig. 3a, 4, 6 and 7, said raised structure 4 is an annular rib which divides the groove 3 into two

sub-grooves

31 and 32. Alternatively, the raised structure 4 comprises at least two bead segments 41 that are discontinuous around the circumference of the tire, see fig. 3 b.

The body structure will also be different for different types of robots. For example, a service robot providing services in a hotel, a bank or a shopping mall, a human-shaped structure like a body, and the like; the cleaning robot, such as a sweeping robot, has a body similar to a disc (see fig. 1). In addition, the connection mode between the traveling wheel 200 and the machine body 100 is not specifically limited in this embodiment, and can be realized by referring to the connection scheme in the prior art. The travel wheels in this embodiment may be drive wheels, follower wheels, or the like. The surfaces in rolling contact with the tire tread include, but are not limited to: ground, table top, etc.

The technical scheme that this embodiment provided adopts and sets up protruding structure in the slot, and protruding structure and the two relative cell walls in slot all have gapped designs, and drainage performance is good to reduce because of the probability of appearing skidding phenomenon of ground water appearance.

Referring to fig. 3a, 3b and 6, the clearance between the raised structure 4 and the two opposite walls of the groove 3 may be equal; this makes it possible to make the flow-through flux of the two

sub-grooves

31 and 32 to be divided similar or equal.

In particular implementation, the radius of the outer circle of the raised structure 4 is smaller than or equal to the radius of the circle on which the tread 1 lies. Referring to the examples shown in fig. 2, 3a, 3b, 5 and 6, the outer enveloping circle of the convex structure 4 coincides with the circle where the tread 1 is located (i.e. the projection circle of the tread 1 on the plane perpendicular to the tire axis), i.e. the outer enveloping circle of the convex structure 4 is the same as the radius of the circle where the tread 1 is located, so that the convex structure 4 can contact the surface (such as the ground, a table top, etc.) together with the tread to increase the contact area with the surface, reduce the occurrence probability of the hydroplaning phenomenon, and facilitate the improvement of the obstacle crossing capability.

In particular, as shown in fig. 3a, 3b and 6, the raised structure 4 has an end face 42 that contacts a surface (e.g., the ground, a table, etc.) to increase the contact area of the tread 1 with the surface.

The height of the projection structure provided in this embodiment in the radial direction of the tire may be constant or may be variable, and this embodiment is not particularly limited in this respect. The height of the raised structure in the radial direction of the tire is constant, see the examples shown in fig. 2, 3a, 3b, 4, 5, 6, 7. The case where the height of the projection structure varies in the tire radial direction may specifically include: a step-shaped raised structure at the top, a wavy raised structure at the top, etc.

This embodiment provides the possibility of providing the tyre with patterns of various types, the top of which forms the tread of the tyre for contact with the surface. Figures 2, 3a, 3b, 4, 5, 6, 7 show the case of one type of pattern. Specifically, the tire is provided with at least two circles of pattern structures 2 arranged along the circumferential direction of the tire; the tops of the at least two rings of pattern structures 2, which are far away from the tire rotation axis, constitute the tread 1; in the at least two circles of pattern structures 2, the groove 3 is formed by the space formed by the interval of any two adjacent circles of pattern structures 2.

With reference to the example shown in figures 2, 3a, 3b, 4, 5, 6, 7, the travelling wheel comprises a two-turn pattern structure 2. Two circles of pattern structures 2 are distributed along the axial direction of the travelling wheel. The space between the two circles of the pattern structure 2 forms the groove 3. The one-circle pattern structure 2 comprises a plurality of pattern blocks 21 arranged at intervals around the tread 1, and pattern grooves 22 formed among the pattern blocks 21 are communicated with the grooves 3 to assist the drainage of the grooves 3; the blocks 21 of the adjacent two-turn pattern structure 2 are staggered in position. As can be seen, the two blocks 21 belonging to the two-turn pattern structure 2 are staggered in position as shown by the

reference numbers

211 and 212 in fig. 3 a. More specifically, as shown in fig. 3a, 3b, 4, 6 and 7, in the adjacent pattern structure 2, the first block 211 of the first pattern structure 2 located on the left side as seen in fig. 3a is located opposite to the second groove 221 of the second pattern structure 2 located on the right side as seen in fig. 3 a. Accordingly, the second block of the second pattern structure 2 located on the right in fig. 3a is opposite to the first groove position of the first pattern structure located on the left in fig. 3 a.

In the technical scheme provided by the embodiment, the groove is internally provided with the convex structure, the convex structure and two opposite groove walls of the groove are designed to have gaps, and the structure with staggered pattern blocks is combined, so that the water drainage and skid resistance effects are good; due to the staggered structure of the pattern blocks, the obstacle crossing capability of the robot is improved, so that the robot can walk on the wet and slippery ground in an obstacle crossing manner, and the adaptability of the robot to various environments and various fields is improved.

In a specific implementation, referring to fig. 3a, the first block 211 has a block end surface 2110 facing the second groove 221; the second groove 221 has a groove port 2210 near the first block 221; the block width D center position of the block end surface 2110 in the tire tread circumferential direction is opposite to the groove width D center position of the groove end port 2210 in the tire tread circumferential direction. That is, a line connecting the center position of the block width D of the block end surface 2110 in the tire tread circumferential direction and the center position of the groove width D of the groove end port 2210 in the tire tread circumferential direction is parallel to the traveling wheel axis.

Wherein the groove 22 in the pattern structure 2 can assist the groove drainage, i.e. the groove 22 communicates with the groove 3. Specifically, the sub-grooves positioned at the same side of the convex structure 4 are communicated with the pattern grooves of the pattern structure. Referring to fig. 3a and 6, the left sub-groove 31 communicates with the groove of the left pattern structure in the drawing; the right sub-groove 32 communicates with the groove of the right pattern structure in the figure. The two

sub-grooves

31 and 32 form a double circumferential groove on the tread 1, which is more favorable for water drainage and skid resistance and obstacle crossing on slippery ground.

In particular implementation, the depth of the groove 3 may be greater than or equal to the depth of the groove 22.

In an implementable technical solution, referring to fig. 2, 3a and 5, in the first block 221 and the first groove 222 included in the first pattern structure, the block width D of the first block 221 in the tire circumferential direction is 1.5 to 5 times the groove width D of the first groove 222 in the tire circumferential direction.

Wherein, the block mentioned in the present embodiment includes at least one of the following: diamond shaped blocks (see fig. 4), rectangular blocks (see fig. 7), square blocks (not shown), V-shaped blocks, arc-shaped blocks, wave-shaped blocks, etc. The pattern blocks in the same pattern structure have the same shape. The pattern blocks of different pattern groups can be the same or different. For example, in the example shown in fig. 4 and 7, the block shapes and sizes of the two block groups are the same.

What is also to be added here is: in the embodiment, each figure shows the condition that two circles of pattern structures are distributed on the tire tread; in essence, three, four or more pattern structures can be arranged on the tire tread along the axial direction of the traveling wheel. The block offset distance of each adjacent pattern structure is not particularly limited in this embodiment, and may be determined according to the specific size of the traveling wheel.

As shown in fig. 3b and 6, the protruding structure 4 has an end 42 surface contacting the surface, and the width H of the end surface 42 in the tire axial direction (i.e., the extending direction of the tire shaft 101 in the drawing) is smaller than the width H of the block 21 in the tire axial direction. Specifically, the width H of the end face 42 in the tire axial direction is 1/6 to 1/2 of the width H of the block 21 in the tire axial direction.

With continued reference to fig. 2, 4, 5 and 7, the carcass of the road wheel is provided with a plurality of openings 5 extending in the direction of the wheel axis of the road wheel. The cross-section of the opening 5 comprises at least one of the following shapes: triangular (as shown in fig. 4 and 7), rectangular, square, circular, semicircular, oval, etc., which are not specifically limited in this embodiment. The design that sets up a plurality of trompils on the tire body for the travelling wheel has certain elasticity, can play the effect of buffering when the travelling wheel takes place deformation because of the atress when surmounting the obstacle, adopts the mode that the parcel covered the obstacle to pass through the obstacle, and the noise reduction reduces when surmounting the obstacle the wearing and tearing of wheel tread, can increase tire tread and ground area of contact, and then increases frictional force, prevents to skid.

In this embodiment, the tire may be made of an anti-slip material, an anti-dust material, a wear-resistant material, or a silent material. Among these, non-slip materials include but are not limited to: one or the combination of any more of brominated butyl rubber, butadiene rubber, isoprene rubber and chloroprene rubber. The anti-sticking ash material includes but is not limited to: thermoplastic polyurethane elastomer, thermoplastic polyolefin elastomer, thermoplastic vulcanized rubber and thermoplastic polyester elastomer or any combination of a plurality of the thermoplastic polyurethane elastomer, the thermoplastic polyolefin elastomer, the thermoplastic vulcanized rubber and the thermoplastic polyester elastomer. The embodiment of the wear-resistant material and the sound-deadening material is not particularly limited, and reference may be made to corresponding contents in the prior art.

In an embodiment of the application, the travelling wheel further comprises a hub carrier. The hub carrier may be of unitary construction or may be formed from a combination of multiple parts. Referring to fig. 8a, 8b, 9a and 9b, an example of a hub carrier assembled from a plurality of parts includes: two

bobbins

81 and 82 arranged in the direction of the axis of the travel wheel. The two frameworks can be connected through fasteners, buckles, ultrasonic welding or the like. For example, the first and

second bobbins

81 and 82 shown in fig. 8a and 8b are coupled using fasteners. The second framework 82 is provided with a fastening hole 83; the first frame 81 is provided with an adaptive structure (not shown) corresponding to the fastening hole. Fasteners, such as screws, extend from the fastening holes 83 into and into mating structures (e.g., blind threaded holes) on the first backbone to couple the first backbone 81 to the second backbone 82.

Further, as shown in fig. 2, 4, 5, 7, 8a and 9a, the inner ring of the carcass of the running wheel is provided with a ring-shaped structure 6, and the ring-shaped structure 6 is connected to the inner ring through connecting bridges 7 arranged at intervals along the circumferential direction of the inner ring. The holes 71 are formed between adjacent connecting bridges 7. The first bobbin 81 and the second bobbin 82 are connected in the inner ring of the travel wheel from both sides of the travel wheel. Referring to fig. 8a and 9a, first insertion ends 811 are disposed on an end surface of the first frame 81 facing the travel wheel at intervals, and a distance between two adjacent first insertion ends is 2 times of a distance between two adjacent connecting bridges 7 in the inner ring of the travel wheel. The end face of one end of the second framework 82 facing the travelling wheel is provided with second insertion ends 821 arranged at intervals, and the distance between two adjacent second insertion ends 821 is 2 times of the distance between two adjacent connecting bridges 7 in the inner ring of the travelling wheel. The first insertion end 811 of the first framework 81 is inserted into a part of the hole 71 formed by the connecting bridge 7, and the second insertion end 821 of the second framework 82 is inserted into the rest of the hole 71. In addition, one of the first framework 81 and the second framework 82 is also provided with a connecting shaft 80, and the other framework is provided with a through hole; after the first frame 81 and the second frame 82 are connected, the connecting shaft 80 extends out of one side of the traveling wheel through the through hole, as shown in fig. 8b and 9 b.

Still further, the material of each pattern structure in this embodiment may be different. For example, in the traveling wheel of the structure shown in fig. 3a, 3b and 6, the material of the left side pattern structure in fig. 3a, 3b and 6 can be a wear-resistant material, and the material of the right side pattern structure can be a non-slip material; or, the material of the left side pattern structure can be an anti-skid material, and the material of the right side pattern structure is a mute material; and so on.

Another embodiment of the present application also provides a travel wheel, see the example shown in fig. 2 to 9 b. The travelling wheel provided by the embodiment can be suitable for various devices, such as robots, unmanned vehicles, special functional vehicles (such as autonomous positioning vehicles specially used for positioning), and the like. In particular, the travelling wheel comprises a tyre having a tread 1 in contact with a surface; a groove 3 which surrounds the tire for one circle is arranged on the tire surface 1; the groove 3 is internally provided with a convex structure 4, and the convex structure 4 and two opposite groove walls of the groove 3 are provided with gaps.

sub-grooves

Referring to fig. 3a, 3b and 6, the clearance between the raised structure 4 and the two opposite walls of the groove 3 may be equal; this makes it possible to make the flow-through flux of the two sub-grooves 31 and 32 to be divided similar or equal.

In particular, as shown in fig. 3a, 3b and 6, the raised structure 4 has an end surface that contacts a surface (e.g., the ground, a table, etc.) to increase the contact area of the tread 1 with the surface.

reference numbers

sub-grooves

As shown in fig. 3b and 6, the convex structure 4 has an end 42 surface in contact with the surface, and the width H of the end surface 42 in the tire axial direction is smaller than the width H of the block 21 in the tire axial direction. Specifically, the width H of the end face 42 in the tire axial direction is 1/6 to 1/2 of the width H of the block 21 in the tire axial direction.

Further, in order to provide a buffering function when the traveling wheel gets over obstacles, referring to fig. 2 and 5, a plurality of openings 5 extending in the wheel axis direction are formed on the tire body of the traveling wheel. The design that sets up a plurality of trompils on the tire body for the travelling wheel has certain elasticity, can play the effect of buffering when the travelling wheel takes place deformation because of the atress when surmounting the obstacle, adopts the mode that the parcel covered the obstacle to pass through the obstacle, and the noise reduction reduces when surmounting the obstacle the wearing and tearing of wheel tread, can increase tire tread and ground area of contact, and then increases frictional force, prevents to skid.

In this embodiment, the tire tread may be made of an anti-slip material, an anti-dust material, an abrasion resistant material, or a silent material. Among these, non-slip materials include but are not limited to: one or the combination of any more of brominated butyl rubber, butadiene rubber, isoprene rubber and chloroprene rubber. The anti-sticking ash material includes but is not limited to: thermoplastic polyurethane elastomer, thermoplastic polyolefin elastomer, thermoplastic vulcanized rubber and thermoplastic polyester elastomer or any combination of a plurality of the thermoplastic polyurethane elastomer, the thermoplastic polyolefin elastomer, the thermoplastic vulcanized rubber and the thermoplastic polyester elastomer. The embodiment of the wear-resistant material and the sound-deadening material is not particularly limited, and reference may be made to corresponding contents in the prior art.

bobbins

second bobbins

81 and 82 shown in fig. 8a and 8b are coupled using fasteners. The second framework 82 is provided with a fastening hole 83; the first frame 81 is provided with an adaptive structure (not shown) corresponding to the fastening hole. Fasteners, such as screws, extend from the fastening holes 83 into and into mating structures (e.g., blind threaded holes) on the first backbone to couple the first backbone 81 to the second backbone 82. For specific structures of the first framework 81 and the second framework 82, reference may be made to the corresponding contents above, and details are not described here.

Still further, the material of each pattern structure in this embodiment may be different. For example, in the resulting travel wheel shown in fig. 3a, 3b and 6, the left-hand tread pattern material in fig. 3a, 3b and 6 may be a wear-resistant material, and the right-hand tread pattern material may be a non-slip material; or, the material of the left side pattern structure can be an anti-skid material, and the material of the right side pattern structure is a mute material; and so on.

Here, it should be noted that: the travel wheel provided by the embodiment may be the same as the travel wheel in the self-moving robot embodiment, and further description about the travel wheel is not mentioned in the embodiment, and reference may be made to the corresponding contents in the foregoing.

The technical solution adopted in the present application is described below with reference to specific application scenarios to help understanding. The following application scenario takes a sweeping robot as an example.

Application scenario one

When the floor sweeping robot is used at home of a user, the phenomenon that water stains in a kitchen or a toilet are more or the user spills water on the ground can occur. The traveling wheel of the sweeping robot shown in fig. 1 adopts the structure shown in fig. 2, 3a and 4, and based on theoretical analysis of fluid movement, a double circumferential groove (i.e. two sub-grooves mentioned in the above embodiments) as shown in fig. 4 is added on the traveling wheel, so that the effect of water drainage and skid resistance is better; the pattern blocks of the two groups of pattern structures are staggered, the rotating speed is high in the running process of the travelling wheel, and the staggered pattern block structure is combined with the structure of the double circumferential grooves, so that the sweeping robot can successfully cross obstacles and walk on wet and slippery ground.

During the sweeping process of the sweeping robot, the robot wants to enter a kitchen from a living room, the kitchen is a sliding door, and a sliding door track is arranged on the ground; the hollow traveling wheel passes through the sliding door track from stiffening to wrapping due to the elastic structure of the traveling wheel, so that the noise is reduced, and the abrasion to the tire surface during obstacle crossing is reduced; the contact area between the floor sweeping robot and the ground can be increased, the friction force can be increased, and the slippage can be prevented.

Application scenario two

When the sweeping robot is used at home of a user, the phenomenon of slipping after dust staining can occur; in order to further prevent the slippery ground from slipping, the traveling wheels of the sweeping robot adopt the structures shown in fig. 2, 3a, 3b and 4, and anti-slip materials are also used. Meanwhile, the indoor environment needs to be quiet, the abnormal sound cannot be generated, the structure of the traveling wheel is unchanged, and materials for preventing the abnormal sound can be adopted. In addition, the sweeping robot can not drop scraps in the sweeping process, the service life is longer, and the traveling wheel can be made of wear-resistant materials under the condition of unchanged structure.

Application scenario three

When the floor sweeping robot is used at home, the floor sweeping robot can enter a kitchen from a living room by crossing barriers such as steps, sliding door sliding rails, round sticks and the like. And the kitchen has more water, dust and sundries on the floor. The traveling wheel of the sweeping robot shown in fig. 1 adopts the structures shown in fig. 5, 6 and 7, the design of increasing the height of the pattern blocks and increasing the width of the pattern grooves can ensure that the traveling wheel has good obstacle crossing capability. In addition, the double circumferential grooves (namely the sub-grooves 31 and 32) as shown in fig. 6 are arranged on the tire of the travelling wheel, so that the effect of preventing slip by water drainage is better; the pattern blocks between the adjacent pattern structures are staggered, and when the travelling wheel runs at a high speed, the pattern blocks and the double circumferential grooves act together, so that the drainage effect is further improved; in addition, the staggered block structure also helps to cross obstacles; and furthermore, the robot can show better obstacle-crossing walking capability on wet and slippery ground even on the ground with more water, and the probability of the occurrence of the slipping phenomenon is low.

The pattern blocks shown in figures 5, 6 and 7 are large in height, large in groove width of the pattern grooves and large in ground holding force, and are beneficial to solving the problem that the obstacle crossing capability of wet skid and dust sticking is reduced through obstacles.

In addition, the hollow traveling wheel passes through the sliding door track from stiffening to wrapping due to the elastic structure of the hollow traveling wheel, so that the noise is reduced, and the abrasion to the tire surface during obstacle crossing is reduced; the contact area between the floor sweeping robot and the ground can be increased, the friction force can be increased, and the slippage can be prevented.

Application scenario four

When the sweeping robot is used at home of a user, the phenomenon of slipping after dust staining can occur; in order to further prevent the slippery ground from slipping, the traveling wheels of the sweeping robot adopt the structures shown in fig. 5, 6 and 7, and anti-slip materials are also used. Meanwhile, the indoor environment needs to be quiet, the abnormal sound cannot be generated, the structure of the traveling wheel is unchanged, and materials for preventing the abnormal sound can be adopted. In addition, the sweeping robot can not drop scraps in the sweeping process, the service life is longer, and the traveling wheel can be made of wear-resistant materials under the condition of unchanged structure.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A self-moving robot, comprising:

a body;

the traveling wheel is arranged on the machine body;

2. The self-propelled robot of claim 1, wherein the raised structure is an annular rib; or the raised structure comprises at least two sections of rib sections which are discontinuous around the circumference of the tire.

3. The self-propelled robot of claim 2, wherein the raised structure is spaced equally from the opposing walls of the slot.

4. The self-moving robot as claimed in claim 1, wherein the radius of the outer envelope circle of the convex structure is smaller than or equal to the radius of the circle on which the tread is located.

5. The self-moving robot as claimed in claim 1, wherein the raised structure has an end surface in contact with the surface to increase a contact area of the tread with the surface.

6. A self-moving robot according to any one of claims 1 to 5, wherein said tire has at least two-turn pattern structure provided thereon in a circumferential direction of said tire;

the tops of the at least two circles of pattern structures, which are far away from the tire rotation axis, constitute the tread;

in the at least two circles of pattern structures, the groove is formed by a space formed by the interval of any two adjacent circles of pattern structures.

7. The self-moving robot according to claim 6,

the circle of pattern structure comprises a plurality of pattern blocks which are arranged around the tread at intervals, and pattern grooves formed among the pattern blocks are communicated with the grooves to assist the grooves in draining water.

8. The self-propelled robot as recited in claim 6, wherein adjacent two rings of pattern blocks are staggered in position.

9. The self-moving robot of claim 7, wherein the blocks comprise at least one of: rhombic pattern blocks, V-shaped pattern blocks, arc-shaped pattern blocks and wave-shaped pattern blocks.

10. The self-moving robot according to claim 7, wherein the convex structure has an end surface that contacts the surface, and a width of the end surface in the tire axial direction is 1/6-1/2 of a width of the block in the tire axial direction.

11. A self-moving robot as claimed in claim 7, wherein in the pattern structure of the circle,

the block width of the pattern block in the circumferential direction of the tire is 1.5-5 times of the spacing distance between two adjacent pattern blocks.

12. A self-moving robot as claimed in any one of claims 1 to 5, wherein the tyre body of the travelling wheel is provided with a plurality of holes extending in the direction of the wheel axis of the travelling wheel.

13. The self-moving robot of claim 12, wherein the cross-section of the opening comprises at least one of: triangular, rectangular, square, circular, semicircular, oval.

14. A road wheel comprising a tyre;

the tire has a tread in contact with a surface;

15. The travel wheel of claim 14, wherein the raised structure is an annular rib; or

The convex structure comprises at least two sections of rib sections which are discontinuous around the circumference of the tire.

16. The road wheel of claim 14, wherein the raised structures have end surfaces that contact the surface to increase the contact area of the tread with the surface.

17. The road wheel of claim 16, wherein the tire has at least two revolutions of the pattern structure disposed circumferentially of the tire;

18. The road wheel of claim 17, wherein the one-turn pattern structure includes a plurality of blocks arranged at intervals around the tread, and the width of the end face in the tire axial direction is smaller than the width of the blocks in the tire axial direction.

19. The travel wheel of claim 17,

the circle of pattern structure comprises a plurality of pattern blocks which are arranged around the tread at intervals, and pattern grooves formed among the pattern blocks are communicated with the grooves so as to assist the grooves in draining water;

the pattern blocks of two adjacent circles of pattern structures are staggered.