Telescopic deformation wheel device

Abstract

The invention discloses an extensible and retractable transformable wheel device. The extensible and retractable transformable wheel device comprises a hub (1), a plurality of spokes (2) which are connected with the hub (1) and a plurality of rims (3) which are connected with the corresponding spokes (2). The outer surface of the hub (1) is surrounded by the six sets of shear-fork type spokes (2) which are the same in structure at equal intervals, each set of shear-fork type spoke (2) is connected with one rim (3), the adjacent shear-fork spokes (2) and the rims (3) are arranged in parallel in a dislocation manner, and interference is prevented in the transformation process. The transformation degree of each set of shear-fork type spoke and the rim can be independently controlled by a hydraulic cylinder which is connected with the shear-fork type spoke and the rim; and by means of the combination of the shear-fork type spokes and the rims which are different in transformation degree, the transformable wheel can be in different states, such as the complete unfolding state which is achieved when the six sets of shear-fork spokes are sufficiently extended, the retracted state which is achieved when the six sets of shear-fork spokes are sufficiently retracted, and the obstacle crossing state which is achieved when part of the shear-fork spokes is unfolded and part of the shear-fork spokes is retracted.

Description

technical field

[0001] The invention relates to a telescopic deformation wheel device, which belongs to the field of robot application. Background technique

[0002] With the continuous development of science and technology, robots are more and more widely used in daily production and life. Among them, wheeled mobile robots are a type of robots that are widely used. This type of robot has stable motion, large carrying capacity, and fast forward speed. , High work efficiency and so on.

[0003] At present, most wheeled mobile robots use traditional fixed wheels, which limits the use of such robots. For example, the wheelchairs used by the disabled use large fixed wheels, so that the wheelchair still needs to occupy a large space after being folded; some wheeled rescue robots have to use wheels with smaller diameters due to the limited rescue space. But this limits its movement speed and wastes precious rescue time. Therefore, the design of the telescopic deformation wheel ...

Examples

Embodiment Construction

[0026] The technical solution of the present invention will be described in detail below in combination with the embodiments and the accompanying drawings.

[0027] The telescopic deformable wheel device provided by the present invention includes a hub, six sets of scissor mechanisms equally distributed around the surface of the hub, and a rim. Each group of scissor spokes is connected by three groups of X-shaped structures, which can realize the function of stretching and deformation. Each set of rims adopts a segmented structure, and the rim flanks can also move relatively during the deformation process of the scissor spokes, so that the shape of the rim can be adjusted according to needs. The degree of deformation of the spokes and rims of each group of scissors can be individually controlled by the hydraulic cylinder connected to it. The combination of spokes and rims of different deformation degrees can make the deformed wheels in different states, such as six groups of s...

technical field

[0001] The invention relates to a telescopic deformation wheel device, which belongs to the field of robot application. Background technique

[0002] With the continuous development of science and technology, robots are more and more widely used in daily production and life. Among them, wheeled mobile robots are a type of robots that are widely used. This type of robot has stable motion, large carrying capacity, and fast forward speed. , High work efficiency and so on.

[0003] At present, most wheeled mobile robots use traditional fixed wheels, which limits the use of such robots. For example, the wheelchairs used by the disabled use large fixed wheels, so that the wheelchair still needs to occupy a large space after being folded; some wheeled rescue robots have to use wheels with smaller diameters due to the limited rescue space. But this limits its movement speed and wastes precious rescue time. Therefore, the design of the telescopic deformation wheel ...

Examples

Embodiment Construction

[0026] The technical solution of the present invention will be described in detail below in combination with the embodiments and the accompanying drawings.

[0027] The telescopic deformable wheel device provided by the present invention includes a hub, six sets of scissor mechanisms equally distributed around the surface of the hub, and a rim. Each group of scissor spokes is connected by three groups of X-shaped structures, which can realize the function of stretching and deformation. Each set of rims adopts a segmented structure, and the rim flanks can also move relatively during the deformation process of the scissor spokes, so that the shape of the rim can be adjusted according to needs. The degree of deformation of the spokes and rims of each group of scissors can be individually controlled by the hydraulic cylinder connected to it. The combination of spokes and rims of different deformation degrees can make the deformed wheels in different states, such as six groups of s...

Images