ROTATING WHEEL APPARATUS, DRIVING WHEEL AND ROBOT

Disclosed are a rotating wheel apparatus, a driving wheel and a robot. The rotating wheel apparatus includes: a rotating assembly, a bearing and a supporting base. The rotating assembly is provided with an accommodating groove. The bearing is accommodated in the accommodating groove and connected to the rotating assembly. The supporting base is close to a notch of the accommodating groove, the supporting base is connected to the bearing, so that the rotating assembly is rotationally connected to the supporting base.

TECHNICAL FIELD

The present application relates to the technical field of robot, and in particular to a rotating wheel apparatus, a driving wheel and a robot.

BACKGROUND

With the progress of society and the development of network technology, more and more robot forms are produced. In recent years, spherical robots have attracted more and more attention. The spherical robots refer to the type of robot whose driving system is located inside the spherical housing (or the sphere) and realizes the movement of the sphere through internal drive. Since this type of robot has a good dynamic and static balance and good sealing, it can travel in harsh environments with no people, sand, dust, moisture, and corrosiveness, which can be used in planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields.

In the spherical robot, two rotating wheels are connected through an intermediate connecting member, and the movement form, such as the linear motion, of the spherical robot is controlled by controlling the running speed of the two rotating wheels. In related art, the structural stability of the rotating wheel of the spherical robot is poor, which can easily lead to deviations in the motion trajectory of the spherical robot.

SUMMARY

The main objective of the present application is to provide a rotating wheel apparatus, a driving wheel and a robot, aiming to improve the stability of the rotating wheel.

In order to achieve the above objective, the rotating wheel apparatus provided in the present application includes: a rotating assembly, a bearing and a supporting base.

The rotating assembly is provided with an accommodating groove.

The bearing is accommodated in the accommodating groove and connected to the rotating assembly.

The supporting base is close to a notch of the accommodating groove, the supporting base is connected to the bearing, so that the rotating assembly is rotationally connected to the supporting base.

In an embodiment of the present application, the rotating assembly includes: a housing and a transmission member.

The housing is provided with the accommodating groove.

The transmission member is provided in the accommodating groove and located between the housing and the supporting base.

The transmission member is connected to the bearing, and the transmission member is detachably connected to the housing.

In an embodiment of the present application, the supporting base and the transmission member are respectively connected to both sides of the bearing, and a supporting portion is provided on one side of the supporting base facing the transmission member, an inner ring of the bearing is sleeved on the supporting portion, and the inner ring and the supporting portion are locked by a first locking member; andone side of the transmission member facing the supporting base is provided with a transmission portion, the transmission portion is sleeved on the outer ring of the bearing, and the outer ring and the transmission portion are locked by a second locking member.

In an embodiment of the present application, a first limiting portion is provided on an outer periphery of the supporting portion, and one side of the inner ring facing the supporting base is abutted against the first limiting portion; andthe supporting portion is provided with a first mounting hole, one end of the first locking member is abutted against one side of the inner ring away from the first limiting portion and one side of the supporting portion facing the transmission member, the other end of the first locking member is inserted into the first mounting hole to lock the supporting portion and the inner ring.

In an embodiment of the present application, one side of the transmission portion facing the bearing is provided with a second limiting portion, and one side of the outer ring facing the transmission member is abutted against the second limiting portion; andthe transmission portion is provided with a second mounting hole, one end of the second locking member is abutted against one side of the outer ring away from the second limiting portion and one side of the transmission portion facing the supporting base, and the other end of the second locking member is inserted in the second mounting hole to lock the transmission portion and the outer ring.

In an embodiment of the present application, a wall of the accommodating groove is provided with a hook, the hook and the wall of the accommodating groove are enclosed to form a limiting groove, and the transmission member is partially limited in the limiting groove.

In an embodiment of the present application, a clamping portion is provided on an outer periphery of the transmission member, the clamping portion is located in the limiting groove, one side of the clamping portion facing the housing is provided with an inclined surface, one side of the clamping portion away from the housing is abutted against the hook, and one side of the transmission member away from the supporting base is abutted against and fitted with the wall of the accommodating groove.

In an embodiment of the present application, the transmission member is provided with a plurality of positioning holes, the wall of the accommodating groove is provided with a plurality of positioning columns, and each of the positioning columns is inserted into the positioning hole.

In an embodiment of the present application, a third mounting hole is provided on an edge of the supporting base, and a projection of the transmission member on the supporting base is located on one side of the third mounting hole close to a center line of the supporting base.

In an embodiment of the present application, the supporting base is located in the accommodating groove, and the notch of the accommodating groove extends to one side of the supporting base away from the transmission member.

In an embodiment of the present application, the rotating assembly is further provided with a friction belt, an outer periphery of the rotating assembly is provided with a mounting groove, and the friction belt is provided in the mounting groove and partially extends out of the mounting groove.

In an embodiment of the present application, the rotating wheel apparatus further includes a counterweight provided on the supporting base.

The present application also provides a driving wheel, including: the rotating wheel apparatus and a driving member.

The supporting base of the rotating wheel apparatus is provided with a first assembly hole.

The driving member is provided in the first assembly hole, and an output end of the driving member is connected to the rotating assembly of the rotating wheel apparatus.

The present application also provides a robot, including: a main body and two driving wheels.

The main body provided with a control component.

The two driving wheels are respectively provided on opposite sides of the main body.

The driving member of the driving wheel is electrically connected to the control component.

The wall of the accommodating groove and the main body are enclosed to form an accommodation chamber, and the supporting base of the driving wheel is accommodated in the accommodation cavity and connected to the main body.

In the technical solutions of the present application, the supporting base can provide the stable support and can be used to connect to external structures. When the present application is applied to the robot, the supporting base can be connected to the main body of the robot. The supporting base is close to the notch of the accommodating groove, which can be easily connected to the external structure through the supporting base. In the present application, the rotating assembly is connected to the supporting base through the bearing to rotate. When rotating on the ground, the rotating assembly can push and drive the robot to move. The bearing can improve the stability of the rotating assembly, reduce the friction, and save the energy. The bearing is in the accommodating groove, and the rotating assembly can wrap and hide the bearing to protect the bearing. When the present application is applied to the robot, it can be ensured that only the rotating assembly is exposed and the other parts are hidden, providing the robot with the beautiful appearance. Meanwhile, the rotating assembly is connected to the supporting base through the bearing, which makes it convenient to assembly, improves the installation efficiency, and reduces the assembly difficulty.

The achievement of the purpose of the present application, functional characteristics and advantages will be further described with reference to the accompanying drawings in conjunction with embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solutions of the embodiments of the present application will be described in more detail below with reference to the accompanying drawings. It is obvious that the embodiments to be described are only some rather than all of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts shall fall within the scope of the present application.

It should be noted that if there are directional indications, such as up, down, left, right, front, back, etc, involved in the embodiments of the present application, the directional indications are only used to explain a certain posture as shown in the accompanying drawings. If the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions related to “first”, “second”, etc. in the embodiments of the present application, the descriptions of “first”, “second”, etc. are only for the purpose of description, and should not be construed as indicating or implying relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist or fall within the scope of protection claimed in the present application.

The present application provides a rotating wheel apparatus10.

In an embodiment, as shown inFIG.1,FIG.2andFIG.3, the rotating wheel apparatus10includes: a rotating assembly1, a bearing2and a supporting base3.

The rotating assembly1is provided with an accommodating groove1a.

The bearing2is accommodated in the accommodating groove1a, and the bearing2is connected to the rotating assembly1.

The supporting base3is close to a notch of the accommodating groove1a, and the supporting base3is connected to the bearing2, so that the rotating assembly1is rotationally connected to the supporting base3.

In this embodiment, the supporting base3provides a stable support and can be used to connect to external structures. Referring toFIG.9andFIG.10, when this embodiment is applied to a robot, the supporting base3can be connected to a main body200of the robot.

In this embodiment, the supporting base3is close to the notch position of the accommodating groove1a, which can be conveniently connected to the external structure through the supporting base3. The rotating assembly1is connected to the supporting base3through the bearing2to rotate. When rotating on the ground, the rotating assembly1can push the robot to move. The bearing2can improve a rotation stability of the rotating assembly1, reduce a friction, and save the energy. The bearing2is located in the accommodating groove1a, and the rotating assembly1can wrap and hide the bearing2to protect the bearing2. When this embodiment is applied to a robot, it can be ensured that only the rotating assembly1is exposed and the other components are hidden, making the robot beautiful in appearance. At the same time, the rotating assembly1is connected to the supporting base3through the bearing2, which is convenient to assembly, improve the installation efficiency, and reduces the difficulty of assembly.

The rotation of the rotating assembly1relative to the supporting base3can be realized manually or through a driving member110, and the driving member110can be a motor. When the rotating wheel apparatus10is applied to the robot, the rotating assembly1can be driven to rotate by the driving member110. The driving member110is installed on the supporting base3, and the supporting base3provides a stable support for the driving member110.

The robot can be a spherical robot, including a main body200and two rotating wheel apparatus10. The supporting base3of the two rotating wheel apparatus10is connected to the main body200, which is different from four wheels of a car. If the rotating assembly1is not connected to the supporting base3through the bearing2, then the rotating assembly1only rotates around a motor shaft, that is, rotates at one point, which is unstable. After connected to the supporting base3through the bearing2, the rotating assembly1can also rotate around bearing2, that is, rotate around one surface, so that the rotation of the rotating assembly1is more stable, and a surface connection of bearing2has a stronger connection strength than the point connection of the motor shaft.

Meanwhile, when using the robot, it is necessary to ensure that the main body200of the robot remains as still as possible. It is different from a balancing car, which has someone standing in the middle. If the spherical robot directly drives the rotating assembly1to rotate through the motor, it will easily cause the main body200of the robot to become unstable. However, the bearing2reduces the relative motion between the main body200and the rotating assembly1, which can ensure that the main body200is more stable.

In addition, in this embodiment, there is no need to install a reduction gear between the driving member110and the rotating assembly1, which reduces the design difficulty.

In an embodiment, as shown inFIG.2,FIG.3andFIG.8, the rotating assembly1includes: a housing11and a transmission member12.

The housing11is provided with the accommodating groove1a.

The transmission member12is located in the accommodating groove1aand between the housing11and the supporting base3; the transmission member12is connected to the bearing2, and the transmission member12is detachably connected to the housing11.

It can be understood that the transmission member12is connected to the bearing2, so that the transmission member12can rotate relative to the supporting base3, and the rotation of the transmission member12can drive the housing11to rotate. When the rotating wheel apparatus10is applied to a robot, the robot is placed on the ground or other application scenarios, the housing11is abutted against the ground, etc, and the rotation of the housing11can drive the robot to move. In this embodiment, the housing11is provided with the accommodating groove1a, and the transmission member12is provided in the accommodating groove1a, which can hide the transmission member12, protect the transmission member12and the bearing2, avoid an impact of external foreign matter on the transmission member12and the bearing2, and at the same time make a beautiful appearance. The housing11is clamped with the transmission member12, which can realize a convenient disassembly and installation of the housing11and the transmission member12, improve the efficiency, reduce the difficulty, and avoid damaging the housing11or the transmission member12during the installation and disassembly process.

In other embodiments, the rotating assembly1is an integrally formed mechanism, that is, the housing11and the transmission member12are integrally formed and fixed and cannot be disassembled, that is, the transmission member12is not solely provided.

When applied to the robot, the detachable connection between the transmission member12and the housing11can make the robot more beautiful in appearance compared to the integrally formed fixed arrangement of the housing11and the transmission member12.

In an embodiment, if the housing11and the transmission member12are integrally formed and fixed structures, then as shown inFIG.11, an installation process of the rotating wheel apparatus10is:S11: assembling the bearing2to the supporting base3, where the bearing2can be fixedly connected to the supporting base3through a first locking member4in the following embodiment of the present application, and the bearing2can be interference fitted with the supporting base3;S12: assembling the rotating assembly1to the bearing2, where the rotating assembly1can be fixedly connected to the bearing2through a second locking member5in the following embodiment of the present application, and the bearing2can be interference fitted with the rotating assembly1; at this time, the rotating wheel apparatus10is formed;S13: connecting the supporting base3to the main body of the robot to complete the assembly of the rotating wheel apparatus10and the main body200.

If the gap between the supporting base3and the main body200needs to be hidden, the supporting base3can be located in the accommodating groove1aof the rotating assembly1. That is to say, the rotating assembly1can cover the gap between the supporting base3and the main body200. However, this will make it inconvenient to use bolts to connect the supporting base3and the main body200, and the supporting base3and main body200can only be connected by clamping, which will reduce the connection strength between the supporting base3and main body200. If it needs to use bolts to connect the supporting base3and main body200, the supporting base3can not be located in the accommodating groove1aof the rotating assembly1, that is, the rotating assembly1can not block the gap between the supporting base3and main body200, so that the gap will be exposed, which reduces the overall aesthetics of the robot, and makes it easier for dust and other foreign matter to enter compared to the situation of using the rotating assembly1to cover the gap.

When the transmission member12is detachably connected to the housing, as shown inFIG.12, the installation process of the rotating wheel apparatus10is:S21: assembling the bearing2to the supporting base3, where the bearing2can be fixedly connected to the supporting base3through a first locking member4in the following embodiment of the present application, and the bearing2can be interference fitted with the supporting base3;S22: assembling the rotating assembly1to the bearing2, where the rotating assembly1can be fixedly connected to the bearing2through a second locking member5in the following embodiment of the present application, and the bearing2can be interference fitted with the rotating assembly1;S23: connecting the supporting base3to the main body of the robot through the bolt;S24: connecting the housing11to the transmission member12by clamping, to realize the connection between the rotating wheel apparatus10and the main body200.

As shown inFIG.2, since the housing11is connected to the transmission member12after the supporting base3is connected to the main body200, an edge of the housing11can extend to a side of the supporting base3away from the transmission member12, which means that the housing11can be used to block the gap between the supporting base3and the main body. Therefore, compared with the embodiment in which the transmission member12is not provided solely, when the transmission member12is provided, the connection strength between the supporting base3and the main body200can be ensured (that is, the two can be connected by bolts), which can also ensure the appearance of the supporting base3and the main body200(that is, the gap between the two joints can be blocked).

In an embodiment, as shown inFIG.2,FIG.3andFIG.4, the supporting base3and the transmission member12are respectively connected to both sides of the bearing2, and one side of the supporting base3facing the transmission member12is provided with a supporting portion31, an inner ring21of the bearing2is sleeved on the supporting portion31, and the inner ring21and the supporting portion31are locked through the first locking member4.

A transmission portion121is provided on the side of the transmission member12facing the supporting base3. The transmission portion121is sleeved on an outer ring22of the bearing2, and the outer ring22and the transmission portion121are locked by a second locking member5.

It can be understood that the structure can be made more compact through the above design. The design of the supporting portion31and the transmission portion121, the bearing2is sleeved on the supporting portion31, and the transmission portion121is sleeved on the bearing2, so that the position of the bearing2can be limited. At the same time, the locking of the first locking member4and second locking member5can improve the position stability of bearing2and the connection stability of bearing2with the supporting base3and the transmission member12, thereby improving the stability of the housing11and ensuring the stability of the rotating wheel apparatus10during operation. When the rotating wheel apparatus10moves past the steps, the locking of the first locking member4and the second locking member5can ensure that the bearing2will not shake or shift at this time, thereby ensuring that the rotating wheel apparatus10can pass the steps smoothly. At the same time, the supporting portion31can support the bearing2and provide positioning for the installation of the bearing2, achieving a quick installation.

In an embodiment, as shown inFIG.2,FIG.4andFIG.5, an outer periphery of the supporting portion31is provided with a first limiting portion32, and one side of the inner ring21facing the supporting base3is abutted against the first limiting portion32.

The supporting portion31is provided with a first mounting hole3a. One end of the first locking member4is abutted against one side of the inner ring21away from the first limiting portion32and the side of the supporting base3facing the transmission member12, and the other end of the first locking member4is inserted into the first mounting hole3a, so that the supporting portion31and the inner ring21are locked.

It can be understood that the other end of the first limiting portion32and the other end of the first locking member4are respectively abutted against the opposite sides of the inner ring21to limit the inner ring21, which can prevent the inner ring21from shaking or shifting, and ensure the positional stability of the inner ring21.

In this embodiment, the first locking member4includes a first connecting rod and a first clamping joint connected to the first connecting rod. An outer periphery of the first connecting rod is provided with an external thread, and a wall of the first mounting hole3ais provided with an internal thread. The first connecting rod is threadedly connected to the wall of the first mounting hole3a. The first connecting rod passes through the first clamping joint and penetrates into the first mounting hole3a, and the first clamping joint is pressed against the side of the inner ring21away from the first limiting portion32, that is, the side of the inner ring21facing the transmission member12. A limiting space is formed between the first limiting portion32and the first clamping joint, and the inner ring21is limited in the limiting space to lock the inner ring21and the supporting base3. During assembly, the first locking member4can be installed from the side where the transmission member12is located, which is easy to install.

In other embodiments, the inner ring21of the bearing2is provided with the first mounting hole3a, and the bearing2and the supporting portion31are locked by inserting the first locking member4into the first mounting hole3a. However, since the bearing2is a standard part and has a large hardness, it is inconvenient to dig a hole, so that to arrange the first mounting hole3ain the supporting portion31is better than to arrange the first mounting hole3ain the inner ring21of the bearing2.

In an embodiment, as shown inFIG.2,FIG.4andFIG.6, one side of the transmission portion121facing the bearing2is provided with a second limiting portion122, and one side of the outer ring22facing the transmission member12is abutted against the second limiting portion122.

The transmission portion121is provided with the second mounting hole12a. One end of the second locking member5is abutted against the side of the outer ring22away from the second limiting portion122and the side of the transmission portion121facing the supporting base3, and the other end of the second locking member5is inserted into the second mounting hole12ato lock the transmission portion121and the outer ring22.

It can be understood that the other end of the second limiting portion122and the other end of the second locking member5are respectively abutted against the opposite sides of the outer ring22to limit the outer ring22, which can prevent the outer ring22from shaking or shifting, and ensure the positional stability of the outer ring22.

In this embodiment, the second locking member5includes a second connecting rod and a second clamping joint connected to the second connecting rod. An outer periphery of the second connecting rod is provided with an external thread, and a wall of the second mounting hole12ais provided with an internal thread. The second connecting rod is threadedly connected to the wall of the second mounting hole12a. The second connecting rod passes through the second clamping joint and penetrates into the second mounting hole12a, and the second clamping joint is pressed against the side of the inner ring21away from the second limiting portion122, that is, the side of the outer ring22facing the supporting base3. A limiting space is formed between the second limiting portion122and the second clamping joint, and the outer ring22is limited in the limiting space to lock the outer ring22and the transmission member12. During assembly, the second locking member5can be installed from the side where the supporting base3is located, which is easy to install.

In other embodiments, the outer ring22of the bearing is provided with the second mounting hole12a, and the second locking member5is inserted into the second mounting hole12ato lock the bearing2and the transmission portion121. However, since the bearing2is a standard part and has greater hardness, it is inconvenient to dig a hole. Therefore, to arrange the second mounting hole12ain the transmission portion121is better than to arrange the second mounting hole12aon the outer ring22of the bearing2.

In an embodiment, the supporting base3and the transmission member12are respectively located on both sides of the bearing2. A supporting portion31is provided on one side of the supporting base3facing the transmission member12. The supporting portion31is sleeved on the outer ring22of the bearing2, and the outer ring22and the supporting portion31are locked through the first locking member4.

A transmission portion121is provided on one side of the transmission member12facing the supporting base3. The inner ring21of the bearing2is sleeved on the transmission portion121, and the inner ring21and the transmission portion121are locked by the second locking member5.

The side of the supporting portion31facing the bearing2is provided with a first limiting portion32, and the side of the outer ring22facing the supporting base3is abutted against the first limiting portion32.

The supporting portion31is provided with the first mounting hole3a. One end of the first locking member4is abutted against the side of the outer ring22away from the first limiting portion32and the side of the supporting portion31facing the transmission member12, and the other end of the first locking member4is inserted into the first mounting hole3a, so that the supporting portion31and the inner ring21are locked. It can be understood that the other end of the first limiting portion32and the other end of the first locking member4are respectively abutted against the opposite sides of the outer ring22to limit the outer ring22, which can prevent the outer ring22from shaking or shifting, and ensure the positional stability of the outer ring22.

The first locking member4includes the first connecting rod and the first clamping joint connected to the first connecting rod. The outer periphery of the first connecting rod is provided with the external thread, and the wall of the first mounting hole3ais provided with the internal thread. The first connecting rod is threadedly connected to the wall of the first mounting hole3a. The first connecting rod penetrates into the first mounting hole3a, and part of the first clamping joint is abutted against the side of the outer ring22away from the first limiting portion32, that is, the side of the outer ring21facing the transmission member12. The limiting space is formed between the first limiting portion32and the first clamping joint, and the outer ring21is limited in the limiting space to lock the outer ring22and the supporting base3. During assembly, the first locking member4can be installed from the side where the transmission member12is located, which is easy to install.

The second limiting portion122is provided on the outer periphery of the transmission portion121, and the side of the inner ring21facing the transmission member12is abutted against the second limiting portion122.

The transmission portion121is provided with the second mounting hole12a. The end of the second locking member5is abutted against the side of the inner ring21away from the second limiting portion122and the side of the transmission portion121facing the supporting base3. The other end of the second locking member5is inserted into the second mounting hole12ato lock the transmission portion121and the outer ring22. It can be understood that the other end of the second limiting portion122and the other end of the second locking member5are respectively abutted against the opposite sides of the inner ring21to limit the inner ring21, which can prevent the inner ring21from shaking or shifting, and ensure the positional stability of the inner ring21.

The second locking member5includes the second connecting rod and the second clamping joint connected to the second connecting rod. The outer periphery of the second connecting rod is provided with the external thread, and the wall of the second mounting hole12ais provided with the internal thread. The second connecting rod is threadedly connected to the wall of the second mounting hole12a. The second connecting rod penetrates into the second mounting hole12a, and the second clamping joint is pressed against the side of the inner ring21away from the second limiting portion122, that is, the side of the outer ring22facing the supporting base3. The limiting space is formed between the second limiting portion122and the second clamping joint, and the outer ring22is limited in the limiting space to lock the outer ring22and the transmission member12. During assembly, the second locking member5can be installed from the side where the supporting base3is located, which is easy to install.

In an embodiment, as shown inFIG.1,FIG.3andFIG.5, the supporting base3is provided with a first avoiding hole3bcorresponding to the second mounting hole12a.

It can be understood that the first avoiding hole3bin the supporting base3provides a position avoiding for the installation of the second locking member5and facilitates the installation of the second locking member5.

In an embodiment, the transmission member12is provided with a second avoiding hole corresponding to the first mounting hole3a.

It can be understood that the second avoiding hole in the transmission member12provides a position avoiding for the installation of the first locking member4and facilitate the installation of the first locking member4.

In an embodiment, the supporting base3is provided with the first avoiding hole3b, and the transmission member12is provided with the second avoiding hole.

In this embodiment, only the supporting base3is provided with the first avoiding hole3b, and the transmission member12is not provided with the second avoiding hole. During assembly, the first locking member4can be installed first to install the bearing2on the supporting base3, then the transmission member12is sleeved on the bearing2, and the second locking member5is installed by through the first avoiding hole3b.

In this embodiment, a plurality of the first mounting holes3aare provided, and the plurality of first mounting holes3aare in a circular array. Each of the first mounting holes3ais provided with the first locking member4. Through the arrangement of the plurality of the first mounting holes3a, the locking stability of the inner ring21and the supporting portion31can be improved. A plurality of the second mounting holes12aare also provided, and the plurality of second mounting holes12aare in a circular array. Each of the second mounting holes12ais provided with the second locking member5. Through the arrangement of the plurality of the second mounting holes12a, the locking stability of the outer ring22and the transmission portion121can be improved.

In an embodiment, as shown inFIG.2andFIG.8, the wall of the accommodating groove1ais provided with a hook111. The hook111and the wall of the accommodating groove1aare enclosed to form a limiting groove11a, and part of the transmission member12is limited in the limiting groove11a.

In an embodiment, the housing11can be connected to the transmission member12through various connection methods, such as the screw connection or the snap fit. In this embodiment, the housing11is snap-fitted to the transmission member12, which can realize the convenient disassembly and installation of the housing11and the transmission member12, improve the efficiency, reduce the difficulty, avoid damaging the housing11or the transmission member12during the installation and disassembly process, and also make the appearance more beautiful. At the same time, the transmission member12is snap-fitted with the housing11, which can avoid opening screw holes on the housing11and ensure the beautiful appearance. By setting the hook111, the detachable connection between the transmission member12and the housing11is realized, and the structure is compact, the connection is stable, and the opening of the housing11is avoided to ensure the beautiful appearance.

In an embodiment, as shown inFIG.2,FIG.6andFIG.7, the outer periphery of the transmission member12is provided with the clamping portion123, and the clamping portion123is located in the limiting groove11a. One side of the clamping portion123facing the housing11is provided with an inclined surface, the side of the clamping portion123away from the housing11is abutted against the hook111, and the side of the transmission member12away from the supporting base3is abutted against and fitted with the wall of the accommodating groove1a.

It can be understood that the side of the clamping portion123away from the housing11is abutted against the hook111, and the side of the transmission member12away from the supporting base3is abutted against the wall of the accommodating groove1ato limit part of the transmission member12in the limiting groove11a. At the same time, the transmission member12is abutted against and fitted with the wall of the accommodating groove1a, so that the transmission member12can support the housing11. When an area corresponding to the transmission member12on the housing11, that is, a middle part of the housing11, collides, the housing11can be prevented from a dent.

One side of the clamping portion123facing the housing11is provided with an inclined surface, and the hook111is also provided with an inclined surface to facilitate the assembly of the housing11to the transmission member12.

In this embodiment, as shown inFIG.6andFIG.7, the side of the clamping portion123facing the housing11is provided with a first reinforcing rib124, which can improve a strength of the clamping portion123.

In an embodiment, as shown inFIG.2,FIG.3andFIG.8, the side of hook111away from the limiting groove11ais provided with a second reinforcing rib113, which can improve a strength of hook111.

The second reinforcing rib113extends toward the supporting base3, and is spaced apart from the supporting base3. The shape of the side of the second reinforcing rib113close to the supporting base3is adapted to the shape of the supporting base3. When the area of the housing11corresponding to the second reinforcing rib113, that is, the area near the edge of the housing11collides, a large deformation of the housing11can be avoided. When the housing11dents inward, the second reinforcing rib113will be abutted against the supporting base3, and the second supporting base3can support the housing11. At the same time, the second reinforcing rib113is spaced apart from the supporting base3, so that the housing11can be deformed slightly to buffer.

In an embodiment, as shown inFIG.2,FIG.3,FIG.6,FIG.7andFIG.8, the transmission member12is provided with a plurality of positioning holes, and the wall of the accommodating groove1ais provided with a plurality of positioning columns112, each of the positioning columns112is inserted into each of the positioning holes.

It can be understood that the cooperation between the positioning hole and the positioning column112can realize the rapid positioning and installation of the housing11and the transmission member12, and at the same time, ensure the synchronous rotation of the transmission member12and the housing11.

In this embodiment, the positioning hole includes a first positioning hole121band a second positioning hole12b, and the positioning column112includes a first positioning column112and a second positioning column112.

The clamping portion123is provided on the side of the transmission member12away from the bearing2. A plurality of positioning bosses are provided at the peripheral edge of the clamping portion123. The plurality of positioning bosses are arranged at intervals, and each of the positioning bosses is provided with the first positioning hole121b. The housing11is provided with a plurality of first positioning columns112, and each of the first positioning columns112is matched with the first positioning hole121b.

The central area of the transmission member12is provided with a plurality of second positioning holes12b, and the plurality of second positioning holes12bare arranged at intervals. The housing11is provided with a plurality of second positioning columns112, and each of the second positioning columns112is matched with the second positioning hole12b.

The positioning holes are provided on the periphery and the middle area of the transmission member12, and the positioning columns112are correspondingly provided on the housing11, which can ensure a uniform force when transmitting power between the transmission member12and the housing11.

In an embodiment, as shown inFIG.5, a third mounting hole3cis provided on the edge of the supporting base3, and a projection of the transmission member12on the supporting base3is located on the side of the third mounting hole3cclose to a center line of the supporting base3.

It can be understood that the projection of the transmission member12on the supporting base3is located on the side of the third mounting hole3cclose to the center line of the supporting base3, that is, the peripheral size of the transmission member12is smaller than the peripheral size of the supporting base3, and the third mounting hole3ccan be exposed. When the supporting base3is connected to the outside through bolts inserted into the third mounting hole3c, the operation can be facilitated, and the transmission member12will not affect the operation process.

In this embodiment, a plurality of third mounting holes3care provided in a circular array.

In an embodiment, as shown inFIG.1,FIG.2,FIG.3andFIG.9, the rotating assembly1also includes a friction belt13, the outer periphery of the housing11is provided with a mounting groove, and the friction belt13is provided in the mounting groove and partially extends out of the mounting groove.

It can be understood that when the rotating wheel apparatus10is running on the ground, the friction belt13can be arranged to increase the friction between the friction belt13and the ground, ensuring that the rotating wheel apparatus10moves smoothly on the ground and reducing the slippage.

In an embodiment, as shown inFIG.1andFIG.3, the rotating wheel apparatus10further includes a counterweight6, and the counterweight6is provided at the supporting base3.

In this embodiment, the counterweight6is arranged eccentrically with respect to the center line of the supporting base3. By arranging the counterweight6, the center of gravity can be lowered and the stability of the operation of the rotating wheel apparatus10can be improved.

In an embodiment, as shown inFIG.2, the supporting base3is located in the accommodating groove1a, and the notch of the accommodating groove1aextends to the side of the supporting base3away from the transmission member12.

It can be understood that when the rotating wheel apparatus10is installed on the main body200of the robot, after the supporting base3is connected to the main body200, since the notch of the accommodating groove1aextends to the side of the supporting base3away from the transmission member12, the notch of the accommodating groove1awill be sleeved on the outer wall of the main body200, which can eliminate the possibility of the main body200and the rotating assembly1forming a gap in a direction parallel to the horizontal plane, thereby beautifying the appearance. It can also ensure that when the robot is placed on the running surface, the rotating assembly1contacts with the running surface, and there is a certain gap between the main body200and the running surface, which can ensure that the main body200will not rub against the running surface. The running surface can be the ground, etc.

The present application also provides a driving wheel100, as shown inFIG.10, the driving wheel100includes the rotating wheel apparatus10, and a driving member110.

The supporting base3of the rotating wheel apparatus10is provided with a first assembly hole3d.

The driving member110is provided in the first assembly hole3d, and an output end of the driving member110is connected to the rotating assembly1.

The specific structure of the rotating wheel apparatus10refers to the above-mentioned embodiments. Since the driving wheel100adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

In an embodiment, as shown inFIG.3, the rotating assembly1further includes a connecting member120, the transmission member12is provided with a second assembly hole12d, the connecting member120is accommodated in the second assembly hole12d, the connecting member120is sleeved on the output end of the driving member110, and the connecting member120and the rotating assembly1are locked through a third locking member. The cross section of the connecting member120is D-shaped, that is, the connecting member120is provided with an arc surface and a flat surface connected end to end in the circumferential direction. Correspondingly, the second assembly hole12dis D-shaped. The second assembly hole12dis cooperated with the connecting member120, so that the rotating assembly1will not rotate relative to the output end of the driving member110, which ensures that the output end of driving member110drives the rotating assembly1to rotate synchronously.

In an embodiment, the transmission member12is provided with a fourth mounting hole12ccorresponding to the third locking member. The third locking member passes through the fourth mounting hole12cto lock and connect the output end of the transmission member12, the connecting member120and the driving member110. The mounting hole12cprovides an avoiding position for the installation of the third locking member, making it easy to install. Obviously, since the transmission member12is detachably connected to the housing11, the fourth mounting hole12ccan be provided in the transmission member12to ensure that the third locking member can be installed smoothly. At the same time, since the D-shaped hole is limited and cooperated with the connecting member120, the torque exerted on the third locking member during rotation can be reduced, thereby improving the stability and service life of the third locking member.

In an embodiment, the connecting member120and the output end of the driving member110are locked through an interference fit.

In this embodiment, as shown inFIG.7, since the bearing2is the main connecting component, priority is given to the interference fit between the bearing2and the rotating assembly1or the supporting base3. At the same time, the first locking member4and the second locking member5further play a stabilizing role, while the output end of member110does not interfere with the second assembly hole12d. If all three places interfere, that is, all three places are closely matched, which is technically difficult to achieve. Since the second assembly hole12dis not oversized, it is easy to cause the rotating assembly2to shake. In order to improve the stability, it is necessary to set the fourth mounting hole12cto install the third locking member. At the same time, if the transmission member12and the housing11are not detachable structures, the fourth mounting hole12cneeds to be opened on the outer surface of the rotating assembly1, which is not beautiful. If the fourth mounting hole12cis not provided for the sake of aesthetics, the stability will be reduced. Therefore, it is further explained that the detachable connection between the transmission member12and the housing11is better than the integrated structure between the transmission member12and the housing11.

In addition, the above content is only used to express the further beneficial effects brought by the arrangement of the transmission member12, such as blocking gaps, stability, and aesthetics, etc, but cannot explain that the transmission member12is a necessary technical feature.

In the same way, the interference fit of the outer ring in the bearing is also a further beneficial effect, or an effect that can be achieved on the basis of the transmission member12, but is not a necessary technical feature.

In this embodiment, the third locking member is a bolt.

In this embodiment, the output end of the driving member110is provided with a threaded hole, and the third locking member is threadedly connected to the output end of the driving member110. In other embodiments, the third locking member is abutted against the outer peripheral wall of the output end of the driving member110. It can be understood that the threaded connection between the third locking member and the output end of the driving member can improve the connection strength and connection stability of the transmission member12, the connecting member120, and the output end of the driving member110, ensuring the stability of the transmission member12and the housing11, and at the same time ensuring the synchronous rotation of the transmission member12and the output end of the driving member110.

The present application also provides a robot, as shown inFIG.9andFIG.10, the robot includes a main body200and two driving wheels100.

The main body200is provided with a control component210.

The two driving wheels100are respectively provided on opposite sides of the main body200; the driving member110of the driving wheel100is electrically connected to the control component210; the wall of the accommodating groove1aof the driving wheel100and the main body200are enclosed to form an accommodating chamber, and the supporting base3of the driving wheel100is accommodated in the accommodating chamber and connected to the main body200.

The specific structure of the driving wheel100refers to the above embodiments. Since the robot adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

The above descriptions are only embodiments of the present application, and are not intended to limit the scope of the present application. Under the inventive concept of the present application, any equivalent structural transformations made by using the contents of the description and drawings of the present application, or direct/indirect applications in other related technical fields are included in the scope of the present application.