Wheel-leg composite wheel with left and right contact area active variable

Abstract

The application discloses a wheel-leg composite wheel with left and right contact area being actively variable, which comprises a fixing frame, a shaft, a grooved wheel, a plurality of foot rods and a plurality of adjusting assemblies, a shaft hole is formed in the center of the fixing frame, the shaft is arranged in the shaft hole, the shaft comprises a first end part and a second end part which respectively extend from two ends of the shaft hole, the grooved wheel is fixed on the first end part, a plurality of accommodating grooves are arranged at the edge position of the grooved wheel, the foot rods are hinged to the fixing frame, the adjusting assemblies are arranged on the fixing frame, one end of the adjusting assemblies is hinged to the foot rods, and the other end is in transmission connection with the second end part, when the shaft drives the grooved wheel to move away from the fixing frame, the adjusting assemblies drive the foot rods to fold into the accommodating grooves, and the wheel type movement is realized, when the shaft drives the grooved wheel to move towards the fixing frame, the adjusting assemblies drive the foot rods to unfold to be separated from the accommodating grooves, and the leg type movement is realized. By adjusting the foot rods, the track can be changed, different terrains can be quickly adapted, and the self-adapting ability of the wheel to the environment is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a wheel-leg composite wheel with actively variable left and right contact areas. Background Technology

[0002] Currently, mobile robots, especially wheeled-legged robots, combine the high mobility of wheels with the strong obstacle-crossing capabilities of legs, showing great promise for applications in both military and civilian fields, such as military defense, field exploration, disaster relief, and extraterrestrial exploration. In flat environments, wheeled-legged robots generally prefer to use wheels for movement because wheels effectively reduce platform vibration and consume very little energy. In rugged and complex environments, wheeled-legged robots use legs for movement and obstacle avoidance.

[0003] However, existing wheeled-legged robots have complex wheeled-legged structure designs, numerous operational procedures for switching between wheeled and legged movement, low efficiency, and insufficient adaptability to the changing terrain environments in actual use.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a wheel-leg composite wheel and mobile device with actively variable left and right contact areas, aiming to solve the problem of low efficiency of existing wheel-leg structures, resulting in poor adaptability to the environment.

[0006] The technical solution of the present invention is as follows:

[0007] A composite wheel with actively variable left and right contact areas includes a fixed frame, an axle, a grooved wheel, multiple foot rods, and multiple sets of adjustment components. The fixed frame has a central axle hole; the axle is disposed within the axle hole and can slide along the length of the axle hole; the axle includes a first end and a second end extending from both ends of the axle hole; the grooved wheel is fixed to the first end, and its edge has multiple receiving grooves; the foot rods are hinged to the fixed frame and can rotate within the axial plane of the fixed frame; the multiple foot rods slide along the fixed frame... The fixed frame is evenly distributed in the radial circumferential direction; the adjustment component is disposed on the fixed frame; one end of the adjustment component is hinged to the leg rod, and the other end is drivenly connected to the second end; when the shaft drives the grooved wheel to move away from the fixed frame, the adjustment component drives the leg rod to retract into the receiving groove, so that the grooved wheel contacts the ground for wheel-like movement; when the shaft drives the grooved wheel to move towards the fixed frame, the adjustment component drives the leg rod to unfold to disengage from the receiving groove, so that the leg rod contacts the ground for leg-like movement.

[0008] The aforementioned wheel with actively variable left and right contact areas and a combined wheel and leg features a plurality of strip-shaped teeth on the surface of the second end, the strip-shaped teeth being spaced apart along the length of the axle; the adjustment assembly includes a gear, a first connecting rod, and a second connecting rod, one side of the gear meshing with the strip-shaped teeth and the other side meshing with the first connecting rod; the first connecting rod is rotatably mounted on the fixed frame, and one end of the first connecting rod has a locking tooth that meshes with the gear, the other end being hinged to the second connecting rod; the end of the second connecting rod facing away from the first connecting rod is hinged to the leg; the leg, the first connecting rod, the second connecting rod, and the fixed frame are combined to form a parallelogram connecting rod structure.

[0009] The wheel-leg composite wheel with actively variable left and right contact areas, wherein the first connecting rod is provided with a first through hole connected to the fixed frame and a second through hole connected to the second connecting rod; the leg is provided with a first through hole connected to the fixed frame and a second through hole connected to the second connecting rod; the distance between the first through hole and the second through hole is equal to the distance between the first through hole and the second through hole.

[0010] The aforementioned wheel with actively variable left and right contact areas comprises a fixed frame including a core shaft and a first annular protrusion and a second annular protrusion respectively disposed at both ends of the core shaft, with the shaft hole located at the center of the core shaft; a first connecting rod connected to the first annular protrusion, and a foot rod connected to the second annular protrusion; a fixing groove is provided on the first annular protrusion along the radial direction of the core shaft, and a gear is disposed in the fixing groove, extending on one side into the shaft hole to mesh with the shaft rod, and extending on the other side to the edge of the first annular protrusion to mesh with the locking tooth.

[0011] The wheel-leg composite wheel with actively variable left and right contact areas has a clearance groove on one end of the leg facing the second link for clearance of the second link.

[0012] The wheel with actively variable left and right contact areas is a composite wheel with wheel legs, wherein the grooved wheel is welded, interference-fitted, snap-fitted, bonded, or screwed to the first end.

[0013] The wheel-leg composite wheel with actively variable left and right contact areas, wherein the thickness of the leg is equal to the depth of the receiving groove; and / or, the width of the leg is equal to the width of the receiving groove.

[0014] The wheel-leg composite wheel with actively variable left and right contact areas, wherein the cross-sectional shape of the first end is circular or polygonal.

[0015] The left and right contact areas of the actively variable wheel-leg composite wheel are described in that the cross-sectional shape of the second end is a regular polygon, and the number of sides of the cross-section of the second end is equal to the number of the adjustment components.

[0016] This application also discloses a mobile device, which includes a wheel-leg composite wheel with actively variable left and right contact areas as described above.

[0017] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0018] This invention discloses a wheel-leg composite wheel with actively variable left and right contact areas, which is applied to mobile devices. By adjusting the position of the axle relative to the fixed frame, the grooved wheel is moved, and through the transmission of the adjustment component, the leg is rotated relative to the fixed frame, thereby embedding into the receiving groove of the grooved wheel. This allows the surface of the wheel-leg composite wheel with actively variable left and right contact areas in contact with the ground to be the surface of the grooved wheel, enabling wheel-like movement; or the leg can be disengaged from the receiving groove, allowing the surface of the wheel-leg composite wheel with actively variable left and right contact areas in contact with the ground to be the surface of the leg, enabling leg-like movement. In general, it can quickly switch between wheel-like and leg-like movement states, which is significantly different from traditional wheel-leg composite wheels with actively variable left and right contact areas that separately drive the extension and retraction of the wheel and leg structures. The composite wheel disclosed in this invention, with its actively variable left and right contact areas, has a simple structure and high efficiency in deformation adjustment, which is beneficial for maintaining mobility in different terrain environments and improves the adaptability of the composite wheel to the environment. Moreover, during the adjustment process, when the grooved wheel is in contact with the ground, the wheelbase of the composite wheel with actively variable left and right contact areas is large, while after the leg is rotated, only the leg is in contact with the ground, which reduces the wheelbase of the composite wheel with actively variable left and right contact areas. In other words, by adjusting the wheelbase of the composite wheel with actively variable left and right contact areas, it is beneficial for the composite wheel with actively variable left and right contact areas to adapt to narrow spaces and increases its environmental adaptability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the wheel-leg composite wheel with actively variable left and right contact areas in this invention;

[0021] Figure 2 This is another structural schematic diagram of the wheel-leg composite wheel with actively variable left and right contact areas in this invention.

[0022] Figure 3 This is another structural schematic diagram of the wheel-leg composite wheel with actively variable left and right contact areas in this invention.

[0023] Figure 4 This is an exploded view of the structure of the wheel-leg composite wheel with actively variable left and right contact areas in this invention.

[0024] Among them, 100 is a fixing bracket; 110 is a shaft hole; 120 is a shaft core; 130 is a first annular protrusion; 131 is a fixing groove; 140 is a second annular protrusion; 200 is a shaft; 210 is a first end; 220 is a second end; 221 is a strip-shaped tooth pattern; 300 is a grooved wheel; 310 is a receiving groove; 320 is an anti-slip groove; 400 is a foot rod; 410 is a first through hole; 420 is a second through hole; 430 is a contact surface; 440 is a clearance groove; 500 is an adjusting component; 510 is a gear; 520 is a first connecting rod; 521 is a locking tooth; 522 is a first through hole; 523 is a second through hole; and 530 is a second connecting rod. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] See Figure 1 and Figure 2In one embodiment of this invention application, a wheel-leg composite wheel with actively variable left and right contact areas is disclosed, comprising a fixed frame 100, a shaft 200, a grooved wheel 300, multiple foot rods 400, and multiple sets of adjustment components 500. The fixed frame 100 has a central axle hole 110; the shaft 200 is disposed within the axle hole 110 and can slide along the length of the axle hole 110; the shaft 200 includes a first end 210 and a second end 220 extending from both ends of the axle hole 110; the grooved wheel 300 is fixed to the first end 210, and multiple receiving grooves 310 are provided at the edge of the grooved wheel 300; the foot rods 400 are hinged to the fixed frame 100 and can rotate within the axial plane of the fixed frame 100; multiple... The foot poles 400 are evenly distributed along the radial circumferential direction of the fixed frame 100; the adjustment component 500 is disposed on the fixed frame 100; one end of the adjustment component 500 is hinged to the foot pole 400, and the other end is drivenly connected to the second end 220; when the shaft 200 drives the grooved wheel 300 to move away from the fixed frame 100, the adjustment component 500 drives the foot pole 400 to retract into the receiving groove 310, so that the grooved wheel 300 contacts the ground for wheel-like movement; when the shaft 200 drives the grooved wheel 300 to move towards the fixed frame 100, the adjustment component 500 drives the foot pole 400 to unfold, so as to disengage from the receiving groove 310, so that the foot pole 400 contacts the ground for leg-like movement.

[0027] The wheel-leg composite wheel with actively variable left and right contact areas disclosed in this embodiment is applied to mobile devices. By adjusting the position of the axle 200 relative to the fixed frame 100, the grooved wheel 300 is moved, and through the transmission of the adjusting component 500, the foot rod 400 is rotated relative to the fixed frame 100, thereby embedding it into the receiving groove 310 of the grooved wheel 300. This makes the surface of the wheel-leg composite wheel with actively variable left and right contact areas in contact with the ground the surface of the grooved wheel 300, enabling wheel-like movement; or the foot rod 400 can be disengaged from the receiving groove 310, making the left and right contact areas actively variable. The surface of the dynamically variable wheel-leg composite wheel that contacts the ground is the surface of the leg 400, allowing for leg-like movement. In general, it can quickly switch between wheel-like and leg-like movement states. Compared to traditional wheel-leg composite wheels with actively variable left and right contact areas that drive the extension and retraction of the wheel structure and the leg structure respectively, the wheel-leg composite wheel with actively variable left and right contact areas disclosed in this embodiment has a simpler structure, higher deformation adjustment efficiency, and is more conducive to maintaining movement in different terrain environments, thus improving the adaptability of the wheel-leg composite wheel with actively variable left and right contact areas to the environment.

[0028] Specifically, the wheel-leg composite wheel with actively variable left and right contact areas disclosed in this embodiment has at least three motion states: 1. such as Figure 1 As shown, in the normal moving state, the axle 200 drives the grooved wheel 300 to move to the extreme position away from the fixed frame 100. In this state, the adjusting component 500 drives the leg 400 to rotate into the receiving groove 310, which not only improves the edge flatness of the grooved wheel 300, but also saves the space occupied by the leg 400. During movement, the edge of the grooved wheel 300 contacts the ground, and the wheel-leg composite wheel with actively variable left and right contact areas can achieve wheel-like movement by rolling the grooved wheel 300; 2. The axle 200 drives the grooved wheel 300 to move towards the fixed frame 100. In this state, the adjusting component 500 drives the leg 400 to disengage from the receiving groove 310 and unfold. At this time, the grooved wheel 300 is lifted by the leg 400 along with the fixed frame 100, thus leaving the ground. During the movement, multiple legs 400 make point contact with the ground in sequence to achieve leg-like movement; Figure 2 As shown, when the foot lever 400 rotates 90° and is perpendicular to the surface of the fixed frame 100, the foot lever 400 reaches its maximum extension state. This increases the rolling radius, which is beneficial for improving movement efficiency. At this time, the fixed frame 100 is raised to its highest position, simultaneously raising the mobile device's body, making it easier to overcome higher obstacles; 3. As Figure 3 As shown, the shaft 200 drives the grooved wheel 300 to continue moving towards the fixed frame 100 to its limit position. In this state, the adjustment component 500 drives the foot rod 400 to rotate at an angle exceeding 90°. This allows the foot rod 400 to be moved from the side of the fixed frame 100 facing the grooved wheel 300 to the side of the fixed frame 100 away from the grooved wheel 300. This changes the point contact position between the actively variable wheel-leg composite wheel with the left and right contact areas and the ground. When the actively variable wheel-leg composite wheel with the left and right contact areas is fixed to the body of the mobile device, the foot rod 400 is obviously closer to the body. In other words, the wheelbase of the mobile device is reduced, making it easier for the mobile device to pass through narrow spaces and achieve the effect of avoiding danger.

[0029] In summary, by switching between at least three motion states of the wheel-leg composite wheel with actively variable left and right contact areas, the obstacle-crossing and hazard-avoidance capabilities of the wheel-leg composite wheel with actively variable left and right contact areas are increased, and the environmental adaptability of the wheel-leg composite wheel with actively variable left and right contact areas is improved.

[0030] Specifically, in one embodiment of this invention, the actively variable wheel-leg composite wheel with left and right contact areas is disclosed to be used on a mobile vehicle. For example, two, three, four, or more of these actively variable wheel-leg composite wheels with left and right contact areas can be assembled on the vehicle body. Through the coordinated movement of multiple actively variable wheel-leg composite wheels with left and right contact areas, the mobile vehicle can move by legs or wheels, and the wheel track can be changed during the movement to facilitate passage through narrow spaces. In addition, the leg 400 of the actively variable wheel-leg composite wheel with left and right contact areas is relatively long, so the vehicle body of the mobile vehicle will be raised when moving by legs. Therefore, the mobile vehicle also gains the ability to adjust in the vertical direction, which is beneficial to adapting to more usage scenarios and increasing the convenience of using the mobile vehicle.

[0031] Specifically, as one embodiment of this invention, the grooved wheel 300 is disclosed to be welded, interference-fitted, snap-fitted, bonded, or screwed to the first end 210. In this embodiment, the grooved wheel 300 is fixedly connected to the shaft 200, thus allowing the shaft 200 to serve as the drive shaft of the grooved wheel 300. In actual use, besides connecting the mobile device's body to the grooved wheel 300, the shaft 200 can also be equipped with drive components such as a drive motor or stepper motor on the body to drive the shaft 200 to rotate, thereby realizing the rotation of the grooved wheel 300. Fixing the grooved wheel 300 to the first end 210 via welding, interference fit, snap-fitting, bonding, or screwing to the shaft 200 maintains a stable connection, preventing loosening or slippage, and improving the mechanical strength of the wheel-leg composite wheel with actively variable left and right contact areas.

[0032] It should be noted that this embodiment is merely an example of the type of fixed connection between the grooved wheel 300 and the first end 210. However, the scope of protection of this invention is not limited to this. Other types of fixed connections, as long as they can achieve the technical effects disclosed in this application, can be considered as equivalent replacements for the concept of this invention and should also be within the scope of protection of this application.

[0033] Specifically, as another implementation of this embodiment, the cross-sectional shape of the first end portion 210 is disclosed to be circular or polygonal. Setting the shape of the first end portion 210 to circular allows for unrestricted angles when aligned with the grooved wheel 300, facilitating the installation of the grooved wheel 300. Conversely, setting the shape of the first end portion 210 to polygonal, such as triangular, rectangular, or pentagonal, allows for a fixed relative position between the grooved wheel 300 and the first end portion 210 through the constraint between the sidewall of the first end portion 210 and the wall of the corresponding hole on the grooved wheel 300. This prevents slippage of the grooved wheel 300, further improving the stability of the connection between the grooved wheel 300 and the shaft 200, and ensuring efficient movement of the wheel-leg composite wheel with actively variable left and right contact areas in wheel-type movement.

[0034] Specifically, as another implementation of this embodiment, the thickness of the foot rod 400 is disclosed to be equal to the depth of the receiving groove 310. In this embodiment, when the wheel-leg composite wheel with actively variable left and right contact areas is in wheel-moving state, the foot rod 400 is housed within the receiving groove 310. If the thickness of the foot rod 400 is less than the depth of the receiving groove 310, a groove will form at the edge of the grooved wheel 300; if the thickness of the foot rod 400 is greater than the depth of the receiving groove 310, a protrusion will form at the edge of the grooved wheel 300. Both situations will result in insufficient flatness at the edge of the grooved wheel 300. By setting the thickness of the foot rod 400 to be equal to the depth of the receiving groove 310, the receiving groove 310 is perfectly filled, making the outer edge of the grooved wheel 300 a complete circle, thereby improving stability during rolling and facilitating high-speed movement.

[0035] Specifically, as another embodiment of this invention, the width of the foot stick 400 is disclosed to be equal to the width of the receiving groove 310. During wheeled movement, the foot stick 400 is housed within the receiving groove 310. Setting the width of the foot stick 400 to be equal to the width of the receiving groove 310 reduces the gap width formed by the assembly of the foot stick 400 and the receiving groove 310, thereby reducing the probability of debris entering the assembly gap during rolling and preventing the foot stick 400 from getting stuck. This allows the foot stick 400 to be quickly rotated and disengaged from the receiving groove 310 when the movement state needs to be adjusted, maintaining the flexibility of the wheel-leg composite wheel adjustment with actively variable left and right contact areas.

[0036] like Figure 4 As shown, in another embodiment of this invention, a contact surface 430 is formed on the end of the footrest 400 facing away from the fixed frame 100. The contact surface 430 is an arc-shaped contact surface. In the leg-moving state, the end of the footrest 400 facing away from the fixed frame 100 contacts the ground. Setting the contact surface 430 as an arc-shaped contact surface increases the effective contact angle, which is beneficial for adapting to harsh road conditions.

[0037] Specifically, as another embodiment of this invention, a thickened portion is formed at the end of the leg 400 facing away from the fixing frame 100, and the thickness of the thickened portion is greater than the thickness of the end of the leg 400 facing the fixing frame 100. Increasing the thickness of the end of the leg 400 in contact with the ground increases structural strength and support capacity, as well as wear resistance and service life of the leg 400.

[0038] like Figure 3 and Figure 4As shown, in another embodiment of this invention, the second end 220 has a plurality of strip-shaped teeth 221 on its surface, and the plurality of strip-shaped teeth 221 are spaced apart along the length direction of the shaft 200; the adjusting assembly 500 includes a gear 510, a first connecting rod 520 and a second connecting rod 530, one side of the gear 510 meshes with the strip-shaped teeth 221 and the other side meshes with the first connecting rod 520; the first connecting rod 520 is rotatably mounted on the fixing frame 100, and one end of the first connecting rod 520 has a locking tooth 521 that meshes with the gear 510, and the other end is hinged to the second connecting rod 530; one end of the second connecting rod 530 facing away from the first connecting rod 520 is hinged to the foot rod 400; the foot rod 400, the first connecting rod 521, the second connecting rod 530 and the fixing frame 100 are combined to form a parallelogram connecting rod structure.

[0039] In this embodiment, the strip-shaped teeth 221 mesh with the gear 510, converting the sliding tendency of the shaft 200 into the rolling tendency of the gear 510; and the retaining teeth 521 on the first connecting rod 520 mesh with the gear 510, so that while the gear 510 rolls, it drives the first connecting rod 520 to rotate on the fixed frame 100, thereby pulling the second connecting rod 530 to move; the foot rod 400, the first connecting rod 520, the second connecting rod 530 and the fixed frame 100 are combined to form a parallelogram connecting rod structure, so when the shaft 200 drives the grooved wheel 300 to move in the direction away from the fixed frame 100, the strip-shaped teeth 221 move towards the shaft. The gear 510 rotates clockwise as it moves within the hole 110, causing the first connecting rod 520 to rotate counterclockwise. This pushes the second connecting rod 530, causing the foot rod 400 to rotate toward the grooved wheel 300 and assemble with the receiving groove 310, thus switching to a wheel-type movement state. When the shaft 200 drives the grooved wheel 300 to move toward the fixed frame 100, the strip-shaped teeth 221 gradually move out of the shaft hole 110, causing the gear 510 to rotate counterclockwise. This drives the first connecting rod 520 to rotate clockwise, pulling the second connecting rod 530 and causing the foot rod 400 to lift up and disengage from the receiving groove 310, thus switching to a leg-type movement state.

[0040] As can be seen, the adjustment component 500 disclosed in this embodiment can quickly achieve synchronous transmission between the shaft 200 and the foot rod 400. The meshing assembly of multiple strip-shaped teeth 221 with the gear 510 and the meshing assembly of the first connecting rod 520 with the gear 510 have high precision, improving transmission efficiency. Furthermore, during the switching of motion states, the grooved wheel 300 and the foot rod 400 move simultaneously, resulting in high assembly efficiency. During the switching to the wheel-type movement state, the grooved wheel 300 is pushed out simultaneously, and the foot rod 400 is rotated. When the grooved wheel 300 is pushed out to its position, the foot rod 400 is also just rotated. The good-to-receive groove 310; during the switching to the leg-type movement state, the foot bar 400 is extended at the same time, so that the groove wheel 300 is lifted off the ground and the groove wheel 300 is retracted to avoid the groove wheel 300 extending too far to the side and occupying space, so as to reduce the width of the wheel-leg composite wheel with actively variable left and right contact areas, and facilitate movement in narrow passages; it can be seen that the adjustment component 500 disclosed in this embodiment has a simple structure, is easy to operate, and has high transmission accuracy and high adjustment efficiency, which helps to save the adjustment time of the wheel-leg composite wheel with actively variable left and right contact areas.

[0041] For example Figure 4 As shown, in another embodiment of this invention, the first connecting rod 520 is provided with a first through hole 522 connected to the fixing frame 100 and a second through hole 523 connected to the second connecting rod 530; the foot rod 400 is provided with a first through hole 410 connected to the fixing frame 100 and a second through hole 420 connected to the second connecting rod 530; the distance between the first through hole 522 and the second through hole 523 is equal to the distance between the first through hole 410 and the second through hole 420. In this embodiment, the distance between the first through hole 410 and the second through hole 420 is set to be equal to the distance between the first through hole 522 and the second through hole 523. Thus, with the first through hole 410, the second through hole 420, the first through hole 522, and the second through hole 523 as vertices, a stable parallelogram linkage structure is formed. All four points are hinged, allowing the parallelogram linkage structure to rotate freely in the axial plane of the fixed frame 100, which facilitates the rotation of the foot rod 400 and reduces the occurrence of foot rod 400 deflection.

[0042] like Figure 2As shown, in another embodiment of this invention, the fixing frame 100 includes a shaft core portion 120, and a first annular protrusion 130 and a second annular protrusion 140 respectively disposed at both ends of the shaft core portion 120. The shaft hole 110 is disposed at the center of the shaft core portion 120. The first connecting rod 520 is connected to the first annular protrusion 130, and the foot rod 400 is connected to the second annular protrusion 140. The first annular protrusion 130 is provided with a fixing groove 131 along the radial direction of the shaft core portion 120. The gear 510 is disposed in the fixing groove 131, with one side extending into the shaft hole 110 and meshing with the shaft rod 200, and the other side extending to the edge of the first annular protrusion 130 and meshing with the locking tooth portion 521.

[0043] In actual manufacturing, the radii of the first annular protrusion 130 and the second annular protrusion 140 disclosed in this embodiment are both set to be consistent with the radius of the grooved wheel 300. Thus, when the leg 400 is retracted into the receiving groove 310 during rotation, one end is connected to the second annular protrusion 140 and the other end abuts against the receiving groove 310, which can keep it horizontal. This ensures that the free end of the leg 400 will not exceed the edge of the grooved wheel 300 in the radial direction. That is, after the leg 400 is retracted, the grooved wheel 300 contacts the ground, reducing the contact between the leg 400 and the ground, so as to better realize wheel-type movement.

[0044] Specifically, in this embodiment, the gear 510 is disposed in the fixing groove 131. The fixing groove 131 protects and fixes the position of the gear 510, thereby improving the stability of the gear 510. The shaft 200, the gear 510, and the first connecting rod 520 are distributed in sequence along the radial direction of the shaft 200. The gear 510 converts the forward and backward movement of the shaft 200 into the movement of the first connecting rod 520. The assembly is tight, the transmission efficiency is high, and it is not easy to loosen during use, which is conducive to maintaining long-term use.

[0045] like Figure 2 As shown, in another embodiment of this invention, a clearance groove 440 is provided on one end of the foot rod 400 facing the second connecting rod 530 to allow the second connecting rod 530 to pass. The parallelogram connecting rod structure disclosed in this embodiment is rotatable because the connection point between the foot rod 400 and the second connecting rod 530 is located in the middle of the foot rod 400. Figure 1 As shown, when the foot rod 400 is retracted into the receiving groove 310, the foot rod 400 is almost collinear with the second connecting rod 530 and the first connecting rod 520. Therefore, in order to prevent the second connecting rod 530 from colliding with the foot rod 400 during rotation, a clearance groove 440 is provided to maintain the flexible rotation of the parallelogram connecting rod structure, which is conducive to the complete storage of the foot rod 400.

[0046] Specifically, as another embodiment of this invention, the cross-sectional shape of the second end 220 is disclosed as a regular polygon, and the number of sides of the cross-section of the second end 220 is equal to the number of the adjusting components 500. The foot bar 400 disclosed in this embodiment is used to contact the ground and is circumferentially distributed on the fixing frame 100. Three or more foot bars 400 can be provided, corresponding one-to-one. Three or more receiving grooves 310 are provided on the grooved wheel 300 to accommodate the foot bar 400. Three or more sets of adjusting components 500 are provided to rotate the foot bar 400. Each adjusting group is driven by the shaft 200. Therefore, the cross-sectional shape of the second end 220 is set as a regular polygon. If three sets of adjusting components 500 are provided, the cross-sectional shape of the second end 220 is set as an equilateral triangle; if four sets of adjusting components 500 are provided, the cross-sectional shape of the second end 220 is set as a square; if five sets of adjusting components 500 are provided, the cross-sectional shape of the second end 220 is set as a regular pentagon; and so on. The second end 220 is driven by each side of a set of adjustment components 500. Each set of adjustment components 500 can be driven independently, which improves the accuracy of the linkage between the adjustment component 500 and the shaft 200, facilitates precise control of the adjustment component 500, and further improves the control accuracy of the rotation of the foot rod 400.

[0047] like Figure 3 and Figure 4 As shown, in another embodiment of this invention, the grooved wheel 300 is provided with a plurality of anti-slip grooves 320 at its edge. In wheel-type movement, the edge of the grooved wheel 300 contacts the ground. The anti-slip grooves 320 increase friction, thereby reducing slippage during movement of the actively variable wheel-leg composite wheel with variable left and right contact areas, and improving stability and safety.

[0048] It should be noted that this embodiment is only an example of the type of adjustment component 500, but the scope of protection of the present invention is not limited to this. Other types of adjustment components 500, such as adjustment mechanisms through multi-stage hydraulic rod structures, spring structures, stepper motors, etc., as long as they can achieve the technical effects disclosed in this application, can be used as equivalent replacements for the concept of the present invention and should also be within the scope of protection of this application.

[0049] As another embodiment of this application, a mobile device is disclosed, which includes a wheel-leg composite wheel with actively variable left and right contact areas as described above. The mobile devices disclosed in this embodiment include, but are not limited to, mobile robots used in exploration, reconnaissance, and search and rescue. By equipping these mobile robots with actively variable left and right contact areas on their bodies, the obstacle-crossing and hazard-avoidance capabilities of the mobile device can be increased, and the efficiency of motion state adjustment during movement can be improved, thereby increasing the utilization efficiency of the mobile robot and enabling it to play a role in more situations.

[0050] In summary, this application discloses a wheel-leg composite wheel with actively variable left and right contact areas, comprising a fixed frame 100, an axle 200, a grooved wheel 300, multiple foot rods 400, and multiple sets of adjustment components 500. The fixed frame 100 has a central axle hole 110; the axle 200 is disposed within the axle hole 110 and can slide along the length of the axle hole 110; the axle 200 includes a first end 210 and a second end 220 extending from both ends of the axle hole 110; the grooved wheel 300 is fixed to the first end 210, and the edge of the grooved wheel 300 has multiple receiving grooves 310; the foot rods 400 are hinged to the fixed frame 100 and can rotate within the axial plane of the fixed frame 100; the multiple foot rods... The rods 400 are evenly distributed along the radial circumferential direction of the fixed frame 100; the adjusting component 500 is disposed on the fixed frame 100; one end of the adjusting component 500 is hinged to the foot rod 400, and the other end is drivenly connected to the second end 220; when the shaft 200 drives the grooved wheel 300 to move away from the fixed frame 100, the adjusting component 500 drives the foot rod 400 to retract into the receiving groove 310, so that the grooved wheel 300 contacts the ground for wheel-like movement; when the shaft 200 drives the grooved wheel 300 to move towards the fixed frame 100, the adjusting component 500 drives the foot rod 400 to unfold, so as to disengage from the receiving groove 310, so that the foot rod 400 contacts the ground for leg-like movement. The wheel-leg composite wheel with actively variable left and right contact areas disclosed in this embodiment is applied to mobile devices. By adjusting the position of the axle 200 relative to the fixed frame 100, the grooved wheel 300 is moved, and through the transmission of the adjusting component 500, the foot rod 400 is rotated relative to the fixed frame 100, thereby embedding it into the receiving groove 310 of the grooved wheel 300. This makes the surface of the wheel-leg composite wheel with actively variable left and right contact areas in contact with the ground the surface of the grooved wheel 300, enabling wheel-like movement; or the foot rod 400 can be disengaged from the receiving groove 310, making the left and right contact areas actively variable. The surface of the dynamically variable wheel-leg composite wheel that contacts the ground is the surface of the leg 400, allowing for leg-like movement. In general, it can quickly switch between wheel-like and leg-like movement states. Compared to traditional wheel-leg composite wheels with actively variable left and right contact areas that drive the extension and retraction of the wheel structure and the leg structure respectively, the wheel-leg composite wheel with actively variable left and right contact areas disclosed in this embodiment has a simpler structure, higher deformation adjustment efficiency, and is more conducive to maintaining movement in different terrain environments, thus improving the adaptability of the wheel-leg composite wheel with actively variable left and right contact areas to the environment.

[0051] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention described herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not covered by the invention. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the appended claims. It should be noted that this invention uses a wheel-leg composite wheel with actively variable left and right contact areas as an example to describe the specific structure and working principle of the invention; however, the application of this invention is not limited to wheel-leg composite wheels with actively variable left and right contact areas, and can also be applied to the production and use of other similar workpieces.

[0052] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wheel-leg composite wheel with actively variable left and right contact areas, characterized in that, include: The fixing frame has a shaft hole formed at its center; A shaft is disposed within the shaft hole and is slidable along the length direction of the shaft hole; the shaft includes a first end and a second end extending from both ends of the shaft hole, respectively; A grooved wheel is fixed to the first end, and the edge of the grooved wheel is provided with multiple receiving grooves; Multiple legs are hinged to the fixed frame and can rotate within the axial plane of the fixed frame; the multiple legs are evenly distributed along the radial circumferential direction of the fixed frame; Multiple sets of adjustment components are mounted on the fixed frame; one end of each adjustment component is hinged to the foot rod, and the other end is connected to the second end via a transmission connection. When the shaft drives the grooved wheel to move away from the fixed frame, the adjusting component drives the foot rod to retract into the receiving groove, so that the grooved wheel contacts the ground for wheel-type movement. When the shaft drives the grooved wheel to move toward the fixed frame, the adjusting component drives the leg to unfold so as to disengage from the receiving groove and make the leg contact the ground for leg-like movement; The surface of the second end is provided with a plurality of strip-shaped teeth, and the plurality of strip-shaped teeth are spaced apart along the length direction of the shaft; The adjustment assembly includes a gear, a first connecting rod, and a second connecting rod. One side of the gear meshes with the strip-shaped tooth pattern, and the other side meshes with the first connecting rod. The first connecting rod is rotatably mounted on the fixed frame, and one end of the first connecting rod is provided with a locking tooth that meshes with the gear, while the other end is hinged to the second connecting rod. The end of the second connecting rod facing away from the first connecting rod is hinged to the foot rod. The foot rod, the first connecting rod, the second connecting rod, and the fixing frame are combined to form a parallelogram connecting rod structure.

2. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The first connecting rod is provided with a first through hole for connecting to the fixed frame, and a second through hole for connecting to the second connecting rod; The leg is provided with a first through hole for connecting to the fixed frame, and a second through hole for connecting to the second connecting rod; Wherein, the distance between the first perforation and the second perforation is equal to the distance between the first through hole and the second through hole.

3. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The fixing frame includes a shaft core and a first annular protrusion and a second annular protrusion respectively disposed at both ends of the shaft core. The shaft hole is located at the center of the shaft core. The first connecting rod is connected to the first annular protrusion, and the foot rod is connected to the second annular protrusion. A fixing groove is provided on the first annular protrusion along the radial direction of the shaft core. The gear is disposed in the fixing groove, with one side extending into the shaft hole and meshing with the shaft, and the other side extending to the edge of the first annular protrusion and meshing with the retaining tooth.

4. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The foot bar has a clearance groove at one end facing the second connecting rod to allow the second connecting rod to pass.

5. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The grooved wheel is welded, interference-fitted, snap-fitted, bonded, or screwed to the first end.

6. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The thickness of the foot is equal to the depth of the receiving groove; and / or, the width of the foot is equal to the width of the receiving groove.

7. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The cross-sectional shape of the first end is circular or polygonal.

8. The wheel-leg composite wheel with actively variable left and right contact areas according to claim 1, characterized in that, The cross-sectional shape of the second end is a regular polygon, and the number of sides of the cross-section of the second end is equal to the number of the adjustment components.

9. A mobile device, characterized in that, Including the wheel-leg composite wheel with actively variable left and right contact areas as described in any one of claims 1 to 8.

Images