Deformable wheel and movable equipment
A deformable wheel and variable technology, applied in the field of mobile robots, can solve problems such as limited moving speed, and achieve the effects of improving motion stability, maneuverability and obstacle-crossing ability, and good structural stability.
Pending Publication Date: 2022-01-11
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
However, this solution is a legged mechanical leg, which still does not solve the problem of limited movement speed on flat ground
Method used
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[0038] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0039]The present invention provides a deformable wheel, comprising a wheel disc 1, a deformable disc 2 and a plurality of deformed spoke parts; as Figure 1-Figure 4 As shown, the deformable spoke portion is rotatably connected to the wheel disc 1 and is flexibly connected to the deformable disc 2; the deformable spoke portion can rotate as the deformable disc 2 rotates.
[0040] The center of the deformation disc 2 is provided with a first installation position, the first installation position is the ...
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The invention provides a deformable wheel and movable equipment. The deformable wheel comprises a wheel disc, a deformable disc and a plurality of deformable spoke parts; the deformable spoke parts are rotatably connected with the wheel disc and is movably connected with the deformable disc; the deformation driving motor can drive the deformation disc to rotate; the deformable wheel has a wheel type form and a spoke form, and when the deformation driving motor drives the deformation disc to rotate, the deformation disc rotates relative to the wheel disc and drives the deformable spoke part to move, so that the deformation spoke is switched between the wheel type form and the spoke form. The deformable wheel is driven by the deformation driving motor to be switched between the wheel type form and the spoke form, and the wheel type form can effectively adapt to the flat road terrain or the road terrain with a certain gradient; the shape of the spoke can effectively adapt to special terrains such as steps and obstacles with certain heights, and the maneuvering performance and the obstacle crossing ability of the deformable wheel are effectively improved through the combination of the two shapes.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to a deformable wheel and movable equipment, in particular to a deformable wheel which improves its adaptability to the environment by changing the shape of the wheel. Background technique [0002] Existing wheeled mobile robots can move quickly on flat ground, but cannot pass through special terrains such as steps and trenches; while existing footed mobile robots can effectively adapt to special terrains such as steps and trenches, but the moving speed on flat ground But was restricted. [0003] Patent document CN113212590A discloses a mechanical leg of a legged robot, including a fixed seat, a power drive mechanism, a first ball screw and a second ball screw arranged side by side, a sleeve assembly and a foot plate assembly, and the sleeve assembly includes The first pipe piece and the second pipe piece sleeved on the first pipe piece, the power drive mechanism is fixed at one end of...
Claims
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IPC IPC(8): B60B19/02
CPCB60B19/02
Inventor 陈卫星彭英涵高峰
Owner SHANGHAI JIAO TONG UNIV