CN114394170A

CN114394170A - Driving wheel module and wheeled robot

Info

Publication number: CN114394170A
Application number: CN202210211780.9A
Authority: CN
Inventors: 李国辉; 金儒彬; 周泳闯
Original assignee: Zhuhai 1 Micro Robot Technology Co ltd
Current assignee: Zhuhai 1 Micro Robot Technology Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-04-26

Abstract

The invention discloses a driving wheel module and a wheeled robot, wherein the driving wheel module comprises a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected with the base; a preset gap channel is arranged on one side of the driving wheel body, which corresponds to the base, wherein the preset gap channel is a bent and extended gap structure. Wheeled robot is equipped with behind the drive wheel module, avoid long and thin foreign matter to block the wheel body or exert the resistance to the wheel body, reach anti-winding effect, even if in long and thin foreign matter blocks the clearance structure space in addition, can not hinder the effect of the normal rotation of wheel body yet.

Description

Driving wheel module and wheeled robot

Technical Field

The invention relates to the technical field of mobile robots, in particular to an anti-winding driving wheel module and a wheel type robot.

Background

The spherical robot is a novel wheeled robot with a spherical appearance and taking rolling as a motion mode, the wheeled robot is characterized in that a sensor, a driving device and additional equipment are placed in a spherical shell, rolling motion is realized by the aid of the driving device inside the spherical shell, the driving device is of a wheeled structure, winding of wound objects is easy to occur between a wheel and a wheel shaft, and the wound objects are not easy to clean when winding occurs. In the process that the driving wheel of the wheeled robot rotates around the rotating shaft, long and thin foreign matters such as hairs and clothes threads can be wound in a gap between the driving wheel and the rotating shaft, the long and thin foreign matters are continuously rolled in along with the continuous rotation of the wheel body in the advancing process, and are continuously accumulated between the driving wheel and the rotating shaft, the continuous accumulation finally can cause the driving wheel to be incapable of rotating, the transmission mechanism of the motor is influenced, and the machine is damaged. Because the small wheeled robot has a compact structure and a small available space, the hair cannot be intermittently gathered through a combination of a sliding plate, a gathering and fastening component and the like as in the large-scale structure of the sweeping robot, and the wound hair cannot be axially crushed by a blade.

Disclosure of Invention

The invention discloses an anti-winding driving wheel module and a wheel type robot in order to avoid hair foreign matters from being involved in driving wheels of the wheel type robot, and the specific technical scheme is as follows:

a driving wheel module comprises a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected with the base; a preset gap channel is arranged on one side of the driving wheel body, which corresponds to the base, wherein the preset gap channel is a bent and extended gap structure.

Furthermore, the driving wheel body comprises a frustum shell and a wheel surface end cover, and the wheel surface end cover is connected with one end of the frustum shell with the smallest radius.

Further, a gap exists between one end with the largest radius of the frustum spherical shell and the base, and the opening of the gap is an inlet which enters the preset gap channel from the outside of the wheel type robot; the preset gap channel is a gap channel which is bent and extended from the outer edge of the frustum shell to the axis of the frustum shell.

Further, the preset gap channel comprises a first gap structure, a second gap structure and a third gap structure; in the direction from the center of the base to the top point of the wheel face end cover, the first gap structure, the second gap structure and the third gap structure are communicated in sequence, and the first gap structure, the second gap structure and the third gap structure extend towards the center of the wheel face end cover; wherein, the first gap structure, the second gap structure and the third gap structure are all provided with a convex structure to prevent the foreign matters from invading towards the set direction.

Furthermore, a rotating shaft mounting hole is formed in the vertex position of the wheel face end cover along the axis direction and is used for being sleeved on an output shaft of the driving motor; the wheel face end cover is also provided with a bearing mounting hole for mounting a bearing on the periphery of the driving motor, and the bearing mounting hole is arranged on the outer side of the rotating shaft mounting hole; wherein the driving motor is configured to be fixed to the base.

Furthermore, a step-type groove is formed in the side surface of the base; the stepped groove is a groove structure which is arranged on the outer side of the base and is arranged on the inner side, and is used for matching and fixing the control circuit board and the driving motor and separating the control circuit board and the frustum shell; the control circuit board is configured to be fixed in the base and electrically connected with the driving motor.

Further, the first clearance structure is a gap formed between the inlet of the preset clearance channel and the step end face of the outermost side of the stepped groove; the second gap structure is a gap formed between a concave cavity formed at the inner side edge of the wheel face end cover and the corresponding step face of the step groove; the third gap structure is a gap formed between the step end face at the innermost side of the step-type groove and the wheel face end cover.

Further, after the bearing mounting hole is assembled with a bearing, the bearing is designed to be a closed structure, wherein the bearing is assembled at the top end of the preset clearance channel in the direction from the center of the base to the vertex of the wheel face end cover, so that the bearing blocks the passage of the third clearance structure to the rotating shaft mounting hole.

Further, the width of the entrance of the preset gap passage is 1.2 mm.

Furthermore, the outer side surface of the wheel surface end cover is connected with the inner side surface of the frustum shell in a clamping mode through a clamping structure.

A wheeled robot is equipped with the drive wheel module.

The invention aims at a small wheeled robot, a bent and extended clearance channel with a shape similar to a snake-shaped structure is arranged at a clearance between a driving wheel and a base in a matching way, on the basis of not influencing the movement of the robot, hair foreign matters are clamped into a clearance structure space through the blocking effect of the limited clearance structure space, and the long and thin foreign matters are effectively prevented from entering the axle center position of a motor of the wheeled robot, so that the wheel body is prevented from being clamped by the long and thin foreign matters or resistance is applied to the wheel body, the anti-winding effect is achieved, and the normal rotation effect of the wheel body is not hindered even if the long and thin foreign matters are clamped into the clearance structure space.

Drawings

Fig. 1 is a plan sectional view of an anti-winding wheeled robot according to an embodiment of the present invention.

Fig. 2 is an exploded schematic view of a wheeled robot according to another embodiment of the present invention.

Reference numerals:

100. presetting an inlet of the clearance channel; 10. a drive wheel body; 101. a wheel face end cover; 1011. the inner side edge of the wheel surface end cover is provided with a concave cavity; 1012. a bearing mounting hole; 1013. a rotating shaft mounting hole; 1014. a bearing; 102. a frustum housing;

11. a base; 111. a step-type groove is formed in the side surface of the base; 112. a drive motor; 113. a control circuit board;

1031. the wrappage which enters the peripheral side of the first step of the stepped slot position in the direction that the outer edge of the frustum shell 102 extends to the top of the wheel face end cover 101;

1032. the wrappage which enters the peripheral side of the second step of the stepped slot position in the direction that the outer edge of the frustum shell 102 extends to the top point of the wheel face end cover;

1021. a female buckle arranged on the frustum shell 102; 1015. the wheel face end cover 101 is provided with a male buckle.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features.

The invention discloses a driving wheel module, which comprises a base and at least one driving wheel body; the driving wheel body is arranged on one side of the base and is rotatably connected with the base; a preset gap channel is arranged on one side of the driving wheel body, which corresponds to the base, wherein the preset gap channel is a bent and extended gap structure. In some embodiments, it is permissible to fit only one drive wheel on the left or right side of the base and rotatably connect the drive wheel to the base without affecting the predetermined clearance channel provided on the corresponding side of the drive wheel and the base. For the preset clearance channel disposed on the corresponding side of the driving wheel body and the base, refer to the following embodiments.

As an embodiment, as can be seen from fig. 1 and 2, the driving wheel module includes a base 11 and two driving wheel bodies, where the left driving wheel body corresponds to the driving wheel body 10 of fig. 2; the two driving wheel bodies are symmetrically arranged on two sides of the base 11 and are rotatably connected with the base 11, specifically, the driving wheel bodies are driven by the driving component to rotate relative to the base 11, the driving wheel bodies are regarded as rotating around a rotating shaft passing through the base 11, and the two driving wheel bodies have a completely symmetrical structure; the housing of each driving wheel body may be a hemispherical shell or a semi-ellipsoidal shell, and a line connecting the center of the driving wheel body to the vertex coincides with the axis of the base 11 (the rotation axis of the driving wheel body relative to the base). A preset gap channel is arranged at one side of each driving wheel body corresponding to the base, wherein the preset gap channel is a bent and extended gap structure to prevent foreign matters from entering the axis of the driving wheel body, and corresponds to a gap indicated by a dotted line with an arrow in fig. 1, wherein two slender winding lines through which the dotted line in fig. 1 successively passes are foreign matters which enter the preset gap channel of the driving wheel module from the outside and respectively enter the middle part of the preset gap channel and a gap close to the axis of the driving wheel body 10 (as the central axis of the driving wheel body 10 of the wheel body), it can be understood that the foreign matters outside enter different stages of the preset gap channel, and the experienced blocking objects and blocking effects are different, but the whole body does not enter the related rotating shaft of the driving wheel body 10 to apply resistance or block the rotating shaft, therefore, the embodiment needs to set the gap fit between the driving wheel body and the base to be similar to a serpentine structure, the cavity structure formed by a plurality of continuous bending parts is formed, the difficulty that a slender object invades the position of the central axis of the driving wheel body is increased through a compact space, and even if hair foreign matters are clamped in a preset gap channel, the hair foreign matters cannot continuously enter the position of the central axis of the driving wheel body, so that the driving wheel module can normally run in the mobile equipment to which the driving wheel module belongs, and the normal motion of a mobile robot for assembling the driving wheel module is not influenced.

As an embodiment, as can be seen from fig. 1 and 2, the driving wheel body includes a frustum housing 102 and a wheel surface end cover 101, the wheel surface end cover 101 is connected to the end of the frustum housing 102 with the smallest radius, and correspondingly, the left end of the frustum housing 102 is connected to the right end of the wheel surface end cover 101 to form a stable driving wheel body 10, and the driving wheel body and the base 11 are also tightly fitted. Preferably, the outer side of the wheel surface end cover 101 may be a spherical surface, so that the driving wheel forms a hemispherical wheel, which enhances the stability of the movement of the driving wheel module.

As an example, a gap exists between the end with the largest radius of the frustum spherical shell 102 and the base 11, and the opening of the gap is an inlet 100 from the outside of the wheel type robot to a preset gap channel which is indicated by a dotted line and is shown in fig. 1; the preset clearance channel is a clearance channel extending from the outer edge of the frustum housing 102 to the axis thereof in a bending manner, where the bending extension is the direction of the dotted arrow in fig. 1, and extends to the central axis of the driving wheel body 10 in a gradient manner, so as to form a plurality of protruding structures for blocking foreign matters from passing through in the local clearance area, which correspond to the cavities and the right-angle protrusions of the preset clearance channel in fig. 1.

As an embodiment, the preset gap channel includes a first gap structure, a second gap structure and a third gap structure; in the direction from the center of the base 11 to the vertex of the wheel face end cover 101, the first gap structure, the second gap structure and the third gap structure are sequentially communicated, and the first gap structure, the second gap structure and the third gap structure progressively extend to the center of the wheel face end cover 101, so that the three gap structures gradually block the invasion of foreign matters through a continuous compact serpentine channel, wherein protruding structures are arranged in the first gap structure, the second gap structure and the third gap structure to block the invasion of the foreign matters towards a given direction, so that a three-layer blocking mechanism is arranged, the passage of the foreign matters is blocked from three different stages or three different types of gap areas as far as possible, and the foreign matters are clamped in the corresponding gap structures as necessary.

As an example, referring to fig. 1 and fig. 2, a rotation shaft installation hole 1013 is opened at a vertex position of the wheel cover 101 along an axial direction (corresponding to the axial direction of the output shaft of the driving motor 112 in fig. 1) for being sleeved on the output shaft of the driving motor 112, wherein a diameter of the rotation shaft installation hole 1013 may be larger than a radius of the output shaft of the driving motor 112, the rotation shaft installation hole 1013 is disposed at a central position of an inner side surface of the wheel cover 101 and is integrally formed with the wheel cover 101, and a related reinforcing rib is further designed to be fixed on the wheel cover 101. The wheel face end cover 101 is further provided with bearing mounting holes 1012 for mounting the bearings 1014 on the peripheral side of the driving motor 112 but not directly connected with the related wheel axle components of the driving motor 112 (including being connected by means of gear engagement), the bearing mounting holes 1012 are opened on the inner side face of the wheel face end cover 101 to form annular mounting holes, the bearing mounting holes 1012 are arranged on the outer side of the rotating shaft mounting hole 1013, as shown in fig. 2, the bearing mounting holes 1012 are distributed around the outer side of the rotating shaft mounting hole 1013, in the same wheel face end cover 101, one rotating shaft mounting hole 1013 is correspondingly matched with two bearing mounting holes 1012 and is connected in the same wheel face end cover 101 by corresponding framework reinforcement, and the bearing mounting holes 1012 are stepped holes opened from the outer side to the inner side; the bearings 1014 are arranged in the bearing mounting holes, and one end of each bearing 1014 is abutted against the bottom of the stepped hole, namely, one driving motor 112 is correspondingly matched with the two bearings 1014; preferably, one end of the bearing 1014 abuts against the bottom of the bearing mounting hole 1012, and the other end of the bearing 1014 does not protrude from the wheel end cover 101; preferably, one end of the driving motor 112 abuts against the bottom of the rotating shaft installation hole 1013 to drive the wheel cover 101 to rotate, and the output shaft of the driving motor 112 may be partially accommodated in the rotating shaft installation hole 1013, and a partial gap may be reserved. Wherein the driving motor 112 is configured to be fixed in the base 11. The aforementioned circumferential side means that the distance between the side surface of the bearing mounting hole 1012 and the side surface of the rotation shaft mounting hole 1013 does not exceed a predetermined distance threshold range so that the bearing 1014 is mounted on the circumferential side of the drive motor 112. Further, the bearing 1014 may optionally be configured to fit around the end of the output shaft of the driving motor 112, thereby completing the mounting of the tread end cap 101, the frustocophere 102, and the base 11 such that the line connecting the apex of the tread end cap 101 and the axis of the frustocophere 102 coincides with the axis of the base 11.

In some embodiments, the output shaft of the driving motor 112 rotates coaxially with the rotating shaft installation hole 1013, so as to drive the wheel end cover 101 to rotate coaxially with the output shaft of the driving motor 112; under the action of rotation of the output shaft of the driving motor 112, the bearing mounting hole 1012 follows the output shaft of the driving motor 112 to rotate, and drives the bearing 1014 to rotate synchronously, wherein the related rotating shaft is in interference contact with the mounting hole, and then the driving motor 112 drives the driving wheel body 10 to rotate relative to the base 11, so that the walking mode of the robot equipped with the driving wheel module is a rolling type, the restriction of various terrains can be broken through, and the obstacle crossing function of various environments is realized.

In some embodiments, the driving motor 112 may be in meshed connection with the bearing 1014 through a gear assembly, the gear assembly is installed between the driving motor 112 and the bearing 1014, specifically, in a hole position between the bearing installation hole 1012 and the rotating shaft installation hole 1013, or the gear assembly is selectively installed in the bearing installation hole 1012 and in meshed connection with the bearing 1014, the bearing installation hole 1012 is an annular installation hole, belongs to a cavity which is concave inwards, and can form a gap structure with the base 11, and the accommodating area of the gap structure is larger than that of the rotating shaft installation hole 1013.

As an embodiment, referring to fig. 1 and fig. 2, a stepped groove 111 is formed on a side surface of the base 11; the stepped slot 111 is a slot structure formed from the outer side of the base 11 to the inner side, and presents a stepped molding feature in the direction from the outer side of the base 11 to the inner side, so as to cooperate and fix the control circuit board 113 and the driving motor 112, and the control circuit board 113 and the frustum housing 102 are separated by the cover surface of the stepped slot 111 in fig. 2, and the control circuit board 113 may be fixed above the driving motor 112 by a bearing frame, wherein the control circuit board 113 is configured to be fixed in the base 11 and electrically connected to the driving motor 112, and the control circuit board 113 is used for controlling the operation of the driving motor 112. As can be seen from the foregoing embodiments, the wheel cover 101, the upper end surface 112 of the driving motor, the stepped slot 111, and the end surface of the bearing 1014 (or the bearing mounting hole 1012, considering the case where no bearing is mounted) form a serpentine clearance channel shown in fig. 1, that is, the predetermined clearance channel disclosed in the foregoing embodiments, and mainly a clearance channel structure having an effect of blocking the passage of fine foreign matters is formed by a groove formed on the side circumference of the wheel cover 101 and the stepped surface of the stepped slot 111.

As a preferred embodiment, as can be seen from fig. 1 and 2, in the preset clearance passage, starting from the inlet 100 of the preset clearance passage, the first clearance structure is configured as a gap formed between the inlet 100 of the preset clearance passage and the outermost step end surface of the stepped slot 111, and in the vertical direction, corresponding to the clearance space between the uppermost step surface of the stepped slot 111 of fig. 1 and the inlet 100, a first-stage blocking structure is formed, and when hair moves down along the dotted line into the first clearance structure, the hair is prevented from being caught in the inside of the driving wheel body 10 by the clearance existing between the end with the largest radius of the frustoconical spherical shell 102 (corresponding to the rightmost end of the frustoconical spherical shell 102 of fig. 2) and the base 11, so as to block the entry of the elongated foreign matter into the inside of the driving wheel body 10 at the source inlet.

Preferably, the width of the entrance of the predetermined clearance passage is 1.2mm, so that long and thin foreign matters such as hairs are less likely to be caught in the clearance passage formed between the driving wheel body 10 and the base 11.

As can be seen from fig. 1 and fig. 2, the second clearance structure is a gap formed between a cavity 1011 formed at the inner edge of the wheel end cover 101 and a corresponding step surface of the stepped slot 111, the clearance structure formed between the right side of the cavity 1011 and the stepped surface of the stepped groove 111 corresponding to the right side in fig. 1 includes a clearance passage formed between a vertical stepped surface or a horizontal stepped surface and the cavity 1011 with the same horizontal height, specifically the stepped surface relates to the direction extending from the outer edge of the frustum housing 102 to the axis thereof, as can be seen in the direction in which the arrowed dotted lines in fig. 1 extend, the first-stage step face to the third-stage step face (both including a horizontal face and a vertical face), in some embodiments, the specific number of steps may be adjusted according to the corresponding step surface formed in the stepped slot 111. Corresponding to the stepped slot 111 in fig. 1, the elongated foreign matters entering the second gap structure are blocked 3 times by arranging 3 steps of stepped surfaces, so that a blocking mode that the gap width is gradually reduced can be formed, and in addition, a space with a large accommodating volume arranged in the cavity 1011 can be wound with a part of the elongated foreign matters (having an accommodating effect), so that the second gap structure can effectively avoid hair from being involved in the position of the output shaft of the driving motor 112.

Preferably, the stepped slot 111 may be a protection plate and a support frame of the control circuit board 113, and a gap formed between the stepped slot 111 and the control circuit board 113 is not communicated with the preset gap passage, or a partial communication space exists on the upper end surface of the driving motor 112, but is not easily invaded by an external elongated object at the bottom. Therefore, the slender object introduced from the inlet 100 of the preset clearance channel is prevented from being wound in the corresponding electrical element in the process that the driving wheel body 10 rotates relative to the stepped slot 111, the electrical stability of the control circuit board 113 is protected, and the normal operation of the output shaft of the driving motor 112 is maintained.

The third clearance structure is a clearance formed between the innermost step end face of the stepped slot 111 and the wheel face end cover 101, and specifically may be in the direction in which the dotted line with an arrow in fig. 1 extends, and if the bearing mounting hole 1012 is not equipped with the bearing 1014, it indicates that a clearance structure is formed between the third-stage step face (the step end face at the bottommost in fig. 1) and the bearing mounting hole 1012, so as to play the last blocking role and the small-part foreign matter accommodating role, and reduce the probability of the occurrence of the winding of the elongated foreign matters around the output shaft of the drive motor 112; if the bearing 1014 with a closed structure is assembled in the bearing mounting hole 1012, a gap structure is formed between the third step surface (the step end surface at the bottom in fig. 1) and the opposite side surface of the bearing 1014, so that the last time of the gap structure is performed, and the long and thin foreign matters such as hairs are further prevented from entering the driving motor 112 and the rotating shaft of the gear assembly sleeved with the driving motor 112.

As can be seen from fig. 1 and 2, the bearing mounting hole 1012 is provided with a bearing 1014, and the bearing 1014 is arranged at the top end of the preset clearance channel in the direction from the center of the base 11 to the top point of the wheel cover 101 on the premise that the bearing 1014 belongs to a closed structure, so that the bearing 1014 blocks the passage of the third clearance structure to the rotating shaft mounting hole 1013. The bearing 1014 may be made of waterproof material to form a sealing device, which further prevents long and thin foreign matters from entering the motor-related rotating shaft through the gap to jam the driving wheel body 10. In this embodiment, the top end of the preset clearance channel is located at the bottommost portion of the clearance between the base 11 and the driving wheel body 10 along the direction extending along the dotted line with an arrow in fig. 1, which corresponds to the end position of the clearance channel, the bearing 1014 plays a supporting role, and may support the wheel end cover 101 on the outer side surface of the output shaft of the driving motor 112, or may abut against the wheel end cover 101 through the bearing mounting hole 1012, so that the bearing 1014 can be stably sleeved on the peripheral side of the output shaft of the driving motor 112, and the driving wheel body 10 is prevented from axially swinging along the output shaft of the driving motor 112 during the rotation process, and the bearing 1014 reduces the friction coefficient of the driving wheel body 10 during the ground movement process and ensures the rotation accuracy thereof during the following the rotation of the output shaft of the driving motor 112 and the driving wheel body 10.

It should be added that the outer side surface of the wheel surface end cover 101 is connected with the inner side surface of the frustum shell 102 in a snap-fit manner through a snap-fit structure, as shown in fig. 2, a male buckle 1015 is arranged on the circumference of the outer side surface of the wheel surface end cover 101, and a female buckle 1021 is arranged on the circumference of the inner side surface of the end of the frustum shell 102 with the smallest radius, so that a user can snap the male buckle 1015 (protrusion) into the female buckle 1021 (groove), so that the male buckle 1015 and the female buckle 1021 are tightly clamped, and the wheel surface end cover 10 and the frustum shell 102 form a tightly-fastened whole.

When the drawings are referred to, new characteristics appear, in order to avoid the situation that repeated reference to the drawings causes insufficient description, the drawings are not referred to one by one under the condition of clear description of the described characteristics.

The invention also discloses a wheeled robot, which is provided with the driving wheel module disclosed in the embodiment, and as the wheeled robot, two driving wheel bodies are required to be symmetrically arranged at two sides of the base in the driving wheel module, and shells of the two driving wheel bodies (a shell formed by a frustum shell and a wheel surface end cover) are all hemispherical shells, besides, the driving wheel module can also be semi-ellipsoidal shells and the like. The output shafts of the two symmetrically arranged driving motors are arranged on the same straight line, and the straight line is a central axis of the driving wheel module or the base in the horizontal direction. In some embodiments, the output shafts of the two symmetrically arranged driving motors are all arranged in the rotating shaft mounting holes arranged in the wheel surface end covers on the corresponding sides, so that the distance between the two driving wheel bodies is relatively small, and the miniaturization of the wheeled robot is facilitated. Each driving motor and a corresponding control circuit board connected with the driving motor are surrounded by the same base, wherein a stepped groove is assembled above an output shaft of the driving motor on the left side, a stepped groove is also assembled above an output shaft of the driving motor on the right side, the two stepped grooves are matched and fixedly assembled with a control circuit board, and the control circuit board is used for controlling the driving motor on the left side; the stepped groove is assembled below the output shaft of the left driving motor, the stepped groove is also assembled below the output shaft of the right driving motor, and the other control circuit board is fixedly assembled in a matching manner in the two stepped grooves and used for controlling the right driving motor. Therefore, under the electrical connection action of the two control circuit boards, the wheeled robot is controlled to move, and the state of the wheeled robot is adjusted in real time. Correspondingly, the preset gap channels are formed on the corresponding side of each driving wheel body and the base, four preset gap channels are simultaneously formed in the same wheeled robot, and are symmetrical about the geometric center of the wheeled robot, wherein the preset gap channels are arranged on the upper left, the upper right, the lower left and the lower right in the figure 1, so that enough gaps are provided for accommodating long and thin foreign matters, and the driving wheel bodies on the left side and the right side are prevented from being clamped.

Preferably, a power module, a communication module and a sensor module are fixedly assembled in the base of the wheeled robot, the power module, the communication module and the sensor module are electrically connected to the control circuit board, and the power module supplies power to the control circuit board, the driving motor, the communication module and the sensor module.

Preferably, the sensor module comprises a camera, a camera mounting hole is formed in the position, between the two driving wheel bodies, of the base, and the camera is embedded in the camera mounting hole. The wheeled robot further comprises a gyroscope sensor electrically connected with the control circuit board, and the gyroscope sensor is used for acquiring attitude information of the wheeled robot so that the control circuit board can adjust the position of the camera.

Preferably, the power module is fixed in a weight rack arranged on a bottom cover of the wheeled robot, and the power module is positioned below all the control circuit boards and all the driving motors.

Preferably, the communication module comprises a WiFi module for supporting the wheeled robot to communicate with an external device, so as to output images captured by the camera to the external device or accept control instructions of the external device to perform a new task.

Preferably, the wheeled mobile robot further comprises a lighting module, the lighting module comprises an LED lamp, and the base is provided with an LED lamp mounting hole at a position close to the camera mounting hole, so that the LED lamp is mounted near the camera, the ambient brightness is improved, and the image quality obtained by the camera is improved.

Preferably, the power module includes a battery and a matching circuit thereof, the battery is preferably a lithium battery, the matching circuit includes a charging control unit and a discharging control unit, the base is provided with a charging interface electrically connected to the charging control unit, and the discharging control unit is electrically connected to the control circuit board, the driving motor, the camera, the communication module and the lighting module.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. A driving wheel module is characterized by comprising a base and at least one driving wheel body;

the driving wheel body is arranged on one side of the base and is rotatably connected with the base;

a preset gap channel is arranged on one side of the driving wheel body, which corresponds to the base, wherein the preset gap channel is a bent and extended gap structure.

2. The drive wheel module as set forth in claim 1, wherein the drive wheel body includes a frustum housing and a tread end cap connected to an end of the frustum housing having a smallest radius.

3. The driving wheel module as set forth in claim 2, wherein a gap is formed between the end of the frustum spherical shell with the largest radius and the base, and the opening of the gap is an entrance from the outside of the wheel-type robot into the preset gap channel;

the preset gap channel is a gap channel which is bent and extended from the outer edge of the frustum shell to the axis of the frustum shell.

4. The drive wheel module as set forth in claim 2, wherein the predetermined clearance channel includes a first clearance structure, a second clearance structure, and a third clearance structure;

in the direction from the center of the base to the top point of the wheel face end cover, the first gap structure, the second gap structure and the third gap structure are communicated in sequence, and the first gap structure, the second gap structure and the third gap structure extend towards the center of the wheel face end cover;

wherein, the first gap structure, the second gap structure and the third gap structure are all provided with a convex structure to prevent the foreign matters from invading towards the set direction.

5. The driving wheel module as claimed in claim 4, wherein a rotating shaft mounting hole is formed at the vertex position of the wheel face end cover along the axial direction, and is used for being sleeved on an output shaft of the driving motor;

the wheel face end cover is also provided with a bearing mounting hole for mounting a bearing on the periphery of the driving motor, and the bearing mounting hole is arranged on the outer side of the rotating shaft mounting hole;

wherein the driving motor is configured to be fixed to the base.

6. The drive wheel module as set forth in claim 5, wherein the side surface of the base is provided with a stepped groove;

the stepped groove is a groove structure which is arranged on the outer side of the base and is arranged on the inner side, and is used for matching and fixing the control circuit board and the driving motor and separating the control circuit board and the frustum shell;

the control circuit board is configured to be fixed in the base and electrically connected with the driving motor.

7. The drive wheel module as set forth in claim 6, wherein the first clearance structure is a gap formed between an inlet of the preset clearance passage to an outermost step end face of the stepped groove;

the second gap structure is a gap formed between a concave cavity formed at the inner side edge of the wheel face end cover and the corresponding step face of the step groove;

the third gap structure is a gap formed between the step end face at the innermost side of the step-type groove and the wheel face end cover.

8. The drive wheel module as set forth in claim 7, wherein the bearing mounting hole is configured as a closed structure after the bearing is mounted with the bearing, wherein the bearing is mounted at a top end of the predetermined clearance passage in a direction from a center of the base toward a vertex of the wheel cover such that the bearing blocks a passage of the third clearance structure to the spindle mounting hole.

9. The drive wheel module as set forth in claim 3, wherein the width of the entrance of the predetermined clearance passage is 1.2 mm.

10. The drive wheel module as set forth in claim 2, wherein the outer side surface of the wheel-side end cap is snap-fit connected with the inner side surface of the frustum housing by a snap-fit structure.

11. A wheeled robot equipped with the driving wheel module according to any one of claims 1 to 10.