A new type of wheel with closed wheel surface and variable structure and multiple walking modes

Abstract

The present invention discloses a novel closed wheel with variable structure and multiple walking modes, which includes a hub, multiple spoke assemblies, multiple rim blocks, and a control assembly. The spoke assembly is hinged to the hub and can rotate along the axial direction of the hub; multiple spoke assemblies are evenly distributed along the radial circumferential direction of the hub; the rim blocks are connected to one end of the spoke assembly away from the hub; the control assembly is arranged on the hub and connected to the spoke assembly to drive the spoke assembly to rotate; when the spoke assembly rotates to close multiple rim blocks, they are combined into an arc tread for wheeled movement; when the spoke assembly rotates to separate multiple rim blocks, multiple mechanical soles are formed for legged movement. The spoke assembly is driven to move by the control assembly to change the wheelbase; at the same time, multiple rim blocks are combined or separated, thereby switching to a wheeled movement mode or a legged movement mode, thereby increasing the ability to adapt to the environment.

Description

Technical Field

[0001] The invention relates to the field of robot technology, in particular to a novel variable structure multi-walking mode wheel with closed wheel surface. Background Art

[0002] At present, mobile robots, especially wheel-legged robots, have both the high mobility of wheels and the strong obstacle-crossing ability of legs, and have outstanding application prospects in military and civilian fields, such as reconnaissance, combat, rescue, etc. In some flat terrain environments, wheel-legged robots generally tend to use wheel structures to complete the movement of robots, because the wheel structure can effectively reduce the vibration of the robot platform and the energy consumption is also very low; in rugged and complex environments, wheel-legged robots use leg structures to complete movement and obstacle avoidance.

[0003] However, the wheel-leg structure of the existing wheel-legged robot is generally configured as two independent sets of components, which realize the actions of retracting the moving wheels and lowering the moving legs, or retracting the moving legs and lowering the moving wheels through alternating control. This makes the control and conversion system design of the two motion states complicated, the operation process is numerous, and the use efficiency is low. It is impossible to achieve a good adaptive environment effect for the changeable terrain during actual use.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a new type of variable structure multi-walking mode closed wheel and mobile equipment, aiming to solve the problems of the existing wheel-leg structure being complex, the efficiency of switching motion states, and the inability to obtain good adaptive environment capabilities.

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

[0007] A novel closed wheel with a variable structure and multiple walking modes, comprising a hub, multiple groups of spoke assemblies, multiple rim blocks, and a control assembly, wherein the spoke assembly is hinged to the hub and can rotate along the axial direction of the hub; and multiple groups of spoke assemblies are evenly distributed along the radial circumferential direction of the hub; the rim blocks are connected to one end of the spoke assembly away from the hub; the control assembly is arranged on the hub and connected to the spoke assembly to drive the spoke assembly to rotate; when the spoke assembly rotates to close the multiple rim blocks, they are combined into an arc tread for wheel-like movement; when the spoke assembly rotates to separate the multiple rim blocks, multiple mechanical soles are formed for leg-like movement.

[0008] The novel variable structure multi-walking mode wheel tread closed type wheel, wherein the wheel hub includes a fixed block, and the fixed block includes a first connecting plate and a second connecting plate arranged in parallel; the spoke assembly includes a first spoke rod and a second spoke rod of equal length, one end of the first spoke rod is hinged to the first connecting plate, and the other end is hinged to the rim block; one end of the second spoke rod is hinged to the second connecting plate, and the other end is hinged to the rim block.

[0009] The novel variable structure multi-walking mode wheel tread closed type wheel, wherein the wheel hub includes a guide rod, the fixed block is connected to the guide rod and is located at the end of the guide rod; the control assembly includes a slider, a driving member and a plurality of connecting rods, the slider is nested on the guide rod and can slide freely along the axial direction of the guide rod; the driving member is transmission-connected to the slider for driving the slider to slide; one end of the connecting rod is hinged to the slider, and the other end is hinged to the second spoke rod.

[0010] In the novel variable structure multi-travel mode wheel tread closed type wheel, the cross-sectional shape of the guide rod is at least one of a regular triangle, a square, a regular pentagon and a regular hexagon.

[0011] The novel variable structure multi-travel mode wheel tread closed type wheel, wherein the slider is provided with a transmission rack meshing with the driving member, and the length direction of the transmission rack is parallel to the axial direction of the guide rod.

[0012] The novel variable structure multi-walking mode wheel tread closed type wheel, wherein the wheel rim block includes an arc-shaped plate and reinforcing ribs arranged on the inner side of the arc-shaped plate, and the reinforcing ribs extend along the width direction of the arc-shaped plate; the first spoke rod and the second spoke rod are both hinged to the reinforcing ribs.

[0013] In the novel variable structure multi-travel mode wheel tread closed type wheel, the radius value of the arc plate is smaller than the length value of the first spoke rod.

[0014] In the novel variable structure multi-travel mode wheel with closed wheel tread, the curvature of the arc plate is x, which satisfies the following formula:

[0015]

[0016] Wherein, m is the number of the spoke components.

[0017] The novel variable structure multi-walking mode wheel tread closed type wheel, wherein the spoke assembly can rotate at an angle greater than 90°; when the spoke assembly rotates to one side of the hub, the multiple rim blocks are closed for first state wheel movement; when the spoke assembly rotates to the other side of the hub, the multiple rim blocks are closed for second state wheel movement.

[0018] The present application also discloses a mobile device, which includes a closed wheel with a novel variable structure and multiple walking modes as described above.

[0019] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0020] The novel variable structure multi-walking mode wheel tread closed wheel disclosed in the present invention is fixed on the body of the mobile device and used as a supporting and moving part of the body; during the movement of the mobile device, the control component controls the rotation of the spoke assembly, thereby controlling the position of the wheel rim block arranged at the end of the spoke assembly; when the spoke assembly rotates along the axial direction of the hub, the adjacent wheel rim blocks are separated from each other, and each wheel rim block forms a surface contact with the ground in turn, supporting the body of the mobile device to realize leg-like movement, so as to improve the obstacle crossing capability; when the spoke assembly rotates along the axial direction of the hub and gradually tilts, the spacing between adjacent spoke assemblies gradually decreases, The adjacent wheel rim blocks gradually close together, and finally, a plurality of wheel rim blocks contact each other and close together to form an arc-shaped tread, that is, they can roll in contact with the ground, supporting the body of the mobile device to achieve wheeled movement, so as to increase the driving speed and pass through the flat area quickly and smoothly. It can be seen that the present invention realizes the position adjustment of the wheel rim blocks only by setting a control component to drive the rotatable spoke component to rotate, thereby efficiently completing the switching of the movement form to quickly adapt to different terrains. It has a simple structure and a few operating procedures, which is conducive to saving adjustment time and improving the environmental adaptability of the new variable structure multi-walking mode closed wheel surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a novel variable structure multi-travel mode wheel tread closed type wheel in the present invention;

[0023] Figure 2It is a structural schematic diagram of another state of the novel variable structure multi-travel mode wheel tread closed type wheel in the present invention;

[0024] Figure 3 It is a structural schematic diagram of another state of the novel variable structure multi-travel mode wheel tread closed type wheel in the present invention;

[0025] Figure 4 It is a structural explosion diagram of the novel variable structure multi-travel mode wheel tread closed type wheel in the present invention.

[0026] Among them, 100, wheel hub; 110, fixing block; 111, first connecting plate; 112, second connecting plate; 120, guide rod; 200, spoke assembly; 210, first spoke rod; 220, second spoke rod; 300, rim block; 310, arc plate; 320, reinforcing rib; 400, control assembly; 410, slider; 411, transmission rack; 420, driving member; 430, connecting rod. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] There are various types of wheel-legged robots in the prior art, generally including independent wheel and leg robots, wheel and leg combined robots, wheels are legs, legs are wheels, etc. By satisfying the wheeled movement and leg-based movement of the robot at the same time, the flexibility of the robot is increased. However, two systems, one driving the mechanical wheel structure and the other driving the mechanical leg structure, are set on the robot body at the same time, which increases the weight of the robot, is inconvenient to control, and takes a long time to switch the motion state. Therefore, the existing wheel-legged robots still have the defect of poor ability to adapt to the environment.

[0029] See also Figure 1In one embodiment of the present invention, a novel closed wheel with variable structure and multiple walking modes is disclosed, wherein the wheel comprises a hub 100, a plurality of spoke assemblies 200, a plurality of wheel rim blocks 300, and a control assembly 400, wherein the spoke assemblies 200 are hinged to the hub 100 and can rotate along the axial direction of the hub 100; and the plurality of spoke assemblies 200 are evenly distributed along the radial circumferential direction of the hub 100; the wheel rim blocks 300 are connected to one end of the spoke assemblies 200 away from the hub 100; the control assembly 400 is arranged on the hub 100, connected to the spoke assemblies 200, and used to drive the spoke assemblies 200 to rotate; when the spoke assemblies 200 rotate to close the plurality of wheel rim blocks 300, they are combined into an arc tread for wheel-type movement; when the spoke assemblies 200 rotate to separate the plurality of wheel rim blocks 300, a plurality of mechanical soles are formed for leg-type movement.

[0030] The novel variable structure multi-walking mode wheel tread closed type wheel disclosed in this embodiment is fixed on the body of the mobile device and used as a supporting and moving part of the body. During the movement of the mobile device, the control component 400 controls the rotation of the spoke component 200, and then controls the position of the rim block 300 set at the end of the spoke component 200; when the spoke component 200 rotates along the axial direction of the hub 100, the adjacent rim blocks 300 are separated from each other, and each rim block 300 can be regarded as a mechanical foot, which can form surface contact with the ground in turn, supporting the body of the mobile device to achieve leg-like movement, so as to improve the obstacle crossing ability; when the spoke component 200 rotates along the axial direction of the hub 100 and gradually tilts, the multiple spoke components 200 gradually shrink from the extended state, the spacing between the adjacent spoke components 200 gradually decreases, and the adjacent rim blocks 300 gradually close together, and finally, the multiple rim blocks 300 contact each other and close together to form an arc tread, and the new variable structure multi-walking mode wheel surface closed wheel can roll in contact with the ground, supporting the body of the mobile device to achieve wheeled movement, so as to increase the driving speed and pass through the flat area quickly and smoothly.

[0031] Specifically, when the spoke assembly 200 rotates along the axial direction of the hub 100, gradually becomes perpendicular to the surface of the hub 100, and becomes coplanar with the radial plane of the hub 100, a plurality of spoke assemblies 200 evenly distributed in the radial circumferential direction of the hub 100 extend radially, and the spacing between adjacent spoke assemblies 200 is large, so that adjacent rim blocks 300 are separated from each other. Each rim block 300 can be regarded as a mechanical foot, which can form surface contact with the ground independently, supporting the body of the mobile device to achieve leg-like movement, so as to improve the obstacle surmounting capability.

[0032] In summary, this embodiment achieves the position adjustment of the rim block 300 only by setting the control component 400 to drive the rotatable spoke component 200 to rotate, thereby efficiently completing the switching of movement forms to quickly adapt to different terrains. It has a simple structure and few operating procedures, which is conducive to saving adjustment time and improving the adaptability of the new variable structure multi-walking mode closed wheel to the environment.

[0033] Furthermore, in actual use, multiple closed wheels with variable structure and multiple walking modes disclosed in this embodiment are generally used simultaneously and fixed on both sides of the body of the mobile device to maintain the balance and stable movement of the body of the mobile device.

[0034] Specifically, as another implementation of this embodiment, it is disclosed that the spoke assembly 200 can rotate at an angle greater than 90°; when the spoke assembly 200 rotates to one side of the hub 100, the plurality of rim blocks 300 are closed for wheel movement in the first state; when the spoke assembly 200 rotates to the other side of the hub 100, the plurality of rim blocks 300 are closed for wheel movement in the second state. In the process of the spoke assembly 200 moving along the axial direction of the hub 100 toward or away from the body of the mobile device, the new variable structure multi-walking mode wheel surface closed wheel has three motion states: Figure 1 As shown, in the initial use state, the spoke assembly 200 rotates to tilt toward the fuselage, the wheel rim blocks 300 contact each other and are close to the fuselage, which is the first wheel movement state. At this time, the movement mode of the wheel is the first state wheel movement; Figure 2 As shown, the spoke assembly 200 rotates to be perpendicular to the surface of the hub 100, and the wheel rim blocks 300 are separated from each other, which is a leg-type moving state; Figure 3 As shown, the spoke assembly 200 is tilted in the direction away from the fuselage, and the wheel rim blocks 300 are in contact with each other and away from the fuselage, which is the second wheeled moving state. At this time, the movement mode of the wheel is the second state wheeled moving. It can be seen that the overall wheelbase of the mobile device in the second wheeled moving state is wider and more stable during movement, while the overall wheelbase of the mobile device in the first wheeled moving state is narrower and easier to pass through narrow passages; that is, in addition to the changes in the wheeled moving state and the leg-type moving state, the new variable structure multi-walking mode wheel surface closed wheel disclosed in this embodiment can also change the position of the spoke assembly 200 and change the distance between the wheel rim block 300 and the fuselage of the mobile device, thereby further improving the environmental adaptability of the new variable structure multi-walking mode wheel surface closed wheel, thereby adjusting the wheelbase of the mobile device and solving the problem of the mobile device moving in a narrow space.

[0035] It should be noted that although Figure 1 , Figure 2 and Figure 3 The number of spoke assemblies 200 shown in the figure is four groups, and the number of rim blocks 300 is four; however, the number of the spoke assemblies 200 disclosed in this embodiment is the same as the number of the rim blocks 300, which can be 2, 3, 4, 5, 6, etc., and is not limited in this embodiment. As long as the technical effects disclosed in this application can be achieved, combinations of other numbers of spoke assemblies 200 and rim blocks 300 should also be within the scope of protection of this application as equivalent replacements of the inventive concept.

[0036] like Figure 4 As shown, as another implementation of this embodiment, the wheel hub 100 is disclosed to include a fixed block 110, and the fixed block 110 includes a first connecting plate 111 and a second connecting plate 112 arranged in parallel; the spoke assembly 200 includes a first spoke rod 210 and a second spoke rod 220 of equal length, one end of the first spoke rod 210 is hinged to the first connecting plate 111, and the other end is hinged to the rim block 300; one end of the second spoke rod 220 is hinged to the second connecting plate 112, and the other end is hinged to the rim block 300.

[0037] The first connection disk 111 and the second connection disk 112 disclosed in this embodiment can be provided with through holes, and the first spoke rod 210 and the second spoke rod 220 can be provided with through holes. By inserting the pin shaft in the through hole and the through hole, the first connection disk 111 and the first spoke rod 210 and the second connection disk 112 and the second spoke rod 220 can be hinged. This connection method is stable, and the pin shaft can rotate freely in the through hole and the through hole, which is convenient for the first spoke rod 210 and the second spoke rod 220 to rotate at a large angle, so as to drive the wheel rim block 300 to rotate and complete the transformation of different motion states. In particular, the spoke assembly 200 in this embodiment drives the wheel rim block 300 to rotate at a large angle, and there are three states of closing, separation, and closing again, so that the wheeled mobile state can be maintained in two states of being away from the body of the mobile device and close to the body of the mobile device, and the wheelbase of the mobile device can be controlled to adjust the ability of the mobile device to pass through a narrow space.

[0038] Specifically, in the present embodiment, the first spoke 210 and the second spoke 220 are arranged in parallel, the purpose of which is to form a parallelogram connecting rod structure with the fixing block 110 and the wheel rim block 300. First, the constraint of the parallelogram connecting rod structure enables the first spoke 210 and the second spoke 220 to rotate only within the plane where the parallelogram connecting rod structure is located without causing lateral deviation, so that the movement trajectory of the spoke assembly is more accurate, and the shaking during the adjustment process is reduced, thereby maintaining stability. When the wheel tread closed wheel with a new variable structure and multiple walking mode is in a leg-type moving state, each spoke assembly 200 and the wheel rim block 300 can play a role of stable support; Second, the first spoke 210 and the second spoke 220 simultaneously serve as supporting parts, thereby increasing the load-bearing capacity of the spoke assembly 200, so as to increase the impact resistance of the closed wheel with a new variable structure and multiple walking modes; third, in the parallelogram connecting rod structure, the fixed block 110 remains parallel to the rim block 300, and during the rotation of the spoke assembly 200, the rim block 300 only moves forward and backward along the axial direction of the hub 100, but does not rotate, remains stable, and provides stable supporting force, and the surface of the rim block 300 in contact with the ground remains unchanged, which can reduce the area of ​​the rim block 300 subject to friction during movement, reduce the loss rate, and extend the service life.

[0039] For example Figure 4 As shown, as another implementation of this embodiment, it is disclosed that the wheel hub 100 includes a guide rod 120, the fixed block 110 is connected to the guide rod 120, and is located at the end of the guide rod 120; the control component 400 includes a slider 410, a driving member 420 and a plurality of connecting rods 430, the slider 410 is nested on the guide rod 120, and can slide freely along the axial direction of the guide rod 120; the driving member 420 is transmission-connected to the slider 410, and is used to drive the slider 410 to slide; one end of the connecting rod 430 is hinged to the slider 410, and the other end is hinged to the second spoke 220.

[0040] One end of the guide rod 120 disclosed in this embodiment is connected to the body of the mobile device, and the other end is connected to the fixed block 110; when the driving member 420 drives the slider 410 to slide toward the fixed block 110, as shown in FIG. Figure 3 As shown, a driving force is generated on the connecting rod 430, which drives the second spoke rod 220 connected to the connecting rod 430 to rotate in a direction away from the body of the mobile device, so that the wheel rim block 300 moves to a side away from the body of the mobile device and closes, so that the new variable structure multi-walking mode wheel surface closed type wheel is in a wheeled moving state; when the road condition is not good and obstacles need to be overcome, such as Figure 2As shown, the driving member 420 drives the slider 410 to slide in a direction away from the fixed block 110, thereby pulling the spoke assembly 200 and gradually rotating it to be perpendicular to the surface of the hub 100. At this time, the spoke assembly 200 is unfolded, so that the adjacent wheel rim blocks 300 are separated and converted into a leg-type moving state; when the road ahead is too narrow, such as Figure 1 As shown, the driving member 420 drives the slider 410 to continue to slide in the direction away from the fixed block 110, thereby pulling the spoke assembly 200 to the side close to the body of the mobile device, and contracting, so that the rim block 300 is gathered to form an arc tread, and converted into a wheel-type mobile state; it can be seen that the driving member 420 drives the slider 410 to slide, so that the new variable structure multi-walking mode wheel surface closed type wheel can switch between different mobile states to adapt to different actual road conditions, thereby increasing the adaptability of the new variable structure multi-walking mode wheel surface closed type wheel.

[0041] Specifically, the control method of the control component 400 disclosed in this embodiment is simple, and the connecting rod 430 and the second spoke rod 220 can be hingedly connected by pin shaft insertion, and the connection is firm and the transmission effect is good; of course, in other implementations of this embodiment, it is not limited to this, and the hinge method of the connecting rod 430 and the second spoke rod 220 can also be achieved by other physical connection methods, as an equivalent replacement of the concept of the present invention, and should also be within the scope of protection of this application.

[0042] Specifically, as another implementation of this embodiment, the cross-sectional shape of the guide rod 120 is disclosed as at least one of a regular triangle, a square, a regular pentagon, and a regular hexagon. The slider 410 in this embodiment slides on the guide rod 120. By setting the cross-sectional shape of the guide rod 120 to be a regular polygon, the outer surface of the guide rod 120 and the slider 410 form a limit constraint. The slider 410 is not easy to rotate along the radial direction of the guide rod 120 during the sliding process, thereby avoiding torsion, maintaining the connection between the slider 410, the connecting rod 430, and the second shaft rod stable, and avoiding loosening.

[0043] Specifically, as another implementation of this embodiment, the slider 410 is provided with a transmission rack 411 meshing with the driving member 420, and the length direction of the transmission rack 411 is parallel to the axial direction of the guide rod 120. The driving member 420 disclosed in this embodiment includes but is not limited to driving devices such as stepping motors and motors. By setting teeth on the output end of the driving member 420 and meshing with the transmission rack 411, the driving force is accurately and efficiently transmitted to the slider 410, so that the slider 410 moves quickly and is accurately controlled, thereby improving the controllability of the slider 410. In particular, in this embodiment, the length direction of the transmission rack 411 is parallel to the axial direction of the guide rod 120, so that the direction of the driving force received by the slider 410 during the transmission process is colinear with the axial direction of the guide rod 120, and no component force in other directions is generated, so that the slider 410 slides smoothly and the driving efficiency is improved.

[0044] For example Figure 4 As shown, as another implementation of this embodiment, the wheel rim block 300 is disclosed to include an arc-shaped plate 310 and a reinforcing rib 320 provided on the inner side of the arc-shaped plate 310, wherein the reinforcing rib 320 extends along the width direction of the arc-shaped plate 310; the first spoke rod 210 and the second spoke rod 220 are both hinged to the reinforcing rib 320. In this embodiment, a plurality of arc-shaped plates 310 are connected in sequence to form a complete circular contact surface, thereby realizing wheeled movement on the ground. However, at the same time, only a part of the arc-shaped plate 310 is in contact with the ground, which is prone to deformation. The reinforcing rib 320 is provided to increase the structural strength of the arc-shaped plate 310, which can increase the load-bearing capacity of the arc-shaped plate 310 and reduce deformation.

[0045] In addition, the reinforcing rib 320 in this embodiment extends along the width direction of the arc plate 310, so it can be set to a straight line. The surface of the reinforcing rib 320 is a plane, which is different from the curved surface of the arc plate 310. Therefore, the first spoke 210 and the second spoke 220 are connected to the reinforcing rib 320, so that the connection positions of the first spoke 210 and the second spoke 220 and the wheel rim block 300 are located on the same plane, which is beneficial to keep the arc plate 310 parallel to the surface of the wheel hub 100, and then the center position of each arc plate 310 coincides with the center position of the wheel hub 100, and when adjacent arc plates 310 are in contact, they can be smoothly docked, thereby improving the docking matching degree.

[0046] Specifically, as another implementation of this embodiment, the reinforcing rib 320 is provided at the central position of the arc-shaped plate 310. In actual use, the reinforcing rib 320 is provided at the central position of the arc-shaped plate 310, so that the pressure on the arc-shaped plate 310 can be better dispersed to both sides, so that the force distribution of the entire arc-shaped plate 310 is uniform, the stress concentration is reduced, and the cracks or even fractures on the arc-shaped plate 310 are prevented, which is conducive to increasing the structural strength of the wheel rim block 300.

[0047] Specifically, as another implementation of this embodiment, it is disclosed that the radius of the arc plate 310 is smaller than the length of the first spoke 210. When the first spoke 210 is unfolded, due to the small radius of the arc plate 310, the adjacent arc plates 310 cannot maintain contact, but are stretched apart by the corresponding first spoke 210 to achieve the effect of separating from each other and maintaining the leg-type moving state; the radius of the arc plate 310 is smaller than the length of the first spoke 210, so only when the first spoke 210 and the second spoke 220 are tilted, the adjacent arc plates 310 can contact and switch to the wheeled moving state.

[0048] Specifically, as another implementation of this embodiment, the arc angle of the arc plate 310 is x, which satisfies the following formula (1):

[0049]

[0050] Wherein, m is the number of the spoke assemblies 200 .

[0051] In this embodiment, the curvature of the curved plate 310 is determined by the number of spoke assemblies 200, so that each curved plate 310 is just a part of the curved tread. For example, when the number of spoke assemblies 200 is 4 groups, four curved plates 310 are provided, and the curvature of each curved plate 310 is When the number of spoke assemblies 200 is 6, six arc plates 310 are provided, and the curvature of each arc plate 310 is In this way, all the arc-shaped plates 310 are combined together to form a complete circular surface, which not only reduces material waste but also improves the accuracy of docking, so that the contact surface after the combination has no defects and the mobile device is more stable when rolling.

[0052] Specifically, in another embodiment of the present embodiment, the shape of the wheel rim block 300 is not limited to an arc shape, and can also be a flat plate shape, such as a triangle, a rectangle, etc. In the actual movement process, a plurality of triangular or rectangular wheel rim blocks 300 can be combined to form a curved table with a certain curvature and a smooth connection, so as to realize the wheel-type movement of the closed wheel surface of the new variable structure multi-walking mode; and when the shape of the wheel rim block 300 is a flat plate shape, when performing leg-type movement, the contact area between a single wheel rim block 300 and the ground is large, which is conducive to improving stability.

[0053] As another embodiment of the present application, a mobile vehicle is disclosed, which includes any of the above-mentioned new variable structure multi-travel mode wheel tread closed type wheels. The mobile vehicle disclosed in this embodiment can be used for transportation, detection, investigation, etc., and utilizes the flexibility of the new variable structure multi-travel mode wheel tread closed type wheels to adapt to various usage environments.

[0054] As another embodiment of the present application, a mobile device is disclosed, which includes a new type of wheel with a variable structure and multiple walking modes as described above. The mobile device disclosed in this embodiment includes but is not limited to a mobile robot. In the fields of reconnaissance, search and rescue, surveying and mapping, etc., robots are used more and more widely. Applying the new type of wheel with a variable structure and multiple walking modes disclosed in this embodiment to a mobile robot can further increase the adaptability of the mobile robot to the environment and increase the occasions where the mobile robot can be used. Of course, the mobile device disclosed in this embodiment is not limited to this. In application occasions such as homes, aerospace, and mechanical factories, as long as there is a need to flexibly respond to road conditions, the new type of wheel with a variable structure and multiple walking modes disclosed in this embodiment can be used as a mobile support component.

[0055] In summary, the present application discloses a novel closed wheel with variable structure and multiple walking modes, which includes a hub 100, multiple groups of spoke assemblies 200, multiple rim blocks 300, and a control assembly 400. The spoke assembly 200 is hinged to the hub 100 and can rotate along the axial direction of the hub 100; and multiple groups of the spoke assemblies 200 are evenly distributed along the radial circumferential direction of the hub 100; the rim block 300 is connected to one end of the spoke assembly 200 away from the hub 100; the control assembly 400 is arranged on the hub 100, connected to the spoke assembly 200, and is used to drive the spoke assembly 200 to rotate; when the spoke assembly 200 rotates to close the multiple rim blocks 300, they are combined into an arc tread for wheel-type movement; when the spoke assembly 200 rotates to separate the multiple rim blocks 300, multiple mechanical soles are formed for leg-type movement. The novel variable structure multi-walking closed wheel disclosed in this embodiment is fixed on the body of the mobile device and used as a supporting and moving part of the body of the mobile device; during the movement of the mobile device, the control component 400 controls the rotation of the spoke assembly 200, and then controls the position of the wheel rim block 300 set at the end of the spoke assembly 200; when the spoke assembly 200 rotates along the axial direction of the hub 100, the adjacent wheel rim blocks 300 are separated from each other, and each wheel rim block 300 forms a surface contact with the ground in turn, supporting the mobile device. The body of the device realizes leg-like movement to improve the obstacle crossing ability; when the spoke assembly 200 rotates along the axial direction of the hub 100 and gradually tilts, the spacing between adjacent spoke assemblies 200 gradually decreases, and adjacent wheel rim blocks 300 gradually close together. Finally, multiple wheel rim blocks 300 contact each other and close together to form an arc tread. The new variable structure multi-walking mode wheel surface closed type wheel can be in rolling contact with the ground, supporting the body of the mobile device to realize wheel-like movement, so as to increase the driving speed and pass through the flat area quickly and smoothly. In summary, this embodiment only drives the rotatable spoke assembly 200 to rotate by setting the control assembly 400, realizes the position adjustment of the wheel rim block 300, thereby efficiently completing the switching of the motion form to quickly adapt to different terrains and landforms. The structure is simple and the operation process is less, which is conducive to saving adjustment time and improving the adaptive ability of the new variable structure multi-walking mode wheel surface closed type wheel to the environment.

[0056] Those skilled in the art will easily come up with other embodiments of the present invention after considering the specification and practicing the invention invented herein. This application is intended to cover any modification, use or adaptive change of the present invention, which follows the general principles of the present invention and includes common knowledge or customary technical means in the field of the present invention that are not invented by the present invention. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims. It should be noted that the present invention takes a new type of variable structure multi-walking mode wheel tread closed type wheel as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to a new type of variable structure multi-walking mode wheel tread closed type wheel, and can also be applied to the production and use of other similar mobile carts or mobile robots.

[0057] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0058] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A new type of variable structure multi-travel mode wheel with closed wheel surface, characterized in that: include: Wheel hub; A plurality of spoke assemblies, wherein the spoke assemblies are hinged to the hub and can rotate along the axial direction of the hub; and the plurality of spoke assemblies are evenly distributed along the radial circumferential direction of the hub; A plurality of wheel rim blocks, wherein the wheel rim blocks are connected to an end of the spoke assembly away from the wheel hub; A control assembly, disposed on the wheel hub and connected to the spoke assembly, for driving the spoke assembly to rotate; When the spoke assembly rotates to bring the plurality of wheel rim blocks together, they are combined into an arc-shaped tread for wheeled movement; When the spoke assembly rotates to separate the plurality of wheel rim blocks, a plurality of mechanical soles are formed for leg-like movement; The wheel hub comprises a fixing block, and the fixing block comprises a first connecting disk and a second connecting disk arranged in parallel; The spoke assembly comprises a first spoke rod and a second spoke rod of equal length, wherein one end of the first spoke rod is hinged to the first connecting plate, and the other end is hinged to the wheel rim block; one end of the second spoke rod is hinged to the second connecting plate, and the other end is hinged to the wheel rim block; The wheel hub includes a guide rod, and the fixing block is connected to the guide rod and is located at the end of the guide rod; the control assembly includes: A sliding block is nested on the guide rod and can slide freely along the axial direction of the guide rod; A driving member, drivingly connected to the slider, and used to drive the slider to slide; A plurality of connecting rods, one end of each connecting rod is hinged to the slider, and the other end of each connecting rod is hinged to the second spoke rod; The wheel rim block comprises an arc-shaped plate and a reinforcing rib arranged on the inner side of the arc-shaped plate, wherein the reinforcing rib extends along the width direction of the arc-shaped plate; the first spoke rod and the second spoke rod are both hinged to the reinforcing rib; The spoke assembly can rotate at an angle greater than 90°; when the spoke assembly rotates to one side of the hub, the plurality of rim blocks are closed for wheel movement in the first state; when the spoke assembly rotates to the other side of the hub, the plurality of rim blocks are closed for wheel movement in the second state.

2. The novel variable structure multi-travel mode wheel with closed wheel surface according to claim 1 is characterized in that: The cross-sectional shape of the guide rod is at least one of a regular triangle, a square, a regular pentagon, and a regular hexagon.

3. The novel variable structure multi-travel mode wheel with closed wheel tread according to claim 1, characterized in that: The sliding block is provided with a transmission rack meshing with the driving member, and the length direction of the transmission rack is parallel to the axial direction of the guide rod.

4. The novel variable structure multi-travel mode wheel with closed wheel tread according to claim 1, characterized in that: The radius of the arc-shaped plate is smaller than the length of the first spoke.

5. The novel variable structure multi-travel mode wheel with closed wheel tread according to claim 1, characterized in that: The arc angle of the arc plate is x, which satisfies the following formula: x=2π / m Wherein, m is the number of the spoke components.

6. A mobile device, characterized in that: A new type of variable structure multi-travel mode closed wheel comprising a wheel tread as described in any one of claims 1 to 5.

Images