Wheel-leg switching mechanism

Abstract

The invention discloses a wheel-leg switching mechanism, and belongs to the technical field of wheel-leg switching, the wheel-leg switching mechanism comprises a spoke body annularly distributed on a disc body assembly, the spoke body comprises a supporting part and a matching part, a telescopic mechanism is arranged on the spoke body, one end of the telescopic mechanism is linked with the spoke body, and the other end of the telescopic mechanism is linked with the disc body assembly. According to the scheme, the spoke bodies can serve as wheel bodies to roll and can also serve as leg frames to rotationally walk, the supporting parts and the matching parts are arranged on the two circumferential sides of the spoke bodies correspondingly, and when the telescopic mechanisms retract, the supporting parts and the matching parts of the adjacent spoke bodies can be matched together; all the spoke bodies are combined together to form a wheel body; and when the contraction mechanism is unfolded, the spoke bodies are radially unfolded by taking the driving device as a circle center to form the leg frame. According to the scheme, the wheel leg serves as a whole and can be used as a wheel or a leg frame.

Description

Technical Field

[0001] The present invention relates to a wheel-leg mechanism, and more specifically, to a wheel-leg conversion mechanism. Background Art

[0002] Existing robots and some intelligent transportation vehicles generally achieve movement only through wheels or only through leg frames. Robots and transportation vehicles with wheels can only move on relatively flat ground and cannot move on bumpy or stepped roads; robots with leg frames move relatively slowly and are not conducive to movement. Therefore, a mechanism for wheel-leg conversion in robots has emerged.

[0003] For example: Chinese Patent Publication No. CN213322487U, publication date June 1, 2021, the name of the utility model is a convertible wheel-leg composite structure. This application discloses a wheel-leg conversion mechanism for a robot, including a wheel with eight legs that can be unfolded and has two working modes. A four-bar conversion mechanism is formed by an inner and outer wheel disc, an intermediate disc, a connecting rod, and a finger unit. The finger unit is connected to the intermediate disc unit through a connecting rod unit, and the inner and outer wheel discs are the fixed units of the four-bar mechanism. The wheel is driven by an independent motor, and the motor is connected to the intermediate disc. By driving the rotation of the intermediate disc through the motor, the wheel frame can be opened and closed while moving. The two working modes of the wheel can be easily changed. By using this four-bar mechanism to change the two working modes of the wheel, the stability and mobility of the wheel type can be integrated with the climbing ability of the leg type, which can be applied to flat and rough terrains and can be used in a variety of working scenarios. However, this solution separates the wheel and the leg frame, increasing the complexity of the wheel-leg conversion mechanism. Summary of the Invention

[0004] The present invention overcomes the problem of the complexity of the existing wheel-leg conversion mechanism and provides a wheel-leg conversion mechanism. In this solution, the wheel-leg is regarded as a whole and can be used as a wheel or a leg frame, greatly simplifying the structure of the wheel-leg conversion mechanism.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: A wheel-leg conversion mechanism includes a spoke body on an annularly distributed disc body assembly. The spoke body includes a support portion and a mating portion. A telescopic mechanism is provided on the spoke body. One end of the telescopic mechanism is linked to the spoke body, and the other end of the telescopic mechanism is linked to the disc body assembly. In this solution, the spoke body can roll as a wheel body or walk in a rotational manner as a leg frame. The two circumferential sides of the spoke body are respectively a support portion and a mating portion. When the telescopic mechanism contracts, the support portion and the mating portion of adjacent spoke bodies can cooperate with each other, so that all the spoke bodies are combined together to form a wheel body; when the telescopic mechanism extends, the spoke bodies radially expand with the disc body assembly as the center to form a leg frame.

[0006] Preferably, the telescopic mechanism is a scissor structure. The telescopic mechanism includes a first scissor mechanism, which includes a first rod and a second rod. A chute is provided on the spoke body. One end of the first rod is fixed to the spoke body, and one end of the second rod is slidably connected to the chute. When the first scissor mechanism expands and contracts, that is, when the first rod and the second rod rotate relative to each other, the end of the second rod will slide in the chute of the spoke body, thereby controlling the relative swing of the spoke body, so that the spokes are retracted into a wheel body or expanded into a leg frame.

[0007] Preferably, the telescopic mechanism further includes a second scissor mechanism. One end of the second scissor mechanism is connected to the end of the first scissor mechanism away from the spoke body, and the other end of the second scissor mechanism is connected to the disc assembly. The connection between the second scissor mechanism and the first scissor mechanism is beneficial to the telescopic performance of the scissor mechanism and better controls the rotation of the spoke body; the disc assembly can control the second scissor mechanism to rotate and expand, thereby controlling the rotation and expansion of the first scissor mechanism, and finally realizing the conversion of the wheel-leg mechanism.

[0008] Preferably, the second scissor mechanism includes a third rod and a fourth rod. The disc assembly includes an inner disc and an outer disc. The ends of the third rod and the fourth rod away from the first scissor mechanism are respectively connected to the inner disc and the outer disc. The inner disc and the outer disc can control the relative rotation of the third rod and the fourth rod, thereby controlling the expansion and contraction of the second scissor mechanism.

[0009] Preferably, the length of the second rod is less than the length of the first rod, and the hinge point of the first rod and the second rod is located at a position on the second rod close to the chute. The lengths of the second rod and the first rod need to be designed to be the same length to ensure that the spoke body swings while the telescopic mechanism extends, and setting the hinge point on the second rod closer to the chute is beneficial to the swing of the spoke body.

[0010] Preferably, a driving motor is provided on the inner disc, a transmission rack is provided on the outer disc, and a transmission gear adapted to the transmission rack is provided at the output end of the driving motor. The driving motor can output torque to make the transmission gear rotate. The transmission gear meshes with the transmission rack to make the outer disc rotate relative to the inner disc, so that the third rod and the fourth rod on the second scissor mechanism can rotate relative to each other, and the telescopic mechanism expands and contracts.

[0011] Preferably, a main shaft is provided between the inner disc and the outer disc, and the outer disc is rotatably connected to the main shaft. The main shaft is used to connect the inner disc and the outer disc and form a relatively stable structure. At the same time, the outer disc is rotatably connected to the main shaft. When the transmission gear and the transmission rack mesh and transmit power, it can ensure that the outer disc rotates relative to the inner disc.

[0012] Preferably, when the spoke body is in the deployed state, the second rod is at one end of the chute close to the support portion, and when the spoke body is in the retracted state, the second rod is at one end of the chute close to the mating portion. When the spoke body is in the deployed state, the connection end of the second rod and the chute will abut against one end of the chute close to the support portion, so that the spoke body will be subjected to a radially outward extrusion force from the second rod, making the spoke body be tightly held to maintain a stable wheel leg state. When the spoke body is in the retracted state, the connection end of the second rod and the chute will abut against one end of the chute close to the mating portion, so that the spoke body will be subjected to an inward pulling force from the second rod, making the spoke body in a stable wheel state.

[0013] Preferably, the radial cross-section of the spoke body is "T"-shaped. Designing the radial cross-section of the spoke body as a "T" shape can effectively increase the support area of the outer contour of the spoke body, which can not only provide better stability for the wheel state, but also provide sufficient support strength for the leg frame state to prevent the spoke body from being easily damaged.

[0014] Preferably, the support portion and the mating portion are located on both circumferential sides of the spoke body, and the size of the support portion is larger than that of the mating portion. When the telescopic mechanism contracts, the support portion and the mating portion of adjacent spoke bodies can cooperate with each other, so that all the spoke bodies are combined together to form a wheel body; when the contraction mechanism is extended, the spoke bodies are radially extended with the disk assembly as the center to form a leg frame. When the spoke body is in the deployed state, the support portion will contact the ground, so the size of the support portion needs to be made slightly larger.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) In this solution, the wheel leg is used as a whole, which can be used as a wheel or a leg frame, greatly simplifying the structure of the wheel leg conversion mechanism; (2) All the spoke bodies can be telescopically extended and retracted synchronously, improving the consistency and stability of the movement of the spoke bodies; (3) The spoke body has a simple and stable structure, higher strength, and is not easily damaged during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An isometric view of the spoke body of the present invention in the retracted state.

[0017] Figure 2 An isometric view of the spoke body of the present invention in the deployed state.

[0018] Figure 3 A front view of the spoke body of the present invention in the deployed state.

[0019] Figure 4 A rear view of the spoke body of the present invention in the deployed state.

[0020] Figure 5 This is the front view of the spoke body of the present invention when it is in the retracted state.

[0021] Figure 6 This is the rear view of the spoke body of the present invention when it is in the retracted state.

[0022] Figure 7 This is a schematic diagram of the contracted state of the telescopic mechanism and the spoke body of the present invention.

[0023] Figure 8 This is a schematic diagram of the deployed state of the telescopic mechanism and the spoke body of the present invention.

[0024] Figure 9 This is a schematic diagram of the structure of the spoke body of the present invention.

[0025] In the figure: 1. Disk body assembly, 1.1. Inner disk, 1.2. Outer disk, 1.21. Through groove, 1.3. Driving motor, 1.4. Transmission rack, 1.5. Transmission gear, 2. Spoke body, 2.1. Support part, 2.11. Triangular part, 2.2. Matching part, 2.21. Smooth part, 2.3. Chute, 3. Telescopic mechanism, 3.1. First rod, 3.2. Second rod, 3.3. Third rod, 3.4. Fourth rod, 4. Main shaft. Detailed implementation manners

[0026] The following will further specifically illustrate the technical solutions of the present invention through specific embodiments in conjunction with the accompanying drawings.

[0027] Embodiment 1: As Figures 1 to 9 shown, a wheel-leg conversion mechanism includes a disk body assembly 1 and a spoke body 2. A telescopic mechanism 3 is arranged between the disk body assembly 1 and the spoke body 2. Among them, three groups of spoke bodies 2 are provided in total, and three groups of telescopic mechanisms 3 are also correspondingly provided. When the three groups of telescopic mechanisms 3 are in the extended state, the three groups of spoke bodies 2 correspondingly extend outwards to form a leg frame structure. When the three groups of telescopic mechanisms 3 are in the contracted state, the three groups of spoke bodies 2 correspondingly retract inwards, and the three groups of spoke bodies 2 are connected end to end to form a wheel structure. When the wheel-leg conversion mechanism is in the leg frame state, it can suitably walk on surfaces with steep undulations such as steps. When the wheel-leg conversion mechanism is in the wheel state, it can move on normal flat ground.

[0028] Specifically, the spoke body 2 includes a support part 2.1 and a matching part 2.2 distributed on both circumferential sides. The support part 2.1 is the part that contacts the ground when the spoke body 2 is in the extended state, while the matching part 2.2 is the part that cooperates with the support part 2.1 of the adjacent spoke body 2 when the spoke body 2 is in the retracted state. As Figures 3 to 6As shown, the size of the supporting part 2.1 of the spoke body 2 is larger than the size at the position of the mating part 2.2. Specifically, the radial dimension of the supporting part 2.1 is larger than the size at the position of the mating part 2.2. The supporting part 2.1 needs to bear a large supporting force in the leg frame state, so the strength of the supporting part 2.1 needs to be enhanced. The mating part 2.2 only forms a wheel together with the supporting part 2.1 in the wheel state, so it does not require too high strength. And to a certain extent, reducing the size of the mating part 2.2 can also reduce the mass of the wheel-leg conversion mechanism as a whole, making the structure more reasonable.

[0029] The telescopic mechanism 3 adopts a scissor mechanism. Each telescopic mechanism 3 includes two groups of scissor mechanisms, namely the first scissor mechanism and the second scissor mechanism. Among them, the first scissor mechanism includes a first rod 3.1 and a second rod 3.2. The first rod 3.1 and the second rod 3.2 are hinged to each other. On the first rod 3.1, the hinge point is located at the middle position of the first rod 3.1. While on the second rod 3.2, the hinge point is eccentrically arranged on the second rod 3.2. Specifically, the length of the first rod 3.1 is 56 mm, and the distances from the hinge point to both ends of the first rod 3.1 are both 28 mm. The length of the second rod 3.2 is 48 mm, and the distances from the hinge point to both ends of the second rod 3.2 are 13 mm and 35 mm respectively. Therefore, the second rod 3.2 includes a long part and a short part. And the long part is the part of the second rod 3.2 from the hinge point to the end with a length of 35 mm, and the short part is the part of the second rod 3.2 from the hinge point to the end with a length of 13 mm.

[0030] A chute 2.3 is provided on the spoke body 2. The inner part of the spoke body 2 is a thin plate structure. The chute 2.3 is arranged on the thin plate of the spoke body 2 and is close to the side of the supporting part 2.1. Specifically, the supporting part 2.1 has a convex triangular part 2.11 on the radially inward side, while the mating part 2.2 has a flat smooth part 2.21 on the radially inward side. The straight part is between the triangular part 2.11 and the smooth part 2.21. The length direction of the chute 2.3 is parallel to the length direction of the straight part, and the chute 2.3 is located on one side of the connection position between the triangular part 2.11 and the straight part. The short part of the second rod 3.2 on the first scissor mechanism is slidably connected in the chute 2.3, and one end of the first rod 3.1 is directly hinged to the spoke body 2, and the hinge point of the first rod 3.1 and the spoke body 2 is located on the triangular part 2.11.

[0031] In addition, the second scissor mechanism includes a third rod member 3.3 and a fourth rod member 3.4. The third rod member 3.3 and the fourth rod member 3.4 have the same length, and the length of the third rod member 3.3 and the fourth rod member 3.4 is 56 mm. The hinge points of the third rod member 3.3 and the fourth rod member 3.4 are located in the middle of the two. One ends of the third rod member 3.3 and the fourth rod member 3.4 are respectively connected to the end of the first scissor mechanism away from the spoke body 2. Specifically, the third rod member 3.3 is connected to the first rod member 3.1, and the fourth rod member 3.4 is connected to the second rod member 3.2. The end of the second scissor mechanism away from the first scissor mechanism is connected to the disc assembly 1. When the disc assembly 1 is started, the third rod member 3.3 and the fourth rod member 3.4 rotate relative to each other, thereby driving the first rod member 3.1 and the second rod member 3.2 to rotate relative to each other, and finally realizing the telescopic and swinging actions of the spoke body 2 to perform the conversion of the wheel leg.

[0032] Specifically, when the drive motor 1.3 on the disc assembly 1 drives the hinge points of the third rod member 3.3 and the fourth rod member 3.4 and the first scissor mechanism to approach each other, both the first scissor mechanism and the second scissor mechanism perform an extension action, and the spoke body 2 is integrally pushed outwards away from the disc assembly 1 by the telescopic mechanism 3. At the same time, since the length of the second rod member 3.2 is shorter than the length of the first rod member 3.1, and the hinge point of the first rod member 3.1 and the second rod member 3.2 is eccentrically distributed on the second rod member 3.2, the swinging rotation amplitude of the first rod member 3.1 relative to the spoke body 2 is larger, and the swinging amplitude of the second rod member 3.2 relative to the spoke body 2 is smaller. Thus, the side of the spoke body 2 close to the support portion 2.1 moves radially outwards, and the side of the spoke body 2 close to the mating portion 2.2 moves radially inwards, thereby forming a leg frame structure. When the disc assembly 1 drives the hinge points of the third rod member 3.3 and the fourth rod member 3.4 and the first scissor mechanism to move away from each other, both the first scissor mechanism and the second scissor mechanism perform a contraction action, and the spoke body 2 is integrally pulled inwards by the telescopic mechanism 3 to approach the disc assembly 1. At the same time, since the length of the second rod member 3.2 is shorter than the length of the first rod member 3.1, and the hinge point of the first rod member 3.4 and the second rod member 3.2 is eccentrically distributed on the second rod member 3.2, the swinging rotation amplitude of the first rod member 3.1 relative to the spoke body 2 is larger, and the swinging amplitude of the second rod member 3.2 relative to the spoke body 2 is smaller. Thus, the side of the spoke body 2 close to the support portion 2.1 is lifted radially inwards, and the side of the spoke body 2.1 close to the mating portion moves radially outwards. Finally, under the action of the overall inward pull of the telescopic mechanism 3, the spoke body 2 is again tightly attached to the circumference of the disc assembly 1, and thus the leg frame structure is converted into a wheel structure.

[0033] It should be noted that the design of the spoke body 2 and the telescopic mechanism 3 in this solution can ensure that the swing angle range of the spoke body 2 is from 0° to 53°. That is, when the spoke body 2 is at 0°, the support parts 2.1 and the mating parts 2.2 of the three spoke bodies 2 abut against each other to form a wheel state, and when the swing angle is 53°, the three spoke bodies 2 are deployed into a leg frame structure. Of course, since the telescopic movement of the telescopic mechanism 3 is controlled by the disc assembly 1, the disc assembly 1 can control the spoke body 2 to swing at any value within the above angle range. Thus, the degree of deployment of the three spoke bodies 2 will also be different and can be applicable to driving on steps of different sizes. When the step width is large and the height is high, the swing angle of the spoke body 2 can be made larger; when the step width is small and the height is low, the swing angle of the spoke body 2 can be made smaller.

[0034] It should also be noted that when the spoke body 2 is in the deployed state, the connection end of the second rod 3.2 and the chute 2.3 will abut against one end of the chute 2.3 close to the support part 2.1. Thus, the spoke body 2 will be subjected to a radially outward extrusion force from the second rod 3.2, making the spoke body 2 be tightly pressed to maintain a stable wheel leg state. And when the spoke body 2 is in the retracted state, the connection end of the second rod 3.2 and the chute 2.3 will abut against one end of the chute 2.3 close to the mating part. Thus, the spoke body 2 will be subjected to an inward pulling force from the second rod 3.2, making the spoke body 2 in a stable wheel state.

[0035] As Figure 9 shown, the radial cross-section of the spoke body 2 is T-shaped, that is, the outer ring of the spoke body 2 is a relatively wide arc surface. Designing the radial cross-section of the spoke body 2 as T-shaped can effectively increase the support area of the outer contour of the spoke body 2, which can not only provide better stability for the wheel state but also provide sufficient support strength for the leg frame state to prevent the spoke body 2 from being easily damaged.

[0036] Embodiment 2: As Figures 1 to 9 shown, a wheel-leg conversion mechanism includes a disc assembly 1 and a spoke body 2. A telescopic mechanism 3 is arranged between the disc assembly 1 and the spoke body 2. Among them, there are three groups of spoke bodies 2 in total, and three groups of telescopic mechanisms 3 are also correspondingly arranged. When the three groups of telescopic mechanisms 3 are in the extended state, the three groups of spoke bodies 2 correspondingly extend outwards to form a leg frame structure. When the three groups of telescopic mechanisms 3 are in the contracted state, the three groups of spoke bodies 2 correspondingly retract inwards, and the three groups of spoke bodies 2 are connected end to end to form a wheel structure. When the wheel-leg conversion mechanism is in the leg frame state, it can be suitable for walking on surfaces with steep undulations such as steps. When the wheel-leg conversion mechanism is in the wheel state, it can move on normal flat ground.

[0037] Specifically, the spoke body 2 includes a support portion 2.1 and a mating portion 2.2 distributed on both circumferential sides. The support portion 2.1 is the part that contacts the ground when the spoke body 2 is in the extended state, while the mating portion 2.2 is the part that mates with the support portion 2.1 of the adjacent spoke body 2 when the spoke body 2 is in the retracted state. As Figures 3 to 6 shown, the size of the support portion 2.1 of the spoke body 2 is larger than the size of the position of the mating portion 2.2. Specifically, the radial dimension of the support portion 2.1 is larger than the size of the position of the mating portion 2.2. The support portion 2.1 needs to bear a large supporting force in the leg frame state, so the strength of the support portion 2.1 needs to be enhanced. The mating portion 2.2 only forms a wheel with the support portion 2.1 when in the wheel state, so it does not require too high strength. And reducing the size of the mating portion 2.2 to a certain extent can also reduce the mass of the wheel-leg conversion mechanism as a whole, making the structure more reasonable.

[0038] The telescopic mechanism 3 adopts a scissor mechanism. Each telescopic mechanism 3 includes two sets of scissor mechanisms, namely the first scissor mechanism and the second scissor mechanism. Among them, the first scissor mechanism includes a first rod 3.1 and a second rod 3.2. The first rod 3.1 and the second rod 3.2 are hinged to each other. On the first rod 3.1, the hinge point is located at the middle position of the first rod 3.1, while on the second rod 3.2, the hinge point is eccentrically arranged on the second rod 3.2. Specifically, the length of the first rod 3.1 is 56 mm, and the distances from the hinge point to both ends of the first rod 3.1 are both 28 mm. The length of the second rod 3.2 is 48 mm, and the distances from the hinge point to both ends of the second rod 3.2 are 13 mm and 35 mm respectively. Therefore, the second rod 3.2 includes a long part and a short part, and the long part is the part of the second rod 3.2 where the distance from the hinge point to the end is 35 mm, and the short part is the part of the second rod 3.2 where the distance from the hinge point to the end is 13 mm.

[0039] A chute 2.3 is provided on the spoke body 2. The inner part of the spoke body 2 is a thin plate structure. The chute 2.3 is provided on the thin plate of the spoke body 2 and close to the support portion 2.1. Specifically, the support portion 2.1 is a convex triangular portion 2.11 on the radially inward side, while the mating portion 2.2 is a flat smooth portion 2.21 on the radially inward side. The straight line portion is between the triangular portion 2.11 and the smooth portion 2.21. The length direction of the chute 2.3 is parallel to the length direction of the straight line portion, and the chute 2.3 is located on one side of the connection position between the triangular portion 2.11 and the straight line portion. The short part of the second rod 3.2 on the first scissor mechanism is slidably connected in the chute 2.3, and one end of the first rod 3.1 is directly hinged to the spoke body 2, and the hinge point of the first rod 3.1 and the spoke body 2 is located on the triangular portion 2.11.

[0040] In addition, the second scissor mechanism includes a third rod 3.3 and a fourth rod 3.4. The third rod 3.3 and the fourth rod 3.4 have the same length, and the length of the third rod 3.3 and the fourth rod 3.4 is 56 mm. The hinge points of the third rod 3.3 and the fourth rod 3.4 are located in the middle of the two. One ends of the third rod 3.3 and the fourth rod 3.4 are respectively connected to the end of the first scissor mechanism away from the spoke body 2. Specifically, the third rod 3.3 is connected to the first rod 3.1, and the fourth rod 3.4 is connected to the second rod 3.2. The end of the second scissor mechanism away from the first scissor mechanism is connected to the disk assembly 1. When the disk assembly 1 is started, the third rod 3.3 and the fourth rod 3.4 rotate relative to each other, thereby driving the first rod 3.1 and the second rod 3.2 to rotate relative to each other, and finally realizing the telescopic and swinging actions of the spoke body 2 to perform the conversion of the wheel leg.

[0041] The disk assembly 1 includes an inner disk 1.1, an outer disk 1.2, a drive motor 1.3, etc. Specifically, the inner disk 1.1 and the outer disk 1.2 are of a disk structure. The inner disk 1.1 and the outer disk 1.2 are spaced and parallelly distributed. A main shaft 4 is connected at the center positions of the inner disk 1.1 and the outer disk 1.2. The main shaft 4 connects the inner disk 1.1 and the outer disk 1.2 into a whole. The inner disk 1.1 is fixed relative to the main shaft 4, while the outer disk 1.2 is rotationally connected relative to the main shaft 4. A bearing is provided between the main shaft 4 and the outer disk 1.2, which is beneficial to the rotation of the outer disk 1.2.

[0042] The second scissor mechanism on the telescopic mechanism 3 is connected to the inner disk 1.1 and the outer disk 1.2. Specifically, the end of the third rod 3.3 away from the first scissor mechanism is hinged to the inner disk 1.1, and the end of the fourth rod 3.4 away from the first scissor mechanism is hinged to the outer disk 1.2. When the outer disk 1.2 rotates on the main shaft 4, the inner disk 1.1 and the outer disk 1.2 will rotate relative to each other. Therefore, the third rod 3.3 and the fourth rod 3.4 respectively arranged on the inner disk 1.1 and the outer disk 1.2 will rotate relative to each other, so that the second scissor mechanism undergoes a telescopic movement, thereby driving the first scissor mechanism to perform a synchronous telescopic movement, and finally realizing the telescoping of the spoke body 2.

[0043] Preferably, a drive motor 1.3 is arranged on the side of the inner disc 1.1 away from the outer disc 1.2, a transmission rack 1.4 is arranged on the side of the outer disc 1.2 away from the inner disc 1.1, and the telescopic mechanism 4 is located in the interval between the inner disc 1.1 and the outer disc 1.2. The output shaft of the drive motor 1.3 passes through the inner disc 1.1 and the outer disc 1.2, and a transmission gear 1.5 is fixedly connected to the end of the output shaft of the drive motor 1.3. The transmission gear 1.5 meshes with the transmission rack 1.4 on the outer disc 1.2, and the transmission rack 1.4 is arc-shaped. When the drive motor 1.3 is started, it drives the transmission gear 1.5 to rotate, and the transmission gear 1.5 drives the transmission rack 1.4 to move. Since the transmission rack 1.4 is fixed to the outer disc 1.2, the outer disc 1.2 will rotate relative to the inner disc 1.1, thereby realizing the telescopic movement of the telescopic mechanism 3. It should be noted that in order to prevent the output shaft of the drive motor 1.3 from interfering with the rotational movement of the outer disc 1.2, an arc-shaped through groove 1.21 is provided on the outer disc 1.2 at the position corresponding to the output shaft for the outer disc 1.2 to avoid the output shaft of the drive motor 1.3.

[0044] Specifically, when the disc assembly 1 drives the third rod 3.3 and the fourth rod 3.4 to approach the hinge points of the first scissor mechanism, both the first scissor mechanism and the second scissor mechanism perform an extension action, and the spoke body 2 is integrally pushed outward away from the disc assembly 1 by the telescopic mechanism 3. At the same time, since the length of the second rod 3.2 is shorter than that of the first rod 3.1, and the hinge point of the first rod 3.1 and the second rod 3.2 is eccentrically distributed on the second rod 3.2, the swinging rotation amplitude of the first rod 3.1 relative to the spoke body 2 is larger, and the swinging amplitude of the second rod 3.2 relative to the spoke body 2 is smaller. Thus, the side of the spoke body 2 close to the support portion 2.1 is radially lifted outward, and the side of the spoke body 2 close to the mating portion 2.2 moves radially inward, thereby forming a leg frame structure. When the disc assembly 1 drives the third rod 3.3 and the fourth rod 3.4 to move away from the hinge points of the first scissor mechanism, both the first scissor mechanism and the second scissor mechanism perform a contraction action, and the spoke body 2 is integrally pulled inward by the telescopic mechanism 3 to approach the disc assembly 1. At the same time, since the length of the second rod 3.2 is shorter than that of the first rod 3.1, and the hinge point of the first rod 3.4 and the second rod 3.2 is eccentrically distributed on the second rod 3.2, the swinging rotation amplitude of the first rod 3.1 relative to the spoke body 2 is larger, and the swinging amplitude of the second rod 3.2 relative to the spoke body 2 is smaller. Thus, the side of the spoke body 2 close to the support portion 2.1 is radially lifted inward, and the side of the spoke body 2.1 close to the mating portion moves radially outward. Finally, under the action of the overall inward pulling of the telescopic mechanism 3, the spoke body 2 is again tightly attached to the circumference of the disc assembly 1, and thus the leg frame structure is converted into a wheel body structure.

[0045] It should be noted that the design of the spoke body 2 and the telescopic mechanism 3 of this solution can ensure that the swing angle range of the spoke body 2 is from 0° to 53°. That is to say, when the spoke body 2 is at 0°, the support parts 2.1 and the mating parts 2.2 of the three spoke bodies 2 are in contact with each other to form a wheel state, and when the swing angle is 53°, the three spoke bodies 2 are unfolded into a leg frame structure. Of course, since the telescopic movement of the telescopic mechanism 3 is controlled by the disk assembly 1, the disk assembly 1 can control the spoke body 2 to swing at any value within the above angle range, so that the degree of unfolding of the three spoke bodies 2 will also be different, and it can be applicable to driving on steps of different sizes. When the step width is larger and the height is higher, the swing angle of the spoke body 2 can be made larger; when the step width is smaller and the height is lower, the swing angle of the spoke body 2 can be made smaller.

[0046] It should also be noted that when the spoke body 2 is in the unfolded state, the connection end of the second rod 3.2 and the chute 2.3 will abut against one end of the chute 2.3 close to the support part 2.1. Thus, the spoke body 2 will be subjected to a radially outward extrusion force from the second rod 3.2, so that the spoke body 2 is tightly pressed to maintain a stable wheel leg state. When the spoke body 2 is in the retracted state, the connection end of the second rod 3.2 and the chute 2.3 will abut against one end of the chute 2.3 close to the mating part. Thus, the spoke body 2 will be subjected to an inward pulling force from the second rod 3.2, so that the spoke body 2 is in a stable wheel state.

[0047] As Figure 9 shown, the radial cross-section of the spoke body 2 is T-shaped, that is, the outer ring of the spoke body 2 is a relatively wide arc surface. Designing the radial cross-section of the spoke body 2 as T-shaped can effectively increase the support area of the outer contour of the spoke body 2, which can not only provide better stability for the wheel state, but also provide sufficient support strength for the leg frame state to prevent the spoke body 2 from being easily damaged.

Claims

1. A wheel-leg conversion mechanism, characterized in that, It includes spoke bodies annularly distributed on a disc assembly. The spoke bodies include a support portion and a mating portion. A telescopic mechanism is provided on the spoke bodies. One end of the telescopic mechanism is linked to the spoke bodies, and the other end of the telescopic mechanism is linked to the disc assembly.

2. The wheel-leg conversion mechanism according to claim 1, characterized in that, The telescopic mechanism is of a scissor structure. The telescopic mechanism includes a first scissor mechanism. The first scissor mechanism includes a first rod and a second rod. A chute is provided on the spoke body. One end of the first rod is fixed to the spoke body, and one end of the second rod is slidably connected in the chute.

3. The wheel-leg conversion mechanism according to claim 2, characterized in that, The telescopic mechanism further includes a second scissor mechanism. One end of the second scissor mechanism is connected to the end of the first scissor mechanism away from the spoke body, and the other end of the second scissor mechanism is connected to the disc assembly.

4. The wheel-leg conversion mechanism according to claim 3, characterized in that, The second scissor mechanism includes a third rod and a fourth rod. The disc assembly includes an inner disc and an outer disc. The ends of the third rod and the fourth rod away from the first scissor mechanism are respectively connected to the inner disc and the outer disc.

5. The wheel-leg conversion mechanism according to claim 2, characterized in that, The length of the second rod is less than the length of the first rod, and the hinge point of the first rod and the second rod is located at the position of the second rod close to the chute.

6. The wheel-leg conversion mechanism according to claim 4, characterized in that A driving motor is provided on the inner disc, a transmission rack is provided on the outer disc, and a transmission gear adapted to the transmission rack is provided at the output end of the driving motor.

7. The wheel-leg conversion mechanism according to claim 6, characterized in that, A main shaft is provided between the inner disc and the outer disc, and the outer disc is rotatably connected to the main shaft.

8. A wheel-leg conversion mechanism according to any one of claims 2 to 7, characterized in that, When the spoke body is in the unfolded state, the second rod is at the end of the chute close to the support portion. When the spoke body is in the retracted state, the second rod is at the end of the chute close to the mating portion.

9. A wheel-leg conversion mechanism according to any one of claims 1 to 7, characterized in that, The radial cross-section of the spoke body is in a "T" shape.

10. A wheel-leg conversion mechanism according to any one of claims 1 to 7, characterized in that, The support portion and the mating portion are located on both circumferential sides of the spoke body, and the size of the support portion is larger than the size of the mating portion.

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