A wheel assembly for a high-adhesion outdoor wheeled robot

Abstract

The present invention belongs to the technical field of wheels, and discloses a wheel assembly for a high-adhesion field wheeled robot, including a wheel hub, a vacuum anti-skid tire is clamped and fixed on the outer side of the wheel hub, a mounting piece is fixedly installed in the middle of the rear end of the wheel hub, a groove is opened in the middle of the front of the wheel hub, a locking disk is provided at the rear end of the wheel hub, a mounting seat is fixedly installed in the middle of the front of the locking disk, the mounting piece and the mounting seat are movably connected, and the mounting piece rotates relative to the mounting seat. The present invention provides an obstacle crossing component on one side of the wheel hub, and the obstacle crossing component cooperates with the adjustment component to make the device have a reduced adhesion, resulting in the inability to cross obstacles. The obstacle crossing component is driven to expand outward by the adjustment component to replace the contact between the vacuum anti-skid tire and the ground, so as to achieve obstacle crossing operation under extreme conditions, so that the device can adapt to different terrains, improve the obstacle crossing ability in the field, and improve adhesion.

Description

Technical Field

[0001] The invention belongs to the technical field of wheels, and in particular relates to a wheel assembly for a high-adhesion outdoor wheeled robot. Background Art

[0002] A wheeled field robot is a robot designed to autonomously move and perform tasks in complex and rugged field environments. Compared with other types of robots (such as tracked robots or multi-legged robots), wheeled robots mainly rely on wheels to drive movement, so their designs are usually simpler, lower cost, and also have higher efficiency and speed. However, in field environments, wheeled robots face challenges such as uneven terrain, obstacles, and uncertain environments, so their design needs to pay special attention to how to maintain stability, flexibility, and efficiency in these environments.

[0003] One of the most important components of a field wheeled robot is the wheel assembly installed at the bottom of the robot. A conventional wheel assembly consists of a hub and a tire. The hub and tire are driven by a transmission shaft to rotate to achieve movement. It mainly relies on the friction of the tire to achieve high adhesion. However, when the wheel assembly encounters some obstacles, the contact between the tire and the obstacle is limited and the contact surface is arc-shaped, resulting in a significant decrease in adhesion, making it impossible to cross the obstacle, causing the robot to be trapped.

[0004] At the same time, wheeled robots generally include steering wheels and driving wheels. The driving wheels are generally installed at the rear end and driven by the transmission system. The steering wheels at the front end are mainly responsible for the steering function. This type of drive can easily cause the robot to tilt significantly when turning if the speed is too fast or the ground friction is too small, and there is a risk of rollover. Summary of the invention

[0005] The object of the present invention is to provide a wheel assembly for a high-adhesion outdoor wheeled robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a wheel assembly for a high-adhesion outdoor wheeled robot comprises a wheel hub, a vacuum anti-skid tire is clamped and fixed on the outer side surface of the wheel hub, a mounting piece is fixedly installed in the middle of the rear end of the wheel hub, a groove is opened in the middle of the front side of the wheel hub, a locking plate is provided at the rear end of the wheel hub, a mounting seat is fixedly installed in the middle of the front side of the locking plate, the mounting piece and the mounting seat are movably connected, the mounting piece rotates relative to the mounting seat, an inclination adjustment assembly is connected between the mounting piece and the locking plate, an adjustment assembly is fixedly installed inside the groove, an extension frame is fixedly installed on the front side of the wheel hub, and a limiting guide rail is fixedly installed at an equal angle on the front side of the extension frame, an obstacle crossing assembly is movably clamped inside the limiting guide rail, the rear end of the obstacle crossing assembly is connected to the adjustment assembly, the rear end of the adjustment assembly passes through the rear end of the wheel hub and is communicated with the inclination adjustment assembly.

[0007] Before use, it can be fixed to the device transmission shaft through the fixing hole on the locking disk. At the same time, in the initial state, the obstacle crossing component does not protrude from the outer side of the vacuum anti-skid tire. At this time, it can be rolled through the vacuum anti-skid tire. At the same time, in the initial state, the mounting part and the locking disk are in a perpendicular state to each other, and the wheel hub can be driven to rotate through the external transmission shaft to realize the moving process.

[0008] As a further technical solution of the present invention, the adjustment component includes an oil storage tank, which is fixedly installed at the rear end position of the inner cavity of the groove, the interior of the oil storage tank is filled with hydraulic oil, the front end of the oil storage tank is fixedly connected to a three-way valve, an oil pump is built-in in the oil storage tank, the bottom end of the three-way valve is fixedly connected to an extension pipe, the rear end of the extension pipe passes through the rear end of the wheel hub and is connected to the inclination adjustment component.

[0009] As a further technical solution of the present invention, the front end of the three-way valve is fixedly connected to a second fixed tube, the second fixed tube has a second piston plate movably sleeved inside, the end of the second piston plate away from the three-way valve is fixedly connected to a second piston rod, and the end of the second piston rod away from the three-way valve passes through one end of the second fixed tube and is fixedly connected to a movable plate.

[0010] As a further technical solution of the present invention, a second limit spring is movably sleeved on the outer side of the second piston rod, and the front and rear ends of the second limit spring are connected to one end of the second fixed tube and one end of the movable plate.

[0011] When the robot encounters a large obstacle and the contact area between the vacuum anti-skid tire and the obstacle is small, and the robot cannot cross the obstacle, the oil pump inside the oil tank can be opened, and the valve at the front end of the three-way valve can be opened. At this time, the hydraulic oil can be discharged through the front end of the three-way valve and enter the interior of the second fixed pipe. At this time, the hydraulic oil pushes the second piston plate to move forward, stretches the second limit spring, and pushes the second piston rod and the movable plate to move forward, finally exerting a force on the obstacle crossing component.

[0012] As a further technical solution of the present invention, the obstacle crossing component includes a third fixed seat, which is connected to the front of the movable plate at a position close to the outer side surface, and the third fixed seat is distributed at equal angles on the outer side surface of the movable plate, and the end of the third fixed seat away from the movable plate is movably connected to a connecting rod through a rotating shaft, and the end of the connecting rod away from the third fixed seat is movably connected to a fourth fixed seat through a rotating shaft.

[0013] As a further technical solution of the present invention, the fourth fixing seat is fixedly connected to a limiting block at one end away from the connecting rod, the limiting block is movably engaged with the limiting guide rail, and the limiting block moves up and down relative to the limiting guide rail.

[0014] As a further technical solution of the present invention, a support rod is fixedly installed on the top of the limit block, the top of the support rod passes through one side of the limit guide rail and is fixedly connected to an obstacle block, and a cleaning plate located on the front side of the wheel hub is fixedly installed at the rear end of the obstacle block.

[0015] When the movable plate moves forward, the distance between the movable plate and the limiting guide rail is reduced, and the third fixed seat is driven to move forward, which can drive multiple connecting rods to deflect obliquely upward and apply thrust to the limiting block. At this time, the limiting block moves upward relative to the limiting guide rail, and at the same time drives the support rod and the obstacle crossing block to move away from the middle of the wheel hub until the obstacle crossing block protrudes from the outer side of the vacuum anti-skid tire. At this time, the obstacle crossing block can replace the vacuum anti-skid tire to contact the ground. At the same time, the circumferential rotation of multiple obstacle crossing blocks can be realized in conjunction with the rotation of the wheel hub, replacing the vacuum anti-skid tire to contact the obstacle, thereby improving adhesion and completing the obstacle crossing action.

[0016] An obstacle crossing component is provided on one side of the wheel hub, and the obstacle crossing component cooperates with the adjustment component to make the adhesion of the device decrease, resulting in the inability to cross obstacles. The adjustment component drives the obstacle crossing component to expand outward to replace the contact between the vacuum anti-skid tire and the ground, so as to achieve obstacle crossing operation under extreme conditions, so that the device can adapt to different terrains, improve the obstacle crossing ability in the field, and improve adhesion.

[0017] At the same time, when the vacuum anti-skid tire is crossing obstacles, a certain amount of mud will adhere to the side of the vacuum anti-skid tire, which will reduce the contact area between the vacuum anti-skid tire and the ground, making it impossible to move. When multiple obstacle blocks expand outward, the cleaning plate can be driven to move outward synchronously. At this time, the cleaning plate can contact the outer side of the wheel hub and clean the outer side of the wheel hub and the vacuum anti-skid tire, completing the autonomous cleaning process.

[0018] By utilizing the automatic outward expansion of the obstacle-crossing component when crossing obstacles, the cleaning plate can be automatically displaced, and the mud adhered to the outer sides of the wheel hub and the vacuum anti-skid tire can be automatically removed, thereby avoiding the problems of eccentricity and reduced friction caused by the mud adhering to the outer sides of the wheel hub and the vacuum anti-skid tire, reducing the subsequent maintenance process, allowing the device to perform self-maintenance during movement, and improving the applicable environment of the device.

[0019] As a further technical solution of the present invention, the inclination adjustment assembly includes a first fixed seat and a second fixed seat, the first fixed seat is connected to the bottom end of the mounting member, the second fixed seat is connected to the front side of the locking plate near the bottom end, the end of the second fixed seat away from the locking plate is movably connected to the first fixed tube via a rotating shaft, and the end of the first fixed seat away from the mounting member is movably connected to the first piston rod via a rotating shaft.

[0020] As a further technical solution of the present invention, a first piston plate is movably sleeved inside the first fixed tube, and one end of the first piston rod away from the first fixed seat passes through one end of the first fixed tube and is connected to the first piston plate.

[0021] As a further technical solution of the present invention, an air intake valve is fixedly connected to the outer side surface of the first fixed pipe near the rear end, and the other end of the air intake valve is connected to the extension pipe.

[0022] At the same time, when the device is turning at high speed, the valve at the bottom of the three-way valve can be opened. At this time, the hydraulic oil is introduced into the interior of the intake valve through the extension pipe and enters the interior of the first fixed pipe. At this time, the hydraulic oil applies a thrust to the first piston plate. At this time, the first limit spring is compressed, and the first piston rod is driven to extend, and a force is applied to the first fixed seat. At this time, an upward force can be applied to the mounting part, that is, the mounting part is driven to rotate relative to the locking plate. At this time, the wheel hub can be driven to camber outward, the camber angle can be increased, and the contact area with the ground when turning can be increased, thereby assisting in completing the turning process.

[0023] By utilizing the cooperation between the adjustment component and the inclination adjustment component, the device can automatically change the camber angle of the wheel hub before turning at high speed, so as to significantly increase the contact area with the ground when turning, reduce the problems of excessive roll and sideslip caused by too small contact area when turning, improve the stability of the device when turning at high speed, and reduce the risk of rollover.

[0024] The beneficial effects of the present invention are as follows:

[0025] (1) The present invention provides an obstacle-crossing component on one side of the wheel hub, and the obstacle-crossing component cooperates with the adjustment component to make the device lose adhesion and fail to overcome obstacles. The adjustment component drives the obstacle-crossing component to expand outward to replace the contact between the vacuum anti-skid tire and the ground, thereby achieving obstacle-crossing operation under extreme conditions. The device can adapt to different terrains, improve the obstacle-crossing ability in the wild, and improve adhesion.

[0026] (2) The present invention utilizes the cooperation between the adjustment component and the inclination adjustment component so that when the device turns at high speed, the camber angle of the wheel hub can be automatically changed before turning, so that the contact area between the wheel hub and the ground is significantly increased when turning, and the problems of excessive roll and sideslip caused by too small contact area when turning are reduced, thereby improving the stability of the device when turning at high speed and reducing the risk of rollover.

[0027] (3) The present invention realizes automatic displacement of the cleaning plate by utilizing the automatic outward expansion of the obstacle-crossing component when crossing obstacles, automatically removes the mud adhered to the outer side of the wheel hub and the vacuum anti-skid tire, avoids the problem of eccentricity and reduced friction caused by the mud adhering to the outer side of the wheel hub and the vacuum anti-skid tire, reduces the subsequent maintenance process, and allows the device to be self-maintained during movement, thereby improving the applicable environment of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a back schematic diagram of the overall structure of the present invention;

[0030] Figure 3 It is an exploded schematic diagram of the mounting member and the mounting seat structure of the present invention;

[0031] Figure 4 A separate cross-sectional schematic diagram of the internal structure of the tilt adjustment assembly of the present invention;

[0032] Figure 5 is a schematic diagram of the internal structure of the groove of the present invention;

[0033] Figure 6 A separate cross-sectional schematic diagram of the adjustment assembly structure of the present invention;

[0034] Figure 7 It is an exploded schematic diagram of the structure of the position-limiting guide rail and the obstacle-crossing assembly of the present invention;

[0035] Figure 8 It is a separate schematic diagram of the obstacle crossing component structure of the present invention.

[0036] In the figure: 1. wheel hub; 2. vacuum anti-skid tire; 3. mounting piece; 4. mounting seat; 5. locking plate; 6. inclination adjustment assembly; 601. first fixed seat; 602. second fixed seat; 603. first fixed pipe; 604. first piston plate; 605. first piston rod; 606. first limit spring; 607. intake valve; 7. groove; 8. adjustment assembly; 801. oil storage tank; 802. three-way valve; 803. extension pipe; 804. second fixed pipe; 805. second piston plate; 806. second piston rod; 807. movable plate; 808. second limit spring; 9. extension frame; 10. limit guide rail; 11. obstacle crossing assembly; 111. third fixed seat; 112. fourth fixed seat; 113. connecting rod; 114. limit block; 115. support rod; 116. obstacle crossing block; 117. cleaning plate. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] like Figures 1 to 8 As shown, in an embodiment of the present invention, a wheel assembly for a high-adhesion outdoor wheeled robot includes a wheel hub 1, a vacuum anti-skid tire 2 is fixedly connected to the outer side surface of the wheel hub 1, a mounting member 3 is fixedly installed in the middle of the rear end of the wheel hub 1, a groove 7 is opened in the middle of the front of the wheel hub 1, a locking plate 5 is provided at the rear end of the wheel hub 1, a mounting seat 4 is fixedly installed in the middle of the front of the locking plate 5, the mounting member 3 and the mounting seat 4 are movably connected, the mounting member 3 rotates relative to the mounting seat 4, an inclination adjustment component 6 is connected between the mounting member 3 and the locking plate 5, an adjustment component 8 is fixedly installed inside the groove 7, an extension frame 9 is fixedly installed on the front of the wheel hub 1, and a limiting guide rail 10 is fixedly installed at an equal angle on the front of the extension frame 9, an obstacle crossing component 11 is movably connected inside the limiting guide rail 10, the rear end of the obstacle crossing component 11 is connected to the adjustment component 8, and the rear end of the adjustment component 8 passes through the rear end of the wheel hub 1 and is connected to the inclination adjustment component 6.

[0039] Before use, it can be fixed to the device transmission shaft through the fixing hole on the locking disk 5. At the same time, in the initial state, the obstacle crossing component 11 does not protrude from the outer side of the vacuum anti-skid tire 2. At this time, it can be rolled through the vacuum anti-skid tire 2. At the same time, in the initial state, the mounting part 3 and the locking disk 5 are in a mutually perpendicular state, and the wheel hub 1 can be driven to rotate through the external transmission shaft to realize the moving process.

[0040] like Figure 2 and Figure 5as well as Figure 6 As shown, the adjustment component 8 includes an oil storage tank 801, which is fixedly installed at the rear end position of the inner cavity of the groove 7, the interior of the oil storage tank 801 is filled with hydraulic oil, the front end of the oil storage tank 801 is fixedly connected with a three-way valve 802, the interior of the oil storage tank 801 is equipped with an oil pump, the bottom end of the three-way valve 802 is fixedly connected with an extension pipe 803, the rear end of the extension pipe 803 passes through the rear end of the wheel hub 1 and is connected to the inclination adjustment component 6, the front end of the three-way valve 802 is fixedly connected with a second fixed pipe 804, the second The fixed tube 804 is internally movably sleeved with a second piston plate 805, and the end of the second piston plate 805 away from the three-way valve 802 is fixedly connected to a second piston rod 806, and the end of the second piston rod 806 away from the three-way valve 802 passes through one end of the second fixed tube 804 and is fixedly connected to a movable plate 807, and the outer side surface of the second piston rod 806 is movably sleeved with a second limit spring 808, and the front and rear ends of the second limit spring 808 are connected to one end of the second fixed tube 804 and one end of the movable plate 807.

[0041] When the robot encounters a large obstacle and the contact area between the vacuum anti-skid tire 2 and the obstacle is small, and it is unable to cross the obstacle, the oil pump inside the oil storage tank 801 can be opened, and the valve at the front end of the three-way valve 802 can be opened. At this time, the hydraulic oil can be discharged through the front end of the three-way valve 802 and enter the interior of the second fixed pipe 804. At this time, the hydraulic oil pushes the second piston plate 805 to move forward, stretches the second limit spring 808, and pushes the second piston rod 806 and the movable plate 807 to move forward, finally applying a force to the obstacle crossing component 11.

[0042] like Figure 1 and Figure 2 as well as Figure 7 and Figure 8 As shown, the obstacle crossing component 11 includes a third fixed seat 111, which is connected to the front of the movable plate 807 at a position close to the outer side surface, and the third fixed seat 111 is distributed at equal angles on the outer side surface of the movable plate 807. The end of the third fixed seat 111 away from the movable plate 807 is movably connected to the connecting rod 113 through a rotating shaft, and the end of the connecting rod 113 away from the third fixed seat 111 is movably connected to the fourth fixed seat 112 through a rotating shaft. The end of the fourth fixed seat 112 away from the connecting rod 113 is fixedly connected to a limiting block 114, and the limiting block 114 is movably engaged with the limiting guide rail 10, and the limiting block 114 moves up and down relative to the limiting guide rail 10. A support rod 115 is fixedly installed on the top of the limiting block 114, and the top of the support rod 115 passes through one side of the limiting guide rail 10 and is fixedly connected to an obstacle crossing block 116, and the rear end of the obstacle crossing block 116 is fixedly installed with a cleaning plate 117 located on the front side of the wheel hub 1.

[0043] Embodiment: When the movable plate 807 moves forward, the distance between the movable plate 807 and the limiting guide rail 10 decreases, and the third fixed seat 111 is driven to move forward, and the multiple connecting rods 113 can be driven to deflect obliquely upward, and a thrust is applied to the limiting block 114. At this time, the limiting block 114 moves upward relative to the limiting guide rail 10, and at the same time drives the support rod 115 and the obstacle block 116 to move in a direction away from the middle of the wheel hub 1 until the obstacle block 116 protrudes from the outer side of the vacuum anti-skid tire 2. At this time, the obstacle block 116 can replace the vacuum anti-skid tire 2 to contact the ground. At the same time, the circumferential rotation of multiple obstacle blocks 116 can be realized in conjunction with the rotation of the wheel hub 1, replacing the vacuum anti-skid tire 2 to contact the obstacle, thereby improving adhesion and completing the obstacle crossing action.

[0044] By arranging an obstacle crossing component 11 on one side of the wheel hub 1 and through the cooperation between the obstacle crossing component 11 and the adjustment component 8, when the adhesion of the device is reduced and it becomes impossible to cross obstacles, the obstacle crossing component 11 is driven outward by the adjustment component 8 to replace the contact between the vacuum anti-skid tire 2 and the ground, so as to realize the obstacle crossing operation under extreme conditions, so that the device can adapt to different terrains, improve the obstacle crossing ability in the field, and improve the adhesion.

[0045] At the same time, when the vacuum anti-skid tire 2 is overcoming obstacles, a certain amount of mud will adhere to the side of the vacuum anti-skid tire 2, which will reduce the contact area between the vacuum anti-skid tire 2 and the ground, making it impossible to move. When the multiple obstacle blocks 116 expand outward, the cleaning plate 117 can be driven to move outward synchronously. At this time, the cleaning plate 117 can contact the outer side of the wheel hub 1, and clean the outer side of the wheel hub 1 and the vacuum anti-skid tire 2, completing the autonomous cleaning process.

[0046] By utilizing the automatic outward expansion of the obstacle-crossing component 11 when crossing obstacles, the cleaning plate 117 is automatically displaced, and the mud adhered to the outer sides of the wheel hub 1 and the vacuum anti-skid tire 2 is automatically removed, so as to avoid the problems of eccentricity and reduced friction caused by the mud adhering to the outer sides of the wheel hub 1 and the vacuum anti-skid tire 2, reduce the subsequent maintenance process, and enable the device to perform self-maintenance during movement, thereby improving the applicable environment of the device.

[0047] like Figure 2 and Figure 3 as well as Figure 4As shown, the inclination adjustment assembly 6 includes a first fixed seat 601 and a second fixed seat 602, the first fixed seat 601 is connected to the bottom end of the mounting member 3, the second fixed seat 602 is connected to the front side of the locking plate 5 near the bottom end, the end of the second fixed seat 602 away from the locking plate 5 is movably connected to the first fixed tube 603 through a rotating shaft, the end of the first fixed seat 601 away from the mounting member 3 is movably connected to the first piston rod 605 through a rotating shaft, the first fixed tube 603 is internally movably sleeved with a first piston plate 604, the end of the first piston rod 605 away from the first fixed seat 601 passes through one end of the first fixed tube 603 and is connected to the first piston plate 604, an intake valve 607 is fixedly connected to the outer side of the first fixed tube 603 near the rear end, and the other end of the intake valve 607 is connected to the extension tube 803.

[0048] Embodiment: When the device is turning at high speed, the valve at the bottom of the three-way valve 802 can be opened. At this time, the hydraulic oil is introduced into the interior of the intake valve 607 through the extension tube 803, and enters the interior of the first fixed tube 603. At this time, the hydraulic oil applies a thrust to the first piston plate 604. At this time, the first limit spring 606 is compressed, and drives the first piston rod 605 to extend, and applies a force to the first fixed seat 601. At this time, an upward force can be applied to the mounting member 3, that is, the mounting member 3 is driven to rotate relative to the locking plate 5. At this time, the wheel hub 1 can be driven to camber, increase the camber angle, and increase the contact area with the ground when turning, thereby assisting in completing the turning process.

[0049] By utilizing the cooperation between the adjustment component 8 and the inclination adjustment component 6, the device can automatically change the camber angle of the wheel hub 1 before turning at high speed, so as to significantly increase the contact area between the wheel hub 1 and the ground when turning, reduce the problems of excessive roll and sideslip caused by too small contact area when turning, improve the stability of the device when turning at high speed, and reduce the risk of rollover.

[0050] Working principle and usage process:

[0051] Before use, the fixing hole on the locking plate 5 can be used to fix the wheel hub 1 to the device transmission shaft. At the same time, in the initial state, the obstacle crossing component 11 does not protrude from the outer side of the vacuum anti-skid tire 2. At this time, the vacuum anti-skid tire 2 can be used to roll. At the same time, in the initial state, the mounting member 3 and the locking plate 5 are in a mutually perpendicular state, and the wheel hub 1 can be driven to rotate by the external transmission shaft to realize the moving process.

[0052] When the robot encounters a large obstacle and the contact surface between the vacuum anti-skid tire 2 and the obstacle is small, and the robot cannot cross the obstacle, the oil pump inside the oil storage tank 801 can be opened, and the valve at the front end of the three-way valve 802 can be opened. At this time, the hydraulic oil can be discharged through the front end of the three-way valve 802 and enter the second fixed pipe 804. At this time, the hydraulic oil pushes the second piston plate 805 to move forward, stretches the second limit spring 808, and pushes the second piston rod 806 and the movable plate 807 to move forward, and finally exerts a force on the obstacle crossing component 11;

[0053] When the movable plate 807 moves forward, the distance between the movable plate 807 and the limiting guide rail 10 is reduced, and the third fixed seat 111 is driven to move forward, and the multiple connecting rods 113 can be driven to deflect obliquely upward, and a thrust is applied to the limiting block 114. At this time, the limiting block 114 moves upward relative to the limiting guide rail 10, and at the same time drives the support rod 115 and the obstacle block 116 to move away from the middle of the wheel hub 1, until the obstacle block 116 protrudes from the outer side of the vacuum anti-skid tire 2. At this time, the obstacle block 116 can replace the vacuum anti-skid tire 2 to contact the ground. At the same time, the circumferential rotation of the multiple obstacle blocks 116 can be achieved in conjunction with the rotation of the wheel hub 1, replacing the vacuum anti-skid tire 2 to contact the obstacle, thereby improving the adhesion and completing the obstacle crossing action.

[0054] At the same time, when the vacuum anti-skid tire 2 is crossing an obstacle, a certain amount of mud will adhere to the side of the vacuum anti-skid tire 2, which will reduce the contact area between the vacuum anti-skid tire 2 and the ground, making it impossible to move. When the multiple obstacle-crossing blocks 116 expand outward, the cleaning plate 117 can be driven to move outward synchronously. At this time, the cleaning plate 117 can contact the outer side of the wheel hub 1 and clean the outer side of the wheel hub 1 and the vacuum anti-skid tire 2, completing the autonomous cleaning process.

[0055] At the same time, when the device is turning at high speed, the valve at the bottom of the three-way valve 802 can be opened. At this time, the hydraulic oil is introduced into the interior of the intake valve 607 through the extension tube 803, and enters the interior of the first fixed tube 603. At this time, the hydraulic oil applies a thrust to the first piston plate 604. At this time, the first limit spring 606 is compressed, and drives the first piston rod 605 to extend, and applies a force to the first fixed seat 601. At this time, an upward force can be applied to the mounting member 3, that is, the mounting member 3 is driven to rotate relative to the locking plate 5. At this time, the wheel hub 1 can be driven to bend outward, increase the camber angle, and increase the contact area with the ground when turning, thereby assisting in completing the turning process.

[0056] 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.

Claims

1. A wheel assembly for a high-adhesion outdoor wheeled robot, comprising a wheel hub (1), characterized in that: A vacuum anti-skid tire (2) is fixedly connected to the outer side surface of the wheel hub (1); a mounting member (3) is fixedly mounted in the middle of the rear end of the wheel hub (1); a groove (7) is provided in the middle of the front of the wheel hub (1); a locking plate (5) is provided at the rear end of the wheel hub (1); a mounting seat (4) is fixedly mounted in the middle of the front of the locking plate (5); the mounting member (3) and the mounting seat (4) are movably connected; the mounting member (3) rotates relative to the mounting seat (4); a tilting member (3) and the locking plate (5) are connected. An angle adjustment component (6), an adjustment component (8) is fixedly installed inside the groove (7), an extension frame (9) is fixedly installed on the front of the wheel hub (1), a limit guide rail (10) is fixedly installed at an equal angle on the front of the extension frame (9), an obstacle crossing component (11) is movably connected inside the limit guide rail (10), the rear end of the obstacle crossing component (11) is connected to the adjustment component (8), and the rear end of the adjustment component (8) passes through the rear end of the wheel hub (1) and is connected to the inclination adjustment component (6); The regulating assembly (8) comprises an oil storage tank (801), a three-way valve (802), an extension pipe (803), a second fixed pipe (804), a second piston plate (805), a second piston rod (806), a movable plate (807) and a second limit spring (808); The obstacle surmounting assembly (11) comprises a third fixing seat (111), a fourth fixing seat (112), a connecting rod (113), a limiting block (114), a supporting rod (115), an obstacle surmounting block (116) and a cleaning plate (117); The oil storage tank (801) is fixedly mounted at the rear end of the inner cavity of the groove (7); the interior of the oil storage tank (801) is filled with hydraulic oil; the front end of the oil storage tank (801) is fixedly connected to a three-way valve (802); an oil pump is built into the interior of the oil storage tank (801); the bottom end of the three-way valve (802) is fixedly connected to an extension pipe (803); the rear end of the extension pipe (803) passes through the rear end of the wheel hub (1) and is connected to the inclination adjustment assembly (6); The front end of the three-way valve (802) is fixedly connected to a second fixed pipe (804), the second fixed pipe (804) is movably sleeved with a second piston plate (805), one end of the second piston plate (805) away from the three-way valve (802) is fixedly connected to a second piston rod (806), and one end of the second piston rod (806) away from the three-way valve (802) passes through one end of the second fixed pipe (804) and is fixedly connected to a movable plate (807); A second limit spring (808) is movably sleeved on the outer side surface of the second piston rod (806), and the front and rear ends of the second limit spring (808) are connected to one end of the second fixed tube (804) and one end of the movable plate (807); The third fixed seat (111) is connected to the front of the movable plate (807) at a position close to the outer side surface. The third fixed seats (111) are distributed at equal angles on the outer side surface of the movable plate (807). One end of the third fixed seat (111) away from the movable plate (807) is movably connected to a connecting rod (113) via a rotating shaft. One end of the connecting rod (113) away from the third fixed seat (111) is movably connected to a fourth fixed seat (112) via a rotating shaft. One end of the fourth fixed seat (112) away from the connecting rod (113) is fixedly connected to a limit block (114), the limit block (114) is movably engaged with the limit guide rail (10), and the limit block (114) is displaced up and down relative to the limit guide rail (10); A support rod (115) is fixedly mounted on the top end of the limit block (114); the top end of the support rod (115) passes through one side of the limit guide rail (10) and is fixedly connected to an obstacle crossing block (116); a cleaning plate (117) located on the front face of the wheel hub (1) is fixedly mounted on the rear end of the obstacle crossing block (116).

2. The wheel assembly for a high-adhesion outdoor wheeled robot according to claim 1, characterized in that: The tilt adjustment assembly (6) comprises a first fixing seat (601) and a second fixing seat (602), wherein the first fixing seat (601) is connected to the bottom end of the mounting member (3), and the second fixing seat (602) is connected to the front side of the locking plate (5) at a position close to the bottom end, and an end of the second fixing seat (602) away from the locking plate (5) is movably connected to a first fixing tube (603) via a rotating shaft, and an end of the first fixing seat (601) away from the mounting member (3) is movably connected to a first piston rod (605) via a rotating shaft.

3. The wheel assembly for a high-adhesion outdoor wheeled robot according to claim 2, characterized in that: The first fixed tube (603) is movably sleeved with a first piston plate (604) inside, and one end of the first piston rod (605) away from the first fixed seat (601) passes through one end of the first fixed tube (603) and is connected to the first piston plate (604).

4. The wheel assembly for a high-adhesion outdoor wheeled robot according to claim 3, characterized in that: An air intake valve (607) is fixedly connected to a position on the outer side surface of the first fixed tube (603) near the rear end, and the other end of the air intake valve (607) is connected to the extension tube (803).

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