Spoked wheel mechanism with variable number of spokes

Abstract

The invention discloses a spoke wheel mechanism with variable spoke number, and relates to the technical field of wheel leg robots. The device comprises a machine body connecting plate, a hub driving unit is installed on the machine body connecting plate, the output end of the hub driving unit is fixedly connected with a transmission shaft, the free end of the transmission shaft is fixedly connected with an outer hub, the side, facing the transmission shaft, of the outer hub is fixedly connected with an inner hub, and the diameter of the outer hub is larger than that of the inner hub. Through mutual cooperation of structures such as the outer gear ring, the inner gear ring and the gear assembly, the outer wheel spokes and the inner wheel spokes can be driven to extend and contract, so that the whole device is converted from a wheel type mode to a leg type mode with three spokes and then to a leg type mode with six spokes, multi-terrain movement is facilitated, and the service life of the device is prolonged. The environment adaptability and the movement flexibility are improved, conversion of all modes can be achieved only through control of a single motor, the structure is simple, and operation is convenient and fast.

Description

Technical Field

[0001] The invention relates to the technical field of wheel-legged robots, and in particular to a spoke wheel mechanism with a variable number of spokes. Background Art

[0002] In mobile robots, wheeled and legged are two typical modes of movement. Wheeled movement has low energy loss, simple mechanical structure, simple motion control, and good stability on open and flat terrain, but it is difficult to pass uneven terrain, such as steps and stairs. Compared with wheeled movement, legged movement is very good at coping with various terrain environments, but its movement efficiency is low, the structure is complex, and the control requirements are high. In order to combine the advantages of wheeled and legged movements, wheel-legged hybrid robots have become a hot topic in the field of mobile robot research. Among them, spoke-wheeled robots have received widespread attention due to their simple structure and control.

[0003] However, the existing wheel-legged robots with spoke wheel mechanisms drive multiple transmission mechanisms to achieve mechanism deformation when switching modes, which not only increases the cost, but also makes the overall structure more complicated and inconvenient to operate. In addition, the number of spokes is relatively fixed, and the robot's environmental adaptability and movement flexibility are poor. Therefore, we propose a spoke wheel mechanism with a variable number of spokes. Summary of the invention

[0004] The object of the present invention is to provide a spoke wheel mechanism with a variable number of spokes, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a spoke wheel mechanism with a variable number of spokes, comprising a body connecting plate, a hub driving unit is mounted on the body connecting plate, an output end of the hub driving unit is fixedly connected to a transmission shaft, a free end of the transmission shaft is fixedly connected to an outer hub, a side of the outer hub facing the transmission shaft is fixedly connected to an inner hub, and a diameter of the outer hub is greater than a diameter of the inner hub;

[0006] A plurality of gear assemblies are rotatably connected on the side wall of the inner hub close to the inner ring, one end of the gear assembly close to the outer hub is meshedly connected to an outer gear ring, and one end of the gear assembly close to the inner hub is meshedly connected to an inner gear ring, the outer gear ring is rotatably connected to the outer hub, and the inner gear ring is rotatably connected to the inner hub;

[0007] A plurality of outer wheel spokes are slidably connected to the side wall of the outer wheel hub in the radial direction, one side of the outer wheel spoke is fixedly connected to a tooth meshing with the gear assembly, and a movable tooth 1 and a movable tooth 2 are rotatably connected to the inner end and the middle of the outer wheel spoke respectively, and a plurality of inner wheel spokes are slidably connected to the side wall of the inner wheel hub in the radial direction, one side of the inner wheel spoke is fixedly connected to a tooth meshing with the gear assembly, and when in use, the outer wheel spokes and the inner wheel spokes will extend or contract, thereby performing wheel-like movement or leg-like movement;

[0008] A hook-shaped component is installed on one end of the outer wheel spoke and the inner wheel spoke facing outward.

[0009] Furthermore, the wheel hub drive unit is configured as a wheel hub drive motor, the wheel hub drive motor is fixed on the machine body connecting plate, and the output end of the wheel hub drive motor is fixedly connected to the transmission shaft.

[0010] Furthermore, a connecting rod is provided between the outer hub and the inner hub, and the two are fixedly connected to form a whole through the connecting rod.

[0011] Furthermore, the number of the gear assemblies is set to six, the six gear assemblies are distributed at equal distances around the center of the inner hub, and one of the gear assemblies is fixedly connected to a gear drive motor, which is fixedly connected to the inner hub via a mounting rod;

[0012] The gear assembly comprises a coaxially arranged large gear and small gear, both of which are rotatably connected to the inner wheel, and the large gear is meshed with the inner gear ring, and the small gear is meshed with the outer gear ring.

[0013] Furthermore, a plurality of limit rods are fixedly connected to the side of the outer hub facing the outer gear ring, and an annular groove matching the limit rods is provided on the side wall of the outer gear ring, and the outer gear ring is slidably connected to the limit rods through the annular groove, thereby realizing rotation;

[0014] Similarly, a plurality of limit rods are fixedly connected to the side of the inner hub facing the inner gear ring, and an annular groove matching the limit rods is opened on the side wall of the inner gear ring. The inner gear ring is slidably connected to the limit rods through the annular groove to achieve rotation.

[0015] Furthermore, the number of the outer wheel spokes and the number of the inner wheel spokes are both set to three, the three outer wheel spokes are evenly distributed around the outer wheel hub at equal distances, the three inner wheel spokes are evenly distributed around the inner wheel hub at equal distances, and the outer wheel spokes and the inner wheel spokes are staggered.

[0016] Furthermore, a groove is formed at one end of the outer wheel spoke facing the center of the outer wheel hub, a pin is fixedly connected inside the groove, a movable tooth 1 is sleeved on the outer surface of the pin, and a first spring is fixedly connected to one side of the movable tooth 1, the other end of the first spring is fixed to the inner wall of the groove, and a accommodating cavity adapted to the movable tooth 1 is formed on the tooth side wall adjacent to the movable tooth 1;

[0017] Similarly, a groove is also provided in the middle of the outer wheel spoke, and a movable tooth 2 is rotatably connected to the inside of the groove through a pin shaft. The rotation direction of the movable tooth 2 is opposite to that of the movable tooth 1, and a accommodating cavity adapted to the movable tooth 2 is provided on the tooth side wall adjacent to the movable tooth 2.

[0018] Furthermore, a stop rod is fixedly connected to the outer wheel spoke and the inner wheel spoke on a side away from the teeth.

[0019] Furthermore, the hook-shaped component includes a fixing rod fixedly connected to the top of the outer wheel spoke or the inner wheel spoke, the top of the fixing rod is hinged with an arc plate, and the end of the arc plate is connected to a second spring, and the other end of the second spring is fixed to the outer wheel spoke or the inner wheel spoke.

[0020] Furthermore, the outer side walls of the outer hub and the inner hub are provided with receiving grooves adapted to the corresponding outer wheel spokes and inner wheel spokes.

[0021] The present invention has at least the following beneficial effects:

[0022] The present invention can drive the outer wheel spokes and the inner wheel spokes to extend and contract through the mutual cooperation of the outer gear ring, the inner gear ring, the gear assembly and other structures, thereby realizing the overall conversion of the device from a wheel mode to a leg mode with 3 spokes, and then to a leg mode with 6 spokes, which is convenient for multi-terrain movement, improves environmental adaptability and movement flexibility, and the conversion of each mode can be achieved only by a single motor control, with a simple structure and convenient operation.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a side view schematic diagram of the overall structure of the present invention;

[0026] Figure 3 It is a three-dimensional schematic diagram of a leg-type mode with three spokes in an embodiment of the present invention;

[0027] Figure 4 It is a three-dimensional schematic diagram of a leg-type mode with 6 spokes in an embodiment of the present invention;

[0028] Figure 5 It is a three-dimensional schematic diagram of the wheel mode in an embodiment of the present invention;

[0029] Figure 6 It is a three-dimensional schematic diagram of the hook-shaped component structure of the present invention;

[0030] Figure 7 It is a three-dimensional schematic diagram of a movable tooth of the present invention in a normal state;

[0031] Figure 8 It is a three-dimensional schematic diagram of a movable tooth in a deflected state of the present invention.

[0032] Reference numerals:

[0033] 1. Body connecting plate; 2. Hub drive unit; 3. Transmission shaft; 4. Outer hub; 5. Inner hub; 6. Gear assembly; 61. Gear drive motor; 62. Large gear; 63. Small gear; 7. Outer gear ring; 8. Inner gear ring; 9. Outer wheel spoke; 10. Tooth; 11. Inner wheel spoke; 12. Hook assembly; 121. Fixed rod; 122. Arc plate; 123. Second spring; 13. Connecting rod; 14. Limit rod; 15. Groove; 16. Pin; 17. Movable tooth one; 18. First spring; 19. Accommodating chamber; 20. Movable tooth two; 21. Stop rod; 22. Storage slot. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0035] See also Figure 1-Figure 8 The present invention provides a technical solution: a spoke wheel mechanism with a variable number of spokes, comprising a body connecting plate 1, a hub driving unit 2 is mounted on the body connecting plate 1, an output end of the hub driving unit 2 is fixedly connected to a transmission shaft 3, a free end of the transmission shaft 3 is fixedly connected to an outer hub 4, a side of the outer hub 4 facing the transmission shaft 3 is fixedly connected to an inner hub 5, and the diameter of the outer hub 4 is greater than the diameter of the inner hub 5;

[0036] A plurality of gear assemblies 6 are rotatably connected to the side wall of the inner hub 5 close to the inner ring, one end of the gear assembly 6 close to the outer hub 4 is meshedly connected to an outer gear ring 7, and one end of the gear assembly 6 close to the inner hub 5 is meshedly connected to an inner gear ring 8, the outer gear ring 7 is rotatably connected to the outer hub 4, and the inner gear ring 8 is rotatably connected to the inner hub 5;

[0037] A plurality of outer wheel spokes 9 are slidably connected to the side wall of the outer wheel hub 4 in the radial direction, and a tooth 10 meshing with the gear assembly 6 is fixedly connected to one side of the outer wheel spoke 9, and a movable tooth 17 and a movable tooth 2 20 are rotatably connected to the inner end and the middle of the outer wheel spoke 9, respectively. A plurality of inner wheel spokes 11 are slidably connected to the side wall of the inner wheel hub 5 in the radial direction, and a tooth 10 meshing with the gear assembly 6 is fixedly connected to one side of the inner wheel spoke 11. When in use, the outer wheel spokes 9 and the inner wheel spokes 11 will extend or contract, thereby performing wheel-like motion or leg-like motion.

[0038] A hook-shaped component 12 is installed on the outer end of the outer wheel spoke 9 and the inner wheel spoke 11 facing outward.

[0039] According to the technical solution of this embodiment, the wheel hub drive unit 2 is configured as a wheel hub drive motor, which is fixed on the body connecting plate 1, and the output end of the wheel hub drive motor is fixedly connected to the transmission shaft 3. A connecting rod 13 is provided between the outer wheel hub 4 and the inner wheel hub 5, and the two are fixedly connected to form a whole through the connecting rod 13. The wheel hub drive motor is mainly used to control the synchronous rotation of the inner and outer wheel hubs 4 and control the forward and backward movement of the wheel hub. The wheel hub drive motor is powered by a power supply arranged on the body, and the body is not shown.

[0040] According to the technical solution of this embodiment, the number of gear assemblies 6 is set to six, and the six gear assemblies 6 are distributed at equal distances around the center of the inner hub 5, and one of the gear assemblies 6 is fixedly connected to a gear drive motor 61, and the gear drive motor 61 is fixedly connected to the inner hub 5 through a mounting rod. The gear drive motor 61 is powered by a power supply arranged on the machine body. It should be noted that the gear drive motor 61 has a self-locking performance.

[0041] The gear assembly 6 includes a large gear 62 and a small gear 63 which are coaxially arranged. Both the large gear 62 and the small gear 63 are rotatably connected to the inner wheel, and the large gear 62 is meshed with the inner gear ring 8, and the small gear 63 is meshed with the outer gear ring 7. When the gear drive motor 61 rotates, it will drive one group of large gears 62 and small gears 63 to rotate at the same time. When the large gear 62 rotates, it will drive the inner gear ring 8 to rotate, and when the small gear 63 rotates, it will drive the outer gear ring 7 to rotate. Therefore, the outer gear ring 7 and the inner gear ring 8 can drive the remaining gear assemblies 6 to rotate. Since the large gear 62 is meshed with the inner wheel spokes 11, and the small gear 63 is meshed with the outer wheel spokes 9, when all the large gears 62 and small gears 63 rotate, they will drive the outer wheel spokes 9 and the inner wheel spokes 11 to contract or extend as a whole.

[0042] Furthermore, a plurality of limit rods 14 are fixedly connected to the side of the outer hub 4 facing the outer gear ring 7, and an annular groove matched with the limit rod 14 is opened on the side wall of the outer gear ring 7. The outer gear ring 7 is slidably connected to the limit rod 14 through the annular groove, thereby realizing rotation; similarly, a plurality of limit rods 14 are fixedly connected to the side of the inner hub 5 facing the inner gear ring 8, and an annular groove matched with the limit rod 14 is opened on the side wall of the inner gear ring 8. The inner gear ring 8 is slidably connected to the limit rod 14 through the annular groove, thereby realizing rotation, and the annular groove and the limit rod 14 are matched with each other. The limit rod 14 can be used to limit the outer gear ring 7 or the inner gear ring 8 to prevent it from being separated from the outer hub 4 or the inner hub 5 during rotation, thereby further enhancing the stability during operation.

[0043] According to the technical solution of this embodiment, the number of outer wheel spokes 9 and inner wheel spokes 11 are both set to three, the three outer wheel spokes 9 are evenly distributed around the outer wheel hub 4 at equal distances, the three inner wheel spokes 11 are evenly distributed around the inner wheel hub 5 at equal distances, and the outer wheel spokes 9 and the inner wheel spokes 11 are staggered.

[0044] Furthermore, a groove 15 is provided at one end of the outer wheel spoke 9 facing the center of the outer wheel hub 4, a pin shaft 16 is fixedly connected inside the groove 15, a movable tooth 17 is sleeved on the outer surface of the pin shaft 16, and a first spring 18 is fixedly connected to one side of the movable tooth 17, the other end of the first spring 18 is fixed to the inner wall of the groove 15, and a accommodating cavity 19 adapted to the movable tooth 17 is provided on the side wall of the tooth 10 adjacent to the movable tooth 17; similarly, a groove 15 is also provided at the middle position of the outer wheel spoke 9, a movable tooth 2 20 is rotatably connected inside the groove 15 through the pin shaft 16, and the rotation direction of the movable tooth 2 20 is opposite to that of the movable tooth 17, and a accommodating cavity 19 adapted to the movable tooth 2 20 is provided on the side wall of the tooth 10 adjacent to the movable tooth 20. Specifically, as Figure 6-Figure 8 As shown, the end and middle end of the outer wheel spoke 9 are respectively provided with movable tooth one 17 and movable tooth two 20. When the pinion 63 drives the movable tooth one 17 to rotate to one side, the spring force will be overcome, and a tooth adjacent to the rotation direction of the movable tooth one 17 is provided with a receiving cavity to facilitate the rotation of the movable tooth one 17. Then the movable tooth one 17 is returned to its original position by the spring force. It should be noted that the other side of the movable tooth one 17 is attached to the side wall of the groove 15, so the movable tooth one 17 can only deflect in one direction. Similarly, the deflection principle of the movable tooth two 20 is the same as that of the movable tooth one 17, but the deflection direction of the movable tooth two 20 is opposite to that of the movable tooth one 17.

[0045] Furthermore, a stop rod 21 is fixedly connected to the side of the outer wheel spoke 9 and the inner wheel spoke 11 away from the teeth 10, so as to limit the outer wheel spoke 9 and the inner wheel spoke 11 when they slide on the outer wheel hub 4 and the inner wheel hub 5, thereby preventing them from slipping off the outer wheel hub 4 or the inner wheel hub 5.

[0046] According to the technical solution of this embodiment, the outer side walls of the outer hub 4 and the inner hub 5 are provided with receiving grooves 22 which are compatible with the corresponding outer wheel spokes 9 and inner wheel spokes 11. When the device as a whole is in the wheel mode, the outer wheel spokes 9 and the inner wheel spokes 11 are both received in the receiving grooves 22.

[0047] According to the technical solution of this embodiment, the hook-shaped component 12 includes a fixing rod 121 fixedly connected to the top of the outer wheel spoke 9 or the inner wheel spoke 11, and the top of the fixing rod 121 is hinged with an arc plate 122, and the end of the arc plate 122 is connected to a second spring 123, the other end of the second spring 123 is fixed to the outer wheel spoke 9 or the inner wheel spoke 11, and the arc plate 122 has a certain elasticity. When the outer wheel spoke 9 or the inner wheel spoke 11 does not extend out of the wheel hub, the arc plate 122 overcomes the elastic force of the second spring 123 and is completely received in the receiving groove 22 opened at the edge of the wheel hub. When the outer wheel spoke 9 or the inner wheel spoke 11 extends out of the wheel hub, the arc plate 122 is acted upon by the elastic force of the second spring 123 and tilts to one end, forming a hook shape to facilitate improving the obstacle surmounting capability.

[0048] The use principle and process of the present invention: When the gear drive motor 61 is not running, the inner wheel spokes 11 and the outer wheel spokes 9 on the inner and outer wheel hubs 4 are not extended. At this time, the outer wheel hub 4 presents a complete circle and is in a closed state. At this time, it is in a wheel motion mode, such as Figure 5 As shown;

[0049] When the gear drive motor 61 rotates forward, the meshing large gear 62 and small gear 63 on the inner and outer hubs 4 rotate, thereby driving the inner gear ring 8 and the outer gear ring 7 fixed on the inner and outer hubs 4 to rotate, and further driving the other large gears 62 and small gears 63 to rotate around the axis, thereby driving the outer wheel spokes 9 and the inner wheel spokes 11 to extend. Since the small gear 63 is meshed on the outer hub 4 and the large gear 62 is meshed on the inner hub 5, and the outer hub 4 has a larger outer diameter than the inner hub 5, when the outer wheel spokes 9 begin to extend, the inner wheel spokes 11 will also extend at the same time, but will not exceed the edge of the outer hub 4. At this time, the state is a leg-type motion mode with 3 spokes, such as Figure 3 As shown;

[0050] When the gear drive motor 61 continues to rotate forward, the outer wheel spoke 9 will be extended to the maximum length driven by the pinion 63. At this time, the outer wheel spoke 9 can be limited by the provided stop rod 21 to prevent it from detaching from the outer wheel hub 4. Then the pinion 63 will contact the movable tooth 17. As the pinion 63 rotates, the movable tooth 17 will deflect in the direction in which the spoke 15 extends. Then, after the movable tooth 17 is deflected, it will be reset under the action of the first spring 18. At this time, the pinion 63 will drive the movable tooth 17 to continuously deflect and reset, so that the outer wheel spoke 9 maintains the extended length unchanged. Then, as the gear assembly 6 continues to rotate, the large gear 62 drives the inner wheel spoke 11 on the inner wheel hub 5 to continue to extend. When it reaches the same length as the outer wheel spoke 9, the gear drive motor 61 stops running. At this time, the device state is the leg mode with 6 spokes. Figure 4 As shown;

[0051] When the gear drive motor 61 starts to reverse, the inner wheel spokes 11 and the outer wheel spokes 9 on the inner and outer wheel hubs 4 have the same length of spokes, and the gear assembly 6 starts to run in the opposite direction. At this time, since the movable tooth 17 can only deflect in one direction, the pinion 63 can still mesh with the movable tooth 17 when rotating, thereby driving the outer wheel spokes 9 to contract. Since the contraction speed of the inner wheel spokes 11 is greater than that of the outer wheel spokes 9, the overall length of the outer wheel spokes 9 is greater than that of the inner wheel spokes 11. At this time, the state is switched from the leg mode with 6 spokes to the leg mode with 3 spokes.

[0052] When the gear drive motor 61 continues to reverse, since the diameter of the outer hub 4 is larger than that of the inner hub 5, the outer wheel spokes 9 will first shrink into the storage groove 22 of the outer hub 4. When the outer wheel spokes 9 are completely shrunk, the movable tooth 20 set in the middle of the outer wheel spokes 9 will reach the position of the small gear 63. At this time, the reversal of the small gear 63 will drive the movable tooth 20 to continuously deflect and reset, keeping the current position of the outer wheel spokes 9 unchanged, and the rotating large gear 62 will drive the inner wheel spokes 11 to further shrink. When the inner spokes are completely shrunk, the gear drive motor 61 stops running to achieve locking, and the state is switched from the leg-type mode with 3 spokes to the wheel-type structure with 0 spokes, and returns to the starting state.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A spoke wheel mechanism with a variable number of spokes, comprising a body connecting plate (1), characterized in that: A wheel hub drive unit (2) is mounted on the machine body connection plate (1); the output end of the wheel hub drive unit (2) is fixedly connected to a transmission shaft (3); the free end of the transmission shaft (3) is fixedly connected to an outer wheel hub (4); the side of the outer wheel hub (4) facing the transmission shaft (3) is fixedly connected to an inner wheel hub (5); and the diameter of the outer wheel hub (4) is greater than the diameter of the inner wheel hub (5); A plurality of gear assemblies (6) are rotatably connected to the side wall of the inner hub (5) near the inner ring, one end of the gear assembly (6) near the outer hub (4) is meshingly connected to an outer gear ring (7), and one end of the gear assembly (6) near the inner hub (5) is meshingly connected to an inner gear ring (8), the outer gear ring (7) is rotatably connected to the outer hub (4), and the inner gear ring (8) is rotatably connected to the inner hub (5); A plurality of outer wheel spokes (9) are slidably connected to the side wall of the outer wheel hub (4) in a radial direction, and teeth (10) meshing with the gear assembly (6) are fixedly connected to one side of the outer wheel spokes (9), and movable teeth 1 (17) and movable teeth 2 (20) are rotatably connected to the inner end and middle of the outer wheel spokes (9), respectively; a plurality of inner wheel spokes (11) are slidably connected to the side wall of the inner wheel hub (5) in a radial direction, and teeth (10) meshing with the gear assembly (6) are fixedly connected to one side of the inner wheel spokes (11); when in use, the outer wheel spokes (9) and the inner wheel spokes (11) will extend or contract, thereby performing wheel-like movement or leg-like movement; A hook-shaped component (12) is installed on the outer ends of the outer wheel spokes (9) and the inner wheel spokes (11) facing outwards.

2. A spoke wheel mechanism with a variable number of spokes according to claim 1, characterized in that: The wheel hub drive unit (2) is configured as a wheel hub drive motor, the wheel hub drive motor is fixed on the machine body connection plate (1), and the output end of the wheel hub drive motor is fixedly connected to the transmission shaft (3).

3. A spoke wheel mechanism with a variable number of spokes according to claim 2, characterized in that: A connecting rod (13) is provided between the outer wheel hub (4) and the inner wheel hub (5), and the two are fixedly connected by the connecting rod (13) to form a whole.

4. A spoke wheel mechanism with a variable number of spokes according to claim 2, characterized in that: The number of the gear assemblies (6) is set to six, the six gear assemblies (6) are distributed at equal distances around the center of the inner wheel hub (5), and one of the gear assemblies (6) is fixedly connected to a gear drive motor (61), and the gear drive motor (61) is fixedly connected to the inner wheel hub (5) via a mounting rod; The gear assembly (6) comprises a coaxially arranged large gear (62) and a small gear (63), both of which are rotatably connected to the inner wheel, and the large gear (62) is meshed with the inner gear ring (8), and the small gear (63) is meshed with the outer gear ring (7).

5. A spoke wheel mechanism with a variable number of spokes according to claim 4, characterized in that: A plurality of limiting rods (14) are fixedly connected to one side of the outer wheel hub (4) facing the outer gear ring (7); a ring groove matching the limiting rods (14) is provided on the side wall of the outer gear ring (7); the outer gear ring (7) is slidably connected to the limiting rods (14) via the ring groove, thereby realizing rotation; Similarly, a plurality of limiting rods (14) are fixedly connected to the side of the inner hub (5) facing the inner gear ring (8), and an annular groove matching the limiting rods (14) is provided on the side wall of the inner gear ring (8). The inner gear ring (8) is slidably connected to the limiting rods (14) via the annular groove, thereby realizing rotation.

6. A spoke wheel mechanism with a variable number of spokes according to claim 5, characterized in that: The number of the outer wheel spokes (9) and the number of the inner wheel spokes (11) are both set to three, the three outer wheel spokes (9) are evenly distributed around the outer wheel hub (4) at equal distances, the three inner wheel spokes (11) are evenly distributed around the inner wheel hub (5) at equal distances, and the outer wheel spokes (9) and the inner wheel spokes (11) are staggered.

7. A spoke wheel mechanism with a variable number of spokes according to claim 6, characterized in that: The outer wheel spoke (9) has one end facing the center of the outer wheel hub (4) with a groove (15), a pin shaft (16) is fixedly connected inside the groove (15), a movable tooth (17) is sleeved on the outer surface of the pin shaft (16), and a first spring (18) is fixedly connected to one side of the movable tooth (17), the other end of the first spring (18) is fixed to the inner wall of the groove (15), and a accommodating cavity (19) adapted to the movable tooth (17) is provided on the side wall of the tooth (10) adjacent to the movable tooth (17); Similarly, a groove (15) is also provided in the middle of the outer wheel spoke (9), and a movable tooth 2 (20) is rotatably connected inside the groove (15) via a pin shaft (16). The rotation direction of the movable tooth 2 (20) is opposite to that of the movable tooth 1 (17), and a receiving cavity (19) adapted to the movable tooth 2 (20) is provided on the side wall of the tooth (10) adjacent to the movable tooth 2 (20).

8. The spoke wheel mechanism with a variable number of spokes according to claim 7, characterized in that: A stop rod (21) is fixedly connected to the outer wheel spoke (9) and the inner wheel spoke (11) on a side away from the teeth (10).

9. A spoke wheel mechanism with a variable number of spokes according to claim 8, characterized in that: The hook-shaped component (12) comprises a fixing rod (121) fixedly connected to the top of the outer wheel spoke (9) or the inner wheel spoke (11); the top of the fixing rod (121) is hinged with an arc plate (122); the end of the arc plate (122) is connected to a second spring (123); the other end of the second spring (123) is fixed to the outer wheel spoke (9) or the inner wheel spoke (11).

10. The spoke wheel mechanism with a variable number of spokes according to claim 9, characterized in that: The outer side walls of the outer wheel hub (4) and the inner wheel hub (5) are both provided with receiving grooves (22) adapted to the corresponding outer wheel spokes (9) and inner wheel spokes (11).

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