CN113910829B - Deformable wheel and movable equipment - Google Patents
Deformable wheel and movable equipment Download PDFInfo
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- CN113910829B CN113910829B CN202111391933.4A CN202111391933A CN113910829B CN 113910829 B CN113910829 B CN 113910829B CN 202111391933 A CN202111391933 A CN 202111391933A CN 113910829 B CN113910829 B CN 113910829B
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- 238000009434 installation Methods 0.000 claims description 54
- 230000007246 mechanism Effects 0.000 claims description 40
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000012876 topography Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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Abstract
The invention provides a deformable wheel and movable equipment, wherein the deformable wheel comprises a wheel disc, a deformable disc and a plurality of deformable spoke parts; the deformable spoke part is rotatably connected with the wheel disc and movably connected with the deformable disc; the deformation driving motor can drive the deformation disc to rotate; the deformable wheel is provided with a wheel type shape and a spoke type shape, when the deformation driving motor drives the deformation disc to rotate, the deformation disc rotates relative to the wheel disc, and the deformation spoke is switched between the wheel type shape and the spoke type shape by driving the deformable spoke to move. The wheel type variable-speed wheel is driven by the variable-speed driving motor to realize the mutual conversion between the wheel type form and the spoke form, wherein the wheel type form can be effectively adapted to flat or road surface topography with a certain gradient; the spoke shape can be effectively adapted to special terrains such as steps and barriers with certain height, and the combination of the two shapes effectively improves the maneuvering performance and obstacle surmounting capability of the deformable wheel.
Description
Technical Field
The present invention relates to the field of mobile robots, and in particular to a deformable wheel and a mobile device, and more particularly, to a deformable wheel that improves its adaptation to the environment by changing the shape of the wheel.
Background
The existing wheel type mobile robot can move rapidly on a flat ground, but cannot pass through special terrains such as steps, ditches and the like; the existing foot-type mobile robot can effectively adapt to special terrains such as steps, trenches and the like, but the moving speed on a flat ground is limited.
Patent document CN113212590a discloses a mechanical leg of a foot robot, which comprises a fixed seat, a power driving mechanism, a first ball screw, a second ball screw, a sleeve component and a foot plate component, wherein the first ball screw and the second ball screw are arranged side by side, the sleeve component comprises a first pipe and a second pipe sleeved on the first pipe, the power driving mechanism is fixed at one end of the fixed seat, part of the power driving mechanism extends out of the fixed seat and is connected with one part of the second ball screw, the other part of the second ball screw is fixedly connected with one end of the second pipe, part of the first ball screw is fixed on the fixed seat, part of the first ball screw is fixedly connected with one end of the first pipe, the other end of the first pipe is pivoted with the middle position of the foot plate component, and the other end of the second pipe is pivoted with one end of the foot plate component. However, this solution is a foot-type mechanical leg, which does not solve the problem of limited speed of movement on flat ground.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a deformable wheel and a movable device.
The invention provides a deformable wheel, which comprises a wheel disc, a deformable disc and a plurality of deformable spoke parts; the deformable spoke part is rotatably connected with the wheel disc and movably connected with the deformable disc; the center of the deformation disc is provided with a first installation position, the first installation position is an output shaft installation position of a deformation driving motor, and the deformation driving motor can drive the deformation disc to rotate;
The deformable wheel is provided with a wheel type shape and a spoke shape, when the deformable driving motor drives the deformable disc to rotate, the deformable disc rotates relative to the wheel disc, and the deformable spoke part is driven to move so as to enable the deformable spoke to be switched between the wheel type shape and the spoke shape; the wheel type shape is a shape of the deformable wheel when running on a flat ground, and the spoke type shape is a shape of the deformable wheel when crossing an obstacle.
Preferably, the deformable spoke portion includes a first deformable spoke portion, a second deformable spoke portion, and a third deformable spoke portion that are identical in structure, the first deformable spoke portion, the second deformable spoke portion, and the third deformable spoke portion being circumferentially arranged along the rotational axis of the deformable disc.
Preferably, the first deformed spoke portion includes a first crank stub shaft, a first crank, a first pin, a first crank link stub shaft, a first spoke fixing seat, and a first rocker stub shaft;
The first spoke fixing seat is provided with a second installation position, a third installation position and a fourth installation position; the wheel disc is provided with a first through hole and a second through hole; the first crank, the first crank connecting rod, the first spoke fixing seat and the part between the first through hole and the second through hole on the wheel disc form a first crank connecting rod mechanism;
the first crank short shaft is arranged in the first through hole, one end of the first crank is connected with the first crank short shaft, the other end of the first crank is connected with one end of the first crank connecting rod through the first pin, the other end of the first crank connecting rod is connected with the second mounting position of the first spoke fixing seat through the first crank connecting rod short shaft, the third mounting position of the first spoke fixing seat is connected with the second through hole through the first rocker short shaft, and the fourth mounting position of the first spoke fixing seat is fixedly connected with a first spoke;
The deformation disc is provided with a first chute, and the first pin is installed in the first chute and can move between a first position and a second position along the first chute; the first position is the position of the first pin in the first chute when the first crank is in forward collineation with the first crank connecting rod, and the second position is the position of the first pin in the first chute when the first crank is in reverse collineation with the first crank connecting rod.
Preferably, the second deformed spoke part comprises a second crank short shaft, a second crank, a second pin, a second crank connecting rod short shaft, a second spoke fixing seat and a second rocker short shaft;
a fifth installation position, a sixth installation position and a seventh installation position are arranged on the second spoke fixing seat; the wheel disc is provided with a third through hole and a fourth through hole; the second crank, the second crank connecting rod, the second spoke fixing seat and the part between the third through hole and the fourth through hole on the wheel disc form a second crank connecting rod mechanism;
the second crank short shaft is arranged in the third through hole, one end of the second crank is connected with the second crank short shaft, the other end of the second crank is connected with one end of the second crank connecting rod through the second pin, the other end of the second crank connecting rod is connected with a fifth installation position of the second spoke fixing seat through the second crank connecting rod short shaft, a sixth installation position of the second spoke fixing seat is connected with the fourth through hole through a second rocker short shaft, and a seventh installation position of the second spoke fixing seat is fixedly connected with a second spoke;
The deformation disc is provided with a second chute, and the second pin is installed in the second chute and can move between a third position and a fourth position along the second chute; the third position is the position of the second pin in the second chute when the second crank is in forward collineation with the second crank connecting rod, and the fourth position is the position of the second pin in the second chute when the second crank is in reverse collineation with the second crank connecting rod.
Preferably, the third deformed spoke part comprises a third crank short shaft, a third crank, a third pin, a third crank connecting rod short shaft, a third spoke fixing seat and a third rocker short shaft;
An eighth installation position, a ninth installation position and a tenth installation position are arranged on the third spoke fixing seat; the wheel disc is provided with a fifth through hole and a sixth through hole, and a third crank, a third crank connecting rod, a third spoke fixing seat and a part between the fifth through hole and the sixth through hole on the wheel disc form a third crank connecting rod mechanism;
The third crank short shaft is arranged in the fifth through hole, one end of the third crank is connected with the third crank short shaft, the other end of the third crank is connected with one end of the third crank connecting rod through the third pin, the other end of the third crank connecting rod is connected with an eighth installation position of the third spoke fixing seat through the third crank connecting rod short shaft, a ninth installation position of the third spoke fixing seat is connected with the sixth through hole through a third rocker short shaft, and a tenth installation position of the third spoke fixing seat is fixedly connected with a third spoke;
The deformation disc is provided with a third sliding groove, and the third pin is installed in the third sliding groove and can move between a fifth position and a sixth position along the third sliding groove. The fifth position is the position of the third pin in the third sliding groove when the third crank and the third crank connecting rod are in forward collineation, and the fourth position is the position of the third pin in the third sliding groove when the third crank and the third crank connecting rod are in reverse collineation.
Preferably, the wheel disc includes a first protrusion, a second protrusion, and a third protrusion; the cross sections of the first protruding part, the second protruding part and the third protruding part are fan blade-shaped, the first through hole and the second through hole are all arranged on the first protruding part, the third through hole and the fourth through hole are all arranged on the second protruding part, and the fifth through hole and the sixth through hole are all arranged on the third protruding part.
Preferably, the deformation disc includes a fourth protrusion, a fifth protrusion and a sixth protrusion, the cross sections of the fourth protrusion, the fifth protrusion and the sixth protrusion are fan blade shapes, and the first chute, the second chute and the third chute are respectively arranged on the fourth protrusion, the fifth protrusion and the sixth protrusion.
Preferably, the first spoke, the second spoke and the third spoke are all arc-shaped, and when the deformable wheel is in a wheel type form, the first spoke, the second spoke and the third spoke are connected end to end in sequence to form a whole circle;
when the deformable wheel is in the spoke configuration, the first spoke, the second spoke, and the third spoke are separated from one another.
Preferably, the first spoke fixing seat is fixedly connected with the first spoke through a connecting piece; the second spoke fixing seat is fixedly connected with the second spoke through a connecting piece; the third spoke fixing seat is fixedly connected with the third spoke through a connecting piece.
According to the invention there is provided a mobile device comprising said deformable wheel.
Compared with the prior art, the invention has the following beneficial effects:
1. The wheel type variable-speed wheel is driven by the variable-speed driving motor to realize the mutual conversion between the wheel type form and the spoke form, wherein the wheel type form can be effectively adapted to flat or road surface topography with a certain gradient; the spoke shape can be effectively adapted to special terrains such as steps and barriers with certain height, and the combination of the two shapes effectively improves the maneuvering performance and obstacle surmounting capability of the deformable wheel.
2. The deformable wheel provided by the invention has the advantages that the deformation mechanism can be simplified into a crank rocker mechanism, when the deformable wheel is in a wheel type form, the deformable wheel is just in a closed dead point position, and the dead point characteristic of the deformable wheel can ensure that the deformable wheel in the dead point position can reduce the influence of external impact on the deformable wheel, so that the single-degree-of-freedom deformable wheel in the wheel type form has better structural stability and the movement stability of the deformable wheel is improved.
3. The deformable wheel provided by the invention has the advantages that the deformation mechanism can be simplified into a crank rocker mechanism, when the deformable wheel is in a spoke shape, the deformable wheel is just in an open dead point position, and the dead point characteristic of the deformable wheel can ensure that the mechanism in the dead point position can reduce the influence of external impact on the deformable wheel, so that the single-degree-of-freedom deformable wheel in the spoke shape has better structural stability and the movement stability of the deformable wheel is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the closed structure of the device of the present invention;
FIG. 2 is a schematic view of the expanded structure of the device of the present invention;
FIG. 3 is a schematic view of an expanded configuration after hiding the deformed disk;
FIG. 4 is a schematic view of a closed configuration after hiding the deformed disk;
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides a deformable wheel, which comprises a wheel disc 1, a deformable disc 2 and a plurality of deformable spoke parts; as shown in fig. 1-4, the deformable spoke part is rotatably connected with the wheel disc 1 and movably connected with the deformable disc 2; the deformable spoke portions are rotatable with rotation of the deformable disc 2.
The center of the deformation disc 2 is provided with a first installation position, wherein the first installation position is an output shaft installation position of a deformation driving motor, and the deformation driving motor can drive the deformation disc 2 to rotate; in a preferred embodiment, the center of the wheel disc 1 is provided with a transmission shaft mounting position, and the transmission shaft can drive the deformable wheel to roll forwards or backwards by driving the wheel disc 1 to rotate.
The deformable wheel is provided with a wheel type shape and a spoke type shape, when the deformation driving motor drives the deformation disc 2 to rotate, the deformation disc 2 rotates relative to the wheel disc 1, and the deformation spoke part is driven to move so as to enable the deformation spoke to be switched between the wheel type shape and the spoke type shape; the wheel type shape is a shape of the deformable wheel when running on a flat ground, and the spoke type shape is a shape of the deformable wheel when crossing an obstacle.
The deformable spoke portions include a first deformable spoke portion 3, a second deformable spoke portion 4, and a third deformable spoke portion 5 that are identical in structure, the first deformable spoke portion 3, the second deformable spoke portion 4, and the third deformable spoke portion 5 being circumferentially arranged along the rotation axis of the deformable disc 2.
The first deformed spoke part 3 comprises a first crank short shaft 31, a first crank 32, a first pin 33, a first crank connecting rod 34, a first crank connecting rod short shaft 35, a first spoke 36, a first spoke fixing seat 37 and a first rocker short shaft 38;
The first spoke fixing seat 37 is provided with a second installation position, a third installation position and a fourth installation position; the wheel disc 1 is provided with a first through hole and a second through hole; the first crank 32, the first crank connecting rod 34, the first spoke fixing base 37 and the part between the first through hole and the second through hole on the wheel disc 1 form a first crank connecting rod mechanism;
the first crank short shaft 31 is installed in the first through hole, one end of the first crank 32 is connected with the first crank short shaft 31, the other end of the first crank 32 is connected with one end of the first crank connecting rod 34 through the first pin 33, the other end of the first crank connecting rod 34 is connected with the second installation position of the first spoke fixing seat 37 through the first crank connecting rod short shaft 35, the third installation position of the first spoke fixing seat 37 is connected with the second through hole through the first rocker short shaft 38, and the first spoke 36 is fixedly connected on the fourth installation position of the first spoke fixing seat 37;
The deformation disc 2 is provided with a first chute, and the first pin 33 is installed in the first chute and can move between a first position and a second position along the first chute; the first position is the position of the first pin 33 in the first runner when the first crank 32 is in forward alignment with the first crank link 34, and the second position is the position of the first pin 33 in the first runner when the first crank 32 is in reverse alignment with the first crank link 34.
The second deformed spoke part 4 comprises a second crank short shaft 41, a second crank 42, a second pin 43, a second crank connecting rod 44, a second crank connecting rod short shaft 45, a second spoke 46, a second spoke fixing seat 47 and a second rocker short shaft 48;
The second spoke fixing seat 47 is provided with a fifth installation position, a sixth installation position and a seventh installation position; the wheel disc 1 is provided with a third through hole and a fourth through hole; the second crank 42, the second crank connecting rod 44, the second spoke fixing seat 47 and the part between the third through hole and the fourth through hole on the wheel disc 1 form a second crank connecting rod mechanism;
The second crank stub shaft 41 is installed in the third through hole, one end of the second crank 42 is connected with the second crank stub shaft 41, the other end of the second crank 42 is connected with one end of the second crank link 44 through the second pin 43, the other end of the second crank link 44 is connected with a fifth installation position of the second spoke fixing seat 47 through a second crank link stub shaft 45, a sixth installation position of the second spoke fixing seat 47 is connected with the fourth through hole through a second rocker stub shaft 48, and a seventh installation position of the second spoke fixing seat 47 is fixedly connected with a second spoke 46;
The deformation disc 2 is provided with a second chute, and the second pin 43 is installed in the second chute and can move between a third position and a fourth position along the second chute; the third position is the position of the second pin 43 in the second runner when the second crank 42 is in direct alignment with the second crank link 44, and the fourth position is the position of the second pin 43 in the second runner when the second crank 42 is in reverse alignment with the second crank link 44.
The third deformed spoke portion 5 includes a third crank stub shaft 51, a third crank 52, a third pin 53, a third crank link 54, a third crank link stub shaft 55, a third spoke 56, a third spoke fixing base 57, and a third rocker stub shaft 58;
An eighth mounting position, a ninth mounting position and a tenth mounting position are arranged on the third spoke fixing base 57; the wheel disc 1 is provided with a fifth through hole and a sixth through hole, and the third crank 52, the third crank connecting rod 54, the third spoke fixing base 57 and the part between the fifth through hole and the sixth through hole on the wheel disc 1 form a third crank connecting rod mechanism;
The third crank stub shaft 51 is installed in the fifth through hole, one end of the third crank 52 is connected with the third crank stub shaft 51, the other end of the third crank 52 is connected with one end of the third crank connecting rod 54 through the third pin 53, the other end of the third crank connecting rod 54 is connected with an eighth installation position of the third spoke fixing seat 57 through a third crank connecting rod stub shaft 55, a ninth installation position of the third spoke fixing seat 57 is connected with the sixth through hole through a third rocker stub shaft 58, and a tenth installation position of the third spoke fixing seat 57 is fixedly connected with a third spoke 56;
The deformation disc 2 is provided with a third sliding groove, and the third pin 53 is installed in the third sliding groove and can move between a fifth position and a sixth position along the third sliding groove. The fifth position is the position of the third pin 53 in the third runner when the third crank 52 is in forward alignment with the third crank link 54, and the fourth position is the position of the third pin 53 in the third runner when the third crank 52 is in reverse alignment with the third crank link 54.
In a preferred embodiment, the first spoke fixing base 37 is fastened to the first spoke 36 by a connecting piece; the second spoke fixing seat 47 is fastened to the second spoke 46 by a connecting piece; the third spoke fixing base 57 is fastened to the third spoke 56 by a connecting member, preferably a screw. In a preferred embodiment, the four small holes of the first spoke 36 in the first deformed spoke portion 3 are engaged with the four small holes of the spoke fixing seat 37 by screws, the four small holes of the second spoke 46 in the second deformed spoke portion 4 are engaged with the four small holes of the spoke fixing seat 47 by screws, and the four small holes of the third spoke 56 in the third deformed spoke portion 5 are engaged with the four small holes of the spoke fixing seat 57 by screws
The wheel disc 1 comprises a first protrusion 6, a second protrusion 7 and a third protrusion 8; the cross sections of the first protruding part 6, the second protruding part 7 and the third protruding part 8 are fan blade-shaped, the first through hole and the second through hole are all arranged on the first protruding part 6, the third through hole and the fourth through hole are all arranged on the second protruding part 7, and the fifth through hole and the sixth through hole are all arranged on the third protruding part 8.
The deformation disc 2 includes a fourth protrusion 9, a fifth protrusion 10, and a sixth protrusion 11, the cross sections of the fourth protrusion 9, the fifth protrusion 10, and the sixth protrusion 11 are all in a fan blade shape, and the first chute, the second chute, and the third chute are respectively disposed on the fourth protrusion 9, the fifth protrusion 10, and the sixth protrusion 11.
The first spoke 36, the second spoke 46 and the third spoke 56 are all circular arc, and when the deformable wheel is in a wheel type form, the first spoke 36, the second spoke 46 and the third spoke 56 are connected end to end in sequence to form a complete circle; when the deformable wheel is in the spoke configuration, the first spoke 36, the second spoke 46, and the third spoke 56 are separated from one another.
In a preferred embodiment, as in some prior art, a locking device is also provided in the deformation drive motor for locking the deformation drive motor.
The working principle and the working flow of the invention are as follows:
As shown in fig. 1 and fig. 4, when the deformable wheel is in a wheel-type normal operation, the transmission shaft is driven by a driving device such as a power motor to rotate by driving the wheel disc 1 to drive the deformable wheel to roll forward or backward, and at this time, the deformable driving motor does not work and is locked, so that the wheel disc 1 and the deformable disc 2 do not rotate relatively. The first pin 33, the second pin 43, and the third pin 53 are respectively located at a first position, a third position, and a fifth position in the first chute, the second chute, and the third chute.
When encountering an obstacle, the deformable wheel needs to be switched into a spoke shape, at this time, the deformation driving motor starts to rotate clockwise, the deformation driving motor output shaft drives the deformation disc 2 to rotate clockwise relative to the wheel disc 1, and the first pin 33, the second pin 43 and the third pin 53 slide in the first chute, the second chute and the third chute respectively at the same time, so as to drive the first crank connecting rod mechanism, the second crank connecting rod mechanism and the third crank connecting rod mechanism respectively, thereby realizing the deformation of the deformable wheel. In this process, the first crank 32, the second crank 42, and the third crank 52 may be considered as the cranks in the respective crank and rocker mechanisms; the first, second, and third crank links 34, 44, 54 may be considered as crank links in respective crank and rocker mechanisms; the first spoke fixing base 37, the second spoke fixing base 47 and the third spoke fixing base 57 can be regarded as rocker links in respective crank rocker mechanisms; the wheel discs 1 may be regarded as rockers in respective crank-rocker mechanisms.
As shown in fig. 2 and 3, when the first pin 33, the second pin 43, and the third pin 53 move to the second position, the fourth position, and the sixth position in the first chute, the second chute, and the third chute, respectively, the first crank link mechanism, the second crank link mechanism, and the third crank link mechanism are all located at the open dead point positions where the cranks are reversely collinear with the crank links, that is, the first crank 32, the second crank 42, and the third crank 52 are reversely collinear with the first crank link 34, the second crank link 44, and the third crank link 54, respectively, and the mechanism is located at the open dead point positions. And meanwhile, the deformation driving motor stops working and is self-locked according to a preset program. In a preferred embodiment, the preset program is a rotation angle of the deformable disc 2 relative to the wheel disc 1, and the operator can calculate the rotation angle of the deformable disc 2 relative to the wheel disc 1 and set the rotation angle to the deformation driving motor when the deformable wheel is switched from the wheel-type configuration to the spoke-type configuration according to the size of the deformable wheel.
When the deformable wheel passes through the obstacle and needs to be switched into a wheel type form, the deformation driving motor starts to rotate anticlockwise, the deformation driving motor output shaft drives the deformation disc 2 to rotate anticlockwise relative to the wheel disc 1, the first pin 33, the second pin 43 and the third pin 53 slide in the first sliding groove, the second sliding groove and the third sliding groove respectively at the same time, and the first crank connecting rod mechanism, the second crank connecting rod mechanism and the third crank connecting rod mechanism are driven respectively, so that the deformation of the deformable wheel is realized. In this process, the first crank 32, the second crank 42, and the third crank 52 may be considered as the cranks in the respective crank and rocker mechanisms; the first, second, and third crank links 34, 44, 54 may be considered as crank links in respective crank and rocker mechanisms; the first spoke fixing base 37, the second spoke fixing base 47 and the third spoke fixing base 57 can be regarded as rocker links in respective crank rocker mechanisms; the wheel discs 1 may be regarded as rockers in respective crank-rocker mechanisms.
As shown in fig. 1 and 4, when the first pin 33, the second pin 43, and the third pin 53 move to the first position, the third position, and the fifth position in the first chute, the second chute, and the third chute, respectively, the first crank link mechanism, the second crank link mechanism, and the third crank link mechanism are all located at the closed dead point positions where the cranks are in direct alignment with the crank links, that is, the first crank 32, the second crank 42, and the third crank 52 are in direct alignment with the first crank link 34, the second crank link 44, and the third crank link 54, respectively, and the mechanism is in the closed dead point positions. And meanwhile, the deformation driving motor stops working and is self-locked according to a preset program.
According to the invention, the crank rocker mechanism in the deformed spoke part is driven to reach the closed dead point position and the open dead point position respectively by the rotation driving motor of the deformed disk, so that the transformation from the wheel type form to the spoke form of the deformable wheel is realized, and the obstacle crossing capability and the external impact resistance capability of the single-degree-of-freedom deformable wheel are improved.
The invention also provides a mobile device comprising said deformable wheel, such as a robot, a vehicle or the like. The invention moves to the mobile equipment, so that the mobility and obstacle surmounting capability of the mobile equipment can be effectively improved. The invention can enable the movable equipment to rapidly move on different terrains by changing the shapes of the wheels according to the characteristics of different terrains, and improves the adaptability and obstacle surmounting capability of the movable equipment with the wheels of the invention to different terrains. The application of the deformed wheel on the movable equipment can effectively improve the mobility of the movable equipment in a single form and effectively expand the multi-terrain adaptability of the existing movable equipment.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (8)
1. A deformable wheel, characterized by comprising a wheel disc (1), a deformable disc (2) and a plurality of deformable spoke portions; the deformed spoke part is rotatably connected with the wheel disc (1) and is movably connected with the deformed disc (2); the center of the deformation disc (2) is provided with a first installation position, the first installation position is an output shaft installation position of a deformation driving motor, and the deformation driving motor can drive the deformation disc (2) to rotate;
The deformable wheel is provided with a wheel type shape and a spoke shape, when the deformation driving motor drives the deformation disc (2) to rotate, the deformation disc (2) rotates relative to the wheel disc (1), and the deformation spoke part is driven to move so as to enable the deformation spoke to be switched between the wheel type shape and the spoke shape; the wheel type shape is a shape of the deformable wheel running on a flat ground, and the spoke shape is a shape of the deformable wheel when crossing an obstacle;
The deformed spoke parts comprise a first deformed spoke part (3), a second deformed spoke part (4) and a third deformed spoke part (5) which are identical in structure, and the first deformed spoke part (3), the second deformed spoke part (4) and the third deformed spoke part (5) are circumferentially arranged along the rotating shaft of the deformed disc (2);
The first deformed spoke part (3) comprises a first crank short shaft (31), a first crank (32), a first pin (33), a first crank connecting rod (34), a first crank connecting rod short shaft (35), a first spoke (36), a first spoke fixing seat (37) and a first rocker short shaft (38);
the first spoke fixing seat (37) is provided with a second installation position, a third installation position and a fourth installation position; the wheel disc (1) is provided with a first through hole and a second through hole; the first crank (32), the first crank connecting rod (34), the first spoke fixing seat (37) and the part between the first through hole and the second through hole on the wheel disc (1) form a first crank connecting rod mechanism;
The first crank short shaft (31) is arranged in the first through hole, one end of the first crank (32) is connected with the first crank short shaft (31), the other end of the first crank short shaft is connected with one end of the first crank connecting rod (34) through the first pin (33), the other end of the first crank connecting rod (34) is connected with a second installation position of the first spoke fixing seat (37) through a first crank connecting rod short shaft (35), a third installation position of the first spoke fixing seat (37) is connected with the second through hole through a first rocker short shaft (38), and a first spoke (36) is fixedly connected on a fourth installation position of the first spoke fixing seat (37);
The deformation disc (2) is provided with a first sliding groove, and the first pin (33) is installed in the first sliding groove and can move between a first position and a second position along the first sliding groove; the first position is a position of the first pin (33) in the first runner when the first crank (32) and the first crank link (34) are in direct alignment, and the second position is a position of the first pin (33) in the first runner when the first crank (32) and the first crank link (34) are in reverse alignment.
2. The deformable wheel of claim 1, wherein the second deformed spoke portion (4) comprises a second crank stub shaft (41), a second crank (42), a second pin (43), a second crank link (44), a second crank link stub shaft (45), a second spoke (46), a second spoke holder (47), and a second rocker stub shaft (48);
A fifth installation position, a sixth installation position and a seventh installation position are arranged on the second spoke fixing seat (47); the wheel disc (1) is provided with a third through hole and a fourth through hole; the second crank (42), the second crank connecting rod (44), the second spoke fixing seat (47) and the part between the third through hole and the fourth through hole on the wheel disc (1) form a second crank connecting rod mechanism;
The second crank short shaft (41) is installed in the third through hole, one end of the second crank (42) is connected with the second crank short shaft (41), the other end of the second crank short shaft is connected with one end of the second crank connecting rod (44) through the second pin (43), the other end of the second crank connecting rod (44) is connected with a fifth installation position of the second spoke fixing seat (47) through a second crank connecting rod short shaft (45), a sixth installation position of the second spoke fixing seat (47) is connected with the fourth through hole through a second rocker short shaft (48), and a second spoke (46) is fixedly connected on a seventh installation position of the second spoke fixing seat (47);
The deformation disc (2) is provided with a second sliding groove, and the second pin (43) is arranged in the second sliding groove and can move between a third position and a fourth position along the second sliding groove; the third position is a position of the second pin (43) in the second runner when the second crank (42) is in forward alignment with the second crank link (44), and the fourth position is a position of the second pin (43) in the second runner when the second crank (42) is in reverse alignment with the second crank link (44).
3. The deformable wheel of claim 2, wherein the third deformed spoke portion (5) comprises a third crank stub shaft (51), a third crank (52), a third pin (53), a third crank link (54), a third crank link stub shaft (55), a third spoke (56), a third spoke holder (57) and a third rocker stub shaft (58);
An eighth mounting position, a ninth mounting position and a tenth mounting position are arranged on the third spoke fixing seat (57); the wheel disc (1) is provided with a fifth through hole and a sixth through hole, and a third crank connecting rod mechanism is formed by the third crank (52), a third crank connecting rod (54), a third spoke fixing seat (57) and a part between the fifth through hole and the sixth through hole on the wheel disc (1);
The third crank short shaft (51) is installed in the fifth through hole, one end of the third crank (52) is connected with the third crank short shaft (51), the other end of the third crank short shaft is connected with one end of the third crank connecting rod (54) through the third pin (53), the other end of the third crank connecting rod (54) is connected with an eighth installation position of the third spoke fixing seat (57) through a third crank connecting rod short shaft (55), a ninth installation position of the third spoke fixing seat (57) is connected with the sixth through hole through a third rocker short shaft (58), and a tenth installation position of the third spoke fixing seat (57) is fixedly connected with a third spoke (56);
The deformation disc (2) is provided with a third sliding groove, and the third pin (53) is installed in the third sliding groove and can move between a fifth position and a sixth position along the third sliding groove; the fifth position is a position of the third pin (53) in a third runner when the third crank (52) and the third crank link (54) are in forward alignment, and the fourth position is a position of the third pin (53) in a third runner when the third crank (52) and the third crank link (54) are in reverse alignment.
4. A deformable wheel according to claim 3, wherein the wheel disc (1) comprises a first projection (6), a second projection (7) and a third projection (8); the cross sections of the first protruding part (6), the second protruding part (7) and the third protruding part (8) are fan blade-shaped, the first through hole and the second through hole are all arranged on the first protruding part (6), the third through hole and the fourth through hole are all arranged on the second protruding part (7), and the fifth through hole and the sixth through hole are all arranged on the third protruding part (8).
5. A deformable wheel according to claim 3, wherein the deformation disc (2) comprises a fourth protrusion (9), a fifth protrusion (10) and a sixth protrusion (11), the cross-sections of the fourth protrusion (9), the fifth protrusion (10) and the sixth protrusion (11) being fan-shaped, the first, second and third sliding grooves being provided on the fourth protrusion (9), the fifth protrusion (10) and the sixth protrusion (11), respectively.
6. A deformable wheel as claimed in claim 3, wherein the first (36), second (46) and third (56) spokes are circular arc shaped, the first (36), second (46) and third (56) spokes being connected end to end in sequence to form a full circle when the deformable wheel is in a wheeled configuration;
When the deformable wheel is in the spoke configuration, the first spoke (36), the second spoke (46), and the third spoke (56) are separated from one another.
7. A deformable wheel according to claim 3, wherein the first spoke fixing seat (37) is fastened to the first spoke (36) by a connection; the second spoke fixing seat (47) is fixedly connected with the second spoke (46) through a connecting piece; the third spoke fixing seat (57) is fixedly connected with the third spoke (56) through a connecting piece.
8. A mobile device comprising a deformable wheel as claimed in any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111391933.4A CN113910829B (en) | 2021-11-19 | 2021-11-19 | Deformable wheel and movable equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111391933.4A CN113910829B (en) | 2021-11-19 | 2021-11-19 | Deformable wheel and movable equipment |
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| CN113910829A CN113910829A (en) | 2022-01-11 |
| CN113910829B true CN113910829B (en) | 2024-05-07 |
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| CN (1) | CN113910829B (en) |
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| CN113910829A (en) | 2022-01-11 |
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