Walking wheel structure, assembling method thereof and self-moving robot adopting walking wheel structure

• Main Authors: LIU TONG, MA YANGANG, WEI JICHAO, CHENG WENJIE
• Format: Patent
• Language: Chinese; English
• Published: 22.10.2019
• Subjects: AXLES FOR WHEELS OR CASTORS; CASTORS; INCREASING WHEEL ADHESION; PERFORMING OPERATIONS; TRANSPORTING; VEHICLE WHEELS; VEHICLES IN GENERAL

The invention provides a walking wheel structure, an assembling method thereof and a self-moving robot adopting the walking wheel structure. The walking wheel structure comprises a walking wheel body(100), an end cover (200) and a support (400), a hollow cavity (101) is formed inside the walking wheel body, the end cover is inserted into the hollow cavity, the end cover and the walking wheel bodyform a walking-wheel wheel body, the two ends of the outer side of the walking-wheel wheel body are embedded in the support, so that the walking-wheel wheel body rotates relative to the support by taking a connecting line of the embedding points of the two ends of the outer side as the center, at least one end cover is arranged, the inner side end of the end cover abuts against an elastic stretching and retracting mechanism. According to the walking wheel structure, the assembling method thereof and the self-moving robot adopting the walking wheel structure, one or two end covers are arrangedinside the walking wheel b