WO2022088068A1 - 车轮及其轮式机器人 - Google Patents

车轮及其轮式机器人 Download PDF

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Publication number
WO2022088068A1
WO2022088068A1 PCT/CN2020/125389 CN2020125389W WO2022088068A1 WO 2022088068 A1 WO2022088068 A1 WO 2022088068A1 CN 2020125389 W CN2020125389 W CN 2020125389W WO 2022088068 A1 WO2022088068 A1 WO 2022088068A1
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WO
WIPO (PCT)
Prior art keywords
wheel
telescopic arm
hinged
spokes
obtuse
Prior art date
Application number
PCT/CN2020/125389
Other languages
English (en)
French (fr)
Inventor
李鹏
杨陶
徐恩志
刘云辉
Original Assignee
哈尔滨工业大学（深圳）
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Priority to CN202080002661.1A priority Critical patent/CN112512831B/zh
Priority to PCT/CN2020/125389 priority patent/WO2022088068A1/zh
Publication of WO2022088068A1 publication Critical patent/WO2022088068A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric

Definitions

  • the invention relates to the technical field of robots, in particular to a wheel and a wheeled robot thereof.
  • the main purpose of the present invention is to provide a wheel and a wheeled robot thereof, which aims to solve the technical problem that the wheel with a fixed diameter in the prior art has poor ability to overcome obstacles, resulting in poor trafficability of the wheeled robot.
  • the technical scheme provided by the present invention is:
  • a wheel includes a hub, a telescopic rim, a plurality of telescopic spokes and a plurality of power mechanisms, one end of the plurality of spokes can be slidably arranged on the hub, and the other ends are mutually connected to the rim. Hinged, a plurality of the power mechanisms and a plurality of the spokes are connected in a one-to-one correspondence, and the plurality of the power mechanisms are used to drive the corresponding spokes to expand and contract, so that the multiple spokes drive the rim to expand and contract synchronously.
  • the spokes include a first telescopic arm and a second telescopic arm that are hinged to each other, an end of the second telescopic arm away from the first telescopic arm is slidably disposed on the wheel hub, and the first telescopic arm One end away from the second telescopic arm is hinged with the wheel rim, the power mechanism is connected with the second telescopic arm, and the power mechanism is used to drive the second telescopic arm to extend and retract, so as to make the second telescopic arm extend and retract.
  • the telescopic arm drives the first telescopic arm to extend and retract synchronously, so that the first telescopic arm drives the wheel rim to extend and retract synchronously.
  • the first telescopic arm includes a first scissor-type unit, one end of the first scissor-type unit is hinged with the second telescopic arm, and the other end is hinged with the wheel rim.
  • the first telescopic arm further comprises a semi-scissor-type unit, one end of the semi-scissor-type unit and the end of the first scissor-type unit away from the second telescopic arm are hinged to each other, and the other end is hinged with each other.
  • the rims are hinged to each other.
  • the second telescopic arm includes a plurality of first obtuse-angle links and a plurality of acute-angle links, a plurality of the first obtuse-angle links are hinged with each other, a plurality of the acute-angle links are hinged with each other, and a plurality of the The first obtuse-angle link and the acute-angle link are hinged to each other, the first telescopic arm is respectively hinged to a plurality of the first obtuse-angle links, and the power mechanism is connected to one of the first obtuse-angle links, The power mechanism drives one of the first obtuse-angle links to rotate, so that one of the first obtuse-angle links drives the first telescopic arm to extend and retract synchronously and drives a plurality of the acute-angle links to rotate synchronously.
  • the wheel further includes a plurality of sliding mechanisms, the plurality of sliding mechanisms are respectively arranged on the hub, the plurality of the spokes and the plurality of the sliding mechanisms are connected in a one-to-one correspondence, and the plurality of the spokes pass through the corresponding The sliding mechanism can slide along the hub.
  • the sliding mechanism includes a guide member and a sliding member slidable along the guide member, the guide member is disposed on the wheel hub, the wheel spoke is connected with the sliding member, and the wheel spoke passes through the sliding member The piece can slide along the guide piece.
  • the sliding mechanism further includes a limiting member, the limiting member is disposed on the hub, and the limiting member is used to limit the sliding range of the sliding member along the guide member.
  • the wheel rim includes a plurality of second scissor-type units, the plurality of second scissor-type units are hinged end to end to form a linked chain, and the ends of the plurality of spokes away from the hub are respectively corresponding to The second scissor-type units are hinged to each other.
  • Another technical scheme provided by the present invention is:
  • a wheeled robot includes a vehicle body and wheels arranged on the vehicle body.
  • the present invention has the following beneficial effects:
  • One end of the plurality of spokes of the present application can be slidably arranged on the hub, so that the plurality of power mechanisms can drive the corresponding spokes to expand and contract, so that the plurality of spokes drive the rim to expand and contract synchronously, so that the diameter of the wheel can be changed and the diameter of the wheel can be changed.
  • the wheels can adapt to a variety of different road conditions, thereby improving the traffic capacity of the wheels.
  • the spokes and the rim can be contracted by the power mechanism, so that the diameter of the wheel becomes smaller, so as to lower the center of gravity of the wheel, thereby improving the stability of the wheel; when the wheel encounters a large obstacle
  • the spokes and rims can be expanded, so that the diameter of the wheel becomes larger, thereby improving the obstacle-surmounting ability of the wheel.
  • Figure 1 is a schematic diagram of a wheel according to one embodiment of the present invention.
  • Figure 2 is a rear view of a wheel according to one embodiment of the present invention.
  • Figure 3 is a schematic diagram of a first scissor unit according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a semi-scissor unit according to an embodiment of the present invention.
  • Fig. 5 is a combined schematic diagram of a first scissor-type unit and a semi-scissor-type unit according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a first obtuse-angle link according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an upper acute-angle connecting rod according to an embodiment of the present invention.
  • Figure 8 is a schematic diagram of a plurality of spokes according to one embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a single spoke according to one embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a first connector according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a combination of a first connector, a power mechanism, and a plurality of first obtuse-angle links according to an embodiment of the present invention
  • FIG. 12 is a schematic diagram of a combination of a spoke, a sliding mechanism and a hub according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a sliding mechanism according to an embodiment of the present invention.
  • Figure 14 is a schematic diagram of a rim according to one embodiment of the present invention.
  • Figure 15 is a schematic diagram of a second scissor unit according to one embodiment of the present invention.
  • 16 is a schematic diagram of a second obtuse-angle link according to an embodiment of the present invention.
  • 17 is a schematic diagram of a wheeled robot according to one embodiment of the present invention.
  • this embodiment provides a wheel 10 .
  • the wheel 10 includes a hub 1 , a telescopic rim 2 , a plurality of telescopic spokes 3 and a plurality of power mechanisms 4 .
  • One end can be slidably arranged on the hub 1, and the other end is hinged with the rim 2.
  • a plurality of the power mechanisms 4 and a plurality of the spokes 3 are connected in a one-to-one correspondence, and a plurality of the power mechanisms 4 It is used to drive the corresponding spokes 3 to expand and contract, so that a plurality of the spokes 3 drive the rim 2 to expand and contract synchronously.
  • One end of the plurality of spokes 3 of the present application can be slidably arranged on the hub 1 , so that the plurality of power mechanisms 4 can drive the corresponding spokes 3 to expand and contract, so that the plurality of spokes 3 drive the rim 2 to expand and contract synchronously, so that the wheel 10 is
  • the diameter of the wheel 10 is variable, and the wheel 10 with the variable diameter can adapt to various road conditions, thereby improving the passing ability of the wheel 10 .
  • the wheel spoke 3 and the rim 2 can be contracted by the power mechanism 4, so that the diameter of the wheel 10 is reduced to lower the center of gravity of the wheel 10, thereby improving the stability of the wheel 10;
  • the wheel spoke 3 and the rim 2 can be unfolded by the power mechanism 4, so that the diameter of the wheel 10 becomes larger, thereby improving the obstacle surmounting ability of the wheel 10.
  • the plurality of spokes 3 are evenly distributed along the circumferential direction of the hub 1 .
  • the number of the spokes 3 and the power mechanism 4 is three, and the three power mechanisms 4 and the three spokes 3 are connected in one-to-one correspondence.
  • the power mechanism 4 is a motor.
  • the spoke 3 includes a first telescopic arm 31 and a second telescopic arm 32 that are hinged to each other, and one end of the second telescopic arm 32 away from the first telescopic arm 31 can be The end of the first telescopic arm 31 away from the second telescopic arm 32 is hinged with the wheel rim 2, the power mechanism 4 is connected with the second telescopic arm 32, so the The power mechanism 4 is used to drive the second telescopic arm 32 to expand and contract, so that the second telescopic arm 32 drives the first telescopic arm 31 to expand and contract synchronously, so that the first telescopic arm 31 drives the rim 2 Synchronous scaling.
  • the telescopic range of the first telescopic arm 31 can be increased, thereby improving the telescopic ability of the spoke 3 .
  • the first telescopic arm 31 includes a first scissor unit 311 , one end of the first scissor unit 311 is hinged with the second telescopic arm 32 , and the other end is hinged with the wheel rim 2 .
  • the first scissor-type unit 311 includes a plurality of straight rods 3111 hinged to each other in the middle.
  • the number of the straight rods 3111 is three, which are the upper straight rod 3112 , the middle straight rod 3113 and the lower straight rod 3114 , the upper straight rod 3112 , the middle straight rod 3113 and the lower straight rod 3114 .
  • the middle part of the rod 3114 is hinged in sequence from top to bottom.
  • the strength of the first scissor-type unit 311 can be improved by the three straight rods 3111 hinged to each other, thereby improving the stability of the first scissor-type unit 311 during the expansion and contraction process.
  • the first telescopic arm 31 further includes a semi-scissor-type unit 312 , and one end of the semi-scissor-type unit 312 and the first scissor-type unit 311 are far away from the second telescopic arm 32 One end is hinged to each other, and the other end is hinged to the rim 2.
  • the end of the first telescopic arm 31 can be formed into a closed rhombus by the semi-scissor-type unit 312 , which can facilitate the mutual hinge of the first telescopic arm 31 and the wheel rim 2 .
  • the semi-scissor-type unit 312 includes a plurality of semi-straight rods 3121, one end of the plurality of semi-straight rods 3121 is hinged with one end of the first scissor-type unit 311 away from the second telescopic arm 32, and the other ends are connected with each other.
  • the rims 2 are hinged to each other.
  • the number of the semi-straight rods 3121 is three, which are the upper semi-straight rod 3122 , the middle semi-straight rod 3123 and the lower semi-straight rod 3124 , the upper semi-straight rod 3122 , the middle semi-straight rod 3124 , and the middle semi-straight rod 3124 respectively One ends of the straight rod 3123 and the lower semi-straight rod 3124 are hinged to each other.
  • the hinge holes at one end of the upper semi-straight rod 3122 , the middle semi-straight rod 3123 and the lower semi-straight rod 3124 are hinged to each other through the hinge shaft, and the hinge hole at one end of the upper straight rod 3112 and the middle semi-straight rod 3124 are hinged to each other.
  • the hinge hole at the other end of the straight rod 3123 and the hinge hole at one end of the lower straight rod 3114 are hinged to each other through the hinge shaft.
  • the hinge holes are hinged to each other through the hinge shaft, so that the semi-scissor unit 312 and the first scissor unit 311 are hinged to each other.
  • the second telescopic arm 32 includes a plurality of first obtuse-angle links 321 and a plurality of acute-angle links 326 , the plurality of first obtuse-angle links 321 are hinged with each other, and the plurality of acute-angle links 326 are hinged with each other, a plurality of the first obtuse-angle links 321 and the acute-angle links 326 are hinged with each other, the first telescopic arms 31 are respectively hinged with the first obtuse-angle links 321, the power mechanism 4 is connected with one of the first obtuse-angle links 321, and the power mechanism 4 drives one of the first obtuse-angle links 321 to rotate, so that one of the first obtuse-angle links 321 drives the first telescopic
  • the arm 31 expands and contracts synchronously and drives a plurality of the acute-angle links 326 to rotate synchronously.
  • the first obtuse-angle connecting rod 321 includes a first straight rod 3211 and a second straight rod 3212 connected to each other, the included angle formed by the first straight rod 3211 and the second straight rod 3212 is an obtuse angle, and the first straight rod 3211 A first hinge hole 3213 and a second hinge hole 3214 are provided on it, a third hinge hole 3215 is provided at the connection between the first straight rod 3211 and the second straight rod 3212, and a fourth hinge hole 3216 is provided on the second straight rod 3212 , wherein the distance between any two adjacent hinge holes of the second hinge hole 3214, the third hinge hole 3215 and the fourth hinge hole 3216 is equal, and the distance from the first hinge hole 3213 to the second hinge hole 3214 is the same as the semi-straight rod
  • the length of 3121 is equal and equal to half of the length of the straight rod 3111 of the first scissor unit 311 .
  • the acute-angle link 326 includes a third straight rod 3261 and a fourth straight rod 3262 that are connected to each other.
  • the angle formed by the third straight rod 3261 and the fourth straight rod 3262 is an acute angle.
  • the connection of the four straight rods 3262 is provided with a fifth hinge hole 3263, the end of the third straight rod 3261 away from the fifth hinge hole 3263 is provided with a sixth hinge hole 3263, and the end of the fourth straight rod 3262 away from the fifth hinge hole 3263 is provided with a sixth hinge hole 3263
  • the distance from the fifth hinge hole 3263 to the sixth hinge hole 3263, the distance from the fifth hinge hole 3263 to the seventh hinge hole 3264, and the distance from the second hinge hole 3214 to the third hinge hole 3215 are equal.
  • the second hinge hole 3214 of the first obtuse-angle link 322 of the upper layer, the second hinge hole 3214 of the first obtuse-angle link 323 of the middle layer, and the second hinge hole 3214 of the first obtuse-angle link 324 of the lower layer pass through the hinge shaft Hinged to each other, the third hinge hole 3215 of the upper first obtuse-angle link 322, the fifth hinge hole 3263 of the middle acute-angle link 328, and the third hinge hole 3215 of the lower first obtuse-angle link 324 are hinged to each other through the hinge shaft, and the upper acute angle
  • the fifth hinge hole 3263 of the link 327 , the third hinge hole 3215 of the first obtuse-angle link 323 in the middle layer, and the fifth hinge hole 3263 of the lower acute-angle link 329 are hinged to each other through a hinge shaft to form a second telescopic arm 32 .
  • the fourth hinge hole 3216 of the lower first obtuse-angle link 324 of the lower layer 32 is hinged to each other through the hinge shaft, and the seventh hinge hole 3264 of the upper acute-angle link 330 of the other second telescopic arm 32 and the middle layer of one of the second telescopic arms 32
  • the sixth hinge hole 3263 of the acute angle link 328 and the seventh hinge hole 3264 of the lower acute angle link 331 of the other second telescopic arm 32 are hinged to each other through the hinge shaft, so that the two adjacent second telescopic arms 32 are hinged to each other .
  • the first hinge holes 3213 of the obtuse-angle link 324 are hinged to each other through the hinge shaft, and the hinge hole at one end of the upper straight rod 3112 of one of the first telescopic arms 31 and the first obtuse-angle link 323 of the middle layer of one of the second telescopic arms 32 are hinged.
  • a hinge hole 3213 and the hinge hole at one end of the lower straight rod 3114 of one of the first telescopic arms 31 are hinged to each other through a hinge shaft, so that the first telescopic arm 31 and the second telescopic arm 32 are hinged to each other.
  • R represents the length of the spoke 3
  • ⁇ 1 and ⁇ 2 both represent coefficients
  • ⁇ represents the driving angle of the power mechanism 4
  • l represents the distance from the third hinge hole 3215 to the fourth hinge hole 3216
  • n represents the number of spokes 3
  • m Indicates the number of rhombus in spoke 3
  • ⁇ represents the center angle corresponding to a single spoke
  • L represents the total rod length of the rhombus in spoke 3
  • l 1 represents the rod length of the rhombus.
  • the wheel 10 further includes a first connecting member 5 , and the power mechanism 4 and the first telescopic arm 31 are connected through the first connecting member 5 .
  • the first connecting member 5 includes a first connecting portion 51 and a second connecting portion 52 that are connected to each other.
  • the first connecting portion 51 is connected to the power mechanism 4
  • the second connecting portion 52 is connected to the lower first obtuse angle.
  • the connecting rods 324 are hinged with each other, and the output shaft of the power mechanism 4 is connected with the lower first obtuse-angle connecting rod 324 .
  • the power mechanism 4 drives the lower first obtuse-angle link 324 to rotate, the lower first obtuse-angle link 324 synchronously drives the middle-layer first obtuse-angle link 323 to rotate, and the middle-layer first obtuse-angle link 323 drives the second connection part 52 to rotate synchronously, and the second connection
  • the portion 52 drives the first connecting portion 51 to rotate synchronously, so that the first connecting portion 51 drives the power mechanism 4 to rotate synchronously, wherein the power mechanism 4 and the lower first obtuse link 324 rotate in opposite directions.
  • the wheel 10 further includes a second connecting member 6, and the output shaft of the power mechanism 4 and the lower first obtuse-angle connecting rod 324 are connected through the second connecting member 6.
  • the power mechanism 4 drives the second connecting member 6 to rotate, so that the second connecting member 6 drives the lower first obtuse-angle link 324 to rotate.
  • the wheel 10 further includes a plurality of sliding mechanisms 7, which are respectively arranged on the hub 1, and the plurality of the spokes 3 and the plurality of the sliding mechanisms 7 are connected in one-to-one correspondence, A plurality of the spokes 3 can slide along the hub 1 through the corresponding sliding mechanism 7 .
  • the sliding mechanism 7 includes a guide member 71 and a sliding member 72 slidable along the guide member 71 .
  • the guide member 71 is disposed on the hub 1 , the spoke 3 and the sliding member 72
  • the wheel spokes 3 can slide along the guide member 71 through the sliding member 72 .
  • the sliding path of the spokes 3 can be limited by the guide members 71 , so that the spokes 3 can always slide in a preset direction during the expansion and contraction process, thereby improving the reliability of the expansion and contraction of the spokes 3 .
  • the guide member 71 is a guide rod
  • the sliding member 72 is a slider
  • the sliding member 72 is sleeved on the guide member 71 and can slide along the guide member 71 .
  • the number of the hubs 1 and the sliding mechanisms 7 are both two, the two hubs 1 are arranged opposite to each other, and the two sliding mechanisms 7 are arranged on the two hubs 1 in a one-to-one correspondence and are oppositely arranged , and the two sliding mechanisms 7 are located between the two hubs 1 .
  • one sliding mechanism 7 includes three guiding members 71 and six sliding members 72 , and the six sliding members 72 are respectively sleeved on the three guiding members 71 in pairs.
  • the two sliding members 72 are connected to the two hinge joints of the two adjacent second telescopic arms 32 in a one-to-one correspondence, and one of the sliding members 72 is connected to the upper acute-angle link 330 of one of the second telescopic arms 32 , and in addition A sliding member 72 is connected to the upper first obtuse-angle link 322 of the other first and second telescopic arms 32 .
  • the sliding mechanism 7 further includes a limiting member 73 , the limiting member 73 is disposed on the hub 1 , and the limiting member 73 is used to limit the sliding range of the sliding member 72 along the guide member 71 .
  • the limiting member 73 can limit the sliding range of the sliding member 72 along the guide member 71 to prevent the sliding member 72 from slipping out of the guide member 71 , thereby improving the reliability of the sliding mechanism 7 .
  • the number of the limiting members 73 is four, the four limiting members 73 are respectively disposed on the hub 1, and one end of the three pairs of guide members 71 in the two sliding mechanisms 7 is set on one of the limiting members 73 , and the other ends are respectively set on the other three limiting members 73 .
  • the other three limiting members 73 constitute three vertices of an equilateral triangle, and one of the limiting members 73 is located at the center of the equilateral triangle.
  • the limiting member 73 is a limiting block.
  • the wheel rim 2 includes a plurality of second scissor-type units 21 , and the plurality of the second scissor-type units 21 are hinged end to end to form a linked second chain, and the plurality of the spokes 3 One end away from the wheel hub 1 is respectively hinged with the corresponding second scissor unit 21 .
  • the power mechanism 4 drives the spokes 3 to shrink, so that the spokes 3 drive the plurality of second scissor units 21 to rotate synchronously, so that the included angle formed by the second scissor units 21
  • the second scissor-type unit 21 with a smaller angle and a smaller angle can reliably grasp the ground, thereby improving the adhesion between the wheel 10 and the ground, so that the wheel 10 can smoothly pass through the irregular road surface, thereby improving the stability of the wheel 10. capacity.
  • the second scissor-type unit 21 includes a plurality of second obtuse-angle links 211 hinged to each other in the middle, and one ends of the second obtuse-angle links 211 of two adjacent second scissor-type units 21 are hinged to each other.
  • the second scissor unit 21 includes three second obtuse-angle links 211 hinged to each other in the middle, which are the upper second obtuse link 212 and the middle second obtuse link 213 respectively. and the lower second obtuse-angle connecting rod 214 .
  • the second obtuse-angle connecting rod 211 includes a fifth straight rod 2111 and a sixth straight rod 2112 that are connected to each other.
  • the included angle between the fifth straight rod 2111 and the sixth straight rod 2112 is an obtuse angle, and the fifth straight rod
  • the lengths of the 2111 and the sixth straight rod 2112 are equal.
  • the rim 2 further includes a plurality of third connecting pieces 22 , the number of the second link chains is two, and a plurality of first link links pass between the two second link links.
  • the three connecting members 22 are hinged to each other, and the other ends of the plurality of spokes 3 are hinged to the corresponding third connecting members 22 respectively.
  • the strength of the rim 2 can be increased by the two second link chains hinged to each other, thereby improving the durability of the wheel 10 .
  • a wheeled robot 100 is provided.
  • the wheeled robot 100 includes a vehicle body 20 and the wheels 10 of any of the above-mentioned embodiments disposed on the vehicle body 20 .
  • the number of the wheels 10 is four, and the four wheels 10 are respectively arranged on both sides of the vehicle body 20 in pairs.
  • the wheeled robot 100 further includes a support member 30 , the support member 30 is rotatably disposed on the vehicle body 20 , and the wheel 10 is disposed on an end of the support member 30 away from the vehicle body 20 .
  • the number of the support members 30 is four, the four support members 30 are respectively arranged on both sides of the vehicle body 20 in pairs, and the four wheels 10 are arranged on the four support members 30 away from the vehicle in a one-to-one correspondence. on one end of the body 20.
  • the wheeled robot 100 further includes a first motor 40, the first motor 40 is disposed on the end of the support 30 away from the vehicle body 20, the wheel 10 is disposed on the first motor 40, and the first motor 40 is used for driving all the The wheel 10 rotates.
  • the number of the first motors 40 is four, and the four first motors 40 are disposed on one end of the four supports 30 away from the vehicle body 20 in a one-to-one correspondence, and the four wheels 10 are one-to-one. Correspondingly, they are provided on the four first motors 40 .
  • the wheeled robot 100 further includes a second motor 50, the second motor 50 is disposed on the vehicle body 20, the second motor 50 is connected to the support 30, and the second motor 50 is used to drive the The support member 30 rotates along the vehicle body 20 to change the traveling direction of the wheeled robot 100 .
  • the number of the second motors 50 is four, the four second motors 50 are respectively disposed on both sides of the vehicle body 20 in pairs, and the four second motors 50 and the four support members 30 are one by one. corresponding connection.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种车轮（10）及其轮式机器人（100），该车轮（10）包括轮毂（1）、可伸缩地轮辋（2）、可伸缩地多个轮辐（3）以及多个动力机构（4），多个所述轮辐（3）的一端均可滑动地设置在所述轮毂上（1），另一端均与所述轮辋（2）相互铰接，多个所述动力机构（4）和多个所述轮辐（3）一一对应连接，多个所述动力机构（4）用于驱动对应地所述轮辐（3）伸缩，以使多个所述轮辐（3）带动所述轮辋（2）同步伸缩，从而使车轮（10）的直径可变，直径可变的车轮（10）能够适应各种不同的路况，从而提高车轮（10）的通行能力。

Description

车轮及其轮式机器人 技术领域
本发明涉及机器人技术领域，特别涉及一种车轮及其轮式机器人。
背景技术
在现有技术中，随着轮式机器人的发展，人们对轮式机器人的功能有了更高的要求。通常轮式机器人的车轮直径都是固定不变的，但是直径固定不变的车轮跨越障碍物的能力较差，对于路况较差的地段，将导致轮式机器人的通行能力较差。
发明内容
本发明的主要目的在于提供一种车轮及其轮式机器人，旨在解决现有技术中直径固定不变的车轮越障能力较差，导致轮式机器人的通行能力较差的技术问题。
为了解决上述技术问题，本发明提供的技术方案为：
一种车轮，包括轮毂、可伸缩地轮辋、可伸缩地多个轮辐以及多个动力机构，多个所述轮辐的一端均可滑动地设置在所述轮毂上，另一端均与所述轮辋相互铰接，多个所述动力机构和多个所述轮辐一一对应连接，多个所述动力机构用于驱动对应地所述轮辐伸缩，以使多个所述轮辐带动所述轮辋同步伸缩。
优选地，所述轮辐包括相互铰接的第一伸缩臂和第二伸缩臂，所述第二伸缩臂远离所述第一伸缩臂的一端可滑动地设置在所轮毂上，所述第一伸缩臂远离所述第二伸缩臂的一端与所述轮辋相互铰接，所述动力机构和所述第二伸缩臂连接，所述动力机构用于驱动所述第二伸缩臂伸缩，以使所述第二伸缩臂带动所述第一伸缩臂同步伸缩，从而使所述第一伸缩臂带动所述轮辋同步伸缩。
优选地，所述第一伸缩臂包括第一剪叉式单元，所述第一剪叉式单元的 一端与所述第二伸缩臂相互铰接，另一端与所述轮辋相互铰接。
优选地，所述第一伸缩臂还包括半剪叉式单元，所述半剪叉式单元的一端与所述第一剪叉式单元远离所述第二伸缩臂的一端相互铰接，另一端与所述轮辋相互铰接。
优选地，所述第二伸缩臂包括多个第一钝角连杆和多个锐角连杆，多个所述第一钝角连杆相互铰接，多个所述锐角连杆相互铰接，多个所述第一钝角连杆和所述锐角连杆相互铰接，所述第一伸缩臂分别与多个所述第一钝角连杆相互铰接，所述动力机构和其中一个所述第一钝角连杆连接，所述动力机构驱动其中一个所述第一钝角连杆转动，以使其中一个所述第一钝角连杆带动所述第一伸缩臂同步伸缩以及带动多个所述锐角连杆同步转动。
优选地，所述车轮还包括多个滑动机构，多个滑动机构分别设置所述轮毂上，多个所述轮辐和多个所述滑动机构一一对应连接，多个所述轮辐通过对应地所述滑动机构可沿所述轮毂滑动。
优选地，所述滑动机构包括导向件以及可沿所述导向件滑动的滑动件，所述导向件设置在所述轮毂上，所述轮辐和所述滑动件连接，所述轮辐通过所述滑动件可沿所导向件滑动。
优选地，所述滑动机构还包括限位件，所述限位件设置在所述轮毂上，所述限位件用于限制所述滑动件沿所述导向件滑动的范围。
优选地，所述轮辋包括多个第二剪叉式单元，多个所述第二剪叉式单元首尾相互铰接形成一个联动的环链，多个所述轮辐远离所述轮毂的一端分别与对应地所述第二剪叉式单元相互铰接。
本发明提供的另一技术方案为：
一种轮式机器人，包括车体以及设置在车体上的车轮。
与现有技术相比，本发明具有以下有益效果：
本申请的多个轮辐的一端均可滑动地设置在轮毂上，使得多个动力机构能够驱动对应地轮辐伸缩，以使多个轮辐带动轮辋同步伸缩，从而使车轮的直径可变，直径可变的车轮能够适应各种不同的路况，从而提高车轮的通行能力。当车轮在不规则的路面上行驶时，通过动力机构能够使轮辐和轮辋收缩，使得车轮的直径变小，以降低车轮的重心，从而提高车轮的平稳性；当车轮遇到较大的障碍物时，通过动力机构能够使轮辐和轮辋展开，使得车轮 的直径变大，从而提高车轮的越障能力。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1是根据本发明的一个实施例的车轮的示意图；
图2是根据本发明的一个实施例的车轮的后视图；
图3是根据本发明的一个实施例的第一剪叉式单元的示意图；
图4是根据本发明的一个实施例的半剪叉式单元的示意图；
图5是根据本发明的一个实施例的第一剪叉式单元和半剪叉式单元的组合示意图；
图6是根据本发明的一个实施例的第一钝角连杆的示意图；
图7是根据本发明的一个实施例的上层锐角连杆的示意图；
图8是根据本发明的一个实施例的多个轮辐的示意图；
图9是根据本发明的一个实施例的单一轮辐的示意图；
图10是根据本发明的一个实施例的第一连接件的示意图；
图11是根据本发明的一个实施例的第一连接件、动力机构以及多个第一钝角连杆的组合示意图；
图12是根据本发明的一个实施例的轮辐、滑动机构以及轮毂的组合示意图；
图13是根据本发明的一个实施例的滑动机构的示意图；
图14是根据本发明的一个实施例的轮辋的示意图；
图15是根据本发明的一个实施例的第二剪叉式单元的示意图；
图16是根据本发明的一个实施例的第二钝角连杆的示意图；
图17是根据本发明的一个实施例的轮式机器人的示意图。
100、轮式机器人；10、车轮；1、轮毂；2、轮辋；21、第二剪叉式单元；211、第二钝角连杆；2111、第五直杆；2112、第六直杆；212、上层第二钝角 连杆；213、中层第二钝角连杆；214、下层第二钝角连杆；22、第三连接件；3、轮辐；31、第一伸缩臂；311、第一剪叉式单元；3111、直杆；3112、上层直杆；3113、中层直杆；3114、下层直杆；312、半剪叉式单元；3121、半直杆；3122、上层半直杆；3123、中层半直杆；3124、下层半直杆；32、第二伸缩臂；321、第一钝角连杆；3211、第一直杆；3212、第二直杆；3213、第一铰接孔；3214、第二铰接孔；3215、第三铰接孔；3216、第四铰接孔；322、上层第一钝角连杆；323、中层第一钝角连杆；324、下层第一钝角连杆；325、中层钝角连杆；326、锐角连杆；3261、第三直杆；3262、第四直杆；3263、第五铰接孔；3263、第六铰接孔；3264、第七铰接孔；327、上层锐角连杆；328、中层锐角连杆；329、下层锐角连杆；330、上层锐角连杆；331、下层锐角连杆；4、动力机构；5、第一连接件；51、第一连接部；52、第二连接部；6、第二连接件；7、滑动机构；71、导向件；72、滑动件；73、限位件；20、车体；30、支撑件；40、第一电机；50、第二电机。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中的“和/或”包括三个方案，以A和/或B为例，包括A技术方案、B技术方案，以及A和B同时满足的技术方案；另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术 方案的结合不存在，也不在本发明要求的保护范围之内。
如图1所示，本实施例提供了一种车轮10，该车轮10包括轮毂1、可伸缩地轮辋2、可伸缩地多个轮辐3以及多个动力机构4，多个所述轮辐3的一端均可滑动地设置在所述轮毂1上，另一端均与所述轮辋2相互铰接，多个所述动力机构4和多个所述轮辐3一一对应连接，多个所述动力机构4用于驱动对应地所述轮辐3伸缩，以使多个所述轮辐3带动所述轮辋2同步伸缩。
本申请的多个轮辐3的一端均可滑动地设置在轮毂1上，使得多个动力机构4能够驱动对应地轮辐3伸缩，以使多个轮辐3带动轮辋2同步伸缩，从而使车轮10的直径可变，直径可变的车轮10能够适应各种不同的路况，从而提高车轮10的通行能力。当车轮10在不规则的路面上行驶时，通过动力机构4能够使轮辐3和轮辋2收缩，使得车轮10的直径变小，以降低车轮10的重心，从而提高车轮10的平稳性；当车轮10遇到较大的障碍物时，通过动力机构4能够使轮辐3和轮辋2展开，使得车轮10的直径变大，从而提高车轮10的越障能力。
在本实施例中，多个轮辐3沿所述轮毂1的周向均匀分布。
在本实施例中，轮辐3和动力机构4的数量均为三个，三个动力机构4和三个轮辐3一一对应连接。
在本实施例中，动力机构4为电机。
如图2所示，在本实施例中，所述轮辐3包括相互铰接的第一伸缩臂31和第二伸缩臂32，所述第二伸缩臂32远离所述第一伸缩臂31的一端可滑动地设置在所轮毂1上，所述第一伸缩臂31远离所述第二伸缩臂32的一端与所述轮辋2相互铰接，所述动力机构4和所述第二伸缩臂32连接，所述动力机构4用于驱动所述第二伸缩臂32伸缩，以使所述第二伸缩臂32带动所述第一伸缩臂31同步伸缩，从而使所述第一伸缩臂31带动所述轮辋2同步伸缩。通过增加第二伸缩臂32，能够提高第一伸缩臂31的伸缩范围，从而提高轮辐3的伸缩能力。
所述第一伸缩臂31包括第一剪叉式单元311，所述第一剪叉式单元311的一端与所述第二伸缩臂32相互铰接，另一端与所述轮辋2相互铰接。
第一剪叉式单元311包括中部相互铰接的多个直杆3111。
如图3所示，在本实施例中，直杆3111的数量为三个，分别为上层直杆3112、中层直杆3113以及下层直杆3114，上层直杆3112、中层直杆3113以 及下层直杆3114的中部从上至下依次铰接。通过相互铰接的三个直杆3111能够提高第一剪叉式单元311的强度，从而提高第一剪叉式单元311在伸缩过程中的稳定性。
如图2所示，所述第一伸缩臂31还包括半剪叉式单元312，所述半剪叉式单元312的一端与所述第一剪叉式单元311远离所述第二伸缩臂32的一端相互铰接，另一端与所述轮辋2相互铰接。通过半剪叉式单元312能够使第一伸缩臂31的端部形成一个闭合的菱形，可方便第一伸缩臂31和轮辋2相互铰接。
半剪叉式单元312包括多个半直杆3121，多个半直杆3121的一端均与所述第一剪叉式单元311远离所述第二伸缩臂32的一端相互铰接，另一端均与所述轮辋2相互铰接。
如图4所示，在本实施例中，半直杆3121的数量为三个，分别为上层半直杆3122、中层半直杆3123以及下层半直杆3124，上层半直杆3122、中层半直杆3123以及下层半直杆3124的一端相互铰接。
如图5所示，在本实施例中，上层半直杆3122、中层半直杆3123以及下层半直杆3124一端的铰接孔通过铰接轴相互铰接，上层直杆3112一端的铰接孔、中层半直杆3123另一端的铰接孔以及下层直杆3114一端的铰接孔通过铰接轴相互铰接，上层半直杆3122另一端的铰接孔、中层直杆3113一端的铰接孔以及下层半直杆3124另一端的铰接孔通过铰接轴相互铰接，从而使半剪叉式单元312和第一剪叉式单元311相互铰接。
如图2所示，所述第二伸缩臂32包括多个第一钝角连杆321和多个锐角连杆326，多个所述第一钝角连杆321相互铰接，多个所述锐角连杆326相互铰接，多个所述第一钝角连杆321和所述锐角连杆326相互铰接，所述第一伸缩臂31分别与多个所述第一钝角连杆321相互铰接，所述动力机构4和其中一个所述第一钝角连杆321连接，所述动力机构4驱动其中一个所述第一钝角连杆321转动，以使其中一个所述第一钝角连杆321带动所述第一伸缩臂31同步伸缩以及带动多个所述锐角连杆326同步转动。通过改变第一钝角连杆321和锐角连杆326各自的角度，能够提高第一伸缩臂31的伸缩范围，从而提高轮辐3的伸缩能力。
如图6所示，第一钝角连杆321包括相互连接第一直杆3211和第二直杆 3212，第一直杆3211和第二直杆3212形成的夹角为钝角，第一直杆3211上设有第一铰接孔3213和第二铰接孔3214，第一直杆3211和第二直杆3212的连接处设有第三铰接孔3215，第二直杆3212上设有第四铰接孔3216，其中，第二铰接孔3214、第三铰接孔3215以及第四铰接孔3216任意相邻两个铰接孔之间的距离相等，第一铰接孔3213到第二铰接孔3214的距离和半直杆3121的长度相等且等于第一剪叉式单元311直杆3111长度的一半。
如图7所示，锐角连杆326包括相互连接的第三直杆3261和第四直杆3262，第三直杆3261和第四直杆3262形成的角度为锐角，第三直杆3261和第四直杆3262的连接处设有第五铰接孔3263，第三直杆3261远离第五铰接孔3263的一端设有第六铰接孔3263，第四直杆3262远离第五铰接孔3263的一端设有第七铰接孔3264。其中，第五铰接孔3263到第六铰接孔3263的距离、第五铰接孔3263到第七铰接孔3264的距离以及第二铰接孔3214到第三铰接孔3215的距离相等。
如图8所示，上层第一钝角连杆322的第二铰接孔3214、中层第一钝角连杆323的第二铰接孔3214以及下层第一钝角连杆324的第二铰接孔3214通过铰接轴相互铰接，上层第一钝角连杆322的第三铰接孔3215、中层锐角连杆328的第五铰接孔3263以及下层第一钝角连杆324的第三铰接孔3215通过铰接轴相互铰接，上层锐角连杆327的第五铰接孔3263、中层第一钝角连杆323的第三铰接孔3215以及下层锐角连杆329的第五铰接孔3263通过铰接轴相互铰接，从而形成一个第二伸缩臂32。其中一个第二伸缩臂32的上层第一钝角连杆322的第四铰接孔3216、另外一个第二伸缩臂32的中层第一钝角连杆325的第四铰接孔3216以及其中一个第二伸缩臂32的下层第一钝角连杆324的第四铰接孔3216通过铰接轴相互铰接，另外一个第二伸缩臂32的上层锐角连杆330的第七铰接孔3264、其中一个第二伸缩臂32的中层锐角连杆328的第六铰接孔3263以及另外一个第二伸缩臂32的下层锐角连杆331的第七铰接孔3264通过铰接轴相互铰接，从而使相邻的两个第二伸缩臂32相互铰接。其中一个第二伸缩臂32的上层第一钝角连杆322的第一铰接孔3213、其中一个第一伸缩臂31的中层直杆3113一端的铰接孔以及其中一个第二伸缩臂32的下层第一钝角连杆324的第一铰接孔3213通过铰接轴相互铰接，其中一个第一伸缩臂31的上层直杆3112一端的铰接孔、其中一个第 二伸缩臂32的中层第一钝角连杆323的第一铰接孔3213以及其中一个第一伸缩臂31的下层直杆3114一端的铰接孔通过铰接轴相互铰接，以使第一伸缩臂31和第二伸缩臂32相互铰接。
如图9所示，可推导出轮辐3的长度公式为：
Figure PCTCN2020125389-appb-000001
Figure PCTCN2020125389-appb-000002
Figure PCTCN2020125389-appb-000003
Figure PCTCN2020125389-appb-000004
L＝2ml 1；
其中，R表示轮辐3的长度，λ 1和λ 2均表示系数，β表示动力机构4的驱动角度，l表示第三铰接孔3215到第四铰接孔3216的距离，n表示轮辐3数量，m表示轮辐3中的菱形数量，α表示单个轮辐对应的中心角，L表示轮辐3中菱形的总杆长，l 1表示表示菱形的杆长。通过精确计算轮辐3的长度，使得轮辐3能够正常伸缩，从而保证车轮10的质量。
如图1所示，车轮10还包括第一连接件5，动力机构4和第一伸缩臂31通过第一连接件5连接。
如图10、11所示，第一连接件5包括相互连接的第一连接部51和第二连接部52，第一连接部51和动力机构4连接，第二连接部52和下层第一钝角连杆324相互铰接，动力机构4的输出轴和下层第一钝角连杆324连接。动力机构4驱动下层第一钝角连杆324转动，下层第一钝角连杆324同步带动中层第一钝角连杆323转动，中层第一钝角连杆323带动第二连接部52同步转动，第二连接部52带动第一连接部51同步转动，以使第一连接部51带动动力机构4同步转动，其中，动力机构4和下层第一钝角连杆324的转动方向相反。
如图11所示，车轮10还包括第二连接件6，动力机构4的输出轴和下层 第一钝角连杆324通过第二连接件6连接。动力机构4驱动第二连接件6转动，以使第二连接件6带动下层第一钝角连杆324转动。
如图2所示，所述车轮10还包括多个滑动机构7，多个滑动机构7分别设置所述轮毂1上，多个所述轮辐3和多个所述滑动机构7一一对应连接，多个所述轮辐3通过对应地所述滑动机构7可沿所述轮毂1滑动。
如图12所示，所述滑动机构7包括导向件71以及可沿所述导向件71滑动的滑动件72，所述导向件71设置在所述轮毂1上，所述轮辐3和所述滑动件72连接，所述轮辐3通过所述滑动件72可沿所述导向件71滑动。通过导向件71能够限制轮辐3的滑动路径，使得轮辐3在伸缩的过程中能够始终沿预设方向滑动，从而提高轮辐3伸缩的可靠性。
在本实施例中，导向件71为导向杆，滑动件72为滑块，滑动件72套设在导向件71上且可沿导向件71滑动。
如图13所示，在本实施例中，轮毂1和滑动机构7的数量均为两个，两个轮毂1相对设置，两个滑动机构7一一对应设置在两个轮毂1上且相对设置，并且两个滑动机构7位于两个轮毂1之间。
在本实施例中，一个滑动机构7包括三根导向件71，六个滑动件72，六个滑动件72两两一组分别套设在三根导向件71上。
具体地，两个滑动件72和相邻两个第二伸缩臂32的两个铰接处一一对应连接，其中一个滑动件72和其中一个第二伸缩臂32的上层锐角连杆330连接，另外一个滑动件72和另外第一第二伸缩臂32的上层第一钝角连杆322连接。
所述滑动机构7还包括限位件73，所述限位件73设置在所述轮毂1上，所述限位件73用于限制所述滑动件72沿所述导向件71滑动的范围。通过限位件73能够限制所述滑动件72沿导向件71滑动的范围，以防滑动件72从导向件71上滑出，从而提高滑动机构7的可靠性。
在本实施例中，限位件73的数量为四个，四个限位件73分别设置在轮毂1上，两个滑动机构7中的三对导向件71的一端设置在其中一个限位件73上，另一端分别设置在另外三个限位件73上。其中，另外三个限位件73构成一个等边三角形的三个顶点，其中一个限位件73位于等边三角形的中心。
在本实施例中，限位件73为限位块。
如图14所示，所述轮辋2包括多个第二剪叉式单元21，多个所述第二剪叉式单元21首尾相互铰接形成一个联动的第二环链，多个所述轮辐3远离所述轮毂1的一端分别与对应地所述第二剪叉式单元21相互铰接。当车轮10在不规则的路面上行驶时，通过动力机构4驱动轮辐3收缩，以使轮辐3带动多个第二剪叉式单元21同步转动，使得第二剪叉式单元21形成的夹角变小，夹角较小的第二剪叉式单元21能够可靠地抓住地面，从而提高车轮10和地面之间的附着力，使得车轮10能够顺利通过不规则的路面，从而提高车轮10的通行能力。
第二剪叉式单元21包括中部相互铰接的多个第二钝角连杆211，相邻两个第二剪叉式单元21的多个第二钝角连杆211的一端相互铰接。
如图15所示，在本实施例中，第二剪叉式单元21包括中部相互铰接的三个第二钝角连杆211，分别为上层第二钝角连杆212、中层第二钝角连杆213以及下层第二钝角连杆214。
如图16所示，在第二钝角连杆211包括相互连接的第五直杆2111和第六直杆2112，第五直杆2111和第六直杆2112的夹角为钝角，第五直杆2111和第六直杆2112的长度相等。
如图14所示，在本实施例中，所述轮辋2还包括多个第三连接件22，所述第二环链的数量为两个，两个第二环链之间通过多个第三连接件22相互铰接，多个所述轮辐3的另一端分别与对应地第三连接件22相互铰接。通过相互铰接的两个第二环链能够提高轮辋2的强度，从而提高车轮10的耐用性。
如图17所示，在一个实施例中，提供了一种轮式机器人100，该轮式机器人100包括车体20以及设置在车体20上的上述任一实施例的车轮10。
在本实施例中，车轮10的数量为四个，四个车轮10两两一组分别设置在车体20两侧。
轮式机器人100还包括支撑件30，所述支撑件30可转动地设置在车体20上，所述车轮10设置在支撑件30远离车体20的一端上。
在本实施例中，支撑件30的数量为四个，四个支撑件30两两一组分别设置在车体20的两侧，四个车轮10一一对应设置在四个支撑件30远离车体20的一端上。
轮式机器人100还包括第一电机40，所述第一电机40设置在支撑件30 远离车体20的一端上，车轮10设置在第一电机40上，所述第一电机40用于驱动所述车轮10转动。
在本实施例中，所述第一电机40的数量为四个，四个所述第一电机40一一对应设置在四个支撑件30远离车体20的一端上，四个车轮10一一对应设置在四个所述第一电机40上。
所述轮式机器人100还包括第二电机50，所述第二电机50设置车体20上，所述第二电机50和所述支撑件30连接，所述第二电机50用于驱动所述支撑件30沿所述车体20转动，以改变轮式机器人100的行驶方向。
在本实施例中，第二电机50的数量为四个，四个第二电机50两两一组分别设置在车体20的两侧，四个第二电机50和四个支撑件30一一对应连接。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种车轮，其特征在于，包括轮毂、可伸缩地轮辋、可伸缩地多个轮辐以及多个动力机构，多个所述轮辐的一端均可滑动地设置在所述轮毂上，另一端均与所述轮辋相互铰接，多个所述动力机构和多个所述轮辐一一对应连接，多个所述动力机构用于驱动对应地所述轮辐伸缩，以使多个所述轮辐带动所述轮辋同步伸缩。
  2. 根据权利要求1所述的车轮，其特征在于，所述轮辐包括相互铰接的第一伸缩臂和第二伸缩臂，所述第二伸缩臂远离所述第一伸缩臂的一端可滑动地设置在所轮毂上，所述第一伸缩臂远离所述第二伸缩臂的一端与所述轮辋相互铰接，所述动力机构和所述第二伸缩臂连接，所述动力机构用于驱动所述第二伸缩臂伸缩，以使所述第二伸缩臂带动所述第一伸缩臂同步伸缩，从而使所述第一伸缩臂带动所述轮辋同步伸缩。
  3. 根据权利要求2所述的车轮，其特征在于，所述第一伸缩臂包括第一剪叉式单元，所述第一剪叉式单元的一端与所述第二伸缩臂相互铰接，另一端与所述轮辋相互铰接。
  4. 根据权利要求3所述的车轮，其特征在于，所述第一伸缩臂还包括半剪叉式单元，所述半剪叉式单元的一端与所述第一剪叉式单元远离所述第二伸缩臂的一端相互铰接，另一端与所述轮辋相互铰接。
  5. 根据权利要求2所述的车轮，其特征在于，所述第二伸缩臂包括多个第一钝角连杆和多个锐角连杆，多个所述第一钝角连杆相互铰接，多个所述锐角连杆相互铰接，多个所述第一钝角连杆和所述锐角连杆相互铰接，所述第一伸缩臂分别与多个所述第一钝角连杆相互铰接，所述动力机构和其中一个所述第一钝角连杆连接，所述动力机构驱动其中一个所述第一钝角连杆转动，以使其中一个所述第一钝角连杆带动所述第一伸缩臂同步伸缩以及带动多个所述锐角连杆同步转动。
  6. 根据权利要求1所述的车轮，其特征在于，所述车轮还包括多个滑动机构，多个滑动机构分别设置所述轮毂上，多个所述轮辐和多个所述滑动机构一一对应连接，多个所述轮辐通过对应地所述滑动机构可沿所述轮毂滑动。
  7. 根据权利要求6所述的车轮，其特征在于，所述滑动机构包括导向件 以及可沿所述导向件滑动的滑动件，所述导向件设置在所述轮毂上，所述轮辐和所述滑动件连接，所述轮辐通过所述滑动件可沿所导向件滑动。
  8. 根据权利要求7所述的车轮，其特征在于，所述滑动机构还包括限位件，所述限位件设置在所述轮毂上，所述限位件用于限制所述滑动件沿所述导向件滑动的范围。
  9. 根据权利要求1所述的车轮，其特征在于，所述轮辋包括多个第二剪叉式单元，多个所述第二剪叉式单元首尾相互铰接形成一个联动的环链，多个所述轮辐远离所述轮毂的一端分别与对应地所述第二剪叉式单元相互铰接。
  10. 一种轮式机器人，其特征在于，包括车体以及设置在所述车体上的如权利要求1-9任一项所述的车轮。
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