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Three-spoke deformation wheel mechanism

A deformable wheel and three-wheel technology, applied in the direction of wheels, transportation and packaging, vehicle parts, etc., can solve the problems of limited change of wheel diameter and limited ability to overcome obstacles, so as to improve the passing ability, reduce the width requirement, and improve the The effect of increasing the magnitude of change

Pending Publication Date: 2021-02-09
山东鼎目机器人科技有限公司
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Problems solved by technology

[0004] In the above-mentioned rescue robot, the walking force point of the deformed wheel is formed by the double-folded apex of a pair of hinged rods. The demand for the width of the robot is large enough, but the range of wheel diameter changes it obtains is indeed limited, and its ability to overcome obstacles is also limited

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Embodiment Construction

[0019] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0020] Figure 1 to Figure 5 Some embodiments according to the invention are shown.

[0021] Such as figure 1 As shown, the three-spoke deformed wheel mechanism of the present invention is composed of a first spoke assembly 1 , a second spoke assembly 2 , a third spoke assembly 3 , an outer wheel 4 , a drive disc 5 , and a wheel shaft 6 .

[0022] Such as figure 1 As shown, the outer wheel 4 is circular in shape, and three rotation pair installation holes are evenly distributed on its circumference, and the center of the circle is provided with an axle installation hole.

[0023] The circumference of the driving disc 5 is evenly distributed for installing three lifting lugs of the revolving...

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Abstract

The invention discloses a three-spoke deformation wheel mechanism which is mainly composed of an outer wheel, three spoke assemblies, a driving disc and a wheel shaft, the outer wheel is round, and the axis of the outer wheel is fixedly connected with the wheel shaft; the spoke assembly comprises a spoke rod and a supporting rod, one end of the spoke rod is connected with the outer wheel through arevolute pair, one end of the supporting rod is connected with the middle of the spoke rod through a revolute pair, the other end of the supporting rod is connected with the rotating disc through a revolute pair, and the peripheral size of the driving disc is smaller than the diameter of the outer wheel. The three spoke assemblies are driven by a linear driving mechanism to move along the wheel shaft, and the three spoke assemblies are controlled to move and extend simultaneously; when the spoke assemblies are completely folded, the outer wheel is used as a walking wheel, and when the spoke assemblies extend, spoke rods of the three spoke assemblies are used as walking parts. According to the deformation wheel mechanism, the requirement for the width of the robot in the wheel deformationprocess is reduced, the obtained wheel diameter change amplitude is increased, and then the passing capacity of wheels in the complex terrain environment is improved.

Description

technical field [0001] The invention relates to a robot walking wheel, in particular to a three-spoke deformation wheel mechanism. Background technique [0002] In tasks such as detection and rescue, robots usually need to have the ability to pass certain obstacles. However, today's wheeled mechanisms cannot be changed according to the actual terrain conditions, so there are defects such as high requirements on the road surface and insufficient obstacle surmounting ability. [0003] Chinese patent application 201910354678.2 discloses a rescue robot with umbrella-shaped deformable wheels. The wheel body of the robot can be changed in size to adapt to different environments, thereby improving the robot's ability to overcome obstacles. [0004] In the above-mentioned rescue robot, the walking force point of the deformed wheel is formed by the folded vertices of a pair of hinged rods. The wheel diameter of a pair of hinged rods is the smallest when straightened, and the wheel d...

Claims

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Application Information

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IPC IPC(8): B60B19/02
CPCB60B19/02
Inventor 刘超杨洋赵胜岭
Owner 山东鼎目机器人科技有限公司
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