Foldable rollerskate special for robot

Abstract

The invention relates to a foldable rollerskate special for a robot. The rollerskate comprises a shoe body, a front wheel, a rear wheel, a swing rod, a connecting rod, a rack, a side link, a locking mechanism and a contraction mechanism. The rollerskate has a foldable design and can be switched between a sole walking mode and a wheel sliding mode; in the unfolded state, the side links and the connecting rods are in a straight line, the swing rods, the connecting rods, the side links and the rack jointly form a triangular supporting structure, and stable supporting is provided. The locking mechanism is used for locking the shoe body when the rollerskate is in a contraction state, so that the safety is ensured; the contraction mechanism achieves stable state switching through the tensioning design of the rope winding wheel. The technical problems that an existing rollerskate is single in function, unstable in structure and lack of safe locking control are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment and humanoid robots, and specifically relates to a foldable robot-specific pulley shoe. Background Art

[0002] In the field of mobile robots, the choice of walking mechanism plays a key role in the performance of the robot. At present, the walking mechanism mainly includes two types: foot walking and wheel sliding, each with its own advantages and limitations.

[0003] The main advantages of walking on the soles of the feet are strong stability and high flexibility. Since the soles of the feet have a large contact area with the ground, they can provide stable support, allowing the robot to maintain balance on external interference or uneven ground and adapt to complex terrain, such as stairs or soft mud. However, walking on the soles of the feet has the problems of slow walking speed and high energy consumption, which limits the robot's mobility and endurance on flat ground.

[0004] The wheel sliding method has the advantages of high speed and high energy efficiency. It is suitable for fast movement on flat ground and has high energy utilization efficiency. It is suitable for scenes such as roads and indoors. However, this method has poor terrain adaptability and is difficult to provide effective support in complex terrains such as stairs and mud. It is easy to slip or get stuck, affecting mobility.

[0005] Regarding the roller skate technology for robot-assisted mobility, most of the roller skates on the market currently use a fixed wheel set design, which has the following defects: Appearance and functional limitations: The wheel set is exposed, which affects the appearance and increases the burden when walking. Insufficient stability: Lack of effective mechanical support structure, easy to loosen or uneven force during sliding, affecting stability and safety. Lack of safety: Lack of reliable locking and retraction control devices, easy to accidentally unfold when not in use, posing a safety hazard.

[0006] In order to solve the above problems, there is an urgent need for a foldable robot-specific roller skate that can realize free switching between wheel sliding mode and foot walking mode, and at the same time has structural stability, operational safety and appearance consistency to meet the robot's movement needs in different scenarios and improve the applicability and reliability of the system. Summary of the invention

[0007] In a possible embodiment, a foldable robot-specific pulley shoe is provided, including a shoe body, a front wheel, a rear wheel, a swing rod, a connecting rod, a frame, a connecting rod, a locking mechanism and a retracting mechanism; wherein the pulley shoe has a foldable design and can switch between a sole walking mode and a wheel sliding mode; in the unfolded state, the connecting rod and the connecting rod are in a straight line, and the swing rod, the connecting rod, the connecting rod and the frame together form a triangular support structure to provide stable support for sliding; the locking mechanism is used to lock the shoe body when the pulley shoe is in a retracted state to prevent the pulley shoe from accidentally unfolding, thereby ensuring safety in the sole walking mode; the retracting mechanism adopts a rope-collecting wheel tensioning design, and realizes a smooth switching of the pulley shoe between the unfolded state and the retracted state by controlling the tension and release of the rope; wherein, the fixed magnetic disk and the rope-collecting wheel prevent the rope-collecting wheel from swinging during the non-unlocking process through suction, and when the applied rotational force is greater than the suction force of the fixed magnetic disk and the rope-collecting wheel, the rope-collecting wheel can rotate to complete the state switching.

[0008] In a possible implementation, the frame includes two support shafts and two strain plates; the two strain plates are symmetrically arranged, and the two support shafts are located between the two symmetrically arranged strain plates; the two support shafts are respectively fixed to both ends of the two strain plates to form a stable support frame structure.

[0009] In a possible implementation, when the roller skates are in a retracted state, the front wheels, rear wheels, swing rods, connecting rods, frames, connecting rods, locking mechanisms and retracting mechanisms are all completely hidden inside the shoe body, making the roller skates look no different from ordinary shoes.

[0010] In a possible implementation, in the unfolded state, the connecting rod and the connecting rod are in a straight line, and the swing rod, the connecting rod, the connecting rod and the frame together form a triangular support structure, thereby forming a "dead point position", which provides a natural advantage for locking the swing rod. When the swing rod is in the dead point position, the swing rod will not move in the opposite direction, thereby achieving automatic locking and preventing the swing rod from accidentally retracting during the sliding process. In a possible implementation, a limit arm is provided on the connecting rod, and an arc groove is provided on the limit arm. When the roller skates are unfolded, the arc groove is placed on the support shaft, which effectively limits the excessive swing of the swing rod and further ensures the stability of the roller skates.

[0011] In a possible implementation, the locking mechanism includes a locking pin and a corresponding locking groove. When the roller skate is in a retracted state, the locking pin cooperates with the locking groove to fix the position of the pulley.

[0012] In a possible implementation, the locking mechanism includes a locking button, and the roller skates can be released from their fixed state by pressing the locking button. After being released, the locking button automatically resets, restoring the roller skates to an appearance that is no different from ordinary shoes.

[0013] In one possible embodiment, the retraction mechanism includes a front wheel unlocking button, a rear wheel unlocking button, a fixed meshing wheel and a movable meshing wheel; when the front wheel unlocking button is pressed, the fixed meshing wheel and the movable meshing wheel engage with each other, and the rear wheel unlocking button is raised; by manually rotating the rear wheel unlocking button, the rope collecting wheel can be driven to rotate, thereby pulling the rope to release the dead point position of the rear wheel; the method of releasing the front wheel dead point position is the same as the above process.

[0014] In one possible embodiment, the retraction mechanism includes a fixed permanent magnet ring and a moving permanent magnet ring. The fixed permanent magnet ring and the moving permanent magnet ring have opposite magnetic poles. When the front wheel or rear wheel unlocking button is released, the front and rear wheel unlocking buttons are automatically reset by attracting each other through the fixed permanent magnet ring and the moving permanent magnet ring.

[0015] In a possible implementation, the fixed magnetic disk is connected to the frame, and the fixed magnetic disk is attracted to the rope collection wheel. When the torque is less than the attraction force, the rope collection wheel and the frame are fixed; when the torque is greater than the attraction force, the rope collection wheel can rotate.

[0016] In a possible implementation, a sensing module is integrated inside the shoe body of the roller skates, which can automatically detect the stress condition of the roller skates and realize an intelligent monitoring function.

[0017] In a possible implementation, the sensing module includes a sensing sheet and a deformable body. The deformable body and the strain plate are integrated into one design, which effectively reduces the overall volume and weight and improves the simplicity and reliability of the structure.

[0018] In a possible implementation, the front wheel and the rear wheel of the roller skates are both made of wear-resistant materials, and are provided with ball bearings to reduce friction losses during sliding.

[0019] In a possible implementation, the outer surface of the sole of the shoe body is covered with a high friction coefficient material to improve the anti-slip performance of the robot in the sole walking mode.

[0020] Based on the above technical solution, the foldable robot-specific roller skates of the present invention realize the switching between the sole walking mode and the wheel sliding mode through the foldable design, solving the problems of inconsistent appearance and insufficient safety of traditional roller skates in the retracted state. Through the design of the triangular support structure and the locking mechanism, the present invention provides stable sliding support and automatic locking function, improving the stability and safety of the roller skates. At the same time, the retraction mechanism realizes the smooth switching and automatic resetting function of the roller skates through the rope tensioning control and magnetic suction design, meeting the needs of rapid switching between the robot's sliding and walking modes. Beneficial Effects

[0021] The present invention provides a foldable robot-specific pulley shoe, and its technical solution brings significant innovation and practical value, which is specifically reflected in the following aspects:

[0022] Free switching between walking mode and sliding mode: Through the foldable design, the roller skates of the present invention can switch freely between the walking mode on the soles of the feet and the sliding mode on the wheels, which not only meets the stable walking requirements of the robot in complex terrain, but also enables high-speed sliding on flat ground, improving the applicability and flexibility of the robot's movement. The problem of single function and poor terrain adaptability of roller skates in the prior art is solved, and the comprehensive performance of the robot system is improved.

[0023] Provide a stable mechanical support structure: When the roller skates are unfolded, the connecting rod, connecting rod and swing rod form a stable triangular support structure to ensure uniform force during sliding and provide good impact and vibration resistance. The dead point position design further improves the stability of the structure, prevents the swing rod from accidentally folding up, and achieves automatic locking to ensure safety and stability during sliding.

[0024] Efficient switching and automatic resetting of the retraction mechanism: The retraction mechanism realizes the smooth switching between the unfolded state and the retracted state of the pulley shoe through the tensioning and releasing of the rope retracting wheel and the rope, which is simple and reliable to operate. The magnetic attraction design of the fixed disk and the rope retracting wheel ensures the stability of the system in the non-operating state, and prevents the pulley shoe from accidentally unfolding or folding due to external force malfunction. The fixed permanent magnetic ring and the moving permanent magnetic ring are used to realize the automatic resetting of the button, which reduces the wear of the traditional spring and improves the service life and stability of the system.

[0025] Hidden structure improves appearance and practicality: In the retracted state, all parts of the roller skates (front wheels, rear wheels, connecting rods, etc.) are hidden inside the shoe body, making it look the same as ordinary shoes, solving the problem of the unsightly appearance of traditional roller skates. This design improves the convenience and aesthetics of roller skates in daily use and is suitable for robot applications in multiple scenarios.

[0026] Lightweight and high-strength structure: The main structural parts of the roller skates (such as the frame, connecting rod, swing rod, etc.) are made of aluminum alloy, carbon fiber or high-strength engineering plastics, etc., to achieve lightweight and high-strength structure, ensuring the stability and durability of the system. The structural design is simple and efficient, meeting the use requirements of the robot in a variety of scenarios, and improving the work efficiency and stability of the overall system.

[0027] The foldable robot-specific roller skates of the present invention effectively solve the problems of difficulty in switching between walking and sliding modes, poor structural stability and insufficient safety in the prior art through innovative foldable design, mechanical support structure, intelligent contraction mechanism and monitoring function. Its significant advantages include: convenient operation, stable structure, beautiful appearance, diverse functions, suitable for various terrains and scenes, and provide higher performance and reliability for robot mobile systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the roller skates in the contracted state.

[0039] Figure 2 This is a schematic diagram of the roller skates in the unfolded state.

[0030] Figure 3 This is a schematic diagram of the roller skates explosion.

[0031] Figure 4 This is a top view of roller skates.

[0032] Figure 5 Roller Shoes Figure 4 ,AA section view.

[0033] Figure 6 Roller Shoes Figure 4 ,BB section view.

[0034] Figure 7 Schematic diagram of opening the shoe cover of roller skates.

[0035] In the figure: 1, shoe body; 2, front wheel; 3, rear wheel; 4, swing rod; 5, connecting rod; 6, connecting rod; 6.1, limit arm; 6.2, locking groove; 6.3, arc groove; 7, frame; 8, sole; 9, locking mechanism; 10, retracting mechanism; 11, rear wheel locking mechanism; 12, front wheel limit rod; 13, front wheel support rod; 14, front wheel swing rod; 15, shoe cover; 16, rope pulley; 17, rope; 18, front rope pulley; 19, front rope; 20. Connecting rod; 21. Locking nut; 22. Locking button; 23. Elastic ring; 24. Locking pin; 25. Steel ball; 26. Circlip; 27. Spring; 28. Bearing; 29. ​​Fixed magnetic disk; 30. Guide tube; 31. Fixed meshing wheel; 32. Rear wheel unlocking button; 33. Knob shaft; 34. Moving meshing wheel; 35. Moving permanent magnet ring; 36. Fixed permanent magnet ring; 37. Front wheel unlocking button; 38. Induction plate; 39. Support shaft; 40. Strain plate. DETAILED DESCRIPTION

[0036] like Figure 1-Figure 7 As shown, an embodiment of the present invention discloses a foldable roller skate for robots, comprising a shoe body 1, a front wheel 2, a rear wheel 3, a swing rod 4, a connecting rod 5, a frame 7, a connecting rod 6, a locking mechanism 9 and a retracting mechanism 10. The roller skate has a foldable design and can be switched between a sole walking mode and a wheel sliding mode.

[0037] In the unfolded state, the connecting rod 6 and the connecting rod 5 are in a straight line, and the swing rod 4, the connecting rod 5, the connecting rod 6 and the frame 7 cooperate with each other to form a stable triangular support structure, which provides stable support during sliding, can effectively disperse the force, ensure the stability of the roller skates in the sliding state, and avoid structural looseness or deformation.

[0038] In order to realize the smooth switching between the walking mode and the gliding mode of the roller skates, a retracting mechanism 10 is provided. The retracting mechanism 10 mainly includes a rope collecting wheel 16 and a rope 17. In the unfolded state, the rope 17 is tensioned by the rope collecting wheel 16 to keep the roller skates in the unfolded state. When the shoe body needs to be folded, the external rotation force applied is greater than the magnetic attraction between the rope collecting wheel 16 and the fixed magnetic disk 29, the rope collecting wheel 16 rotates, and the rope 17 is gradually released, thereby causing the shoe body to fold and switch to the retracted state.

[0039] In addition, a locking mechanism 9 is provided to prevent the roller skates from accidentally unfolding in the retracted state. After the retraction is completed, the locking mechanism 9 automatically locks the shoe body 1 to ensure that the shoe body remains stable in the walking mode, avoids accidental unfolding, and improves the safety of the user. In the unlocked state, the fixed magnetic disk 29 and the rope collection wheel 16 work together through magnetic attraction to fix the rope collection wheel 16 to prevent it from swinging or malfunctioning due to external force, further improving the stability and reliability of the roller skates during the switching process.

[0040] During the operation of the retracting mechanism 10, the smooth transition between the unfolded and retracted states of the roller skates is achieved by reasonably controlling the tension or release of the rope 17. In the unfolded state, the retracting mechanism 10 provides tension through the rope retracting wheel 16, so that the connecting rod 6 and the connecting rod 5 of the roller skates remain in a straight line, forming a stable triangular support structure. In the retracted state, the retracting mechanism 10 releases the rope 17, and cooperates with the release of the magnetic attraction force to complete the folding operation of the roller skates.

[0041] In order to further improve the performance and applicability of the roller skates, the main structural parts such as the frame 7, the connecting rod 5, the connecting rod 6 and the swing rod 4 can be made of light and high-strength materials, such as aluminum alloy, carbon fiber or high-strength engineering plastics, so as to reduce the overall weight of the roller skates while ensuring the strength and durability of the structure. The pulleys 2 and 3 can be made of highly wear-resistant materials, such as polyurethane or rubber, to enhance the wear resistance and ground adaptability of the wheels and provide a smoother sliding effect.

[0042] In actual use, the user can flexibly switch between the walking mode and the sliding mode according to the needs. When the user needs to slide, the roller skates are put into the unfolded state through the retracting mechanism 10, and the triangular support structure provides stable support to achieve a smooth sliding function; when walking is required, the user applies an external rotation force to make the rope wheel 16 overcome the magnetic attraction of the fixed magnetic disk 29, the rope 17 is released, the shoe body is folded to the retracted state, and the shoe body is locked by the locking mechanism 9 to ensure that the roller skates are in a safe and stable walking mode.

[0043] This embodiment solves the technical problems of the existing roller pulley shoes with single functions and fixed structures by combining structural design with the principle of mechanical stability, and provides a foldable roller pulley shoe that can freely switch between walking mode and sliding mode. At the same time, the safety and reliability of the roller pulley shoe are improved through the locking mechanism 9 and the contraction mechanism 10 that cooperates with magnetic attraction. The roller pulley shoe is suitable for robot mobile systems and other special scenarios.

[0044] like Figure 3 and Figure 7 As shown in a possible embodiment, the foldable robot-specific pulley shoes, the frame 7 includes two support shafts 39 and two strain plates 40, the two strain plates 40 are symmetrically arranged, the support shaft 39 is located between the two strain plates 40, and is respectively fixed to the two ends of the two strain plates 40 to form a stable support frame structure.

[0045] When the roller skates are in the unfolded state, the frame 7 evenly disperses the user's gravity and the dynamic load during sliding through the two strain plates 40. The two support shafts 39 firmly connect the two strain plates 40 to ensure uniform overall force, improve the bending and impact resistance, and ensure the stability and rigidity of the frame 7.

[0046] The strain plate 40 and the support shaft 39 can be made of materials such as aluminum alloy, carbon fiber or high-strength engineering plastics, which can ensure structural strength and meet lightweight requirements. In addition, the connection between the support shaft 39 and the strain plate 40 can be threaded or welded to meet maintenance or rigidity requirements in different scenarios.

[0047] This embodiment effectively improves the load-bearing capacity and structural stability of the roller skates through a simple and symmetrical structural design, is suitable for a variety of usage environments, and ensures the stability and safety of the gliding process.

[0048] like Figure 1 and Figure 7 In a possible embodiment, the foldable robot-specific roller skates are shown as follows: when the roller skates are in a retracted state, the front wheels 2, the rear wheels 3, the swing rods 4, the connecting rods 5, the frame 7, the connecting rods 6, the locking mechanism 9 and the retracting mechanism 10 are completely hidden inside the shoe body 1. At this time, the appearance of the roller skates is no different from that of ordinary shoes, ensuring the aesthetics and convenience of daily use.

[0049] In specific operation, when the user needs to switch to walking mode, the rope 17 is released by controlling the rope collection wheel 16 in the retracting mechanism 10, and the various structural components of the roller skates are gradually folded and stored under the action of tension release. After folding, the front wheel 2 and the rear wheel 3 are completely embedded in the bottom groove of the shoe body 1 through the rotating mechanism; the swing rod 4 and the connecting rod 5 are hidden along the guide groove inside the shoe body 1 during the retraction process; the frame 7 and the connecting rod 6 fit tightly with the internal space of the shoe body 1; the locking mechanism 9 firmly locks the shoe body 1 to prevent the components from accidentally unfolding.

[0050] Through the above design, the roller skates present an appearance similar to ordinary shoes in the retracted state, avoiding the problem of traditional roller skates affecting the aesthetics and wearing comfort due to the exposed wheel set, and are suitable for daily walking, carrying and storage.

[0051] like Figure 3 and Figure 7 As shown in a possible implementation manner, the foldable robot-specific roller skates: when the roller skates are in the unfolded state, the connecting rod 6 and the connecting rod 5 are in a straight line, and the swing rod 4, the connecting rod 5, the connecting rod 6 and the frame 7 are interconnected to form a stable triangular support structure, thereby forming a "dead point position".

[0052] Specifically, when the roller skates are unfolded, the swing bar 4 is in a dead point position of its mechanical structure when the connecting rod 6 and the connecting rod 5 form a straight line. This dead point position makes the swing bar 4 have no space for reverse movement, and even under the action of external force, it will not swing in the opposite direction or fold, thereby achieving automatic locking. This design provides a natural mechanical advantage for the stability of the roller skates, ensuring that the swing bar 4 will not be accidentally retracted during the sliding process, and effectively preventing the roller skates from structural instability or folding.

[0053] In addition, the mechanical stability of the triangular support structure enables the pulley shoe to evenly distribute the load under stress, preventing deformation or damage caused by excessive local stress. The automatic locking function of the swing rod 4 at the dead point position does not require an additional mechanical locking device, simplifies the structure of the pulley shoe, and improves the reliability and ease of operation of the system.

[0054] Through the above design, the roller skates have a stable triangular support structure in the unfolded state, which automatically locks the swing rod 4 to prevent accidental folding due to vibration or impact during sliding, thereby ensuring the safety and sliding stability of the roller skates.

[0055] like Figure 3 and Figure 7In a possible embodiment, the foldable robot-specific roller skates are provided with a limit arm 6.1 on the connecting rod 6, and an arc groove 6.3 is formed on the limit arm 6. When the roller skates are in the unfolded state, the arc groove 6.3 is placed on the support shaft, thereby effectively limiting the swing range of the swing rod 4, preventing the swing rod 4 from swinging excessively, and further ensuring the stability and safety of the roller skates.

[0056] Specifically, when the roller skates are unfolded, the arc groove 6.3 and the support shaft are closely matched, so that the range of motion of the swing rod 4 is limited, and the swing rod 4 is prevented from swinging excessively due to force or external impact. In addition, the fitting relationship between the arc groove 6.3 and the support shaft further strengthens the stability of the triangular support structure, ensuring that the swing rod 4 always remains in the predetermined force position during the sliding process, and will not deviate or become unstable, thereby improving the load-bearing capacity and safety of the roller skates.

[0057] By setting the limit arm 6.1 and the arc groove 6.3, the present invention adds limit protection to the swing rod 4 on the basis of the original triangular support structure and dead point position, further improving the structural stability and impact resistance of the roller skates, preventing structural loosening or instability caused by vibration or external force, and ensuring the stability and safety of the sliding process.

[0058] like Figure 3 and Figure 5 In a possible implementation, the locking mechanism 9 includes a locking pin 24 and a corresponding locking groove 6.2. When the roller skates are in the retracted state, the locking pin 24 is embedded in the locking groove 6.2, and the two cooperate with each other to fix the various structural components of the roller skates, especially the positions of the front wheel 2, the rear wheel 3 and the related supporting components, to ensure the stability of the roller skates in the retracted state and prevent accidental deployment.

[0059] Specifically, when the retracting mechanism 10 switches the roller skates to the retracted state through the rope retracting wheel 16 and the rope 17, the locking pin 24 enters the locking groove 6.2 under the elastic force of the spring (27), forming a mechanical fixed state. At this time, the front wheel 2, rear wheel 3, swing rod 4, connecting rod 5 and other components of the roller skates are in a completely retracted state and are firmly locked to avoid accidental deployment due to external force or vibration, thereby ensuring safety and stability in the walking mode.

[0060] When the roller skates need to be switched from the retracted state to the extended state, the locking button (22) is pressed, and the force is transmitted to the locking pin (24) through the steel ball (25), overcoming the elastic force of the spring (27), so that the locking pin (24) retracts backward, thereby releasing the engagement with the locking groove (39). Subsequently, the rope (17) is released through the retracting mechanism (10), so that the various structural components of the roller skates are re-extended, and the switching of the sliding mode is successfully completed.

[0061] Through the above design, the cooperation between the locking pin 24 of the locking mechanism 9 and the locking groove 6.2 provides a reliable mechanical locking function, effectively fixes the retracted state of the roller skates, prevents unexpected expansion, and improves the safety and ease of use of the roller skates in walking mode.

[0062] like Figure 3 and Figure 5 In a possible implementation, the locking mechanism 9 includes a locking button 22. By pressing the locking button 22, the fixed state of the roller skates can be released, so that the roller skates transition from the contracted state to the expanded state. When the locking button 22 is released, the locking button is automatically reset under the action of the reset device, so that the roller skates restore their appearance and are no different from ordinary shoes.

[0063] Specifically, when the roller skates are in the retracted state, various components such as the front wheel 2, the rear wheel 3, the swing rod 4, the connecting rod 5 and the frame 7 are hidden inside the shoe body 1, and the locking button 22 remains locked to ensure that the positions of various components are fixed to prevent accidental deployment.

[0064] After being released, the locking button 22 is automatically reset by a reset device such as a spring, restoring the appearance of the roller skates so that they are no different from ordinary shoes in the retracted state, which not only meets the aesthetic requirements of daily use, but also ensures the stability and safety of the stored state.

[0065] like Figure 3 and Figure 6 In the foldable robot-specific roller skates described in a possible embodiment, the retracting mechanism 10 includes a front wheel unlocking button 37, a rear wheel unlocking button 32, a fixed meshing wheel 31, and a movable meshing wheel 34. The mechanism realizes the state switching of the front wheel 2 and the rear wheel 3 of the roller skates by manual operation, ensuring that the system is easy and reliable to operate during the retraction or expansion process.

[0066] Specifically, when the dead point position of the rear wheel 3 needs to be released, the user presses the front wheel unlocking button 37, at which time the fixed meshing wheel 31 and the movable meshing wheel 34 on the rear wheel unlocking button 37 mesh with each other, and the rear wheel unlocking button 32 is raised. The user can manually rotate the rear wheel unlocking button 32 to drive the rope collecting wheel 16 to rotate, and the rope collecting wheel 16 pulls the rope 17 to gradually release the dead point position of the rear wheel 3, so that the rear wheel 3 transitions from the locked state to the foldable state.

[0067] The process of releasing the dead point position of the front wheel 2 is the same as the above process. By pressing the rear wheel unlocking button 32, the fixed meshing wheel 31 on the front wheel unlocking button 32 meshes with the movable meshing wheel 34, and the front wheel unlocking button 37 is raised. The user can manually rotate the front wheel unlocking button 37 to drive the rope collecting wheel 18 to rotate, and the rope collecting wheel 18 pulls the rope 19, thereby releasing the locking state of the front wheel 2 and making the front wheel 2 enter the foldable state.

[0068] Through the above design, the retraction mechanism 10 realizes the unlocking operation of the front wheel 2 and the rear wheel 3 of the roller skates in the retracted state, with a simple structure and convenient operation. The independent setting of the front wheel unlocking button 37 and the rear wheel unlocking button 32 enables the user to control the state of the front wheel and the rear wheel respectively, ensuring that the expansion and contraction process of the roller skates is more stable and controllable. The cooperation of the fixed meshing wheel 31 and the movable meshing wheel 34 provides a reliable mechanical transmission mechanism, driving the rope collection wheel 16 to operate smoothly, avoiding unexpected failures caused by external forces or operating errors, and further improving the reliability and safety of the system.

[0069] To summarize, this embodiment provides a manual and controllable state switching solution by setting a front wheel unlocking button 37, a rear wheel unlocking button 32, and fixed and movable meshing wheels, ensuring that the front wheel 2 and the rear wheel 3 of the roller skates can smoothly release the dead point position and smoothly enter the folding or unfolding state, thereby meeting the user's requirements for operational convenience and system stability.

[0070] like Figure 3 and Figure 6 As shown in a possible embodiment, the foldable robot-specific pulley shoes: the retraction mechanism 10 includes a fixed permanent magnet ring 36 and a moving permanent magnet ring 35, wherein the magnetic poles of the fixed permanent magnet ring 36 and the moving permanent magnet ring 35 are opposite, when the front wheel unlocking button 37 or the rear wheel unlocking button 32 is released, due to the magnetic attraction generated between the fixed permanent magnet ring 36 and the moving permanent magnet ring 35, the unlocking button (37, 32) is automatically reset, ensuring that the function of the retraction mechanism is restored to the initial state.

[0071] Specifically, during operation, when the user presses the front wheel unlocking button 37 or the rear wheel unlocking button 32, the fixed meshing wheel 31 engages with the movable meshing wheel 34, and the user can rotate the rear wheel unlocking button 32 to make the rope collecting wheel 16 pull the rope 17, thereby releasing the dead point position of the front wheel 2 or the rear wheel 3, and causing the roller skates to enter the expanded or contracted state.

[0072] After the operation is completed, when the user releases the front wheel unlocking button 37 or the rear wheel unlocking button 32, the moving permanent magnet ring 35 located inside the button is subjected to the magnetic attraction of the fixed permanent magnet ring 36, and the unlocking button (37, 32) is pulled to automatically reset. This design does not require an additional mechanical reset device, and the structure is simpler. At the same time, it ensures that the unlocking buttons 37 and 32 can quickly return to the initial position after being released, preventing the system from operating abnormally or the roller skates from being unable to lock due to the failure to reset the buttons.

[0073] Through the above design, the fixed permanent magnet ring 36 and the moving permanent magnet ring 35 provide an automatic reset mechanism, which effectively improves the convenience of operation of the unlocking button and the reliability of the system. In addition, the design of magnetic attraction reset reduces the wear and fatigue that may be caused by the traditional spring reset device, prolongs the service life of the retracting mechanism 10, and improves the stability and durability of the roller skates during use.

[0074] To sum up, this embodiment realizes the automatic resetting function of the unlocking buttons 37 and 32 by setting the fixed permanent magnet ring 36 and the moving permanent magnet ring 35. The operation is simple and reliable, and the failure problem caused by the failure to reset the button is avoided, further ensuring the efficient and stable operation of the pulley shoe retraction mechanism 10.

[0075] like Figure 3 , Figure 5 and Figure 6 In a possible embodiment, the foldable robot-specific pulley shoe: the fixed magnetic disk 29 is connected to the frame 7, and the fixed magnetic disk 29 cooperates with the rope-collecting wheel 16 through magnetic attraction. When the torque applied to the rope-collecting wheel 16 is less than the suction force, the magnetic attraction provides a constraint to keep the rope-collecting wheel 16 and the frame 7 fixed and immobile, ensuring that the pulley shoe is in the current state and preventing the state from changing due to slight external force or vibration.

[0076] When the applied torque is greater than the attraction force, the external force overcomes the magnetic attraction between the fixed magnetic disk 29 and the rope-collecting wheel 16, and the rope-collecting wheel 16 rotates accordingly, thereby controlling the tension or release of the rope 17 through the contraction mechanism 10, thereby achieving a smooth switching of the roller skates between the expanded state and the contracted state.

[0077] In actual operation: 1. In the retracted state: the magnetic attraction between the fixed magnetic disk 29 and the rope collecting wheel 16 fixes the rope collecting wheel 16, and each structural component (such as the front wheel 2, the rear wheel 3, the swing rod 4, the connecting rod 5, etc.) is in a folded and stored state and is reliably fixed to prevent accidental unfolding. 2. When switching states: When the torque applied by the user exceeds the threshold of the magnetic attraction force, the rope-collecting wheel 16 starts to rotate, and the traction rope 17 is gradually tightened or released, driving the various components of the roller shoe to expand or contract, completing the state switching. 3. In the unfolded state: through the tensioning operation of the rope-collecting wheel 16, each component returns to the unfolded state, forming a stable triangular support structure to ensure the sliding stability of the roller skates.

[0078] Through the above design, the magnetic attraction between the fixed magnetic disk 29 and the rope collection wheel 16 provides a torque-controlled state locking and switching mechanism, which is simple and reliable in structure. This design can effectively prevent the pulley from malfunctioning when the external force is small or not operated, and ensure smooth state switching when the external force exceeds the set value, thereby improving the convenience of operation and system stability of the pulley.

[0079] like Figure 3 , Figure 5 and Figure 7 As shown in a possible implementation manner, the foldable robot-specific roller skates: a sensing module 38 is integrated inside the shoe body 1 of the roller skates for automatically detecting the stress condition of the roller skates to realize an intelligent monitoring function.

[0080] Specifically, the sensing module 38 includes a pressure sensor, which can monitor the stress state of each part of the shoe body 1, the stress balance of the wheel set, and the stability of the triangular support structure in real time. When the user wears the roller skates to skate or walk, the sensing module 38 collects the stress data and analyzes it through the control system to determine whether the roller skates are in a normal stress state, or whether there are abnormal conditions such as overload or uneven stress.

[0081] Through the above design, the sensing module 38 integrated in the shoe body 1 realizes real-time monitoring and analysis of the force of the roller skates, and provides intelligent feedback and safety monitoring functions. This design effectively improves the reliability of the roller skates, can detect abnormal conditions in time and give prompts, ensure the safety and stability of the sliding and contraction states, and also provides technical support for further intelligent control and state optimization.

[0082] like Figure 3 , Figure 5 and Figure 7 In a possible implementation, the foldable robot roller skates are as follows: the sensing module 38 includes a sensing sheet 38 and a deformable body, wherein the deformable body and the strain plate 40 are integrated. This design effectively reduces the overall volume and weight while realizing the intelligent monitoring function, further improving the simplicity and reliability of the structure.

[0083] Specifically, the deformable body and the strain plate 40 are integrally formed, and the deformation characteristics of the material are used to sense the state change of the roller skates during the force application process. The sensing sheet 38 is fixed on the deformable body. When the roller skates are subjected to external force, the deformable body undergoes a slight deformation along with the strain plate 40. The sensing sheet 38 collects deformation data in real time and transmits the data to the built-in control module or the external monitoring system to realize intelligent monitoring of the force application and structural stability of the roller skates.

[0084] In addition, the deformable body and the strain plate 40 are designed as an integrated structure, which avoids additional connecting parts, simplifies the overall structure, effectively reduces the volume and weight of the roller skates, and reduces the wear between parts, thereby improving the service life and reliability of the system.

[0085] Through the above design, this implementation method optimizes the structural layout while maintaining the intelligent monitoring function, reduces the weight and complexity of the roller skates, improves the stability, reliability and ease of operation of the entire shoe, and meets the user's requirements for lightweight and high performance.

[0086] like Figure 3 and Figure 5 As shown in a possible implementation manner, the roller skates for foldable robots: the front wheels 2 and rear wheels 3 of the roller skates are made of wear-resistant materials, and ball bearings 28 are arranged in the wheel axles to reduce friction losses during sliding and improve the sliding performance and service life of the roller skates.

[0087] Specifically, the front wheel 2 and the rear wheel 3 are made of polyurethane material, rubber material or other highly wear-resistant materials. These materials have good wear resistance and impact resistance, can effectively reduce the wear between the wheel body and the ground, extend the service life of the wheel, and adapt to various complex ground conditions to provide a stable sliding experience.

[0088] At the same time, ball bearings 28 are arranged at the axles of the front wheel 2 and the rear wheel 3. The ball bearings are designed with high precision and can effectively reduce the friction resistance between the axle and the wheel body during sliding, ensuring that the wheels slide more smoothly, reducing energy loss and improving the sliding efficiency of the roller skates.

[0089] In actual use, the wear-resistant material makes the front wheel 2 and the rear wheel 3 have good durability and ground grip performance, and the use of the ball bearing 28 significantly reduces the rotation resistance of the wheel, so that the user needs less driving force when skating, and the skating is easier and smoother. At the same time, this design also effectively reduces the wear between the wheel axle and the wheel body, further improving the overall reliability and service life of the roller skates.

[0090] Through the above design, the roller shoes have high wear resistance, low friction loss and high sliding efficiency during sliding, providing users with a more stable and smooth use experience, and are suitable for various application scenarios such as robot-assisted movement.

[0091] like Figure 3 and Figure 5 As shown in a possible implementation manner, the foldable robot-specific roller skates: the outer surface of the sole 8 of the shoe body 1 is covered with a high friction coefficient material to improve the anti-slip performance of the robot in the sole walking mode.

[0092] Specifically, the outer surface of the sole 8 is made of, for example, rubber material, silicone material or other composite materials with a high friction coefficient. These materials have excellent anti-slip properties and can fully contact the ground when the robot is in the sole walking mode, increase the friction of the contact surface, and effectively prevent the occurrence of sliding or slipping, ensuring that the robot walks stably in different ground environments.

[0093] In addition, high friction coefficient materials can also be optimized according to actual application scenarios. For example, on slippery or rough surfaces, the surface of the material can be textured or particle-reinforced to further increase the friction coefficient between the sole and the ground, enhance the anti-slip effect, and ensure the walking stability and safety of the robot in various complex environments.

[0094] Through the above design, the sole 8 is covered with a high friction coefficient material, so that the roller skates have a stronger anti-slip performance when walking in the contracted state, effectively avoiding the risk of the robot slipping due to slippery ground or insufficient friction, and improving the applicability and safety of the roller skates in different scenarios.

Claims

1. A foldable roller skate for robots, comprising a shoe body (1), a front wheel (2), a rear wheel (3), a swing rod (4), a connecting rod (5), a frame (7), a connecting rod (6), a locking mechanism (9) and a retracting mechanism (10); Features: The roller skates have a foldable design and can be switched between a foot walking mode and a wheel gliding mode; In the unfolded state, the connecting rod (6) and the connecting rod (5) form a straight line, and the swing rod (4), the connecting rod (5), the connecting rod (6) and the frame (7) together form a triangular support structure to provide stable support for sliding; The locking mechanism (9) is used to lock the shoe body (1) when the roller skates are in a retracted state, thereby preventing the roller skates from accidentally unfolding, thereby ensuring safety in the sole walking mode; The retracting mechanism (10) adopts a tensioning design of a rope-collecting wheel (16), and realizes a smooth switching of the roller skates between an expanded state and a retracted state by controlling the tension and release of the rope (17); The fixed magnetic disk (29) and the rope collecting wheel (16) prevent the rope collecting wheel (16) from swinging during the non-unlocking process through the attraction effect, and when the applied rotational force is greater than the attraction force between the fixed magnetic disk (29) and the rope collecting wheel (16), the rope collecting wheel (16) can rotate to complete the state switching.

2. The foldable robot-specific pulley shoe according to claim 1, characterized in that: The frame (7) comprises two support shafts (39) and two strain plates (40); the two strain plates (40) are symmetrically arranged, and the two support shafts (39) are located between the two symmetrically arranged strain plates (40); the two support shafts (39) are respectively fixedly connected to two ends of the two strain plates (40) to form a stable support frame structure.

3. The foldable robot-specific roller skates according to claim 1, characterized in that: When the roller skates are in a retracted state, the front wheel (2), the rear wheel (3), the swing rod (4), the connecting rod (5), the frame (7), the connecting rod (6), the locking mechanism (9) and the retracting mechanism (10) are all completely hidden inside the shoe body (1), so that the roller skates have the same appearance as ordinary shoes.

4. The foldable robot-specific roller skates according to claim 1, characterized in that: In the unfolded state, the connecting rod (6) and the connecting rod (5) are in a straight line, and the swing rod (4), the connecting rod (5), the connecting rod (6) and the frame (7) together form a triangular support structure, thereby forming a "dead point position". The dead point position provides a natural advantage for locking the swing rod (4). When the swing rod (4) is in the dead point position, the swing rod (4) will not move in the opposite direction, thereby achieving automatic locking, thereby preventing the swing rod (4) from being accidentally retracted during the sliding process.

5. The foldable robot-specific roller skates according to claim 4, characterized in that: The connecting rod (6) is provided with a limit arm (6.1), and the limit arm (6.1) is provided with an arc groove (6.3). When the roller skates are in an unfolded state, the arc groove (6.3) is placed on the support shaft, effectively limiting the excessive swing of the swing rod (4), and further ensuring the stability of the roller skates.

6. The foldable robot-specific roller skates according to claim 1, characterized in that: The locking mechanism (9) comprises a locking pin (24) and a corresponding locking groove (39). When the roller skate is in a retracted state, the locking pin (24) cooperates with the locking groove (39) to fix the position of the pulley.

7. The foldable robot-specific roller skates according to claim 1, characterized in that: The locking mechanism (9) comprises a locking button (22). The fixed state of the roller skates can be released by pressing the locking button (22). After being released, the locking button (22) automatically resets, so that the roller skates restore their appearance to be the same as ordinary shoes.

8. The foldable robot-specific roller skates according to claim 1, characterized in that: The retracting mechanism (10) comprises a front wheel unlocking button (37), a rear wheel unlocking button (32), a fixed meshing wheel (31) and a movable meshing wheel (34); when the front wheel unlocking button (37) is pressed, the fixed meshing wheel (31) and the movable meshing wheel (34) mesh with each other, and the rear wheel unlocking button (32) protrudes at the same time; by manually rotating the rear wheel unlocking button (32), the rope collecting wheel (16) can be driven to rotate, thereby pulling the rope (17) to release the dead point position of the rear wheel (3); the method of releasing the dead point position of the front wheel (2) is the same as the above process.

9. The foldable robot-specific roller skates according to claim 8, characterized in that: The retracting mechanism (10) comprises a fixed permanent magnetic ring (36) and a moving permanent magnetic ring (35), wherein the fixed permanent magnetic ring (36) and the moving permanent magnetic ring (35) have opposite magnetic poles, and when the front wheel (2) or rear wheel (3) unlocking button (37, 32) is released, the front and rear wheel unlocking buttons (37, 32) are automatically reset by mutual attraction between the fixed permanent magnetic ring (36) and the moving permanent magnetic ring (35).

10. The foldable robot-specific roller skates according to claim 1, characterized in that: The fixed magnetic disk (29) is connected to the frame (7), and the fixed magnetic disk (29) is attracted to the rope collecting wheel (16). When the torque is smaller than the attraction force, the rope collecting wheel (16) and the frame (7) are fixed; when the torque is larger than the attraction force, the rope collecting wheel (16) can rotate.

11. The foldable robot-specific roller skates according to claim 1, characterized in that: The shoe body (1) of the roller skates is internally integrated with a sensing module (38), which can automatically detect the stress condition of the roller skates and realize an intelligent monitoring function.

12. The foldable robot-specific roller skates according to claim 9, characterized in that: The sensing module (38) comprises a sensing sheet (38) and a deformable body, and the deformable body and the strain plate (40) are designed as an integrated whole, which effectively reduces the overall volume and weight and improves the simplicity and reliability of the structure.

13. The foldable robot-specific roller skates according to claim 1, characterized in that: The front wheel (2) and the rear wheel (3) of the roller skates are both made of wear-resistant materials, and are provided with ball bearings (28) to reduce friction losses during sliding.

14. The foldable robot-specific roller skates according to claim 1, characterized in that: The outer surface of the sole (8) of the shoe body (1) is covered with a high friction coefficient material, which is used to improve the anti-slip performance of the robot in the sole walking mode.

Images