Field wheeled robot capable of rapidly replacing hub and replacing method of field wheeled robot

Abstract

The invention discloses a field wheeled robot capable of rapidly replacing a hub and a replacing method of the field wheeled robot. The field wheeled robot comprises a robot base; the hub mounting seat is fixedly mounted outside the driving shaft; the hub is arranged in the hub mounting seat, three limiting clamping grooves which are annularly distributed are formed in the middle of an inner hole of the hub, and two positioning grooves which are symmetrically distributed are formed in the upper portion and the lower portion of the front end of the inner hole of the hub; the reinforcing disc is arranged at the rear end of the exterior of the hub mounting seat; the first guide groove is formed in the middle position of the exterior of the hub mounting seat, limiting clamping blocks are mounted in the first guide groove, and the limiting clamping blocks are clamped and matched with the limiting clamping grooves; and the second guide groove is formed in the front end of the interior of the hub mounting base, a positioning block is arranged in the second guide groove in a sliding limiting mode, and the problem that in the field environment, the hub replacement difficulty of the wheeled robot is large, and the working efficiency is affected is solved.

Description

Technical Field

[0001] The invention relates to the technical field of field wheeled robots, in particular to a field wheeled robot capable of quickly replacing a wheel hub and a replacement method thereof. Background Art

[0002] Field wheeled robots used to build global map models in unstructured terrain environments are innovative mobile devices that integrate high-precision positioning technology, advanced environmental perception sensors, and intelligent data processing algorithms. These robots are equipped with multimodal sensors such as lidar, cameras, inertial navigation systems (INS), and wheel odometers. They can autonomously navigate in complex and changing field environments and collect terrain data and environmental features in real time. By integrating information from multiple sensors and using simultaneous localization and mapping (SLAM) technology, they can dynamically build detailed and accurate global map models that not only cover terrain undulations and obstacle distribution, but also identify environmental details such as vegetation types and soil conditions. Such robots not only enhance the efficiency and accuracy of field exploration and mapping, but also provide strong technical support and decision-making basis for environmental monitoring, disaster assessment, resource exploration and other fields.

[0003] For example, the Chinese authorized patent "A multi-terrain wheeled inspection robot" with announcement number CN114313059A includes a box, an upper rocker and a control center. The left and right sides of the box are symmetrically arranged, and are equipped with a hub motor A, a motor bracket A, a servo A, a servo bracket A, a rocker arm bogie structure, a hub motor B, a motor bracket B, a hub motor C, a motor bracket C, a servo C, and a servo bracket C; the control center includes a single-chip microcomputer, a battery, a hub motor driver, and a host computer. It can walk on different road surfaces, not limited to urban roads. In addition, the robot's surrounding environment can be monitored online by cameras, sensors, etc. to achieve the purpose of checking the environment.

[0004] Although the above-mentioned prior art can be used to construct a global map model in an unstructured terrain environment, considering the complexity of the outdoor terrain, the robot wheel hub is prone to damage. Most of the prior art adopts a slot limiting method, and then fixes the wheel hub through multiple nuts. Although the operation steps are few, the wheel hub is heavy and large in size. In addition, due to limited field vision, it is difficult to align the slot of the wheel hub with the base mounting plate, which is time-consuming and labor-intensive, and hinders the robot from building a global map model. Therefore, it does not meet existing needs. In this regard, we propose a field wheeled robot for quickly replacing wheel hubs and a replacement method thereof. Summary of the invention

[0005] The object of the present invention is to provide a field wheeled robot with a quick hub replacement and a replacement method thereof, so as to solve the problem in the above background technology that the hub replacement of the wheeled robot in the field environment is difficult and affects the working efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: a field wheeled robot for quick replacement of wheel hubs, comprising a robot base, wherein the front and rear ends of both sides of the robot base are both equipped with drive shafts extending to the outside; and further comprising: A wheel hub mounting seat, on which the outside of the drive shaft is fixedly mounted, an adjusting nut is rotatably mounted in a notch at the center position of the front end of the wheel hub mounting seat, a first stud is rotatably mounted at the rear end of the wheel hub mounting seat, a first rotating shaft is fixedly arranged at the front end of the first stud, a second rotating shaft is fixedly arranged at the front end of the first rotating shaft, and the front end of the second rotating shaft is fixed to the adjusting nut; The wheel hub is arranged inside the wheel hub mounting seat, three limiting grooves distributed in an annular shape are arranged in the middle position of the inner hole of the wheel hub, and two symmetrically distributed positioning grooves are arranged above and below the front end of the inner hole of the wheel hub; A reinforcement plate, which is arranged at the rear end of the outside of the wheel hub mounting seat, and the rear end of the reinforcement plate is provided with six first fixing arms distributed in an annular shape, one end of each of the first fixing arms is provided with a second fixing arm extending into the inside of the wheel hub mounting seat, and the second fixing arm and the wheel hub mounting seat are slidably limited through a movable groove; A first guide groove, which is arranged at the middle position of the outside of the wheel hub mounting seat, and there are three first guide grooves, each of which is provided with a limit card block, and the limit card block is slidably limited with the first guide groove, and the limit card block is engaged with the limit card groove; The second guide groove is arranged at the front end inside the wheel hub mounting seat. There are two second guide grooves, and the directions of the second guide grooves are opposite to each other. The internal sliding limit of the second guide groove is provided with a positioning block. The front end of the positioning block is an inclined structure, and the positioning block is engaged with the positioning groove.

[0007] Preferably, a movable block is installed outside the first stud, and the external thread of the first stud is matched with the internal thread hole of the movable block, and one end of the second fixing arm located inside the wheel hub mounting seat is welded and fixed to the movable block.

[0008] Preferably, a driving bevel gear is fixedly installed on the outside of the first rotating shaft, and three driven bevel gears distributed in a ring are provided on the outside of the driving bevel gear, and the driven bevel gear is meshed with the driving bevel gear, and a second stud is fixedly installed on the shaft at the other end of the driven bevel gear, a screw hole is provided inside the limiting block, the second stud extends to the inside of the screw hole, and the second stud is threadedly matched with the screw hole.

[0009] Preferably, a sector-shaped gear ring is provided on the outer wall of the second rotating shaft, a U-shaped groove is provided at one end of the positioning block, and the second rotating shaft passes through the U-shaped groove, a rack plate is provided on one side of the U-shaped groove, and the rack plate is meshingly connected with the sector-shaped gear ring.

[0010] Preferably, side plates are fixedly provided on both sides of the other end of the positioning block, and the side plates extend into the empty groove of the hub mounting seat, and a spring is installed between the side plate and the empty groove of the hub mounting seat, and the positioning block is transmitted by the second rotating shaft when the rack plate and the fan-shaped gear ring are in meshing state, and the positioning block is supported by the spring when the rack plate and the fan-shaped gear ring lose meshing.

[0011] Preferably, storage racks are provided on both sides of the robot base, and the storage racks are welded and fixed to the robot base, a support mechanism is installed inside the robot base, a connecting shaft is fixedly provided on one side of the upper end of the support mechanism, and the connecting shaft is slidably connected to the inner side of the storage rack, a slide groove is provided on the outer wall of the storage rack, a rotating wheel is installed outside the slide groove, a thread is provided on the rod body inside the rotating wheel, and the rod body inside the rotating wheel is threadedly connected to the other side of the upper end of the support mechanism.

[0012] Preferably, a movable rod is installed at the lower end of the support mechanism, the upper end of the movable rod extends to the interior of the support mechanism, and the movable rod is threadedly connected to the support mechanism, and a support seat is fixedly provided at the bottom of the movable rod.

[0013] Preferably, an octagonal hole is provided inside the adjusting nut.

[0014] Preferably, mounting frames are installed on both sides of the upper end of the robot base, a detector platform is installed above the two mounting frames, a steering seat is rotatably installed above the detector platform, and laser radars are fixedly installed on both sides of the steering seat.

[0015] A method for quickly replacing a wheel hub of a field wheeled robot comprises the following steps: Step 1: unfold the support mechanism, reverse the rotating wheel, reduce the clamping force on the support mechanism, and transform the support mechanism from horizontal to vertical. Then, pull the support mechanism according to the position of the wheel hub as needed, and adjust the horizontal position of the support mechanism with the slide groove. After adjustment, turn the rotating wheel forward to lock the support mechanism in the vertical state, and then turn the movable rod, which continuously extends downward under the cooperation of the thread until the support seat replaces the wheel hub to be replaced and forms a support with the ground; Step 2: Align the circular hole of the wheel hub with the wheel hub mounting seat, and directly sleeve the wheel hub on the outside of the wheel hub mounting seat. During the sleeve process, the inclined surface of the positioning block contacts the wall of the circular hole of the wheel hub, converting the horizontal force into a vertical force, so that the positioning block extends to the inside of the second guide groove. After the sleeve, the staff rotates the wheel hub, and the wheel hub rotates on the wheel hub mounting seat. When the positioning groove is aligned with the positioning block, the positioning block is extended to the inside of the positioning groove under the support of the spring, so as to realize the automatic calibration of the wheel hub position. Step 3: Then use a tool to rotate the adjusting nut, drive the active bevel gear to rotate through the rotating shaft, and drive the second stud to rotate under the meshing with the driven bevel gear. Under the friction between the external thread and the inner screw hole of the limit block, cooperate with the guiding effect of the first guide groove on the limit block, so that the three limit blocks are synchronously extended to the limit slot of the wheel hub, so as to realize the limit connection between the wheel hub mounting seat and the wheel hub; Step 4. At the same time, the rotating shaft synchronously drives the first stud to rotate, and its external thread rubs against the movable block at the rear end of the wheel hub mounting seat, converting the rotational motion into linear motion, and driving the reinforcement plate toward the inner side of the wheel hub through the first fixed arm and the second fixed arm. Then, when the limit block is positioned with the wheel hub in the longitudinal direction, the reinforcement plate supports the wheel hub in the transverse direction.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention independently designs the wheel hub mounting seat and the wheel hub. When installing the wheel hub, there is no need to calibrate the mounting groove position. It is necessary to align the circular hole of the wheel hub with the wheel hub mounting seat and directly sleeve the wheel hub on the outside of the wheel hub mounting seat. During the sleeve connection process, the inclined surface of the positioning block contacts the wall of the circular hole of the wheel hub, converting the horizontal force into a vertical force, so that the positioning block extends to the inside of the second guide groove. After the wheel hub is sleeved, the staff only needs to rotate the wheel hub, and the wheel hub rotates on the wheel hub mounting seat. After the positioning groove and the positioning block are aligned, the positioning block is extended to the inside of the positioning groove under the support of the spring to realize automatic calibration of the wheel hub position. At this time, the limit block inside the wheel hub mounting seat and the limit slot of the wheel hub are kept aligned. The staff uses a tool to rotate the adjusting nut. On the one hand, the active bevel gear is driven to rotate through the rotating shaft, and the second stud is driven to rotate under the meshing with the driven bevel gear. Under the friction between its external thread and the screw hole in the limit block, the first guide groove cooperates with the limit block. The guiding effect allows the three limit blocks to synchronously extend into the limit slots of the wheel hub, thereby realizing the limit connection between the wheel hub mounting seat and the wheel hub. On the other hand, the rotating shaft synchronously drives the first stud to rotate, and its external thread rubs against the movable block at the rear end of the wheel hub mounting seat, thereby converting the rotational motion into linear motion. The reinforcement plate is driven to move toward the inner side of the wheel hub through the first fixed arm and the second fixed arm. Then, when the limit block is positioned with the wheel hub in the longitudinal direction, the reinforcement plate supports the wheel hub in the transverse direction, thereby ensuring the firmness and stability of the wheel hub installation. The wheel hub replacement structure can effectively improve the work efficiency of the wheeled robot's emergency handling in the field. On the one hand, there is no need for precise alignment, and the wheel hub is placed on the wheel hub mounting seat in a sleeve manner, thereby overcoming the line of sight problem in the field environment and solving the problem that the wheel hub is too heavy and cannot be lifted for a long time. On the other hand, there is no need to rotate multiple nuts, thereby simplifying the installation steps while ensuring firmness.

[0017] 2. In order to avoid the problem that the positioning block is supported by the spring, causing the positioning block to shake under the high-speed rotation of the wheel hub, thereby affecting the moving stability of the robot base, during the replacement of the wheel hub, the fan-shaped gear ring on the second rotating shaft does not mesh with the rack plate in the U-shaped groove of the positioning block, and the whole is supported by the spring, which does not affect the automatic calibration of the limiting block and the limiting groove of the positioning block auxiliary wheel hub. After the wheel hub and the wheel hub mounting seat are positioned, the staff will drive the second rotating shaft to rotate during the process of rotating the adjusting nut, thereby driving the external fan-shaped gear ring to rotate. When the fan-shaped gear ring meshes with the rack plate, it drives the positioning block to shrink toward the inside of the second guide groove until it completely exits the positioning groove. On the one hand, this design ensures that the positioning block inside the wheel hub mounting seat remains fixed and limited after the wheel hub is replaced, and will not jitter due to high-speed rotation. On the other hand, it will not hinder the withdrawal of the wheel hub during replacement. That is, in the process of reverse rotation of the adjusting nut, on the one hand, the limiting block is separated from the limiting slot, and on the other hand, the positioning block is gradually driven to move outward. After the limiting block is completely separated from the limiting slot, the positioning block only moves to the end face position of the second guide groove. After the wheel hub is withdrawn, it continues to flip slightly to separate the sector gear ring from the rack plate. The positioning block is supported by the spring and automatically pops out of the outside of the wheel hub mounting seat, providing a prerequisite guarantee for subsequent replacement of the wheel hub.

[0018] 3. The present invention sets storage racks on both sides of the robot base. Before replacing the wheel hub, in order to ensure the stability of the robot base during the wheel hub replacement process, the rotating wheel is reversed in advance, and the clamping force on the supporting mechanism is reduced under the friction of the thread, so that the supporting mechanism can be transformed from a horizontal state to a vertical state. Then, the supporting mechanism is pulled according to the position of the wheel to be replaced, and the horizontal position of the supporting mechanism is adjusted with the help of the slide groove. After adjustment, the rotating wheel is turned forward to lock the supporting mechanism in the vertical state, and then the movable rod is rotated. Since the upper end of the movable rod is connected to the supporting mechanism by a thread, as the movable rod rotates, it continuously extends downward until the base replaces the wheel hub to be replaced and forms a support with the ground, thereby improving the stability and convenience of the wheel hub replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A three-dimensional diagram of the robot of the present invention when the wheel hub is replaced; Figure 2 This is a bottom view of the robot of the present invention when the wheel hub is replaced; Figure 3 A three-dimensional diagram of a hub mounting seat and a hub of the present invention; Figure 4 A three-dimensional diagram of the reinforcement plate adjustment structure of the present invention; Figure 5 It is a schematic diagram of the reinforcement plate adjustment structure of the present invention; Figure 6 It is a three-dimensional diagram of the limit block adjustment structure of the present invention; Figure 7 It is a schematic diagram of the adjustment structure of the limit block of the present invention; Figure 8 It is a three-dimensional diagram of the positioning block adjustment structure of the present invention; Fig. 9 It is a schematic diagram of the internal structure of the wheel hub mounting seat of the present invention; Fig.10 It is a schematic diagram of the positioning block adjustment structure of the present invention; Fig.11 For the present invention Figure 2 A partial enlarged view of area A.

[0020] In the figure: 1. robot base; 2. mounting frame; 3. detector platform; 4. steering seat; 5. laser radar; 6. drive shaft; 7. wheel hub mounting seat; 8. wheel hub; 9. storage rack; 10. slide slot; 11. support mechanism; 12. reinforcement plate; 13. movable slot; 14. limit card block; 15. positioning block; 16. adjustment nut; 17. limit card slot; 18. positioning slot; 19. first fixed arm; 20. second fixed arm Fixed arm; 21. first stud; 22. movable block; 23. first guide groove; 24. first rotating shaft; 25. active bevel gear; 26. driven bevel gear; 27. second stud; 28. screw hole; 29. ​​second guide groove; 30. side plate; 31. second rotating shaft; 32. sector gear ring; 33. U-shaped groove; 34. spring; 35. rack plate; 36. movable rod; 37. support seat; 38. connecting shaft; 39. rotating wheel. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] See also Figure 1-11 The present invention provides an embodiment: a field wheeled robot with a quick hub replacement, comprising a robot base 1, a front and rear end of both sides of the robot base 1 are both equipped with a drive shaft 6 extending to the outside, mounting frames 2 are installed on both sides of the upper end of the robot base 1, a detector platform 3 is installed above the two mounting frames 2, a steering seat 4 is rotatably installed above the detector platform 3, and laser radars 5 are fixedly installed on both sides of the steering seat 4; and further comprising: The hub mounting seat 7 is fixedly mounted with the outside of the driving shaft 6, and an adjusting nut 16 is rotatably mounted in a notch at the center of the front end of the hub mounting seat 7. An octagonal hole is provided inside the adjusting nut 16, and a first stud 21 is rotatably mounted at the rear end of the hub mounting seat 7. A first rotating shaft 24 is fixedly provided at the front end of the first stud 21, and a second rotating shaft 31 is fixedly provided at the front end of the first rotating shaft 24, and the front end of the second rotating shaft 31 is fixed to the adjusting nut 16; The wheel hub 8 is arranged inside the wheel hub mounting seat 7. Three annular limiting grooves 17 are arranged in the middle of the inner hole of the wheel hub 8. Two symmetrically distributed positioning grooves 18 are arranged above and below the front end of the inner hole of the wheel hub 8. The reinforcement plate 12 is arranged at the rear end outside the wheel hub mounting seat 7. The rear end of the reinforcement plate 12 is provided with six first fixing arms 19 distributed in an annular shape. One end of each of the first fixing arms 19 is provided with a second fixing arm 20 extending to the inside of the wheel hub mounting seat 7. The second fixing arm 20 and the wheel hub mounting seat 7 are slidably limited by the movable groove 13. A first guide groove 23 is arranged at the middle position outside the wheel hub mounting seat 7, and there are three first guide grooves 23. A limit block 14 is installed inside each of the first guide grooves 23. The limit block 14 is slidably limited with the first guide groove 23, and the limit block 14 is engaged with the limit groove 17; The second guide groove 29 is arranged at the front end inside the wheel hub mounting seat 7. There are two second guide grooves 29, and the directions of the second guide grooves 29 are opposite to each other. The internal sliding limit of the second guide groove 29 is provided with a positioning block 15. The front end of the positioning block 15 is an inclined structure, and the positioning block 15 is snap-fitted with the positioning groove 18.

[0023] On the one hand, there is no need for precise alignment, and the wheel hub 8 can be placed on the wheel hub mounting seat 7 in a sleeve-type manner, which can overcome the problem of sight in the field environment and solve the problem that the wheel hub is too heavy and cannot be lifted for a long time. On the other hand, there is no need to rotate multiple nuts, which simplifies the installation steps while ensuring firmness. See also Figure 2 , Figure 3 , Figure 4 and Fig. 9 , a movable block 22 is installed on the outside of the first stud 21, and the external thread of the first stud 21 is adapted to the internal thread hole of the movable block 22. One end of the second fixed arm 20 located inside the wheel hub mounting seat 7 is welded and fixed to the movable block 22. The threaded connection design between the first stud 21 and the movable block 22 allows the two to be tightly combined and not easy to loosen. This connection method not only provides stable rotation transmission, but also ensures structural firmness. When the first stud 21 rotates, it can reliably drive the movable block 22 to move in a straight line, thereby realizing the push of the reinforcement plate 12.

[0024] See also Figure 6 , Figure 7 and Fig. 9 , a driving bevel gear 25 is fixedly installed on the outside of the first rotating shaft 24, and three driven bevel gears 26 are arranged on the outside of the driving bevel gear 25 in an annular distribution, and the driven bevel gear 26 is meshed with the driving bevel gear 25, and a second stud 27 is fixedly installed on the shaft at the other end of the driven bevel gear 26, and a screw hole 28 is arranged inside the limit card block 14, and the second stud 27 extends to the inside of the screw hole 28, and the second stud 27 is threadedly matched with the screw hole 28. The meshing design of the driving bevel gear 25 and the three driven bevel gears 26 enables the power to be efficiently transmitted from one center point (i.e., the first rotating shaft 24) to three different directions. This design is not only compact in structure and reduces the required space, but also ensures the uniform distribution and efficient transmission of power. Through the threaded matching method, the second stud 27 can easily push or pull the limit card block 14 into or out of the limit card slot 17. This design not only simplifies the installation steps, but also improves the accuracy and reliability of the installation. The staff only needs to use a tool to rotate the adjusting nut 16 to drive the limiting block 14 to move through the transmission system.

[0025] See also Figure 8 , Fig. 9 and Fig.10The outer wall of the second rotating shaft 31 is provided with a sector gear ring 32, one end of the positioning block 15 is provided with a U-shaped groove 33, and the second rotating shaft 31 passes through the U-shaped groove 33, one side of the U-shaped groove 33 is provided with a rack plate 35, and the rack plate 35 is meshed and connected with the sector gear ring 32, and the other side of the positioning block 15 is fixedly provided with side plates 30 on both sides, and the side plates 30 extend into the empty groove of the wheel hub mounting seat 7, and a spring 34 is installed between the side plates 30 and the empty groove of the wheel hub mounting seat 7, and the rack plate 35 is meshed with the sector gear ring 32 by the second rotating shaft 31. The positioning block 15 is transmitted, and the rack plate 35 loses engagement with the sector gear ring 32, and the positioning block 15 is supported by the spring 34. Under the high-speed rotation of the wheel hub 8, the positioning block 15 vibrates, thereby affecting the moving stability of the robot base 1. During the replacement of the wheel hub 8, the sector gear ring 32 on the second rotating shaft 31 does not mesh with the rack plate 35 in the U-shaped groove 33 of the positioning block 15, and the whole is supported by the spring 34, which does not affect the positioning block 15 to assist the wheel hub 8 to realize the automatic calibration of the limit block 14 and the limit groove 17. When the wheel hub 8 After being positioned with the wheel hub mounting seat 7, when the staff turns the adjusting nut 16, the second rotating shaft 31 is driven to rotate, thereby driving the external sector gear ring 32 to rotate. When the sector gear ring 32 is meshed with the rack plate 35, the positioning block 15 is driven to retract toward the inside of the second guide groove 29 until it is completely out of the positioning groove 18. This design ensures that the positioning block 15 inside the wheel hub mounting seat 7 remains fixed and limited after the wheel hub 8 is replaced, and will not shake due to high-speed rotation. On the other hand, the wheel hub 8 will not be damaged during the replacement process. The withdrawal of the hub 8 causes an obstacle, that is, in the process of reverse rotation of the adjusting nut 16, on the one hand, the limit block 14 is separated from the limit slot 17, and on the other hand, the positioning block 15 is gradually driven to move outward. After the limit block 14 is completely separated from the limit slot 17, the positioning block 15 only moves to the end face position of the second guide groove 29. After the hub is withdrawn, it continues to flip slightly to separate the sector gear ring 32 from the rack plate 35. The positioning block 15 is supported by the spring 34 and automatically pops out of the outside of the hub mounting seat 7, providing a prerequisite guarantee for the subsequent replacement of the hub 8.

[0026] See also Figure 1 , Figure 2 and Fig.11Storage racks 9 are provided on both sides of the robot base 1, and the storage racks 9 are welded and fixed to the robot base 1. A support mechanism 11 is installed inside the robot base 1, and a connecting shaft 38 is fixedly provided on one side of the upper end of the support mechanism 11, and the connecting shaft 38 is slidably connected to the inner side of the storage rack 9. A slide groove 10 is provided on the outer wall of the storage rack 9, and a rotating wheel 39 is installed outside the slide groove 10. A thread is provided on the rod body inside the rotating wheel 39, and the rod body inside the rotating wheel 39 is threadedly connected to the other side of the upper end of the support mechanism 11. A movable rod 36 is installed at the lower end of the support mechanism 11, and the upper end of the movable rod 36 extends to the inside of the support mechanism 11, and the movable rod 36 is threadedly connected to the support mechanism 11, and a support seat 37 is fixedly provided at the bottom of the movable rod 36.

[0027] A method for quickly replacing a wheel hub of a field wheeled robot comprises the following steps: Step 1, unfold the support mechanism 11, reverse the rotating wheel 39, reduce the clamping force on the support mechanism 11, and transform the support mechanism 11 from a horizontal state to a vertical state. Then, pull the support mechanism 11 according to the need to change the position of the wheel hub 8, and adjust the horizontal position of the support mechanism 11 with the help of the slide groove 10. After adjustment, turn the rotating wheel 39 forward to lock the support mechanism 11 in the vertical state, and then rotate the movable rod 36, which continuously extends downward under the threaded cooperation until the support seat 37 replaces the wheel hub 8 to be replaced to form a support with the ground; Step 2: Align the circular hole of the wheel hub 8 with the wheel hub mounting seat 7, and directly sleeve the wheel hub 8 on the outside of the wheel hub mounting seat 7. During the sleeve process, the inclined surface of the positioning block 15 contacts the circular hole wall of the wheel hub 8, converting the horizontal force into a vertical force, so that the positioning block 15 extends to the inside of the second guide groove 29. After the sleeve, the staff rotates the wheel hub 8, and the wheel hub 8 rotates on the wheel hub mounting seat 7. When the positioning groove 18 is aligned with the positioning block 15, the positioning block 15 is extended to the inside of the positioning groove 18 under the support of the spring 34, so as to realize the automatic calibration of the position of the wheel hub 8. Step 3, then use a tool to rotate the adjusting nut 16, drive the active bevel gear 25 to rotate through the rotating shaft, and drive the second stud 27 to rotate under the meshing with the driven bevel gear 26, and under the friction between the external thread and the inner screw hole of the limiting block 14, cooperate with the guiding effect of the first guide groove 23 on the limiting block 14, so that the three limiting blocks 14 are synchronously extended to the limiting groove 17 of the wheel hub 8, so as to realize the limiting connection between the wheel hub mounting seat 7 and the wheel hub 8; Step 4. At the same time, the rotating shaft synchronously drives the first stud 21 to rotate, and its external thread rubs against the movable block 22 at the rear end of the wheel hub mounting seat 7, converting the rotational motion into linear motion, and driving the reinforcement plate 12 to move toward the inner side of the wheel hub 8 through the first fixed arm 19 and the second fixed arm 20. Then, when the limit block 14 is positioned with the wheel hub 8 in the longitudinal direction, the reinforcement plate 12 supports the wheel hub 8 in the transverse direction.

[0028] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A field wheeled robot for quick replacement of wheel hubs, comprising a robot base (1), wherein the front and rear ends of both sides of the robot base (1) are both provided with drive shafts (6) extending to the outside; Features: Also includes: A wheel hub mounting seat (7) on which the outside of the drive shaft (6) is fixedly mounted, an adjusting nut (16) is rotatably mounted in a recess at the center position of the front end of the wheel hub mounting seat (7), a first stud (21) is rotatably mounted at the rear end of the interior of the wheel hub mounting seat (7), a first rotating shaft (24) is fixedly disposed at the front end of the first stud (21), a second rotating shaft (31) is fixedly disposed at the front end of the first rotating shaft (24), and the front end of the second rotating shaft (31) is fixed to the adjusting nut (16); A wheel hub (8) is arranged inside the wheel hub mounting seat (7), three limiting grooves (17) distributed in an annular shape are provided at the middle position of the inner hole of the wheel hub (8), and two symmetrically distributed positioning grooves (18) are provided above and below the front end of the inner hole of the wheel hub (8); a reinforcement plate (12) disposed at a rear end outside the wheel hub mounting seat (7), the rear end of the reinforcement plate (12) being provided with six first fixing arms (19) distributed in an annular shape, one end of each of the first fixing arms (19) being provided with a second fixing arm (20) extending into the interior of the wheel hub mounting seat (7), and the second fixing arm (20) and the wheel hub mounting seat (7) being slidably limited via a movable groove (13); A first guide groove (23) is arranged at a middle position outside the wheel hub mounting seat (7), and three first guide grooves (23) are provided, and a limit clamping block (14) is installed inside each of the first guide grooves (23), and the limit clamping block (14) and the first guide groove (23) are slidably limited, and the limit clamping block (14) is engaged with the limit clamping groove (17); A second guide groove (29) is arranged at the front end of the wheel hub mounting seat (7), two second guide grooves (29) are provided, and the directions of the second guide grooves (29) are opposite to each other, and a positioning block (15) is provided inside the second guide groove (29) for sliding limit, the front end of the positioning block (15) is in an inclined structure, and the positioning block (15) is engaged with the positioning groove (18).

2. The field wheeled robot with quick hub replacement according to claim 1, characterized in that: A movable block (22) is mounted outside the first stud (21), and the external thread of the first stud (21) is matched with the internal thread hole of the movable block (22); one end of the second fixing arm (20) located inside the wheel hub mounting seat (7) is welded and fixed to the movable block (22).

3. The field wheeled robot with quick hub replacement according to claim 2, characterized in that: A driving bevel gear (25) is fixedly mounted on the outside of the first rotating shaft (24); three driven bevel gears (26) are arranged in a ring shape on the outside of the driving bevel gear (25); the driven bevel gear (26) is meshingly connected with the driving bevel gear (25); a second stud (27) is fixedly mounted on the shaft at the other end of the driven bevel gear (26); a screw hole (28) is arranged inside the limit block (14); the second stud (27) extends into the inside of the screw hole (28); and the second stud (27) is threadably engaged with the screw hole (28).

4. The field wheeled robot with quick hub replacement according to claim 3, characterized in that: A sector-shaped toothed ring (32) is provided on the outer wall of the second rotating shaft (31), a U-shaped groove (33) is provided at one end of the positioning block (15), and the second rotating shaft (31) passes through the U-shaped groove (33), a rack plate (35) is provided on one side of the U-shaped groove (33), and the rack plate (35) is meshingly connected with the sector-shaped toothed ring (32).

5. The field wheeled robot with quick hub replacement according to claim 4, characterized in that: Side plates (30) are fixedly provided on both sides of the other end of the positioning block (15), and the side plates (30) extend into the empty slot of the wheel hub mounting seat (7). A spring (34) is installed between the side plates (30) and the empty slot of the wheel hub mounting seat (7). When the rack plate (35) and the sector gear ring (32) are in meshing state, the second rotating shaft (31) transmits the positioning block (15). When the rack plate (35) and the sector gear ring (32) lose meshing, the spring (34) supports the positioning block (15).

6. The field wheeled robot with quick hub replacement according to claim 5, characterized in that: Storage racks (9) are provided on both sides of the robot base (1), and the storage racks (9) are welded and fixed to the robot base (1); a support mechanism (11) is installed inside the robot base (1); a connecting shaft (38) is fixedly provided on one side of the upper end of the support mechanism (11), and the connecting shaft (38) is slidably connected to the inner side of the storage rack (9); a slide groove (10) is provided on the outer wall of the storage rack (9); a rotating wheel (39) is installed outside the sliding groove (10); a rod body inside the rotating wheel (39) is provided with a thread, and the rod body inside the rotating wheel (39) is threadedly connected to the other side of the upper end of the support mechanism (11).

7. The field wheeled robot with quick hub replacement according to claim 6, characterized in that: A movable rod (36) is installed at the lower end of the support mechanism (11), the upper end of the movable rod (36) extends into the interior of the support mechanism (11), and the movable rod (36) is threadedly connected to the support mechanism (11), and a support seat (37) is fixedly provided at the bottom of the movable rod (36).

8. The field wheeled robot with quick hub replacement according to claim 1, characterized in that: An octagonal hole is provided inside the adjusting nut (16).

9. The field wheeled robot with quick hub replacement according to claim 1, characterized in that: Mounting frames (2) are mounted on both sides of the upper end of the robot base (1); a detector platform (3) is mounted above the two mounting frames (2); a steering seat (4) is rotatably mounted above the detector platform (3); and laser radars (5) are fixedly mounted on both sides of the steering seat (4).

10. The method for replacing a field wheeled robot for quick hub replacement according to claim 9, characterized in that: The steps include: Step 1: unfold the support mechanism (11), reverse the rotating wheel (39), reduce the clamping force on the support mechanism (11), and transform the support mechanism (11) from a horizontal state to a vertical state. Then, according to the need, the position of the wheel hub (8) is changed to pull the support mechanism (11), and the horizontal position of the support mechanism (11) is adjusted in cooperation with the slide groove (10). After the adjustment, the rotating wheel (39) is turned forward to lock the support mechanism (11) in the vertical state, and then the movable rod (36) is rotated to continuously extend downward under the threaded cooperation until the support seat (37) replaces the wheel hub (8) to be replaced to form a support with the ground; Step 2: align the circular hole of the wheel hub (8) with the wheel hub mounting seat (7), and directly sleeve the wheel hub (8) on the outside of the wheel hub mounting seat (7). During the sleeve process, the inclined surface of the positioning block (15) contacts the wall of the circular hole of the wheel hub (8), converting the horizontal force into a vertical force, so that the positioning block (15) extends to the inside of the second guide groove (29). After the sleeve, the staff rotates the wheel hub (8), and the wheel hub (8) rotates on the wheel hub mounting seat (7). When the positioning groove (18) is aligned with the positioning block (15), the positioning block (15) is extended to the inside of the positioning groove (18) under the support of the spring (34), so as to realize automatic calibration of the position of the wheel hub (8); Step 3: Then, the adjusting nut (16) is rotated using a tool to drive the active bevel gear (25) to rotate through the rotating shaft, and the second stud (27) is driven to rotate under the meshing with the driven bevel gear (26). Under the friction between the external thread of the stud and the internal screw hole of the limit block (14), the first guide groove (23) guides the limit block (14), so that the three limit blocks (14) are synchronously extended into the limit groove (17) of the wheel hub (8), thereby realizing the limit connection between the wheel hub mounting seat (7) and the wheel hub (8); Step 4: At the same time, the rotating shaft synchronously drives the first stud (21) to rotate, and its external thread rubs against the movable block (22) at the rear end of the wheel hub mounting seat (7), converting the rotational motion into linear motion, and driving the reinforcement plate (12) to move toward the inner side of the wheel hub (8) through the first fixed arm (19) and the second fixed arm (20). Then, when the limit block (14) is positioned with the wheel hub (8) in the longitudinal direction, the reinforcement plate (12) supports the wheel hub (8) in the transverse direction.

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