A variable diameter robot

Abstract

The application discloses a variable-diameter robot, wherein at least one set of variable-diameter components is arranged on a roller of the variable-diameter robot; the variable-diameter components are arranged along a radial direction of the roller; wherein the variable-diameter components comprise a variable-diameter rod and a telescopic component, a telescopic variable-diameter structure is formed based on the combination of the variable-diameter rod and the telescopic component, and the variable-diameter components can be telescopically arranged on the roller to realize the variable-diameter function of the roller. The variable-diameter function of the roller is realized based on the variable-diameter components, so that if the roller-type robot is blocked or stuck by an obstacle during movement, the variable-diameter components can be used to realize the crossing of the obstacle, effectively improve the obstacle-crossing ability of the roller-type robot, enhance the passability of the roller-type robot in different terrain environments, and improve the user experience.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a robot with a variable diameter. Background Technology

[0002] With the development of technology, robots are being widely used in more and more technical fields. However, in practical applications, wheeled robots have a relatively weak ability to overcome obstacles and hurdles. Due to the presence of obstacles such as power cords and shoes in the environment, wheeled robots are easily blocked or stuck during movement, affecting their efficiency in performing tasks and impacting the user experience. Therefore, improving the obstacle-crossing ability of wheeled robots is necessary. Summary of the Invention

[0003] This application provides a robot with a variable diameter, and the specific technical solution is as follows:

[0004] A variable-diameter robot, wherein at least one set of variable-diameter components is provided on the rollers of the variable-diameter robot; wherein the variable-diameter components are arranged along the radial direction of the rollers.

[0005] Furthermore, the variable diameter assembly includes: a variable diameter rod, which is arranged along the radial direction of the roller; wherein the top of the variable diameter rod protrudes from the roller surface of the variable diameter robot.

[0006] Furthermore, the variable diameter assembly further includes a telescopic assembly; wherein the telescopic assembly and the variable diameter rod combine to form a telescopic variable diameter structure.

[0007] Furthermore, the telescopic component is a spring, which is sleeved on the outside of the variable diameter rod.

[0008] Furthermore, the variable diameter rod is provided with a first limiting structure, and one end of the telescopic component abuts against the end of the first limiting structure near the center of the roller, so that the first limiting structure limits the telescopic component.

[0009] Furthermore, the same number of mounting through holes for assembling the variable diameter components are provided on the roller according to the number of variable diameter components. Each mounting through hole includes a first receiving cavity and a second receiving cavity. The bottom opening of the first receiving cavity is connected to the top opening of the second receiving cavity. The diameter of the first receiving cavity is smaller than the diameter of the first limiting structure, the diameter of the first receiving cavity is larger than the diameter of the variable diameter rod, and the diameter of the second receiving cavity is larger than the diameter of the first limiting structure. When the variable diameter rod is assembled on the roller, the top of the second receiving cavity limits the variable diameter rod based on the first limiting structure.

[0010] Furthermore, the first limiting structure is provided with at least one first opening to reduce the frictional force experienced by the first limiting structure during its extension and retraction within the second receiving cavity.

[0011] Furthermore, the roller is provided with the same number of second limiting structures as the number of diameter-changing components. The second limiting structures are used together with the first limiting structures to limit the telescopic components. One end of the telescopic component abuts against the end of the first limiting structure of the diameter-changing rod near the center of the roller, and the other end of the telescopic component abuts against the end of a corresponding second limiting structure away from the center of the roller.

[0012] Furthermore, the second limiting structure is provided with a second opening; wherein the bottom of the variable diameter rod is assembled onto the roller through the second opening.

[0013] Furthermore, the second opening is an Ω-shaped opening; wherein the center diameter of the Ω-shaped opening is greater than or equal to the diameter of the variable diameter rod, so that the bottom of the variable diameter rod can be mounted in the Ω-shaped opening, and the extension and retraction direction of the variable diameter rod is restricted by the Ω-shaped opening.

[0014] Furthermore, the opening width of the Ω-shaped opening is smaller than the diameter of the variable diameter rod, and the Ω-shaped opening can be elastically assembled, so that the bottom of the variable diameter rod can pass through the opening and be assembled inside the Ω-shaped opening based on the elasticity of the Ω-shaped opening.

[0015] Furthermore, the roller is detachably mounted on the variable-diameter robot, and when the roller is removed from the variable-diameter robot, the variable-diameter assembly is mounted on the roller through the mounting through hole and the second limiting structure.

[0016] Furthermore, when the variable diameter assembly rotates with the roller until it contacts the ground, the variable diameter rod, based on the robot's own gravity, causes the telescopic assembly to retract towards the center of the roller, making the top of the variable diameter rod flush with the surface of the roller; when the variable diameter assembly is not in contact with the ground, the telescopic assembly, based on its own rebound, causes the variable diameter rod to extend in the radial direction of the roller, making the top of the variable diameter rod protrude out of the first receiving cavity.

[0017] The variable-diameter robot described in this application, by setting several sets of variable-diameter components on the robot's wheels, achieves variable wheel diameter based on the variable-diameter components. This allows the wheeled robot to overcome obstacles if it is blocked or stuck during movement by changing the diameter of the wheeled components, effectively improving the obstacle-crossing ability of the wheeled robot, enhancing its passability in different terrain environments, and improving the user experience. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a variable-diameter robot according to one embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the internal structure of the roller according to one embodiment of this application.

[0020] Figure 3 This is a cross-sectional view of a variable-diameter robot according to one embodiment of this application.

[0021] Figure 4 This is a cross-sectional view of a variable diameter assembly according to one embodiment of this application.

[0022] Figure 5 This is a partial structural diagram of the variable diameter assembly assembled on the roller according to one embodiment of this application.

[0023] The numbers in the diagram are explained as follows: 1-Right roller; 2-Left roller; 3-First diameter changing assembly; 4-Second diameter changing assembly; 5-Third diameter changing assembly; 6-Fourth diameter changing assembly; 7-Diameter changing rod; 8-First limiting structure; 9-Telescopic assembly; 10-Second limiting structure; 11-Second receiving cavity; 12-First receiving cavity. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0025] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” and “the,” etc., used in this application do not indicate quantity limitation and may represent singular or plural. The terms “comprising,” “including,” “having,” and variations thereof used in this application are intended to cover non-exclusive inclusion, for example: a process, method, system, product, or apparatus that includes a series of steps is not limited to the listed steps but may also include steps or units not listed, or may include other steps or units inherent to such processes, methods, products, or apparatus.

[0026] In practical applications, due to the presence of obstacles such as power cords and shoes in the environment, the roller robot is easily blocked or stuck during movement, which affects the efficiency of the roller robot in performing work tasks and also affects the user's experience of using the roller robot. Therefore, the roller robot has a technical defect of relatively weak obstacle crossing ability.

[0027] To address the aforementioned technical problems, the first embodiment of this application provides a variable-diameter robot. By arranging several sets of variable-diameter components on the robot's rollers, the robot can change the diameter of its rollers when obstructed or stuck by obstacles. This allows the robot to traverse obstacles, effectively improving its obstacle-crossing ability, enhancing its mobility in different terrain environments, and improving the user experience. Specifically, the several sets of variable-diameter components are arranged along the radial direction of the rollers. The radial direction of the rollers refers to a straight line along the diameter or radius of the rollers, that is, a straight line perpendicular to the rolling axis of the rollers. This embodiment sets the direction of the variable-diameter components along the radial direction of the rollers, allowing the components to directly extend or change the diameter or radius of the rollers.

[0028] In the variable-diameter robot provided in the second embodiment of this application, the variable-diameter component includes at least: a variable-diameter rod; the variable-diameter rod is used to realize the diameter change of the roller. Specifically, the variable-diameter rod is arranged along the radial direction of the roller, so that the variable-diameter rod can extend the diameter of the roller in the radial direction of the roller. A portion of the top of the variable-diameter rod protrudes beyond the surface of the roller of the variable-diameter robot, such that the portion of the variable-diameter rod protruding beyond the surface of the roller of the variable-diameter robot serves as an extension of the roller diameter, thereby achieving the purpose of changing the diameter of the roller. In this embodiment, the diameter-changing effect of the variable-diameter rod on the roller depends on the length of the top of the variable-diameter rod protruding beyond the surface of the roller of the variable-diameter robot. The longer the length of the top of the variable-diameter rod protruding beyond the surface of the roller of the variable-diameter robot, the longer the extension length of the diameter of the roller of the variable-diameter robot, and the more obvious the diameter-changing effect of the roller. Since this embodiment uses a variable diameter component to change the diameter of the roller, rather than changing the overall diameter of the roller, when the roller robot is blocked or stuck by an obstacle, the part of the variable diameter rod protruding from the surface of the roller forms a certain angle with the obstacle. When the roller rotates, the part of the variable diameter rod protruding from the surface of the roller serves as a fulcrum for the robot on the obstacle, helping the robot to cross the obstacle, thereby improving the robot's obstacle-crossing performance.

[0029] In the variable-diameter robot provided in the third embodiment of this application, the variable-diameter component includes at least: a variable-diameter rod and a telescopic component; the variable-diameter rod is used to realize the change of diameter of the roller, and the telescopic component is used to combine with the variable-diameter rod to form a telescopic variable-diameter structure. Specifically, the telescopic component allows the length of the variable-diameter rod protruding from the roller surface to be telescopically adjustable. When the robot is not blocked or stuck by an obstacle, when the robot roller rotates to the point where the variable-diameter rod contacts the ground, the telescopic component ensures that the top of the variable-diameter rod does not protrude from the surface of the roller, so that the variable-diameter component does not produce a change of diameter effect on the roller when the robot is not blocked or stuck by an obstacle, thus ensuring the smoothness of the roller rotation when the robot moves.

[0030] Preferably, in some embodiments of this application, the telescopic component is a spring, and the telescopic component and the variable diameter rod are combined to form a telescopic variable diameter structure based on the spring. Specifically, the spring is sleeved on the outside of the variable diameter rod. When the variable diameter rod is subjected to an external force and retracts into the roller, the variable diameter rod drives the spring to compress, and the length of the variable diameter rod protruding from the surface of the roller becomes shorter. Conversely, when the variable diameter rod is not subjected to an external force, the spring rebounds and drives the variable diameter rod to extend outward from the roller, and the top part of the variable diameter rod protrudes from the surface of the roller, thereby increasing the diameter of the roller.

[0031] In the variable-diameter robot provided in the fourth embodiment of this application, a first limiting structure is provided on the variable-diameter rod. One end of the telescopic component abuts against the end of the first limiting structure near the center of the roller, so that the first limiting structure on the variable-diameter rod limits the telescopic component. Specifically, when the variable-diameter rod is subjected to an external force, based on the abutment between the first limiting structure on the variable-diameter rod and the telescopic component, the variable-diameter rod drives the telescopic component to compress. Conversely, when the variable-diameter rod is not subjected to an external force, the rebound of the telescopic component itself drives the variable-diameter rod, which abuts against the first limiting structure, to extend.

[0032] Specifically, the rollers of the variable-diameter robot are provided with mounting through holes for assembling variable-diameter components; the number of mounting through holes is the same as the number of variable-diameter components provided on the rollers. Each mounting through hole is composed of a first receiving cavity and a second receiving cavity. The bottom opening of the first receiving cavity communicates with the top opening of the second receiving cavity. The diameter of the first receiving cavity is smaller than the diameter of the first limiting structure, so that the first limiting structure of the variable-diameter rod cannot detach from the roller through the first receiving cavity; while the diameter of the first receiving cavity is larger than the diameter of the variable-diameter rod, so that the top of the variable-diameter rod can protrude from the roller through the first receiving cavity, and the rod can freely extend and retract within the first receiving cavity; simultaneously, the diameter of the second receiving cavity is limited to be larger than the diameter of the first limiting structure, so that the first limiting structure of the variable-diameter rod can freely extend and retract within the second receiving cavity. When the variable diameter rod is assembled on the roller, since the diameter of the first receiving cavity is smaller than the diameter of the first limiting structure, the bottom of the first receiving cavity in the assembly through hole limits the first limiting structure of the variable diameter rod, thereby limiting the maximum length of the top of the variable diameter rod protruding from the surface of the roller.

[0033] It should be noted that the first limiting structure divides the variable diameter rod into two parts. The part of the rod body at the top, excluding the first limiting structure, is considered the first part of the variable diameter rod. The first part of the variable diameter rod can freely extend and retract within the first receiving cavity. The part of the variable diameter rod at the bottom, including the first limiting structure, is considered the second part of the variable diameter rod. The second part of the variable diameter rod can freely extend and retract within the second receiving cavity. Due to the diameter limitation of the first receiving cavity, the second part of the variable diameter rod cannot pass through the first receiving cavity, thus ensuring that part of the rod body of the variable diameter rod can always remain inside the roller. The variable diameter rod will not fall out of the assembly through hole and onto the outside of the roller. The variable diameter rod must first be assembled onto the roller through the second receiving cavity of the roller to ensure the orderly and convenient assembly of the variable diameter assembly.

[0034] In some embodiments of this application, at least one first opening is provided on the first limiting structure. By providing a first opening on the first limiting structure, the frictional force experienced by the first limiting structure during extension and retraction within the second receiving cavity of the assembly through hole is reduced, thereby improving the smoothness of the extension and retraction of the variable diameter rod.

[0035] In the variable-diameter robot provided in the fifth embodiment of this application, the same number of second limiting structures are set on the rollers according to the number of variable-diameter components. Specifically, the second limiting structures are used together with the first limiting structures to limit the telescopic components. One end of the telescopic component abuts against the end of the first limiting structure on a corresponding variable-diameter rod near the center of the roller, and the other end of the telescopic component abuts against the end of a corresponding second limiting structure away from the center of the roller. The telescopic component is restricted between the first limiting structure and the second limiting structure. Specifically, the second limiting structure has a second opening, and the bottom of the variable-diameter rod is mounted on the roller through the second opening, so that the second limiting structure does not limit the variable-diameter rod. The variable-diameter rod can freely extend and retract through the second opening of the second limiting structure. The extension and retraction of the variable-diameter rod is only limited by the mounting through hole on the roller. When the variable-diameter component rotates with the roller to contact the ground, based on the robot's own gravity acting on the variable-diameter rod, the variable-diameter rod drives the telescopic component to retract towards the center of the roller, so that the top of the variable-diameter rod is flush with the surface of the roller. Conversely, when the variable diameter assembly is not in contact with the ground, the telescopic assembly, based on its own rebound, causes the variable diameter rod to extend radially towards the roller, so that the top of the variable diameter rod protrudes from the first receiving cavity. The variable diameter robot provided in this embodiment achieves roller telescopic diameter adjustment based on the variable diameter assembly. Furthermore, when the robot is not stuck by an obstacle, the variable diameter assembly can flexibly extend and retract with the rotation of the roller, without affecting the smoothness of the roller's rotation. This solves the problem of the roller being obstructed by obstacles without affecting the normal rotation of the roller.

[0036] In some embodiments of this application, the second opening is configured as an Ω-shaped opening, with the center diameter of the Ω-shaped opening being greater than or equal to the diameter of the variable diameter rod. This allows the bottom of the variable diameter rod to be fitted into the Ω-shaped opening, thereby restricting the extension and retraction direction of the variable diameter rod. It should be noted that the center diameter of the Ω-shaped opening refers to the diameter length passing through the center point of the opening. Preferably, the opening width of the Ω-shaped opening determines its enclosure and limiting effect; the smaller the opening width, the stronger the enclosure and limiting effect on the variable diameter rod. In some embodiments of this application, the opening width of the Ω-shaped opening is limited to be less than the diameter of the variable diameter rod, resulting in a larger enclosure angle and thus a stronger limiting effect on the variable diameter rod. To facilitate assembly on the production line, the Ω-shaped opening is designed for flexible assembly. That is, the opening of the Ω-shaped opening is elastic, allowing the bottom of the variable diameter rod to pass through the opening of the Ω-shaped opening and be mounted inside the Ω-shaped opening. Since the opening width of the Ω-shaped opening is smaller than the diameter of the variable diameter rod, the opening of the Ω-shaped opening has a limiting effect on the variable diameter rod mounted inside the Ω-shaped opening, preventing the variable diameter rod from detaching from the Ω-shaped opening during extension and retraction.

[0037] Figure 5 A second limiting structure 10 is shown, wherein the second opening is configured as an Ω-shaped opening, the center diameter of which is larger than the diameter of the variable diameter rod. Figure 5 As shown, the bottom of the reducing rod 7 is mounted on an Ω-shaped opening, the telescopic component 9 is sleeved on the outside of the reducing rod 7, and the top of the reducing rod 7 is exposed on the roller surface through a mounting through hole. The second limiting structure 10 limits the telescopic direction of the reducing rod 7 based on the enclosure of its Ω-shaped opening. Based on the Ω-shaped opening, when the reducing component is mounted on the roller, it can be, but is not limited to, first sleeved on the reducing rod, passing the top of the reducing rod through the mounting through hole, and then mounting the bottom of the reducing rod inside the Ω-shaped opening, so that the telescopic component is constrained between the first and second limiting structures, thus completing the mounting of the reducing component on the roller; or, first sleeved on the reducing rod, mounting the bottom of the reducing rod inside the Ω-shaped opening, so that the telescopic component is constrained between the first and second limiting structures, pulling the bottom of the reducing rod compresses the telescopic component until the top of the reducing rod can pass through the mounting through hole, thus completing the mounting of the reducing component on the roller. In these embodiments, the second opening is set as an Ω-shaped opening, which allows the bottom of the variable diameter rod to be quickly and easily assembled onto the Ω-shaped opening. By directly mounting the bottom of the variable diameter rod onto the Ω-shaped opening, the assembly of one end of the variable diameter rod is completed, reducing the assembly process and improving production assembly efficiency.

[0038] In some embodiments of this application, the second opening is configured as a U-shaped opening. The U-shaped opening, with its two U-shaped wings, confines the variable diameter rod within the opening, such that when the variable diameter assembly is mounted on the roller, the bottom of the variable diameter rod is supported within the U-shaped opening, and the extension / retraction direction of the variable diameter rod is restricted by the two wings of the U-shaped opening. The width of the U-shaped opening may be, but is not limited to, less than, greater than, or equal to the diameter of the variable diameter rod.

[0039] In some embodiments of this application, the second opening is configured as a hollow opening. The hollow opening refers to a design where the second limiting structure is hollow in the middle and closed on all sides. The size of the hollow opening is set to allow the variable diameter rod to pass through, confining the variable diameter rod within its opening. Due to the limitation of the hollow opening, when assembling the variable diameter assembly onto the roller, the telescopic component must first be fitted onto the outside of the variable diameter rod. Then, the bottom of the variable diameter rod with the telescopic component fitted onto it passes through the hollow opening of the second limiting structure. The telescopic component abuts against the second limiting structure, thus restricting the telescopic component between the first and second limiting structures. Pulling the bottom of the variable diameter rod compresses the telescopic component until the top of the variable diameter rod can pass through the mounting through hole. Passing the top of the variable diameter rod through the mounting through hole securely assembling the variable diameter assembly onto the roller. In these embodiments, configuring the second opening as a hollow opening allows the variable diameter rod to be more firmly assembled onto the roller, preventing the bottom of the variable diameter rod from detaching from the second opening as the roller rotates, thus improving the stability of the variable diameter assembly.

[0040] In the variable-diameter robot provided in the sixth embodiment of this application, the roller is detachably mounted on the variable-diameter robot. Specifically, since the variable-diameter component in this application is assembled inside the roller, with only the top of the variable-diameter rod exposed on the roller surface, when the roller is mounted on the variable-diameter robot, the variable-diameter component is assembled inside the roller. The user cannot directly remove the variable-diameter component from the robot; instead, the roller must first be removed from the variable-diameter robot before the variable-diameter component can be removed from inside the roller. This structure ensures the stable assembly of the variable-diameter component in the variable-diameter robot, as well as superior concealment.

[0041] In the variable-diameter robot provided in the seventh embodiment of this application, the roller is provided with several sets of variable-diameter components, and the distance between these sets of variable-diameter components is equal, that is, the several sets of variable-diameter components are evenly distributed on the roller. Preferably, in some embodiments of this application, the distance between the several sets of variable-diameter components provided on the roller is not equal, that is, the several sets of variable-diameter components are not evenly distributed on the roller. The position of the variable-diameter components on the roller, whether equidistant or non-equidistant, only affects the roller rotation angle required for the robot to escape when it is blocked or stuck by an obstacle. When a variable-diameter robot is blocked or stuck by an obstacle, it needs to control the rotation of its rollers to escape. This rotation brings the variable-diameter component on the rollers into contact with the obstacle surface at a certain angle, allowing the component to act as a fulcrum and assist the robot in crossing the obstacle. Even if the variable-diameter component cannot assist the robot in crossing the obstacle in one go, the contact between the component and the obstacle surface increases the robot's ability to change its position. By slightly adjusting the robot's position, the likelihood of it escaping the obstacle is increased. The shorter the distance between several sets of variable-diameter components, the smaller the angle of roller rotation needed to escape when the robot is blocked or stuck, and the shorter the time required for escape. Conversely, the greater the distance between the sets of variable-diameter components, the larger the angle of roller rotation needed to escape, and the longer the time required for escape.

[0042] In the variable-diameter robot provided in the eighth embodiment of this application, the variable-diameter robot has a roller on its left side and a roller on its right side. A first number of variable-diameter components are provided on the left roller of the variable-diameter robot, and a second number of variable-diameter components are provided on the right roller of the variable-diameter robot. The first number and the second number may be equal or unequal. It can be understood that in this application, the number of variable-diameter components provided on different rollers of the variable-diameter robot may be the same or different. When the number of diameter-changing components on the left and right rollers of a variable-diameter robot is unequal, or when the rotational positions of the diameter-changing components on the left and right rollers are asymmetrical, the telescopic components within the diameter-changing components can extend and retract under external force. When the robot is not obstructed or stuck by obstacles, the roller rotation drives the diameter-changing components to contact the ground. When the diameter-changing components contact the ground, they retract inward under the robot's own gravity, and the rotation of the rollers is not affected by the diameter-changing components. Conversely, when the robot is obstructed or stuck by obstacles, the roller rotation drives the diameter-changing components to rotate. The diameter-changing components on the left and / or right wheels form a certain angle with the obstacle surface, allowing the diameter-changing components to act as fulcrums to assist the robot in crossing obstacles. Therefore, whether the number of diameter-changing components on the two rollers of the robot is equal or whether the rotational positions of the diameter-changing components on the two rollers of the robot are symmetrical will not affect the smoothness of the robot's roller movement.

[0043] In the variable-path robot provided in the ninth embodiment of this application, such as Figure 1 As shown, the variable-diameter robot includes a left roller 2 and a right roller 1. Four sets of variable-diameter components are evenly spaced on the left roller 2, and four sets of variable-diameter components are also evenly spaced on the right roller 1. Taking one roller as an example... Figure 2 As shown, the variable diameter robot has four sets of variable diameter components on one side of the roller, namely the first variable diameter component 3, the second variable diameter component 4, the third variable diameter component 5 and the fourth variable diameter component 6. The four sets of variable diameter components are equally spaced and are arranged in the radial direction of the roller. Figure 2 The four variable diameter components on the displayed roller are all in a naturally extended state. The variable diameter rods extend naturally without external force, and the telescopic components are not compressed by external force. The top part of the variable diameter rod in each variable diameter component protrudes from the roller surface. Figure 3 In the demonstrated state, the first diameter-changing component 3, the second diameter-changing component 4, and the fourth diameter-changing component 6 are all in a naturally extended state, while the top of the third diameter-changing rod in the third diameter-changing component 5 is in contact with the ground. The third diameter-changing rod is driven by the robot's own gravity to retract the third telescopic component into the roller, and the length of the top of the third diameter-changing rod protruding from the roller surface is shortened, so that the third diameter-changing rod does not affect the rotation of the roller.

[0044] Figure 4A cross-sectional view of the variable diameter assembly is shown. Each variable diameter assembly includes at least: a variable diameter rod 7 and a telescopic component 9. In this embodiment, the telescopic component 9 is configured as a spring 9. A first limiting structure 8 is provided on the variable diameter rod 7, and a second limiting structure 10 is provided inside the roller. One end of the spring 9 abuts against the end of the first limiting structure 8 near the center of the roller, and the other end of the spring 9 abuts against the end of the second limiting structure 10 away from the center of the roller. The spring is confined between the first limiting structure 8 and the second limiting structure 10. Figure 4 and Figure 5 As shown, the roller is provided with an assembly through hole for assembling the variable diameter assembly. The assembly through hole includes a first receiving cavity 12 and a second receiving cavity 11. The diameter of the first receiving cavity 12 is smaller than the diameter of the second receiving cavity 11. The diameter of the first receiving cavity 12 is larger than the diameter of the rod body of the variable diameter rod 7, but the diameter of the first receiving cavity 12 is smaller than the diameter of the first limiting structure 8. Therefore, the bottom of the first receiving cavity has a limiting effect on the first limiting structure 8. The diameter of the second receiving cavity 11 is larger than the diameter of the first limiting structure 8. Therefore, the first limiting structure 8 can freely extend and retract within the second receiving cavity 11. The top of the variable diameter rod 7 protrudes from the outer surface of the roller through the first receiving cavity 12 of the assembly through hole. The bottom of the variable diameter rod 7 and the first limiting structure 8 of the variable diameter rod 7 are assembled with the second opening on the second limiting structure 10 through the second receiving cavity 11.

[0045] Figure 5 This shows a magnified view of a portion of the variable diameter assembly mounted on the roller, viewed from the center of the roller outwards. Figure 5As shown, the second limiting structure 10 is provided with an Ω-shaped second opening. The center diameter of the second opening is larger than the diameter of the variable diameter rod 7, so that the rod of the variable diameter rod 7 can be mounted on the second opening. The opening width of the Ω-shaped opening is smaller than the diameter of the variable diameter rod. The Ω-shaped opening is elastically assembled, so that the bottom rod of the variable diameter rod can pass through the opening and be assembled inside the Ω-shaped opening based on the elasticity of the Ω-shaped opening. The bottom rod of the variable diameter rod 7 is mounted on the Ω-shaped opening. The telescopic component 9 is sleeved on the outside of the variable diameter rod 7. The two ends of the telescopic component 9 abut against the first limiting structure 8 on the variable diameter rod 7 and the second limiting structure 10 on the roller, respectively. The extension and compression of the telescopic component 9 are adjusted based on the interaction force between the first limiting structure 8, the second limiting structure 10 and the telescopic component 9. At the same time, the second limiting structure 10, based on its Ω-shaped second opening, limits the variable diameter rod 7 to only extend and retract within the second opening, which is equivalent to limiting the extension and retraction direction of the variable diameter rod 7. In the variable-diameter robot provided in this embodiment, the two side rollers can be detached from the variable-diameter robot. The variable-diameter component needs to be assembled from the inside of the roller onto the roller. The specific assembly process can be, but is not limited to, firstly, the telescopic component 9 is sleeved on the body of the variable-diameter rod 7 through the bottom, so that one end of the telescopic component 9 abuts against the first limiting structure 8 on the variable-diameter rod 7. The top of the variable-diameter rod 7 is then assembled into the mounting through hole on the roller through the second receiving cavity 11 and the first receiving cavity 12, so that the top part of the variable-diameter rod 7 is exposed on the outer surface of the roller. Then, the bottom body of the variable-diameter rod 7 is mounted on the second opening of the second limiting structure 10, and the other end of the telescopic component abuts against the second limiting structure 10, so that the variable-diameter rod can extend and retract on the roller based on the telescopic characteristics of the telescopic component.

[0046] Obviously, the above embodiments are only some embodiments of the present invention, not all embodiments, and the technical solutions of various embodiments can be combined with each other. In the above embodiments of the present invention, the descriptions of each embodiment have their own emphasis, and parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments. In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable diameter robot, characterized by, The variable-diameter robot is provided with at least one set of variable-diameter components on the roller; wherein the variable-diameter components are arranged along the radial direction of the roller; The variable-diameter component comprises a variable-diameter rod and a telescopic component; the variable-diameter rod is arranged along the radial direction of the roller; wherein the top of the variable-diameter rod protrudes from the surface of the roller of the variable-diameter robot; the telescopic component is a spring, which is sleeved outside the variable-diameter rod; the telescopic component and the variable-diameter rod form a telescopic variable-diameter structure in combination; The variable-diameter rod is provided with a first limiting structure, and one end of the telescopic component is in abutment with one end of the first limiting structure close to the center of the roller, so that the first limiting structure limits the telescopic component; According to the number of variable-diameter components, the same number of assembly through holes for assembling the variable-diameter components are correspondingly arranged on the roller; each assembly through hole comprises a first accommodating cavity and a second accommodating cavity, and the bottom opening of the first accommodating cavity is in communication with the top opening of the second accommodating cavity; the diameter of the first accommodating cavity is smaller than the diameter of the first limiting structure, and the diameter of the first accommodating cavity is larger than the diameter of the variable-diameter rod; the diameter of the second accommodating cavity is larger than the diameter of the first limiting structure; when the variable-diameter rod is assembled on the roller, the bottom of the first accommodating cavity limits the first limiting structure of the variable-diameter rod; The first limiting structure is provided with at least one first opening to reduce the friction force of the first limiting structure in the second accommodating cavity; According to the number of variable-diameter components, the same number of second limiting structures are correspondingly arranged on the roller; the second limiting structure is used for limiting the telescopic component together with the first limiting structure; wherein one end of the telescopic component is in abutment with one end of the first limiting structure of the variable-diameter rod close to the center of the roller, and the other end of the telescopic component is in abutment with one end of the corresponding second limiting structure away from the center of the roller; The second limiting structure is provided with a second opening; the bottom of the variable-diameter rod is assembled on the roller through the second opening; The second opening is an Ω-shaped opening; the central diameter of the Ω-shaped opening is greater than or equal to the diameter of the variable-diameter rod, so that the bottom of the variable-diameter rod can be loaded in the Ω-shaped opening, and the telescopic direction of the variable-diameter rod is limited by the Ω-shaped opening; The opening width of the Ω-shaped opening is smaller than the diameter of the variable-diameter rod, and the Ω-shaped opening can be elastically assembled, so that the bottom of the variable-diameter rod can pass through the opening and be assembled in the Ω-shaped opening based on the elasticity of the Ω-shaped opening.

2. The variable diameter robot of claim 1, wherein, The roller is detachably mounted on the variable-diameter robot; when the roller is detached from the variable-diameter robot, the variable-diameter component is assembled on the roller through the assembly through hole and the second limiting structure.

3. The variable-diameter robot according to any one of claims 1-2, characterized in that: When the variable-diameter component rotates to contact the ground with the roller, based on the action of the gravity of the robot on the variable-diameter rod, the variable-diameter rod drives the telescopic component to shrink towards the center of the roller, so that the top of the variable-diameter rod is flush with the surface of the roller; When the variable-diameter assembly is not in contact with the ground, the telescopic assembly drives the variable-diameter rod to stretch in the radial direction of the roller based on its own rebounding effect, so that the top of the variable-diameter rod protrudes out of the first accommodating cavity.

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