CN211166260U - Self-moving robot and travelling wheel - Google Patents

Abstract

The embodiment of the utility model provides a from mobile robot and travelling wheel, wherein, from mobile robot, include: a body; the traveling wheel is arranged at the bottom of the machine body; wherein the travelling wheel comprises a tyre having a tread for rolling contact with a surface, and the tread comprises at least two material components. The embodiment of the utility model provides a technical scheme, the tread of travelling wheel contains the component that two kind at least materials were made, and the tire of travelling wheel has the performance of two kind at least materials promptly for the working requirement of many scenes can be satisfied to the travelling wheel.

Description

Self-moving robot and travelling wheel

Technical Field

The utility model relates to the technical field of machinery, especially, relate to a from mobile robot and travelling wheel.

Background

With the development of science and technology, in order to facilitate the life of people, various movable intelligent devices enter the life of people, such as a sweeping robot. Most of the existing sweeping robots are provided with traveling wheels on a main machine, and the movement of the sweeping robots is realized through the traveling wheels.

However, the materials of the traveling wheels of the existing sweeping robot cannot meet the performance requirements of various different working scenes, and often cannot meet the performance requirements of the existing sweeping robot. For example, material a, may provide greater drive capability, but has the disadvantage of not being wear resistant. The material B is wear-resistant but is easy to age and fail. The material C has good ageing resistance, but is easy to slip when meeting water.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention has been made to provide a self-moving robot and a travel wheel that solve the above problems. One aspect is to focus the performance advantages of multiple materials onto a travel wheel so that it can meet the operational needs of multiple scenarios.

In an embodiment of the present invention, there is provided a self-moving robot, including:

a body;

the traveling wheel is arranged at the bottom of the machine body;

wherein the travelling wheel comprises a tyre having a tread for rolling contact with a surface, and the tread comprises at least two material components.

Correspondingly, the embodiment of the utility model provides a travelling wheel is still provided, including the tire; the tire has a tread in rolling contact with a surface, and the tread comprises at least components of two materials.

The embodiment of the utility model provides a technical scheme, the tire that lies in the travelling wheel from mobile robot on the one hand has the tread with surperficial rolling contact, and the tread contains the component of two kinds of materials at least, and the tire has the performance of two kinds of materials at least promptly for the travelling wheel that includes the tire can satisfy the work demand of many scenes.

Drawings

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

Fig. 1 is a schematic perspective view of a travel wheel according to an embodiment of the present invention;

fig. 2 to fig. 6 are schematic exploded structural views of different forms of the travel wheels according to the embodiment of the present invention.

Detailed Description

In order to make the technical field person understand the scheme of the present invention better, the following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical scheme in the embodiments of the present invention.

In the prior art, the material of the traveling wheel of the sweeping robot is often made of the same material, and one material only has one performance, so that the performance requirements under various different working scenes cannot be met, the performance requirements can be considered, and the traveling wheel cannot be suitable for various scenes.

To the above problem, the utility model provides a from mobile robot and advancing wheel to solve the problem that exists among the prior art, an aspect is on concentrating on advancing the wheel with the performance advantage of multiple material, makes it can satisfy the work demand of many scenes. It should be noted that the traveling wheel in this application may be a traveling wheel, a following wheel, and a universal wheel of the sweeping robot, or may be a track wheel used on the window cleaning robot, and the application is not limited herein.

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

The embodiment provides a self-moving robot, which comprises a machine body and a traveling wheel arranged at the bottom of the machine body. The embodiment of the utility model provides an organism includes but not limited to for the organism of robot, the organism of machine of sweeping the floor, the organism of dust catcher, the organism of dolly etc, the embodiment of the utility model provides an it does not specifically limit to this. The connection mode between the travelling wheel and the machine body can be realized according to the connection mode in the prior art, and the description is omitted here.

Specifically, the self-moving robot includes: a machine body and a traveling wheel. The travelling wheel is arranged at the bottom of the machine body. Wherein the road wheel comprises a tire. The running wheel can be seen in fig. 1 to 3, the tire having a tread in rolling contact with a surface, and the tread comprising at least two material components 10. Wherein a surface refers to a cleaning surface including, but not limited to, a floor, a table top, and the like.

The embodiment of the utility model provides a technical scheme, it is portable to realize through the travelling wheel from mobile robot, and the travelling wheel includes the tire. The tread of the tire comprises at least two material components 10, namely the tire has the performance of at least two materials, so that the traveling wheel comprising the tire can meet the work requirement of multiple scenes, namely the self-moving robot can be suitable for multiple work scenes.

It should be noted that, in the embodiments of the present invention, the number of the same components may be more than one, and may be more than one. In many cases, the distinction is made in the figures by numerical plus alphabetical forms. For example, as shown in fig. 2 and 3, the tread comprises two components 10, the different components 10 being distinguished by 10a, 10b, respectively. In the following description, all are distinguished in this way.

With continued reference to fig. 2 and 3, in an embodiment of the invention which can be realized, the tread comprises at least a first component 10a and a second component 10b, the first component 10a being made of an anti-slip material. To achieve the properties of a tire having at least two materials, when the tread comprises only a first component 10a and a second component 10b, the materials of the first component 10a and the second component 10b are different. When the tread includes other components in addition to the first component 10a and the second component 10b, the materials of the first component 10a and the second component 10b may be the same or different. For example, when the other components are different from the materials of the first component 10a and the second component 10b, the materials of the first component 10a and the second component 10b may be the same or different. The other components are the same material as one of the first component 10a and the second component 10b, and the material of the first component 10a and the second component 10b is different.

The embodiment of the utility model provides an in, the performance of two kind at least materials is different, including but not limited to for skid resistance different, wear resistance different, ageing resistance different, prevent being stained with the ash performance difference etc.. The first component 10a is made of an anti-skid material, and the second component 10b is made of one or more of a wear-resistant material, an anti-aging material or an anti-dust material. The tread comprising at least a first component 10a and a second component 10b allows the tyre to contain at least two materials, i.e. the tyre has the properties of at least two materials, allowing the running wheel comprising the tyre to meet the operational requirements of multiple scenarios.

In the embodiment of the present invention, the anti-slip material includes but is not limited to brominated butyl rubber, butadiene rubber, isoprene rubber, chloroprene rubber or a combination thereof.

With continued reference to fig. 2 and 3, in an achievable embodiment of the invention, the tread comprises at least a first component 10a and a second component 10b, the second component 10b being of an anti-dusting material. When the second component 10b is made of an anti-dust material, the first component 10a may be made of one or more of a material with a high friction coefficient, a wear-resistant material, an anti-aging material, and an anti-slip material. The tread comprising at least a first component 10a and a second component 10b allows the tyre to contain at least two materials, i.e. the tyre has the properties of at least two materials, allowing the running wheel comprising the tyre to meet the operational requirements of multiple scenarios.

In embodiments of the present invention, the ash-resistant material includes, but is not limited to, one or a combination of thermoplastic polyurethane elastomer, thermoplastic polyolefin elastomer, thermoplastic vulcanizate, thermoplastic polyester elastomer.

Further, with continued reference to fig. 1, in an embodiment of the present invention, the second component 10b comprises two second sub-components distributed on the outer side of the tread. For example, the second component 10b is made of TPU (thermoplastic polyurethane elastomer rubber) material, which has excellent dust-proof performance, and the second component 10b is disposed on the outer side of the tread, so that the outer side of the tread is not easily dusted. The first component 10a can be made of brominated butyl rubber material, the brominated butyl rubber material has good anti-slip performance, and the first component 10a is located in the middle of the tread and can play an effective anti-slip role. On the one hand, the tread can be protected by the second component 10b on the outer side, and meanwhile, the middle part of the tread is made of an anti-skid material, and the two sides of the tread are made of anti-sticking materials, so that the tread is more favorable for the walking of the traveling wheel.

In order to further protect the tread from damage by external objects, in an embodiment of the present invention, the shore hardness of the first component 10a is less than the shore hardness of the second component 10 b. By arranging the first component 10a and the second component 10b of different hardness at different positions of the tread, the tread is better protected. For example, the first component 10a may be made of bromobutyl rubber material having a shore hardness of 35-50HA, and the second component 10b may be made of TPU material having a shore hardness of 45-55 HA. The second component 10b with higher hardness can be arranged at the outer side of the tread, and the first component 10a with lower hardness is arranged at the middle part of the tread, so that when an external object collides with the running wheel, the second component 10b with higher hardness can effectively protect the tread from being damaged, and the service life of the running wheel is prolonged.

When the running wheel is used, the outer side of the tread is more easily worn, and the use performance of the running wheel is greatly reduced once the running wheel is worn, so that the service life of the running wheel is further prolonged, in an achievable embodiment of the present invention, the wear resistance of the first component 10a is less than that of the second component 10 b. By arranging the first component 10a and the second component 10b having different wear resistances at different positions of the tread, the tread can be protected more effectively while the travel of the travel wheel can be facilitated. For example, the second component 10b with greater wear resistance may be disposed on the outer side of the tread, and the first component 10a with lesser wear resistance may be disposed in the middle of the tread, so that in use, the second component 10b on the outer side of the tread has better wear resistance, and the tread may be effectively protected from damage, thereby prolonging the service life of the running wheel. Meanwhile, the second component 10b with better wear resistance is positioned on the outer side of the tread, which is more beneficial to the walking of the walking wheel.

It should be noted that, in the embodiment of the present invention, the components included in the tread may be disposed at different positions according to different requirements. For example, the outer position of the tread needs to have good anti-skid properties to improve the anti-skid properties of the tire, and therefore, the first component 10a may be provided on the outer side of the tread using an anti-skid material for the first component 10 a. For another example, the middle position of the tread contacts the ground for a long time, has a large contact area, and is easily stained with dust, and therefore, the middle position of the tread needs to have good dust-proof performance so as to improve the dust-proof performance of the tire. The second component 10b is made of a dust-resistant material, and the second component 10b may be disposed in the middle of the tread. The entire tread is structurally composed in such a way that the first component 10a is located on the outer side of the tread and the second component 10b is located in the middle of the tread. Therefore, the tread has two kinds of performances of antiskid and dust-proof, namely the tire has two kinds of performances of antiskid and dust-proof, so that the running wheel comprising the tire can meet the working requirements of antiskid and dust-proof. Of course, according to different requirements, the second component 10b may be disposed on the outer side of the tread, and the first component 10a may be disposed in the middle of the tread, which is not limited herein.

Further, for the convenience according to the work scene of difference, change different components so that the tread is applicable to different work demands, the embodiment of the utility model provides an in, second component 10b detachable installs on the tire. For example, the second component 10b may be a dust-resistant material, and when the tread is rolling on a relatively clean ground, where there is no dirt on the ground, the second component 10b may be removed from the tire. When the working scene of the self-moving robot is changed, and the dust on the ground is more, the second component 10b can be installed on the tire to prevent the tire from being stained with too much dust.

Of course, the first component 10a can also be realized in the same way as the second component 10b, the first component 10a being removably mounted on the tyre. Alternatively, the first component 10a and the second component 10b are mounted in different manners. For example, the travelling wheel comprises a hub carrier 20, and the two components 10b are fixed to the hub carrier 20 as a unitary structure. The second component 10b is made as a one-piece structure with the hub carrier 20, for example, by an injection molding process.

It should be noted that the first component 10a and the second component 10b have different coefficients of friction when the surfaces are slippery. For example, when the surface is a dry surface (e.g., a dry floor), the coefficient of friction of the first component 10a is less than the coefficient of friction of the second component 10 b. At this time, the second component 10b mainly provides friction when the traveling wheel travels. However, when the surface is a wet and slippery surface (e.g., a water-stained floor), the coefficient of friction of the first component 10a is greater than the coefficient of friction of the second component 10 b. At this time, the first component 10a mainly provides friction when the traveling wheel travels.

In an embodiment of the present invention, the total width of the tread is constant, and in order to improve a certain performance, one way of achieving this is to increase the width of the component corresponding to this performance. For example, to improve the anti-sticking performance of the tire, the width of the second component 10b is larger than the width of the first component 10 a. Of course, to improve the anti-skid properties of the tread, the width of the first component 10a may be increased, i.e. the width of the first component 10a is greater than the width of the second component 10 b.

In order to ensure the balanced performance of the various properties of the tread, in the embodiment of the present invention, the width of the second component 10b matches the width of the first component 10 a. It should be noted that, the width matching means that the width of the second component 10b and the width of the first component 10a can be adjusted according to different requirements, for example, the width of the second component 10b can be equal to the width of the first component 10a, or the width of the second component 10b can be slightly larger or smaller than the width of the first component 10 a.

To further improve the applicability of the running wheels to various working scenarios, the tread further comprises a third component 10c, see fig. 4 and 5. When the tread comprises a third component 10c, the material properties of the first component 10a and the second component 10b may be the same or different. For example, when the third component 10c is made of a different material than the first component 10a and the second component 10b, the material properties of the first component 10a and the second component 10b may be the same or different. Third component 10c is the same material as one of first component 10a and second component 10b, and first component 10a and second component 10b differ in material properties. In the embodiment of the present invention, the third component 10c is detachably mounted on the tire.

In an embodiment of the present invention, the third component 10c includes, but is not limited to, a wear-resistant material. The first component 10a and the second component 10b may be made of the same or different materials, for example, the first component 10a is made of an anti-slip material, the second component 10b is made of an anti-dust material, or the first component 10a and the second component 10b are both made of an anti-slip material, or the first component 10a and the second component 10b are both made of an anti-dust material. Of course, according to different working scenarios, the first component 10a, the second component 10b, and the third component 10c may also be made of other materials, and the details are not repeated here.

The arrangement position of the third component may be set according to different applicable scenarios, for example, the third component 10c is located between the first component 10a and the second component 10 b. For example, the material of the third component 10c is different from at least one of the first component 10a and the second component 10 b. The first component 10a includes material a, the second component 10B includes material B, and the third component 10c includes material a or material B, wherein the tread has the two properties of material a and material B. Or the third component 10C is made of a material C different from the materials a and B, and in this case, the tread has three properties of the materials a, B and C. When the third component 10C comprises a material C different from both materials a and B, the first component 10a may comprise the same material as the second component 10B, and the tread still has the properties of both materials.

In an embodiment of the present invention, the third component 10c may be an integrally formed structure, and include a single material, or, referring to fig. 6, the third component 10c includes at least two third sub-components, for example, the third sub-components are the component 10d and the component 10e in fig. 6. At least two third sub-components comprise at least two materials, and the third component 10c enables the wheel surface to meet the use requirements of more complex working conditions.

For example, the number of the components 10 is three, i.e., a first component 10a, a second component 10b, and a third component 10c, and the third component 10c is located between the first component 10a and the second component 10 b. The first component 10a includes material a, the second component 10B includes material B, and the third component 10c includes material a or material B, wherein the tread has the two properties of material a and material B. Or the third component 10C is made of a material C different from the materials a and B, and in this case, the tread has three properties of the materials a, B and C. When the third component 10C is made of a material C different from the materials a and B, the first component 10a and the second component 10B may be made of the same material, and the tire still has the performance of the two materials. Still alternatively, the third component 10c includes a plurality of third sub-components, for example, the third sub-components are component 10D and component 10E in fig. 6, and the plurality of third sub-components are made of a plurality of materials, for example, material D, material E, material F, material G … …, and the like. In this case, the tread has various properties such as material a, material B, material C, and material G … ….

Example 2

Referring to fig. 1 to 3, an embodiment of the present invention provides a travel wheel including a tire. The tire has a tread in rolling contact with a surface, and the tread comprises at least two material components 10. The travel wheel can be implemented based on the travel wheel provided in embodiment 1, and the implementation manner of the travel wheel can refer to the implementation manner of the travel wheel provided in embodiment 1. Meanwhile, the travel wheel in embodiment 1 can also refer to the implementation manner of the travel wheel provided in embodiment 2.

In the embodiments of the present invention, the tread comprises at least two components made of two materials, and it is understood that the tread comprises at least two components made of two materials with different properties. The at least two materials have different properties including, but not limited to, different anti-slip properties, different wear resistance, different aging resistance, different dusting resistance, and the like. The tread of the at least two material components enables the tire to contain at least two materials, namely the tire has the performance of at least two materials, so that the traveling wheel containing the tire can meet the working requirements of multiple scenes.

It should be noted that, in the embodiments of the present invention, the number of the same components may be more than one, and may be more than one. In many cases, the distinction is made in the figures by numerical plus alphabetical forms. For example, as shown in fig. 1, the tread comprises two components 10, the different components 10 being distinguished by 10a, 10b, respectively. In the following description, all are distinguished in this way.

With continued reference to fig. 1, further, the travel wheel further comprises: a hub carrier 20. The tread is provided on the outer periphery of the hub carrier 20. The hub carrier 20 provides support for the component 10, and the hub carrier 20 and the component 10 together form a travelling wheel. The component 10 may be an overmold on the hub carrier 20. The component 10 is disposed on the periphery of the hub frame 20 by, but not limited to, molding the component 10 by compression molding, and then disposed on the periphery of the hub frame 20 by assembly, or disposed on the periphery of the hub frame 20 by secondary injection molding, or disposed on the periphery of the hub frame 20 by compression molding. The rubber coating on the periphery of the hub carrier 20 has the performance of at least two materials, so that the travelling wheel can be suitable for different scenes and different rolling surfaces.

For example, the tread comprises two components 10, the two components 10 are made of TPU (Thermoplastic polyurethane elastomer) and bromobutyl rubber, and the hub carrier 20 is made of plastic material. The components 10 and the hub frame 20 are molded by a compression molding process. At least two components 10 may be assembled into a whole and then disposed on the outer periphery of the hub frame 20, or each component 10 may be disposed on the outer periphery of the hub frame 20, and the components 10 may be connected or disconnected. The component 10 may be disposed on the outer periphery of the hub carrier 20 by a two-shot molding process to form the tread. Of course, the component 10 can also be arranged on the outer periphery of the hub carrier 20 by means of fitting. The components 10 on the periphery of the hub frame 20 have the excellent performances of TPU and brominated butyl rubber, and can effectively improve the phenomena of slipping and dust adhesion of the sweeping wheel.

The embodiment of the utility model provides an in, the compound mode that contains the component 10 of at least two kinds of materials includes the multiple, and a compound mode is, and the sub-assembly of the same kind of material is located same region, and the component 10 of other materials is not separated between the component 10 of the same material, and the sub-assembly of different kinds of materials sets gradually. In another combination, the components 10 of the same material are symmetrically arranged along the axis of symmetry, which is the center line of the tread of the travelling wheel. In yet another combination, adjacent components 10 are of different materials. In this manner, the components 10 of the respective materials may be arranged randomly or in a predetermined manner, for example, the components 10 having high wear resistance may be arranged at both ends, the components 10 having high slip resistance may be arranged in the middle, and the like. For another example, the number of the component parts 10 is at least three. The components 10 at both ends are made of a wear resistant material. The intermediate component 10 is made of an anti-aging material. Or the components 10 at both ends are made of anti-aging materials. The component part 10 located in the middle is made of a wear-resistant material. Or the components 10 at both ends are made of a non-slip material. The centrally located component 10 is made of a non-stick ash material.

It should be noted that the above combination manner is only a part of combination manners, not a whole combination manner, and the combination manner of each component 10 in the embodiment of the present invention is not specifically limited, and is not described herein again.

In the embodiment of the present invention, the hub frame 20 can be realized in various manners, for example, the hub frame 20 can be an integrally formed structure or formed by combining a plurality of components. When the hub carrier 20 is of an integrally molded structure, the at least two-material component 10 is disposed on the outer periphery of the hub carrier 20 to form a tread for contact with a surface. When the hub carrier 20 is assembled by a plurality of components, the components 10 of at least two materials are disposed on the outer periphery of the hub carrier 20 in the following ways:

in an achievable manner, with reference to fig. 2, the hub carrier 20 comprises: at least two armatures 30 arranged along the extension of the rotation centerline of said tyre. Such as the frame 30a and the frame 30b in fig. 2. At least one component 10 is attached to one of the frames 30. In this manner, each armature 30 has at least one component 10 attached thereto. For example, component 10a is attached to skeleton 30a and component 10b is attached to skeleton 30 b. At least two frames 30 can be assembled into the hub carrier 20, and then at least one component 10 can be fixedly connected to the outer periphery of each frame 30. Alternatively, at least one component 10 is fixedly attached to the outer periphery of each frame 30, and then the respective frames 30 are combined into the hub carrier 20. Component 10 may be provided around the perimeter of frame 30 by assembly, by two-shot molding, or by compression molding, around the perimeter of frame 30. Each of the armatures 30 may be attached by fasteners, snaps, or ultrasonic welding, for example.

In another implementation, referring to fig. 2, the hub carrier 20 includes at least two armatures 30. Such as the frame 30a and the frame 30b in fig. 2. At least two frameworks 30 are sleeved, and one of the frameworks 30 positioned at the outermost side is fixedly connected with the component 10. In this manner, only one of the at least two armatures 30 is attached to the component 10. For example, the hub carrier 20 includes two frames 30, one frame 30a is sleeved on the other frame 30b, the component 10 is fixedly connected to the outer periphery of the frame 30b located at the outer side, and the component 10 includes at least two materials. At least two frames 30 may be assembled into the hub carrier 20, and then the components 10 are fixedly attached to the outer periphery of the outermost frame 30. Alternatively, the components 10 are fixedly attached to the outer periphery of the outermost skeleton 30, and then the respective skeletons 30 are combined into the hub carrier 20.

In yet another way, referring to fig. 2, the hub carrier 20 includes: at least two armatures 30 arranged along the extension of the rotation centerline of said tyre. The component 10 is attached to one of the at least two armatures 30.

In yet another way, referring to fig. 2, the hub carrier 20 includes: a plurality of bobbins 30 arranged in a direction in which a rotation center line of the tire extends. The component 10 is fixedly connected to the frameworks 30 at the two ends of the plurality of frameworks 30, or the component 10 is fixedly connected to the framework 30 in the middle of the plurality of frameworks 30, if the number of the frameworks 30 is even, the component 10 is fixedly connected to the even frameworks 30 in the middle which are smaller than the total number, and if the number of the frameworks 30 is odd, the component 10 is fixedly connected to the odd frameworks 30 in the middle which are smaller than the total number.

In the above embodiment, the components 10 are all required to be fixedly connected to the hub carrier 20, and in the embodiment of the present invention, the components 10 may also be partially connected to the hub carrier 20. Specifically, the hub carrier 20 includes: the first framework and the second framework are arranged along the extending direction of the rotation center line of the tire. For example, the first skeleton is skeleton 30a, and the second skeleton is skeleton 30 b. The at least two components 10 include a first component and a second component at opposite ends in the direction of extension of the center of rotation of the tire. For example, the first component is component 10a and the second component is component 10 b. The first component is fixedly connected with the first framework. The second component is fixedly connected with the second framework. In this way, the component 10 is connected to the hub carrier 20 only through the first component and the second component located at the two ends, and the component 10 located between the first component and the second component may not be connected to the hub carrier but still cover the outer periphery of the hub carrier 20, and the component 10 having at least two materials is still disposed on the outer periphery of the hub carrier 20.

Of course, the components 10 can also be connected in this way if the hub carrier 20 is of an integrally formed construction, or if the hub carrier 20 comprises a plurality of bobbins 30. Specifically, when the hub frame 20 is an integrally formed structure, the first component and the second component are fixedly connected to two ends of the hub frame 20, respectively. When the hub carrier 20 includes a plurality of frames 30, the first component and the second component are respectively fixedly connected to the frames 30 at both ends of the hub carrier 20.

To further improve the applicability of the travelling wheel to various working scenarios, referring to fig. 3 and 4, in the embodiment of the present invention, the number of the components 10 is at least three. At least one third component is arranged between the first component and the second component. For example, the third component is component 10c in fig. 3 and 4. The third component comprises a material different from at least one of the first component and the second component. For example, the component 10 is three, i.e. a first component, a second component and a third component, the third component is located between the first component and the second component. The first component comprises material A, the second component comprises material B, and the third component comprises material A or material B, wherein the tire has the two properties of material A and material B. Or the third component comprises a material C which is different from the material A and the material B, and the tire has the three properties of the material A, the material B and the material C. When the third component contains the material C which is different from the material a and the material B, the first component and the second component can be the same material, and the tire still has the performance of the two materials.

The embodiment of the utility model provides an in, the third component can directly link to each other with wheel hub frame 20, links firmly in the periphery of wheel hub frame 20, and the connected mode is the same with first component and second component, and the third component can link to each other or not link to each other with first component and second component. Or the third component is only fixedly connected with the first component and the second component and is not connected with the hub carrier 20, and the third component covers the periphery of the hub carrier 20. Or the third component is not fixedly connected with the first component, the second component and the hub frame 20 and is sleeved on the periphery of the hub frame 20, and the third component can be taken down from the hub frame 20 to replace the third component made of different materials. One way to realize the sleeving of the third component on the hub frame 20 is to provide a groove on the periphery of the hub frame 20, provide a boss on the inner wall of the third component for cooperating with the groove, insert the boss into the groove when the third component is sleeved on the hub frame 20, so as to realize the relative fixation of the third component and the hub frame 20.

In an embodiment of the present invention, the third component may be an integrally formed structure, and include a single material, or, referring to fig. 5, along the extending direction of the rotation center line of the tire, the third component includes at least two components, for example, the components 10d and 10e in fig. 5. The at least two sub-components comprise at least two materials, and the traveling wheel can meet the use requirements of more complex working conditions through the third component.

For example, the component 10 is three, i.e. a first component, a second component and a third component, the third component is located between the first component and the second component. The first component comprises material A, the second component comprises material B, and the third component comprises material A or material B, wherein the tire has the two properties of material A and material B. Or the third component comprises a material C which is different from the material A and the material B, and the tire has the three properties of the material A, the material B and the material C. When the third component contains the material C which is different from the material a and the material B, the first component and the second component can be the same material, and the tire still has the performance of the two materials. Still alternatively, the third component includes a plurality of sub-components, and the plurality of sub-components are made of a plurality of materials, for example, material D, material E, material F, material G … …, and the like. In this case, the tire has various performances such as material a, material B, material C, and material G … ….

The embodiment of the utility model provides an in, the material that contains according to each component 10 is different, can set up the position of different materials according to the performance of difference, and a realizable mode is that component 10 is at least three, and component 10 that is located both ends adopts wear-resisting material preparation, and component 10 that is located the centre adopts ageing resistance material preparation. Or the components 10 at the two ends are made of anti-aging materials, and the component 10 in the middle is made of wear-resistant materials. Or the components 10 at both ends are made of a non-slip material. The centrally located component 10 is made of a non-stick ash material. The combination of the components 10 is not limited in the embodiments of the present invention, and will not be described herein.

In the embodiment of the present invention, with continuing reference to fig. 1 and 3, the component 10 is further provided with an abutting tooth 40, for example, the component 10a has an abutting tooth 40a, the component 10b has an abutting tooth 40b, and the component 10c has an abutting tooth 40 c. The connecting area between the component 10 and the hub frame 20 can be increased by the abutting teeth 40 to enhance the connecting strength between the component 10 and the hub frame 20. Meanwhile, when two adjacent components 10 are connected to each other, the connection strength between the two connected components 10 can be enhanced by the abutment teeth 40. Specifically, two adjacent components 10 may be connected or not connected to each other, and in the connection process, in order to further enhance the connection strength between the two components 10 and the sealing property at the connection position of the two components 10, in the extending direction of the rotation centerline of the tire, the two adjacent components 10 are structurally combined and spliced through the abutting teeth 40. The abutment teeth 40 increase the strength of the connection between the two connected components 10, while the abutment teeth 40 increase the sealing at the connection point between the two components 10.

In the embodiment of the present invention, the abutting teeth 40 can be realized in a plurality of ways, and one way that the abutting teeth 40 of the components 10 at the two ends extend toward the middle of the tire is realized, for example, the abutting teeth 40a on the component 10a and the abutting teeth 40b on the component 10 b. The abutment teeth 40 of the component 10 located between the two ends extend towards one or both ends of the tyre, for example, component 10c has abutment teeth 40c thereon. In one implementation, the abutment teeth 40 include an engaging tooth and a tooth slot. On the end surface of one component 10 of two adjacent components 10 perpendicular to the rotation center line of the tire, there are a plurality of first engaging teeth extending in the direction of the rotation center line of the tire and first tooth grooves between two adjacent first engaging teeth. On the end surface perpendicular to the rotation center line of the tire of the other component 10 of the two adjacent components 10, there are a plurality of second engaging teeth fitted with the first tooth grooves and second tooth grooves fitted with the second engaging teeth. When two adjacent component parts 10 are connected, the first engaging tooth is inserted into the second tooth groove at the corresponding position, and the second engaging tooth is inserted into the first tooth groove at the corresponding position, so that the two adjacent component parts 10 are spliced.

For further realizing that the travelling wheel is suitable for multiple operating mode demand, the utility model discloses in the embodiment, be equipped with the decorative pattern on the tread. The pattern comprises at least two pattern patterns. The contact mode of the tread and the rolling surface can be changed through different pattern styles, so that the friction performance, the anti-skid performance and the like of the tread are changed, and the running wheel comprising the tire can meet the working requirements of multiple scenes.

The embodiment of the present invention provides a travel wheel, which is described in detail below in a specific implementation manner. It should be noted that the following implementation is only exemplary and is not a specific limitation of the embodiments of the present invention.

Implementation mode one

Referring to fig. 2, the traveling wheel includes a tire and a hub frame 20, and the tread of the tire includes two components 10, wherein one component 10b is a soft hub cover rubber, and the other component 10a is a soft hub frame rubber. The hub cap soft rubber and the hub framework soft rubber are respectively made of two different materials A and B.

The hub cover soft rubber and the hub framework soft rubber are arranged on the periphery of the hub frame 20 in a secondary injection molding mode to form a traveling wheel, so that the traveling wheel has the advantages of a material A and a material B, and the use requirement of complex working conditions is met. The hub cover soft rubber and the hub frame 20 and the hub skeleton soft rubber and the hub frame 20 can be assembled to replace a secondary injection molding mode for connection.

Implementation mode two

Referring to fig. 3, the traveling wheel includes a tire and a hub frame 20, the tread of the tire includes two components 10, one component 10b is a soft hub cover rubber, and the other component 10a is a soft hub frame rubber. The hub cap soft rubber and the hub framework soft rubber are respectively made of two different materials A and B. The hub carrier 20 includes two frames 30, wherein one frame 30b is a hub cover hard rubber and the other frame 30a is a hub frame hard rubber.

The wheel hub cover soft rubber and the wheel hub cover ebonite both form the wheel hub cover through the mode that the secondary was moulded plastics, and is the same, and wheel hub skeleton ebonite and wheel hub skeleton soft rubber also form the wheel hub skeleton through the mode that the secondary was moulded plastics, and wheel hub cover and wheel hub skeleton pass through modes such as screw, buckle or ultrasonic bonding and connect, form the advancing wheel. The travelling wheel has the advantages of the material A and the material B, and the use requirement of complex working conditions is met. The hub cover soft rubber and the hub frame 20 and the hub skeleton soft rubber and the hub frame 20 can be connected in an assembly mode instead of a secondary injection molding mode.

Implementation mode three

Referring to fig. 4 and 5, on the basis of the first implementation manner or the second implementation manner, another component 10c is arranged between the two components 10, and the middle component 10c is a hub soft rubber. The soft rubber of the hub can be fixed on the hub frame 20 or can be detachably connected on the hub frame 20, so that a user can replace the soft rubber of the hub by himself.

The hub cover soft rubber and the hub framework soft rubber are made of the same material A, and the hub soft rubber is made of the material B, so that the traveling wheel has the advantages of the material A and the material B. Or the soft rubber of the hub cover is made of the material A, the soft rubber of the hub is made of the material B, and the soft rubber of the hub framework 30 is made of the material C, so that the travelling wheel has the advantages of the material A, the material B and the material C.

Implementation mode four

Referring to fig. 6, on the basis of the third implementation mode, the hub soft rubber can be split into a plurality of parts and made of various materials, so that the travelling wheel has the advantages of various materials, and the use requirements of more complex working conditions are met.

The above implementation manners may be used in different combinations and combinations, and are not described herein again.

To sum up, the embodiment of the present invention provides a technical scheme with following beneficial effect: the tire of the traveling wheel of the self-moving robot is provided with a tread which is in rolling contact with the surface, and the tread at least comprises components of two materials, namely the tire has the performance of at least two materials, so that the traveling wheel comprising the tire can meet the working requirements of multiple scenes.

The following describes the technical solution of the present invention with reference to specific application scenarios to assist understanding. The following application scenario takes the sweeping robot as an example.

Application scenario one

The traveling wheel of the sweeping robot comprises a tire and a hub frame, wherein the hub cover soft rubber of the tire and the hub skeleton soft rubber are respectively made of two different materials A and B. The material A has good friction performance, and the material B has good wear resistance. The wheel hub cover soft rubber and the wheel hub cover hard rubber are arranged on the periphery of the wheel hub frame in a secondary injection molding mode to form the traveling wheel.

The sweeping robot can be simultaneously suitable for a work scene with a smooth cleaning surface and a work scene with a rough cleaning surface. In a working scene with a smooth cleaning surface, the traveling wheel comprises a material A with good friction performance so as to improve the friction performance of the traveling wheel and improve the driving force of the traveling wheel. In a work scene with a rough cleaning surface, the traveling wheel comprises a material B with good wear resistance so as to improve the wear resistance of the traveling wheel and slow down the wear speed of the traveling wheel.

Application scenario two

The traveling wheel of the sweeping robot comprises a tire and a hub frame, wherein the tire comprises hub cover soft rubber, hub skeleton soft rubber and hub soft rubber, the hub cover soft rubber and the hub skeleton soft rubber are respectively made of two different materials A and B, the hub soft rubber is made of a material C, the friction performance of the material A is good, the wear resistance of the material B is good, and the ageing resistance of the material C is good.

The sweeping robot can be simultaneously suitable for a work scene with a smooth cleaning surface and a work scene with a rough cleaning surface. In a working scene with a smooth cleaning surface, the traveling wheel comprises a material A with good friction performance so as to improve the friction performance of the traveling wheel and improve the driving force of the traveling wheel. In a work scene with a rough cleaning surface, the traveling wheel comprises a material B with good wear resistance so as to improve the wear resistance of the traveling wheel and slow down the wear speed of the traveling wheel. Meanwhile, the traveling wheel comprises a material C with good ageing resistance, so that the ageing resistance of the traveling wheel is improved, and the ageing speed of the traveling wheel is reduced.

Meanwhile, the hub soft rubber is detachably connected to the hub frame, so that a user can replace the hub soft rubber made of different materials by himself, and the traveling wheel is convenient to meet different working condition requirements.

Application scenario three

On the basis of the application scene two, the wheel hub flexible glue can be split into a plurality of parts and made of various materials, so that the travelling wheel has the advantages of various materials at the same time, and the use requirements of more complex working conditions are met.

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

Claims (10)

1. A self-moving robot, comprising:

a body;

the traveling wheel is arranged at the bottom of the machine body;

wherein the travelling wheel comprises a tyre having a tread for rolling contact with a surface, and the tread comprises at least two material components.

2. The self-propelled robot as recited in claim 1, wherein the tread comprises at least a first component and a second component, the first component being made of a non-slip material.

3. The self-propelled robot as recited in claim 1, wherein the tread comprises at least a first component and a second component, the second component being formed of a dust resistant material.

4. A self-propelled robot as claimed in claim 2 or claim 3 wherein said travelling wheel comprises a hub carrier and said second component is fixed integrally with said hub carrier.

5. The self-propelled robot as claimed in claim 2 or 3, wherein the tread further comprises a third component, the third component being of a wear resistant material.

6. A road wheel comprising a tyre; the tire has a tread in rolling contact with a surface, and the tread comprises at least components of two materials.

7. The travel wheel of claim 6, wherein the travel wheel includes a hub carrier, the tread is disposed on an outer periphery of the hub carrier, and the hub carrier includes: at least two skeletons arranged along the extending direction of the rotation center line of the tire;

at least one of the components is fixedly connected to one framework.

8. The travel wheel of claim 7, wherein the hub carrier comprises: the first framework and the second framework are arranged along the extending direction of the rotation center line of the tire;

the tread comprises at least a first component and a second component located at both ends, in the direction extending along the rotation centre line of the tyre;

the first component is detachably connected with the first framework;

the second component is fixedly connected with the second framework.

9. The running wheel according to any one of claims 6 to 7 wherein two adjacent components are joined in combination by an abutment tooth structure in the direction in which the rotational centerline of the tire extends.

10. The travel wheel of claim 9, wherein the butt tooth structure comprises an engagement tooth and a tooth slot;

the end surface of one component in two adjacent components, which is perpendicular to the rotation center line of the tire, is provided with a plurality of first engaging teeth extending along the extension direction of the rotation center line of the tire and a first tooth groove between two adjacent first engaging teeth;

and the end surface of the other component of the two adjacent components, which is perpendicular to the rotation center line of the tire, is provided with a plurality of second engaging teeth matched with the first tooth grooves and a plurality of second tooth grooves matched with the second engaging teeth.

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