Variable-diameter wheel based on series combination of rocker sliders

Abstract

The invention relates to a diameter-changing wheel based on rocker sliding block series combination. The diameter-changing wheel comprises a main connecting plate, a connecting plate, a motor, a driving gear, n driven gears and n same rocker sliding block series combination mechanisms, wherein n>=3. The main connecting plate and the connecting plate are both circular plates, are concentric and are fixed parallelly to form a hub. The n rocker sliding block series combination mechanisms are distributed evenly along the circumferential direction of the hub and arranged on the hub radially. The inner ends of the rocker sliding block series combination mechanisms are located on the hub and connected with the motor through the n driven gears and the driving gear, and enveloping circles of the outer ends of the rocker sliding block series combination mechanisms form an outline. The diameter-changing wheel is large in diameter changing range, achieves underactuation and is good in obstacle crossing ability, simple to control and high in reliability.

Description

Technical field [0001] The invention relates to a variable-diameter wheel, in particular to a variable-diameter wheel based on a rocker slider series combination mechanism. Background technique [0002] The variable-diameter wheel is a kind of diameter change realized by stretching and bending. Generally include variable diameter drive unit, variable diameter drive unit, actuator. [0003] The variable diameter wheel is a kind that can adapt to a variety of different ground environments (such as asphalt roads, cement roads and other hard roads, beaches, grass and other soft ground, which can cross trenches and steps); because the variable diameter wheels can achieve variable diameters, Therefore, storage space can be reduced (such as search and rescue robots, lunar rover, Mars rover, etc., the variable-diameter wheel is in a bent state when loading, saving space, and stretching after reaching the destination to achieve obstacle crossing, detection and other functions). Variable d...

AI Technical Summary

Problems solved by technology

[0004] According to the existing information currently available, in order to enable variable diameter wheels to walk better in different areas such as roads, soft ground, swamps, tidal flats and sandy land, people have designed a variety of wheels, such as leg wheels. , track wheels, etc. These designs have different contact conditions with the ground, so that they can only adapt to specific ground conditions, or have poor adaptability to the ground

Usually these wheels need to be driven by multiple motors to achieve variable diameter, or use hydraulic cylinders to provide power, or electric drives and hydraulic drives to provide power together, which consumes a lot of energy and has low efficiency.

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