Deformable wheel suitable for complex running surfaces

Abstract

The application discloses a variable wheel suitable for complex driving road surfaces, the spoke of the variable wheel comprises three spoke plates of adult letter-shaped structure; the wheel leg is in circular arc structure and corresponds to the spoke plate one by one; the duct is provided with a web; the rotor is coaxially installed in the duct; the Z-shaped component comprises a long arm, a fixed shaft and a short arm; one end of the fixed shaft is rotationally connected with the long arm, and the other end is rotationally connected with the short arm; the roller at the outer end of the long arm is rollingly matched in the groove, and the rollers at both ends of the roller are slidingly matched with the guide rail groove; the traction rod is rotationally connected with the short arm; the driving disc is connected with the traction rod; the first driving shaft is fixedly connected with the rotor in concentricity; the second driving shaft is fixedly connected with the driving disc in concentricity; and the third driving shaft is fixedly connected with the spoke in concentricity. The variable wheel has simple structure, good stability and can realize wheel type, leg type and duct rotor type.

Description

Technical Field

[0001] This invention relates to the field of wheeled walking mechanisms, and more specifically to a deformable wheel suitable for complex road surfaces. Background Technology

[0002] In complex working conditions, limited space and irregular terrain pose challenges to the rapid movement of wheeled robots. To improve task execution efficiency, robots need to optimize and reduce their size while maximizing their obstacle-crossing capabilities. Deformable wheels not only possess the high-efficiency walking advantages of traditional wheels but also enhance obstacle-crossing ability and increase motion modes through deformation, significantly improving adaptability in rugged terrain.

[0003] Existing technology discloses a three-modal morphing wheel for land and air robots. This morphing wheel solves the problems of existing morphing wheels, such as large size, complex structure, significant impact on rotor airflow, inability to guarantee flight mode motion efficiency, complex control methods, and limited obstacle-crossing ability, thus improving the robot's adaptability to complex environments. However, this technical solution uses the output shaft of a variable configuration motor to drive a rotating belt to rotate a drum, which in turn drives a drive rope. Under the tension of the drive rope, the three wheel leg components rotate synchronously around the edges of the inner and / or outer wheel hubs. Because the variable configuration motor is directly mounted on the wheel, vibration during travel has a significant impact on the motor, and the transmission stability of the belt is poor. Existing technology also discloses a multi-segment articulated all-terrain self-propelled intelligent wheel leg. The drive wheel part of this wheel leg uses the movement of three electrically controlled telescopic rods spaced 120° apart to shift the wheel's center of gravity, achieving the function of driving by its own gravity torque. However, using too many electrically controlled telescopic rods has the drawbacks of difficult control and difficulty in guaranteeing stability.

[0004] In summary, existing deformable wheels still suffer from problems such as complex structure, poor stability, and difficulty in control. Furthermore, the current modes of deformable wheels are generally wheel-type and leg-type, and their modes need to be expanded. Summary of the Invention

[0005] In view of this, the present invention provides a deformable wheel suitable for complex road surfaces. The deformable wheel has a simple structure, good stability, and can realize wheel-type, leg-type, and ducted rotor-type forms, solving the problems of complex structure, poor stability, and simple modes of existing deformable wheels.

[0006] The present invention adopts the following specific technical solution:

[0007] The present invention provides a deformable wheel suitable for complex road surfaces. The deformable wheel includes spokes, wheel legs, duct, rotor, Z-shaped component, traction rod, drive disc and drive shaft.

[0008] The spokes include three spokes in a herringbone shape, with a circumferential angle of 120° between any two adjacent spokes. The inner ends of each spoke are fixedly connected to form the center of the spokes and have a central circular hole.

[0009] The wheel leg has an arc-shaped structure and corresponds one-to-one with the spokes. The inner circumferential surface is provided with a groove extending along its circumference. Guide rail grooves communicating with the grooves are provided on both sides of the grooves. One end is rotatably connected to the outer end of the spokes.

[0010] The culvert is provided with a web, a central hole in the center, and three through holes evenly distributed circumferentially and extending axially on the outer edge.

[0011] The rotor is coaxially mounted in the duct, and the outer diameter of the rotor is smaller than the inner diameter of the duct.

[0012] The Z-shaped components correspond one-to-one with the wheel legs and include a long arm, a fixed shaft, and a short arm. The fixed shaft can rotatably pass through the through hole, with one end fixedly connected to the inner end of the long arm and the other end fixedly connected to the outer end of the short arm. The long arm and the short arm are located on both sides of the duct. A roller is rotatably mounted on the outer end of the long arm via a roller shaft. The roller rolls in the groove, and both ends of the roller shaft slide in the guide rail groove to guide the roller.

[0013] The traction rod corresponds one-to-one with the short arm, and its outer end is rotatably connected to the inner end of the short arm;

[0014] The drive disc is coaxially mounted on the inner side of the wheel spokes and is connected to the inner end of the traction rod via a revolute joint;

[0015] The drive shaft includes a first drive shaft, a second drive shaft, and a third drive shaft arranged coaxially from the inside to the outside in a radial direction; the first drive shaft is concentrically fixedly connected to the rotor and is used to drive the rotor to rotate; the second drive shaft passes through the central circular hole and is concentrically fixedly connected to the drive disk and is used to drive the drive disk to rotate; the third drive shaft passes through the central circular hole and is concentrically fixedly connected to the spokes and is used to drive the spokes to rotate.

[0016] The deformable wheel has three forms: wheel-type, leg-type, and ducted rotor-type. When the wheel leg and the wheel spoke form a circular wheel, the deformable wheel is in wheel-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve rolling motion. When the drive disc is driven to rotate by the second drive shaft, so that the wheel leg is on the outside or inside of the wheel spoke, the deformable wheel is in leg-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve walking. When the deformable wheel is in ducted rotor-type form, the first drive shaft drives the rotor to rotate within the duct to generate lift.

[0017] Meanwhile, the present invention also provides a deformable wheel suitable for complex road surfaces, the deformable wheel including spokes, wheel legs, duct, rotor, gear, pinion, L-shaped component, first drive shaft, second drive shaft and third drive shaft;

[0018] The spokes have a central circular hole and include three spokes that are evenly distributed circumferentially and have a herringbone structure; all three spokes extend radially and the inner ends of the spokes are fixedly connected to the center of the spokes.

[0019] The wheel leg has an arc-shaped structure and corresponds one-to-one with the spoke. The inner circumferential surface is provided with a groove extending along its circumference. Guide rail grooves communicating with the groove are provided on both sides of the groove. One end is rotatably connected to the outer end of the spoke.

[0020] The culvert is provided with a web, a central hole in the center, and three through holes evenly distributed circumferentially and extending axially on the outer edge.

[0021] The rotor is coaxially mounted in the duct, and the outer diameter of the rotor is smaller than the inner diameter of the duct.

[0022] The gear is coaxially mounted on the inner side of the spokes;

[0023] The pinion corresponds one-to-one with the through hole and meshes with the gear;

[0024] The L-shaped component corresponds one-to-one with the wheel leg and includes a long arm and a fixed shaft; the fixed shaft can rotatably pass through the through hole, one end of which is fixedly connected to the inner end of the long arm, and the other end is concentrically fixedly connected to the pinion; the long arm and the pinion are located on both sides of the duct; a roller is rotatably mounted on the outer end of the long arm via a roller shaft, the roller rolls in the groove, and both ends of the roller shaft slide in the guide rail groove to guide the roller;

[0025] The first drive shaft, the second drive shaft, and the third drive shaft are coaxially arranged in a radial direction from the inside to the outside; the first drive shaft is concentrically fixedly connected to the rotor and is used to drive the rotor to rotate; the second drive shaft passes through the central circular hole and is concentrically fixedly connected to the gear and is used to drive the gear to rotate; the third drive shaft passes through the central circular hole and is concentrically fixedly connected to the spokes and is used to drive the spokes to rotate.

[0026] The deformable wheel has three forms: wheel-type, leg-type, and ducted rotor-type. When the wheel leg and the wheel spoke form a circular wheel, the deformable wheel is in wheel-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve rolling motion. When the gear is driven to rotate by the second drive shaft, so that the wheel leg is on the outside or inside of the wheel spoke, the deformable wheel is in leg-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve walking. When the deformable wheel is in ducted rotor-type form, the first drive shaft drives the rotor to rotate within the duct to generate lift.

[0027] In addition, the present invention provides a deformable wheel suitable for complex road surfaces, the deformable wheel including spokes, wheel legs, V-shaped components, traction rods, drive discs, rotors, a first drive shaft, a second drive shaft and a third drive shaft;

[0028] The spokes have three spokes in a herringbone shape, with a circumferential angle of 120° between any two adjacent spokes. The inner ends of each spoke are fixedly connected to form the center of the spokes and have a central circular hole.

[0029] The wheel leg has an arc-shaped structure and corresponds one-to-one with the spoke. The inner circumferential surface is provided with a groove extending along its circumference. Guide rail grooves communicating with the groove are provided on both sides of the groove. One end is rotatably connected to the outer end of the spoke.

[0030] The V-shaped component corresponds one-to-one with the spokes and includes a long arm and a short arm fixedly connected; there is an included angle between the long arm and the short arm; the length of the long arm is greater than the length of the short arm; the V-shaped component is rotatably mounted on the spokes through the connection between the long arm and the short arm; a roller is rotatably mounted on the outer end of the long arm through a roller shaft, the roller rolls in the groove, and the two ends of the roller shaft slide in the guide rail groove to guide the roller;

[0031] The traction rod corresponds one-to-one with the short arm and its outer end is rotatably connected to the short arm;

[0032] The drive disc is coaxially mounted on the inner side of the wheel spokes and is connected to the inner end of the traction rod via a revolute joint;

[0033] The rotor is coaxially mounted on the inner side of the drive disk;

[0034] The first drive shaft, the second drive shaft, and the third drive shaft are coaxially arranged in a radial direction from the inside to the outside; the first drive shaft is concentrically fixedly connected to the rotor and is used to drive the rotor to rotate; the second drive shaft passes through the central circular hole and is concentrically fixedly connected to the drive disk and is used to drive the drive disk to rotate; the third drive shaft passes through the central circular hole and is concentrically fixedly connected to the spokes and is used to drive the spokes to rotate.

[0035] The deformable wheel has three forms: wheel-type, leg-type, and ducted rotor-type. When the wheel leg and the wheel spoke form a circular wheel, the deformable wheel is in wheel-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve rolling motion. When the drive disc is driven to rotate by the second drive shaft, so that the wheel leg is on the outside or inside of the wheel spoke, the deformable wheel is in leg-type form, and the wheel spoke is driven to rotate by the third drive shaft to achieve walking. When the deformable wheel is in ducted rotor-type form, the first drive shaft drives the rotor to rotate to generate lift.

[0036] Furthermore, the other end of the wheel leg is provided with spikes.

[0037] Furthermore, an outer circular hole is provided at the outer end of the spoke;

[0038] The wheel leg is rotatably connected to the spoke via a pin that passes through the outer circular hole.

[0039] Furthermore, the wheel spokes are provided with two spokes that are opposite each other along their axial direction, and the two spokes are coaxially fixedly connected;

[0040] Both the wheel leg and the rotor are mounted between the two wheel spokes.

[0041] Furthermore, the outer end of the guide rail groove opposite to the groove is a closed structure.

[0042] Furthermore, the outer circumferential surface of the wheel leg is provided with a pattern.

[0043] Furthermore, the rotor has 2 to 16 blades.

[0044] Furthermore, the spokes, the legs, the rotor, the first drive shaft, the second drive shaft, and the third drive shaft are all made of metal.

[0045] Beneficial effects:

[0046] The deformable wheel of this invention achieves switching between wheel and leg configurations by rotating its legs relative to the spokes. In wheel configuration, it is suitable for flat, hard surfaces, with the legs in a closed state. At this time, the entire deformable wheel forms a circular wheel, which can be used as a regular circular wheel and rolls in a circular shape on the road surface. When entering off-road terrain, the traction rod drives the Z-shaped component to rotate, achieving rotation of the legs relative to the spokes. This allows for outward expansion deformation with the legs on the outside of the spokes or inward compression deformation with the legs on the inside of the spokes, transforming the entire deformable wheel into a leg configuration. This improves obstacle crossing and passability, making it suitable for scenarios with complex and drastically varying ground conditions or significant obstacle crossing requirements. The deformable wheel can also enter a ducted rotor configuration by driving the rotor to rotate, generating lift through rotor rotation. Because the wheel legs and spokes work together to form wheel-like and leg-like shapes, and the wheel legs deform through traction rods and Z-shaped components, and the rotor is installed inside the duct, the above-mentioned deformable wheel has a simple structure, good stability, and can realize wheel-like, leg-like, and ducted rotor-like shapes. It also solves the problems of complex structure, poor stability, and simple modes of existing deformable wheels. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the deformable wheel according to Embodiment 1 of the present invention;

[0048] Figure 2 for Figure 1 A schematic diagram of a structure when the deformable wheel is in leg-like form;

[0049] Figure 3 for Figure 1 Another structural diagram of the deformable wheel in leg-like form;

[0050] Figure 4 for Figure 1 A schematic diagram of the structure of a deformable wheel with spokes installed on both sides;

[0051] Figure 5 for Figure 1 Schematic diagram of the middle bypass duct;

[0052] Figure 6 for Figure 1 Schematic diagram of the structure of the duct and rotor;

[0053] Figure 7 for Figure 1 Schematic diagram of the Z-shaped component;

[0054] Figure 8 for Figure 1 Schematic diagram of the power input structure of the deformation wheel;

[0055] Figure 9 for Figure 1 Schematic diagram of the middle wheel leg;

[0056] Figure 10 This is a schematic diagram of the deformable wheel according to Embodiment 2 of the present invention;

[0057] Figure 11 This is a schematic diagram of the deformable wheel according to Embodiment 3 of the present invention;

[0058] Figure 12 for Figure 11 A schematic diagram of the structure of the deformable wheel in its leg-like configuration;

[0059] Figure 13 for Figure 11 A schematic diagram of the structure of a deformable wheel with spokes installed on both sides.

[0060] Among them, 1-spoke, 2-leg, 3-duct, 4-rotor, 5-Z-shaped component, 6-traction rod, 7-drive disc, 8-first drive shaft, 9-second drive shaft, 10-third drive shaft, 11-gear, 12-pinion, 13-L-shaped component, 14-V-shaped component, 15-rotating pair, 16-first bearing, 17-second bearing, 101-spoke, 102-center hole, 103-outer hole, 201-groove, 202-guide rail groove, 203-spiked bar, 301-web, 302-center hole, 303-through hole, 501-long arm, 502-fixed shaft, 503-short arm, 504-roller, 505-roller shaft Detailed Implementation

[0061] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0062] Example 1

[0063] This embodiment provides a deformable wheel suitable for complex road surfaces, such as... Figure 1 As shown, the deformable wheel includes spokes 1, legs 2, duct 3, rotor 4, Z-shaped component 5, traction rod 6, drive disc 7, and drive shaft; spokes 1, legs 2, duct 3, rotor 4, Z-shaped component 5, traction rod 6, drive disc 7, and drive shaft can all be made of metal materials;

[0064] The spoke 1 includes three spokes 101 in a herringbone shape. The included angle between any two adjacent spokes 101 along the circumference is 120°. The inner ends of each spoke 101 are fixedly connected to form the center of the spoke 1 and are provided with a central circular hole 102.

[0065] like Figure 9 As shown, the wheel leg 2 has an arc-shaped structure and corresponds one-to-one with the spoke 101. The inner circumferential surface is provided with a groove 201 extending along its circumference. On both sides of the groove 201, there are guide rail grooves 202 communicating with it. One end is rotatably connected to the outer end of the spoke 1.

[0066] like Figure 5 and Figure 6 As shown, the duct 3 is provided with a web 301, a central hole 302 is provided in the center, and three through holes 303 are provided on the outer edge, which are evenly distributed in the circumferential direction and extend in the axial direction; the rotor 4 is coaxially installed in the duct 3, and the outer diameter of the rotor 4 is smaller than the inner diameter of the duct 3.

[0067] like Figure 4 and Figure 7 As shown, the Z-shaped component 5 corresponds one-to-one with the wheel leg 2 and includes a long arm 501, a fixed shaft 502, and a short arm 503. The fixed shaft 502 can rotatably pass through the through hole 303, with one end fixedly connected to the inner end of the long arm 501 and the other end fixedly connected to the outer end of the short arm 503. The long arm 501 and the short arm 503 are located on both sides of the duct 3. The circumferential angle between the long arm 501 and the short arm 503 is α. The outer end of the long arm 501 is rotatably mounted with a roller 504 through a roller 505. The roller 504 rolls in the groove 201, and one or both ends of the roller 505 slide in the guide groove 202 to guide the roller 504.

[0068] like Figure 4 As shown, the traction rod 6 corresponds one-to-one with the short arm 503, and its outer end is rotatably connected to the inner end of the short arm 503; as Figure 1 As shown, there is an included angle β between the traction rod 6 and the Z-shaped component 5. In order to ensure the realization of the movement, it is necessary to control the size of the included angle β to prevent dead points from occurring during the movement and avoid dynamic failure. The included angle β can be 0 to 180° or -180° to 0°.

[0069] like Figure 1 and Figure 4 As shown, the drive disc 7 is coaxially mounted on the inner side of the spoke 1 and is connected to the inner end of the traction rod 6 through the rotating joint 15;

[0070] like Figure 8As shown, the drive shaft includes a first drive shaft 8, a second drive shaft 9, and a third drive shaft 10 arranged coaxially from the inside to the outside in a radial direction; the first drive shaft 8 is concentrically fixedly connected to the rotor 4 and is used to drive the rotor 4 to rotate; the second drive shaft 9 passes through the central circular hole 102 and is concentrically fixedly connected to the drive disk 7 and is used to drive the drive disk 7 to rotate; the third drive shaft 10 passes through the central circular hole 102 and is concentrically fixedly connected to the spoke 1 and is used to drive the spoke 1 to rotate; a first bearing 16 is installed between the first drive shaft 8 and the second drive shaft 9, allowing the first drive shaft 8 and the second drive shaft 9 to rotate relatively freely; a second bearing 17 is installed between the second drive shaft 9 and the third drive shaft 10, allowing the second drive shaft 9 and the third drive shaft 10 to rotate relatively freely.

[0071] Transformable wheels can be in wheel-like, leg-like, or ducted rotor-like forms; such as Figure 1 As shown, when wheel leg 2 and wheel spoke 1 form a circular wheel, the deformable wheel is in a wheel-like form, and the wheel spoke 1 is driven to rotate through the third drive shaft 10 to achieve rolling motion; as shown Figure 2 and Figure 3 As shown, when the drive disc 7 is driven to rotate by the second drive shaft 9, so that the wheel leg 2 is on the outside or inside of the wheel spoke 1, the deformable wheel is in leg form and the wheel spoke 1 is driven to rotate by the third drive shaft 10 to achieve walking; when the deformable wheel is in ducted rotor form, the first drive shaft 8 drives the rotor 4 to rotate in the duct 3 to generate lift.

[0072] Example 2

[0073] This embodiment provides a deformable wheel suitable for complex road surfaces, such as... Figure 10 As shown, the deformable wheel includes spokes 1, legs 2, duct 3, rotor 4, gear 11, pinion 12, L-shaped component 13, first drive shaft 8, second drive shaft 9, and third drive shaft 10; spokes 1, legs 2, duct 3, rotor 4, gear 11, pinion 12, L-shaped component 13, first drive shaft 8, second drive shaft 9, and third drive shaft 10 can all be made of metal materials;

[0074] In this embodiment, the L-shaped component 13, the meshing gear 11 and the pinion 12 are used instead of the Z-shaped component 5, the traction rod 6 and the drive disc 7 in the first embodiment.

[0075] A central circular hole 102 is provided in the center of the spoke 1, and spoke plates 101 are evenly distributed in a herringbone structure along the circumference. The included angle between any two adjacent spoke plates 101 is 120°. Each spoke plate 101 extends radially and its inner end is fixedly connected to the center of the spoke.

[0076] The wheel leg 2 has an arc-shaped structure and corresponds one-to-one with the spoke 101. The inner circumferential surface is provided with a groove 201 extending along its circumference. On both sides of the groove 201, there are guide rail grooves 202 communicating with it. One end is rotatably connected to the outer end of the spoke 1.

[0077] The duct 3 is provided with a web 301, a central hole 302 is provided in the center, and three through holes 303 are provided on the outer edge, which are evenly distributed in the circumferential direction and extend in the axial direction.

[0078] The rotor 4 is coaxially mounted in the duct 3, and the outer diameter of the rotor 4 is smaller than the inner diameter of the duct 3;

[0079] Gear 11 is coaxially mounted on the inner side of spoke 1;

[0080] The pinion 12 corresponds one-to-one with the through hole 303 and meshes with the gear 11. The three pinions 12 are evenly distributed circumferentially on the outer periphery of the gear 11. The gear 11 and the pinion 12 are external meshing gears.

[0081] L-shaped component 13 corresponds one-to-one with wheel leg 2 and includes a long arm 501 and a fixed shaft 502; the fixed shaft 502 can rotatably pass through the through hole 303 on the outer periphery of the duct 3, one end is fixedly connected to the inner end of the long arm 501, and the other end is concentrically fixedly installed with the pinion 12; the long arm 501 and the pinion 12 are located on both sides of the duct 3 respectively; the outer end of the long arm 501 is rotatably mounted with a roller 504 through a roller 505, the roller 504 rolls in the groove 201, and one or both ends of the roller 505 slide in the guide groove 202 to guide the roller 504;

[0082] The first drive shaft 8, the second drive shaft 9, and the third drive shaft 10 are coaxially arranged radially from the inside to the outside. The first drive shaft 8 is concentrically fixedly connected to the rotor 4 and is used to drive the rotor 4 to rotate. The second drive shaft 9 passes through the central circular hole 102 and is concentrically fixedly connected to the gear 11 and is used to drive the gear 11 to rotate. The third drive shaft 10 passes through the central circular hole 102 and is concentrically fixedly connected to the spoke 1 and is used to drive the spoke 1 to rotate. A first bearing 16 is installed between the first drive shaft 8 and the second drive shaft 9, allowing the first drive shaft 8 and the second drive shaft 9 to rotate relatively freely. A second bearing 17 is installed between the second drive shaft 9 and the third drive shaft 10, allowing the second drive shaft 9 and the third drive shaft 10 to rotate relatively freely.

[0083] The deformable wheel has three forms: wheel-type, leg-type, and ducted rotor-type. When the wheel leg 2 and the wheel spoke 1 form a circular wheel, the deformable wheel is in wheel-type form, and the wheel spoke 1 is driven to rotate through the third drive shaft 10 to achieve rolling motion. When the gear 11 is driven to rotate through the second drive shaft 9, so that the wheel leg 2 is on the outside or inside of the wheel spoke 1, the deformable wheel is in leg-type form, and the wheel spoke 1 is driven to rotate through the third drive shaft 10 to achieve walking. When the deformable wheel is in ducted rotor-type form, the first drive shaft 8 drives the rotor 4 to rotate within the duct 3 to generate lift.

[0084] Example 3

[0085] This embodiment provides a deformable wheel suitable for complex road surfaces, such as... Figure 11 , Figure 12 and Figure 13 As shown, the deformable wheel includes spokes 1, legs 2, rotor 4, V-shaped component 14, traction rod 6, drive disc 7, first drive shaft 8, second drive shaft 9, and third drive shaft 10; spokes 1, legs 2, rotor 4, V-shaped component 14, traction rod 6, drive disc 7, first drive shaft 8, second drive shaft 9, and third drive shaft 10 can all be made of metal; in this embodiment, V-shaped component 14 is used instead of Z-shaped component 5 in embodiment one, and duct 3 in embodiment one is omitted;

[0086] The spoke 1 has three spokes 101 with a herringbone structure. The included angle between two adjacent spokes 101 along the circumference is 120°. The inner ends of each spoke 101 are fixedly connected to form the center of the spoke 1 and a central circular hole 102 is provided.

[0087] The wheel leg 2 has an arc-shaped structure and corresponds one-to-one with the spoke 101. The inner circumferential surface is provided with a groove 201 extending along its circumference. On both sides of the groove 201, there are guide rail grooves 202 communicating with it. One end is rotatably connected to the outer end of the spoke 1.

[0088] V-shaped component 14 corresponds one-to-one with the spoke 101 and includes a long arm 501 and a short arm 503 fixedly connected; the long arm 501 and the short arm 503 can be integrally formed; there is an included angle γ between the long arm 501 and the short arm 503, and the included angle γ can be 30° to 150°; the length of the long arm 501 is greater than the length of the short arm 503, and the length of the long arm 501 is at least 3 times the length of the short arm 503; the V-shaped component 14 is rotatably mounted on the spoke 101 through the connection between the long arm 501 and the short arm 503; the outer end of the long arm 501 is rotatably mounted with a roller 504 through a roller 505, the roller 504 rolls in the groove 201, and the two ends of the roller 505 slide in the guide groove 202 to guide the roller 504;

[0089] The traction rod 6 corresponds one-to-one with the short arm 503 and its outer end is rotatably connected to the inner end of the short arm 503;

[0090] The drive disc 7 is coaxially mounted on the inner side of the spoke 1 and is connected to the inner end of the traction rod 6 via the rotating joint 15;

[0091] Rotor 4 is coaxially mounted on the inside of drive disk 7;

[0092] The first drive shaft 8, the second drive shaft 9, and the third drive shaft 10 are coaxially arranged radially from the inside to the outside. The first drive shaft 8 is concentrically fixedly connected to the rotor 4 and is used to drive the rotor 4 to rotate. The second drive shaft 9 passes through the central circular hole 102 and is concentrically fixedly connected to the drive disk 7 and is used to drive the drive disk 7 to rotate. The third drive shaft 10 passes through the central circular hole 102 and is concentrically fixedly connected to the spoke 1 and is used to drive the spoke 1 to rotate. A first bearing 16 is installed between the first drive shaft 8 and the second drive shaft 9, allowing the first drive shaft 8 and the second drive shaft 9 to rotate relatively freely. A second bearing 17 is installed between the second drive shaft 9 and the third drive shaft 10, allowing the second drive shaft 9 and the third drive shaft 10 to rotate relatively freely.

[0093] The deformable wheel has three forms: wheel-type, leg-type, and ducted rotor-type. When the wheel leg 2 and the wheel spoke 1 form a circular wheel, the deformable wheel is in wheel-type form and rolls by driving the wheel spoke 1 to rotate through the third drive shaft 10. When the drive disk 7 is driven to rotate through the second drive shaft 9, so that the wheel leg 2 is on the outside or inside of the wheel spoke 1, the deformable wheel is in leg-type form and moves by driving the wheel spoke 1 to rotate through the third drive shaft 10. When the deformable wheel is in ducted rotor-type form, the first drive shaft 8 drives the rotor 4 to rotate to generate lift.

[0094] Based on the above three embodiments, the other end of the deformable wheel leg 2 can also be provided with a spike 203. The spike 203 at the end can further enhance the wheel leg 2's adaptability to the environment. The outer circumferential surface of the wheel leg 2 can also be provided with a pattern. This pattern increases the friction between the wheel leg 2 and the ground during walking. The outer end of the guide rail groove 202 opposite to the groove 201 is a closed structure. By closing the outer end of the guide rail groove 202, the... Figure 11 The effect of using wheel leg 2 as duct 3 on lift.

[0095] like Figure 1 , Figure 10 and Figure 11As shown, an outer circular hole 103 is provided at the outer end of the spoke 101; the wheel leg 2 is rotatably connected to the spoke 101 via a pin that passes through the outer circular hole 103, so that one end of the wheel leg 2 can rotate around the pin relative to the outer end of the spoke 101, thereby realizing the switching between wheel-type and leg-type configurations. Figure 4 and Figure 13 As shown, the spokes 1 are provided with two spokes that are opposite each other along their axial direction. The two spokes 1 are coaxially fixedly connected. The two spokes 1 can be connected by the wheel leg 2 or by the pin. The wheel leg 2 and the rotor 4 are both installed between the two spokes 1. The structural strength and stability of the entire deformable wheel can be improved by the symmetrical installation of the two spokes 1.

[0096] Meanwhile, in order to increase the lift of rotor 4, the number of blades of rotor 4 can be 2 to 16, and duct 3 can be a large lip duct 3.

[0097] The aforementioned deformable wheel switches between wheel and leg configurations by rotating the wheel leg 2 relative to the spoke 1. In Embodiment 1, the angle adjustment of the wheel leg 2 relative to the spoke 1 is achieved through the sequential transmission of the drive disc 7, traction rod 6, and Z-shaped component 5. In Embodiment 2, the angle adjustment of the wheel leg 2 relative to the spoke 1 is achieved through the sequential transmission of the gear 11, pinion 12, and L-shaped component 13. In Embodiment 3, the angle adjustment of the wheel leg 2 relative to the spoke 1 is achieved through the sequential transmission of the drive disc 7, traction rod 6, and V-shaped component 14. In wheel configuration, it is suitable for flat, hard surfaces. The wheel leg 2 is in a closed state, at which point the entire deformable wheel forms a circular wheel. For use with ordinary round wheels, it can maintain a circular rolling position on the road surface. When entering off-road terrain, the movement of corresponding components enables the wheel legs 2 to rotate relative to the spokes 1. It can deform outwards to place the wheel legs 2 outside the spokes 1 or inwards to place the wheel legs 2 inside the spokes 1, so that the entire deformable wheel transforms into a leg-shaped state, improving obstacle crossing and passability. It is suitable for scenarios with complex terrain with drastic changes or large obstacle crossing requirements. While the deformable wheel is in wheel or leg-shaped form, it can also enter a ducted rotor form by driving the rotor 4 to rotate, generating lift through the rotation of the rotor 4. Because the wheel legs 2 of the above-mentioned deformable wheel can deform through the transmission structure and are equipped with rotors 4, it can realize wheel, leg, and ducted rotor forms. Moreover, the above-mentioned deformable wheel has a simple structure and good stability, solving the problems of complex structure, poor stability, and simple modes of existing deformable wheels.

[0098] It should be noted that in the above three embodiments, a wheel spoke 1 with three spokes 101 is used as an example for illustration. In the actual design, production and manufacturing process, the above deformed wheel can also be prepared with a wheel spoke 1 with four, five or more spokes 101. Correspondingly, the number of wheel legs 2, Z-shaped component 5, L-shaped component 13, V-shaped component 14, traction rod 6 and pinion 12 are consistent with the number of spokes 101, so as to realize the one-to-one connection between wheel legs 2 and spokes 101, so that multiple wheel legs 2 and spokes 101 can close to form a circular wheel when a wheel shape is required.

[0099] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deformation wheel suitable for complex running surfaces, characterized in that, The wheel spoke, the wheel leg, the duct, the rotor, the Z-shaped component, the traction rod, the driving disc and the driving shaft are included. The wheel spoke includes three adult herringbone structure spoke plates, the included angle between two adjacent spoke plates is 120°, and the inner end of each spoke plate is fixedly connected to the center of the wheel spoke and is provided with a center hole. The wheel leg is in a circular arc structure and corresponds to the spoke plate one by one, the inner circumferential surface is provided with a groove extending along the circumferential direction, the groove is provided with a guide rail groove communicating with the groove on both sides, and one end is rotatably connected to the outer end of the wheel spoke. The duct is provided with a web plate, a center hole is arranged in the center, and three through holes are arranged on the outer edge and uniformly distributed along the circumferential direction and extending along the axial direction. The rotor is coaxially installed in the duct, and the outer diameter of the rotor is smaller than the inner diameter of the duct. The Z-shaped component corresponds to the wheel leg one by one and includes a long arm, a fixed shaft and a short arm; the fixed shaft can freely rotate through the through hole, one end is fixedly connected to the inner end of the long arm, and the other end is fixedly connected to the outer end of the short arm; the long arm and the short arm are respectively located on both sides of the duct; the outer end of the long arm is rotatably installed with a roller through a roller shaft, the roller is rotatably matched in the groove, and the both ends of the roller shaft are slidably matched with the guide rail groove to guide the roller. The traction rod corresponds to the short arm one by one and is rotatably connected to the inner end of the short arm. The driving disc is coaxially installed on the inner side of the wheel spoke and is connected to the inner end of the traction rod through a rotating pair. The driving shaft includes a first driving shaft, a second driving shaft and a third driving shaft which are coaxially arranged in sequence from inside to outside along the radial direction; the first driving shaft is fixedly connected with the rotor in a concentric manner and is used to drive the rotor to rotate; The second driving shaft passes through the center hole and is fixedly connected with the driving disc in a concentric manner and is used to drive the driving disc to rotate; the third driving shaft passes through the center hole and is fixedly connected with the wheel spoke in a concentric manner and is used to drive the wheel spoke to rotate; The transformation wheel has a wheel type form, a leg type form and a duct rotor type form; when the wheel leg and the wheel spoke form a circular wheel, the transformation wheel is in the wheel type form, and the wheel spoke is driven to rotate by the third driving shaft to realize rolling motion; when the driving disc is driven to rotate by the second driving shaft, the wheel leg is on the outer side or the inner side of the wheel spoke, the transformation wheel is in the leg type form, and the wheel spoke is driven to rotate by the third driving shaft to realize walking; when the transformation wheel is in the duct rotor type form, the first driving shaft drives the rotor to rotate in the duct to generate lift.

2. A deformable wheel suitable for complex running surfaces, characterized in that, The wheel spoke, the wheel leg, the duct, the rotor, the gear, the pinion, the L-shaped component, the first driving shaft, the second driving shaft and the third driving shaft are included. The center of the wheel spoke is provided with a center hole, and the wheel spoke includes three herringbone structure spoke plates which are uniformly distributed along the circumferential direction; the three spoke plates extend along the radial direction, and the inner end of the spoke plate is fixedly connected to the center of the wheel spoke. The wheel leg is in a circular arc structure and corresponds to the spoke one by one, and the inner circumferential surface is provided with a groove extending along the circumferential direction, and the two sides of the groove are provided with guide rail grooves communicated with the groove, and one end is rotationally connected with the outer end of the spoke; The duct is provided with a web, a central hole is arranged in the center, and three through holes are uniformly distributed along the circumferential direction and extend along the axial direction on the outer edge; The rotor is coaxially installed in the duct, and the outer diameter of the rotor is smaller than the inner diameter of the duct; The gear is coaxially installed on the inner side of the spoke; The pinion gear corresponds to the through hole one by one and is engaged with the gear; The L-shaped member corresponds to the wheel leg one by one and includes a long arm and a fixed shaft; the fixed shaft can freely rotate through the through hole, one end is fixedly connected with the inner end of the long arm, and the other end is fixedly connected with the pinion gear in a concentric manner; the long arm and the pinion gear are respectively located on the two sides of the duct; the outer end of the long arm is rotationally installed with a roller through a roller shaft, the roller is rollingly matched in the groove, and the two ends of the roller shaft are slidably matched with the guide rail grooves to guide the roller; The first driving shaft, the second driving shaft and the third driving shaft are coaxially arranged from inside to outside along the radial direction; the first driving shaft is fixedly connected with the rotor in a concentric manner and is used to drive the rotor to rotate; The second driving shaft passes through the central circular hole and is fixedly connected with the gear in a concentric manner and is used to drive the gear to rotate; the third driving shaft passes through the central circular hole and is fixedly connected with the spoke in a concentric manner and is used to drive the spoke to rotate; The transformation wheel has a wheel type, a leg type and a duct rotor type; when the wheel leg and the spoke form a circular wheel, the transformation wheel is in the wheel type, and the spoke is driven to rotate by the third driving shaft to realize rolling motion; when the wheel leg is on the outside or the inside of the spoke by driving the gear to rotate through the second driving shaft, the transformation wheel is in the leg type, and the spoke is driven to rotate by the third driving shaft to realize walking; when the transformation wheel is in the duct rotor type, the first driving shaft drives the rotor to rotate in the duct to generate lift.

3. A deformable wheel suitable for complex running surfaces, characterized in that, It comprises a spoke, a wheel leg, a V-shaped member, a traction rod, a driving disc, a rotor, a first driving shaft, a second driving shaft and a third driving shaft; The spoke has three spoke plates in a herringbone structure, the included angle between adjacent two spoke plates along the circumferential direction is 120°, and the inner ends of the spoke plates are fixedly connected to form the center of the spoke and are provided with a central circular hole; The wheel leg is in a circular arc structure and corresponds to the spoke one by one, and the inner circumferential surface is provided with a groove extending along the circumferential direction, and the two sides of the groove are provided with guide rail grooves communicated with the groove, and one end is rotationally connected with the outer end of the spoke; The V-shaped member corresponds to the spoke one by one and comprises a long arm and a short arm fixedly connected; the long arm and the short arm have an included angle therebetween; the length of the long arm is greater than that of the short arm; the V-shaped member is rotationally mounted on the spoke through a connecting portion of the long arm and the short arm; an outer end portion of the long arm is rotationally mounted with a roller through a roller shaft, the roller is rollingly fitted in the groove, and two ends of the roller shaft are slidingly fitted in the guide groove to guide the roller; The traction rod corresponds to the short arm one by one and is rotationally connected to the outer end portion of the short arm; The driving disc is coaxially mounted on the inner side of the spoke and is connected to the inner end portion of the traction rod through a rotary pair; The rotor is coaxially mounted on the inner side of the driving disc; The first driving shaft, the second driving shaft and the third driving shaft are coaxially arranged from inside to outside along the radial direction; the first driving shaft is fixedly connected with the rotor in a concentric manner and is used to drive the rotor to rotate; The second driving shaft passes through the center hole and is fixedly connected with the driving disc in a concentric manner and is used to drive the driving disc to rotate; the third driving shaft passes through the center hole and is fixedly connected with the spoke in a concentric manner and is used to drive the spoke to rotate; The transformation wheel has a wheel type, a leg type and a ducted rotor type; when the wheel leg and the spoke form a circular wheel, the transformation wheel is in the wheel type and realizes rolling motion by driving the spoke to rotate through the third driving shaft; when the wheel leg is on the outer side or the inner side of the spoke by driving the driving disc to rotate through the second driving shaft, the transformation wheel is in the leg type and realizes walking by driving the spoke to rotate through the third driving shaft; when the transformation wheel is in the ducted rotor type, the first driving shaft drives the rotor to rotate to generate lift.

4. A transformable wheel according to any one of claims 1 to 3, wherein, The other end portion of the wheel leg is provided with a spike.

5. A transformable wheel according to any one of claims 1 to 3, wherein, An outer circular hole is formed in the outer end portion of the spoke; The wheel leg is rotationally connected to the spoke through a pin shaft fitted in the outer circular hole.

6. A transformable wheel according to any one of claims 1 to 3, wherein, The spoke is provided with two axially opposite ones, and the two spokes are coaxially fixedly connected; The wheel leg and the rotor are both mounted between the two spokes.

7. The transform wheel of any of claims 1-3, wherein, The outer end portion of the guide groove away from the groove is in a closed structure.

8. The transform wheel of any of claims 1-3, wherein, The outer peripheral surface of the wheel leg is provided with a pattern.

9. The transform wheel of any of claims 1-3, wherein, The number of blades of the rotor is 2-16.

10. The transform wheel of any of claims 1-3, wherein, The spoke, the wheel leg, the rotor, the first driving shaft, the second driving shaft and the third driving shaft are all made of metal material.

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