Reducing walking wheel, chassis, walking device and walking wheel reducing method

Abstract

The invention discloses a reducing walking wheel, a chassis, a walking device and a walking wheel reducing method, and relates to the technical field of engineering machinery, the reducing walking wheel comprises a driving device and at least one wheel body, each wheel body comprises a first half wheel and a second half wheel, and the opening directions of the first half wheel and the second half wheel of each wheel body are opposite; the first half wheel and the second half wheel of each wheel body are arranged in a staggered mode in the wheel width direction of the wheel body. The driving device is connected with the first half wheels and the second half wheels, and the driving device can drive the first half wheels and the second half wheels of the wheel bodies to get close to each other or get away from each other and keep the positions of the first half wheels and the second half wheels. By adjusting the positions of the first half wheel and the second half wheel, the grounding area of the wheel body can be changed, the trafficability of the machine in a complex terrain is improved, and the operation stability is enhanced; and the first half wheel and the second half wheel are arranged in a staggered mode in the wheel width direction of the wheel body, the torsional rigidity can be improved, the wheel is suitable for high-low fall terrains, and the trafficability of a machine in the complex terrains is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a variable diameter running wheel, a chassis, a running device and a running wheel diameter changing method. Background Art

[0002] Today, the farmland operation environment in my country is complex and diverse. Agricultural mechanization in hilly and mountainous areas is an important direction for the development of modern agriculture. However, due to the complex terrain and changeable soil conditions, the existing agricultural machinery chassis wheel bodies are mostly designed for a single operation environment, and universal switching between paddy fields and dry fields has not yet been achieved. When operating in dry fields, a circular wheel disc structure is often used, which is suitable for driving on harder ground, but in paddy field environments, it is easy to sink due to the small ground contact area, and the resistance increases, affecting the driving performance; while paddy field operations usually use a wheel disc with a grid structure to enhance buoyancy and grip, but this structure has a large resistance when driving in dry fields, which is not conducive to efficient operation. Therefore, there is currently a lack of a universal wheel disc design that can take into account the needs of paddy and dry field operations. Summary of the invention

[0003] The purpose of the present invention is to provide a variable diameter running wheel, a chassis, a running device and a running wheel diameter changing method to solve the problems existing in the above-mentioned prior art, improve the passability of the machine in complex terrain, and enhance the operation stability.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a variable diameter travel wheel, characterized in that it comprises a driving device and at least one wheel body, wherein:

[0006] Each of the wheel bodies comprises a first half wheel and a second half wheel, the openings of the first half wheel and the second half wheel of each of the wheel bodies face opposite directions, and the first half wheel and the second half wheel of each of the wheel bodies are staggered along the wheel width direction of the wheel body;

[0007] The driving device is connected to each of the first half wheels and each of the second half wheels, and the driving device can drive the first half wheels and the second half wheels of each of the wheel bodies to move closer to each other or away from each other and maintain their positions.

[0008] Preferably, the driving device can make the two ends of each first half wheel and the two ends of the corresponding second half wheel cross each other by driving the first half wheel and the second half wheel of each wheel body toward each other; the driving device can make the first half wheel and the corresponding second half wheel enclosed in a ring shape by driving the first half wheel and the second half wheel of each wheel body away from each other.

[0009] Preferably, the driving device includes at least one power device and at least two driving linkages. One end of each of the first half-wheels and each of the second half-wheels is movably connected to one end of at least one of the driving linkages, and the other end of each of the driving linkages is movably connected to the power device. The power device can drive the other end of each of the driving linkages to move towards the corresponding wheel body and maintain its position, so that the first half-wheel and the second half-wheel of the corresponding wheel body move away from each other and maintain their positions. The power device can drive the other end of each of the driving linkages to move away from the corresponding wheel body and maintain its position, so that the first half-wheel and the second half-wheel of the corresponding wheel body move closer to each other and maintain their positions.

[0010] Preferably, it further includes at least two support rods. Each of the wheel bodies further includes a first hub and a second hub. The first half-wheels correspond to the first hubs one by one. At least one of the support rods is provided between each of the first half-wheels and the corresponding first hub. Each of the first half-wheels and the corresponding first hub are respectively movably connected to both ends of the corresponding support rod. The second half-wheels correspond to the second hubs one by one. At least one of the support rods is provided between each of the second half-wheels and the corresponding second hub. Each of the second half-wheels and the corresponding second hub are respectively movably connected to both ends of the corresponding support rod. Each of the support rods can be telescoped along its own center line under the action of an external force and can maintain its length when reaching a set length.

[0011] Preferably, it further includes at least one center linkage. One of the wheel bodies is provided at both ends of each of the center linkages. The driving device further includes at least two sliders. One of the sliders is slidably connected to both ends of each of the center linkages. Each of the sliders is connected to a power device. All the driving linkages connected to each of the wheel bodies are movably connected to the sliders on the corresponding center linkages close to each of the wheel bodies. The power device can drive the corresponding slider to slide along the center linkage.

[0012] Preferably, each of the power devices includes a rack, two gears and two motors. Each of the racks is fixedly connected to one of the center linkages. The two motors of each of the power devices are respectively fixedly connected to the two sliders on the corresponding center linkages. The output shafts of the two motors of each of the power devices are respectively fixedly connected to the two gears of each of the power devices. Each of the motors can drive the corresponding gear to rotate around the axis of the output shaft of each of the motors. The two gears of each of the power devices are meshed with the rack of each of the power devices.

[0013] Preferably, it further includes a controller, at least two inclination detection devices, at least two limit switches, and at least two displacement monitoring devices. One inclination detection device is provided on each wheel body, and each inclination detection device is used to detect the included angle between the corresponding wheel body and the horizontal plane; at least two of the limit switches and at least two of the displacement monitoring devices are provided on each central link. The two limit switches on each central link correspond to the two sliders on each central link one by one, and the two displacement monitoring devices on each central link correspond to the two sliders on each central link one by one; each motor, each inclination detection device, each limit switch, and each displacement monitoring device are all signal-connected to the controller.

[0014] The present invention also provides a chassis, including a chassis platform and the variable-diameter walking wheels as described above, and each wheel body is connected to the chassis platform.

[0015] The present invention also provides a walking device, including a walking body and the variable-diameter walking wheels as described above, and each wheel body is connected to the walking body.

[0016] The present invention also provides a method for changing the diameter of a walking wheel based on the variable-diameter walking wheel as described above, including the following steps: driving the first half-wheel and the second half-wheel of each wheel body to approach or move away from each other through the driving device, and keeping the first half-wheel and the second half-wheel of each wheel body at a set position.

[0017] The present invention has achieved the following technical effects compared with the prior art:

[0018] The present invention provides a variable-diameter walking wheel, a chassis, a walking device, and a method for changing the diameter of a walking wheel, including a driving device and at least one wheel body, wherein: each wheel body includes a first half-wheel and a second half-wheel, the openings of the first half-wheel and the second half-wheel of each wheel body face in opposite directions, and the first half-wheel and the second half-wheel of each wheel body are arranged in a staggered manner along the wheel width direction of the wheel body; the driving device is connected to each first half-wheel and each second half-wheel, and the driving device can drive the first half-wheel and the second half-wheel of each wheel body to approach or move away from each other and maintain their positions. By adjusting the positions of the first half-wheel and the second half-wheel, the shape of the wheel body can be changed to adapt to different terrains, improving the passability of the machine in complex terrains and enhancing the operation stability; and the first half-wheel and the second half-wheel are arranged in a staggered manner along the wheel width direction of the wheel body, which is beneficial to improving the torsional stiffness and is suitable for terrains with high and low drops, further improving the passability of the machine in complex terrains. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0020] Figure 1 Structural schematic diagram of the variable-diameter walking wheel in the first state in Embodiment 1 Figure 1 ;

[0021] Figure 2 Structural schematic diagram of the variable-diameter walking wheel in the second state in Embodiment 1 Figure 1 ;

[0022] Figure 3 Structural schematic diagram of the variable-diameter walking wheel in the second state in Embodiment 1 Figure 2 ;

[0023] Figure 4 Structural schematic diagram of the double-layer hub in Embodiment 1;

[0024] Figure 5 Front view of the variable-diameter walking wheel in the first state in Embodiment 1;

[0025] Figure 6 Front view of the variable-diameter walking wheel in the second state in Embodiment 1;

[0026] Figure 7 Structural schematic diagram of the power device in Embodiment 1;

[0027] Figure 8 Schematic diagram of the working principle of the control system in Embodiment 1;

[0028] Figure 9 Overall control flowchart in Embodiment 4;

[0029] In the figure: 100, variable-diameter walking wheel; 1, wheel body; 101, first half wheel; 102, second half wheel; 103, first hub; 104, second hub; 2, drive device; 201, drive link; 202, slider; 203, rack; 204, gear; 205, motor; 3, support rod; 301, outer rod; 302, first inner rod; 303, second inner rod; 4, central link; 5, inclination detection device; 6, limit switch; 7, hinge joint; 8, fixed shaft; 9, control box. Detailed implementation manners

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "center", "longitudinal", "transverse", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "clockwise", "counterclockwise", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0033] The object of the present invention is to provide a variable-diameter walking wheel, a chassis, a walking device and a method for changing the diameter of a walking wheel to solve the problems existing in the above-mentioned prior art, improve the passability of the machine in complex terrains, and enhance the operation stability.

[0034] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Embodiment 1

[0036] As Figures 1 to 7As shown in the figure, this embodiment provides a variable-diameter walking wheel 100, which includes a driving device 2 and at least one wheel body 1, where: each wheel body 1 includes a first half-wheel 101 and a second half-wheel 102. The openings of the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 face in opposite directions, and the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 are arranged in a staggered manner along the wheel width direction of the wheel body 1; the driving device 2 is connected to each first half-wheel 101 and each second half-wheel 102, and the driving device 2 can drive the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 to approach or move away from each other and maintain their positions. By adjusting the positions of the first half-wheel 101 and the second half-wheel 102, the shape of the wheel body 1 can be changed to adapt to different terrains, improve the passability of the machine in complex terrains, and enhance the operation stability; moreover, the first half-wheel 101 and the second half-wheel 102 are arranged in a staggered manner along the wheel width direction of the wheel body 1, which is beneficial to improving the torsional stiffness, is suitable for terrains with high and low drops, and further improves the passability of the machine in complex terrains.

[0037] In some specific embodiments, by driving the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 to approach each other, the driving device 2 can make the two ends of each first half-wheel 101 and the two ends of the corresponding second half-wheel 102 cross each other; by driving the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 to move away from each other, the driving device 2 can make each first half-wheel 101 and the corresponding second half-wheel 102 enclose into a ring shape. When the walking device enters a hard ground such as a dry land, the wheel body 1 is made into a ring shape to reduce the contact area and rolling resistance; when operating in a wetland, the first half-wheel 101 and the second half-wheel 102 are made to approach each other and cross each other. The ends of the first half-wheel 101 and the second half-wheel 102 are equivalent to the grid blade structures of the existing grid wheels, and can be inserted into the mud layer to form transverse gripping teeth, increasing the contact area and friction with the soil, so as to enhance the buoyancy and grip, and prevent the wheel body 1 from sinking. This embodiment can ensure that the machine operates in the best state under different terrains and different soil moisture conditions.

[0038] In some specific embodiments, by driving the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 to move away from each other, the driving device 2 can make the two end faces of each first half-wheel 101 and the two end faces of the corresponding second half-wheel 102 coplanar, and make each first half-wheel 101 and the corresponding second half-wheel 102 enclose into a ring shape. It should be noted that the enclosure into a ring shape here does not mean that each first half-wheel 101 and the corresponding second half-wheel 102 are completely spliced into a ring shape, but a ring structure is formed in a staggered manner in the wheel width direction, that is, the projections of the first half-wheel 101 and the second half-wheel 102 on the plane perpendicular to the wheel width direction are in a ring shape.

[0039] In some specific embodiments, the driving device 2 includes at least one power device and at least two driving linkages 201. Each first half-wheel 101 and each second half-wheel 102 are movably connected to one end of at least one driving linkage 201, and the other end of each driving linkage 201 is movably connected to the power device; the power device can drive the other end of each driving linkage 201 to move towards the corresponding wheel body 1 and maintain the position, so that the first half-wheel 101 and the second half-wheel 102 of the corresponding wheel body 1 move away from each other and maintain the position; the power device can drive the other end of each driving linkage 201 to move away from the corresponding wheel body 1 and maintain the position, so that the first half-wheel 101 and the second half-wheel 102 of the corresponding wheel body 1 move closer to each other and maintain the position.

[0040] In some specific embodiments, it further includes at least two support rods 3. Each wheel body 1 further includes a first hub 103 and a second hub 104. The first half-wheels 101 correspond to the first hubs 103 one by one. At least one support rod 3 is arranged between each first half-wheel 101 and the corresponding first hub 103. Each first half-wheel 101 and the corresponding first hub 103 are respectively movably connected to both ends of the corresponding support rod 3; the second half-wheels 102 correspond to the second hubs 104 one by one. At least one support rod 3 is arranged between each second half-wheel 102 and the corresponding second hub 104. Each second half-wheel 102 and the corresponding second hub 104 are respectively movably connected to both ends of the corresponding support rod 3; each support rod 3 can expand and contract along its own center line under the action of an external force and can maintain the length when reaching the set length. When the power device drives the first half-wheel 101 and the second half-wheel 102 of the wheel body 1 to move closer to or away from each other through the driving linkage 201, the first half-wheel 101 and the second half-wheel 102 respectively drive the corresponding support rod 3 to contract or extend, realizing the adaptive adjustment of the support rod 3. When the first half-wheel 101 and the second half-wheel 102 are adjusted to the set position, the support rod 3 maintains the position in this state, so that the support rod 3 can provide support for the first half-wheel 101 or the second half-wheel 102 and bear the load of the wheel.

[0041] In some specific embodiments, the first hub 103 and the second hub 104 can be two independent structures or an integral structure. The setting of the double-layer hubs of the first hub 103 and the second hub 104 enhances the load-bearing capacity of the wheel body 1. As a preferred embodiment, the first hub 103 and the second hub 104 are connected in a detachable manner. More preferably, they are connected by a flange connection method to form a double-layer hub, which is convenient for the disassembly and maintenance of the wheel body 1. The first hub 103 and the second hub 104 are arranged in sequence in the wheel width direction. The first hub 103 and the second hub 104 are respectively in the same vertical plane as the corresponding two half-wheels.

[0042] In some specific embodiments, the support rod 3 is composed of a three-section rod and a locking member. The three-section rod includes at least an outer rod 301, a first inner rod 302, and a second inner rod 303. The first inner rod 302 and the second inner rod 303 are respectively sleeved inside the two ends of the outer rod 301, and both the first inner rod 302 and the second inner rod 303 can move relative to the outer rod 301 along the center line of the outer rod 301. A plurality of locking holes are provided in the outer rod 301, the first inner rod 302, and the second inner rod 303 along their respective center line directions. When length retention is required, the locking member is inserted into the locking holes of the outer rod 301 and the first inner rod 302 in sequence to lock the outer rod 301 and the first inner rod 302, and the locking member is inserted into the locking holes of the outer rod 301 and the second inner rod 303 in sequence to lock the outer rod 301 and the second inner rod 303.

[0043] In some specific embodiments, it further includes at least one center link 4. A wheel body 1 is provided at each end of each center link 4; the driving device 2 further includes at least two sliders 202. A slider 202 is slidably connected to each end of each center link 4, and each slider 202 is connected to a power device. All the driving links 201 connected to the wheel bodies 1 are movably connected to the sliders 202 on the corresponding center link 4 near the wheel bodies 1, and the power device can drive the corresponding slider 202 to slide along the center link 4. The first hub 103 and the second hub 104 are respectively sleeved outside the two ends of the center link 4 and fixedly connected to the center link 4. The design of the center link 4 enables the two wheel bodies 1 on both sides to move synchronously, avoiding mechanical yaw or slipping caused by the asynchronous movement of the two wheel bodies 1. The center link 4 can guide the slider 202, enabling the driving link 201 to move smoothly when driven by the power device, reducing mechanical vibration and noise.

[0044] In some specific embodiments, the slider 202 is concentrically connected to the center link 4 through a bearing, and the bearing can slide along the center link 4.

[0045] In some specific embodiments, each power device includes a rack 203, two gears 204 and two motors 205. Each rack 203 is fixedly connected to a central link 4. Preferably, each rack 203 is fixedly connected to the central link 4 through a fixed shaft 8. The two motors 205 of each power device are respectively fixedly connected to two sliders 202 on the corresponding central link 4. The output shafts of the two motors 205 of each power device are respectively fixedly connected to the two gears 204 of each power device. Each motor 205 can drive the corresponding gear 204 to rotate around the axis of the output shaft of each motor 205. The two gears 204 of each power device are both meshed with the rack 203 of each power device. When the motor 205 rotates, it drives the gear 204 to rotate. Through the meshing of the gear 204 and the rack 203, the precise movement and positioning of the slider 202 along the rack 203 are realized, and the driving links 201 on both sides of the slider 202 are forced to move synchronously. Compared with the traditional hydraulic synchronous valve, the transmission of the gear 204 and the rack 203 eliminates the hydraulic hysteresis problem, and the response speed is greatly improved, up to within 0.5 s. The meshing of the gear 204 and the gear 204 integrates a self-locking function, which can keep the position of the slider 202 fixed in the power-off state to ensure the safety of emergency braking.

[0046] In some specific embodiments, a control system is further included. The control system includes a controller, at least two inclination detection devices 5, at least two limit switches 6, and at least two displacement monitoring devices. One inclination detection device 5 is arranged on each wheel body 1. Each inclination detection device 5 is used to detect the included angle between the corresponding wheel body 1 and the horizontal plane. At least two limit switches 6 and at least two displacement monitoring devices are arranged on each central link 4. The two limit switches 6 on each central link 4 correspond to the two sliders 202 on each central link 4 one by one. The two displacement monitoring devices on each central link 4 correspond to the two sliders 202 on each central link 4 one by one. Each motor 205, each inclination detection device 5, each limit switch 6 and each displacement monitoring device are all signal-connected to the controller. The inclination detection device 5 is used to collect the attitude information of the wheel body 1 in real time. When it detects that the equipment reaches a stable state, it triggers the subsequent displacement adjustment process to ensure the accuracy and safety of the operation. The displacement monitoring device is preferably a magnetic sensor, which is used to collect the position information of the slider 202 in real time. The controller adjusts the movement of the motor 205 according to the position information of the slider 202 to ensure that the slider 202 can accurately reach the target position. The limit switch 6 is used to detect whether the slider 202 moves to the edge position. The limit switch 6 triggers a signal when the slider 202 approaches the limit of the movement range. The controller controls the motor 205 to stop working to prevent the slider 202 from running beyond the limit and avoid equipment damage.

[0047] In some specific embodiments, it further includes a humidity sensor fixedly connected to the chassis. The humidity sensor is communicatively connected to the control system. The humidity sensor is used to detect the humidity change of the ground. The control system makes decision analysis based on the humidity information and the attitude information of the wheel body 1, that is, makes decisions through the judgment rules preset in the control system, and judges whether it is necessary to switch the state of the wheel body 1 or adjust the operation parameters, and controls the actuator to output actions. That is, if it is detected that the state needs to be switched, the control system sends an instruction to the actuator (stepping motor), and the actuator drives the wheel body 1 to perform mechanical displacement according to the instruction. Alternatively, the control system is communicatively connected to the display. When the control system determines that it is necessary to switch the state of the wheel body 1 or adjust the operation parameters, the decision result is displayed through the display for subsequent manual adjustment by the operator. Through the collaborative work of the sensor, the controller and the actuator, the control system realizes the automatic or semi-automatic adjustment and optimal control of the wheel body 1 under different soil conditions.

[0048] In some specific embodiments, each first half-wheel 101 and each second half-wheel 102 are respectively hinged to two support rods 3 through hinge joints 7, and the support rods 3 are hinged to the corresponding wheel hubs through hinge joints 7; a driving link 201 is hinged on each first half-wheel 101 and each second half-wheel 102, and each driving link 201 is hinged to the corresponding slider 202; the driving link 201 is arranged at an angle with the central link 4, and a triangular configuration is formed among the driving link 201, the central link 4 and the first half-wheel 101, and a triangular configuration is formed among the driving link 201, the central link 4 and the second half-wheel 102. Furthermore, a double-triangular configuration is formed among the driving link 201, the central link 4 and the wheel body 1. From the perspective of structural mechanics, the design of the double-triangular configuration significantly improves the overall stiffness and stability of the mechanism, can effectively disperse and bear large external loads, and at the same time maintains high motion accuracy.

[0049] In some specific embodiments, when the first half-wheel 101 and the corresponding second half-wheel 102 enclose to form a ring, the four support rods 3 on the wheel body 1 are arranged in an X-shaped cross pattern, which is beneficial to evenly distribute the driving force to the edge of the wheel body 1 and avoid local stress concentration. The four support rods 3 are detachably connected to the wheel body 1, and during maintenance and replacement, only the damaged wheel body 1 or support rod 3 can be replaced, reducing the maintenance cost. When dynamically adjusting the angle and length of the support rod 3, the support rod 3 can automatically balance the force on the wheel body 1 and maintain the roundness of the wheel rim. The outer half-wheel in the wheel body 1 is the first half-wheel 101, and the other half-wheel is the second half-wheel 102. The length of the driving link 201 connected to the first half-wheel 101 is greater than the length of the driving link 201 connected to the second half-wheel 102. As a preferred embodiment, the ratio of the length of the driving link 201 connected to the first half-wheel 101 to the length of the driving link 201 connected to the second half-wheel 102 is 1.1:1. This proportional relationship ensures the kinematic symmetry of the mechanism and enables the first hub 103 and the second hub 104 to maintain precise synchronization during movement. The two driving links 201 are symmetrically arranged (similarly), and the four driven support rods 3 are arranged in an X-shaped cross pattern, forming a dynamically stable six-link mechanism, which improves the synchronization of the deformation of the wheel body 1.

[0050] In some specific embodiments, pressure sensors are installed at the ends of the support rods 3 to monitor the load of the support rods 3 in real time and feedback it to the control system. The pressure sensors are used to dynamically monitor the pressure data of the support rods 3 in real time during the operation of the wheel body 1. When the load of a certain support rod 2 is too high or too low compared to other support rods 3, it indicates that the force on the wheel body 1 and the ground is uneven. The control system judges which support point has abnormal load according to the data of the pressure sensors, and fine-tunes the shape of the wheel body 1 by adjusting the telescopic amount of the corresponding driving link 201, so as to redistribute the load of each support rod 3, maintain the overall balance, and improve the adaptability and stability of the wheel body to the ground.

[0051] In some specific embodiments, the motor 205 of the power device is a stepper motor, and the motor 205 is fixedly connected directly below the slider 202. The length direction of the rack 203 is parallel to the length direction of the central link 4.

[0052] In some specific embodiments, the control system consists of the components in Table 1. The control system takes the STM32F407VGT6 microcontroller as the core. It receives sensor data and sends instructions to coordinate the work of each component to ensure that the device operates according to the preset mode. It is installed in the center of the central link 4 of the device, facilitating communication with each component. The execution layer includes the stepper motor and its drive circuit, which are responsible for receiving control instructions and precisely executing the movement of the slider 202. It also includes the reduction motor and its drive circuit, which are responsible for receiving control instructions and driving the walking wheels to rotate forward.

[0053] Table 1 Composition Table of Control System

[0054]

[0055]

[0056] In some specific embodiments, a lightweight material process is adopted for design. Specifically, a carbon fiber-aluminum alloy composite support rod 3 is used to reduce weight, improve durability, and lower the maintenance cost.

[0057] In some specific embodiments, the power device includes two pneumatic driving mechanisms. The pneumatic driving mechanisms are connected to the slider 202 and drive the slider 202 to slide along the central connecting rod 4, so as to realize the adjustment of the wheel body 1 by means of pneumatic driving. By adjusting the pressure and flow rate of the pneumatic driving mechanism, smooth and precise adjustment can be achieved, which is especially suitable for large-load scenarios.

[0058] In some specific embodiments, the output end of the servo motor is directly connected to the slider 202. The servo motor drives the slider 202 to slide along the central connecting rod 4, and a servo motor is used in cooperation with a closed-loop control system to dynamically adjust the position and angle of the wheel body 1. The closed-loop control method is as follows: The servo motor is fixedly installed on the main structure of the wheel body 1, and the output shaft of the servo motor is connected to the slider 202 through a coupling to form a direct drive structure. The central connecting rod 4 is arranged along the axial direction of the wheel body 1, and the slider 202 can freely slide on the central connecting rod 4. The system is equipped with an inclination sensor and a pressure sensor, which are respectively used to monitor the attitude information of the wheel body 1 and the load data of each support rod 3 in real time. All sensor data are fed back to the control system (such as a PLC controller) in real time. The control system dynamically calculates the optimal pose parameters of the wheel body 1 according to the inclination change and load distribution of the wheel body 1 collected. The control system sends position or speed commands to the servo motor to control the servo motor to drive the slider 202 to slide back and forth along the central connecting rod. Through the movement of the slider 202, the structure of the wheel body 1 is driven to undergo corresponding displacement or angle adjustment, so as to realize the precise correction of the attitude of the wheel body 1. The servo motor realizes position closed-loop control through a high-precision encoder, ensuring that the movement accuracy of the slider 202 is within ±0.1 mm. The fast response ability of the servo motor enables the wheel body 1 to quickly adapt to ground changes in complex terrains, keep the equipment running smoothly, avoid problems such as subsidence, slipping, or load concentration, improve the overall operation efficiency and operation quality, and is applicable to complex terrain and soil conditions.

[0059] In some specific embodiments, it has wireless control and remote monitoring functions. By adding a wireless communication module (such as a Wi-Fi or 4G / 5G module) and communicating with the control system, the system can monitor and adjust the operation status in a remote control manner. This not only improves the operation convenience but also enables real-time data collection and analysis.

[0060] In some specific embodiments, a more complex adaptive algorithm or machine learning model can be adopted to predict and dynamically adjust the working state of the wheel body 1. For example, using historical data and soil conditions, combined with a deep learning model to optimize the morphological adjustment of the wheel body 1, and more intelligently respond to various changing soil conditions.

[0061] In some specific embodiments, an image recognition module and a lidar are set. Image recognition technology (such as installing a camera to recognize the soil state or obstacles) and lidar technology (for obtaining accurate terrain data in real time) are introduced. This can provide more-dimensional information for the adjustment of the wheel body 1 and further improve the intelligent level of the system.

[0062] Embodiment 2

[0063] This embodiment provides a chassis, including a chassis platform and the variable-diameter walking wheel 100 in Embodiment 1. Each wheel body 1 is connected to the chassis platform.

[0064] Embodiment 3

[0065] This embodiment provides a walking device, including a walking body and the variable-diameter walking wheel 100 in Embodiment 1. Each wheel body 1 is connected to the walking body.

[0066] Embodiment 4

[0067] As Figure 8 and 9 shown, this embodiment provides a method for changing the diameter of a walking wheel based on the variable-diameter walking wheel 100 in Embodiment 1, including the following steps: driving the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 to approach or move away from each other through the driving device 2, and keeping the first half-wheel 101 and the second half-wheel 102 of each wheel body 1 at the set positions.

[0068] In some specific embodiments, through the control system, the angle and support mode of the wheel body 1 are semi-automatically adjusted according to the changes between paddy fields and dry fields to ensure its optimal operating state under different terrains and soil conditions. Specifically, when the traveling device enters a dry field, an adjustment signal is sent to the controller through a manual button, and the controller drives the driving link 201 to move through the power device, thereby adjusting the forms of the first half-wheel 101 and the second half-wheel 102, making the wheel body 1 in a circular ring shape, reducing the contact area, and lowering the rolling resistance; while during wetland operations, the first half-wheel 101 and the second half-wheel 102 are controlled to approach each other and cross through a manual button, increasing the contact area and preventing the wheel body 1 from sinking. The inclination sensor and the limit switch 6 monitor the attitude of the wheel body 1 and the position of the slider 202 in real time, ensuring the stability and high efficiency of the machine during operation, enhancing the adaptability and operation reliability of the wheel body 1, reducing manual intervention at the same time, and improving the automation and intelligence levels.

[0069] In some specific embodiments, during dry field operations, as Figure 5 shown, the support rod 3 forms an angle of 60° with the horizontal plane, and the wheel body 1 is in a circular ring shape to ensure the stability of the wheel body 1 in hard soil; during wetland operations, as Figure 6 shown, the angle of the support rod 3 with the horizontal plane can be adjusted to 30° - 45° to increase the contact area between the wheel body 1 and the soft soil and prevent sinking.

[0070] The specific working process of this embodiment is as follows:

[0071] 1. Dry field operation mode

[0072] When the traveling device (such as an agricultural machine like a transplanter) enters the dry field operation area, the working process of the system is as follows:

[0073] Mode selection: The operator selects the "dry field mode".

[0074] Signal transmission: The control system receives the mode selection signal, and the main controller responds.

[0075] Motor 205 control: The main controller sends a control signal to the stepper motor driver to drive the stepper motor to operate.

[0076] Slider 202 movement: The stepper motor drives the gear 204 to move along the rack 203, pushing the slider 202 to move towards both sides of the central link 4.

[0077] Angle adjustment: As the slider 202 moves, the angle of the support rod 3 is gradually adjusted to 60°.

[0078] Form change: The two half-wheels form a complete circle under the action of the support rod 3.

[0079] Effect manifestation: The contact area between the wheel body 1 and the ground is reduced, the rolling resistance is decreased, and the traveling speed is increased. At the same time, the 60° support angle ensures the stability of the wheel body 1 on hard soil, effectively avoiding slipping and yaw phenomena, and ensuring the smooth traveling of the transplanter.

[0080] 2. Wetland operation mode

[0081] When the traveling device enters a wetland or muddy area, the working process is as follows:

[0082] Mode selection: The operator selects the "wetland mode".

[0083] Signal transmission: The control system receives the mode selection signal, and the main controller responds.

[0084] Motor 205 control: The main controller sends a control signal to the stepper motor driver to drive the stepper motor to operate.

[0085] Slider 202 movement: The stepper motor drives the gear 204 to move along the rack 203, pushing the slider 202 to move away from the central connecting rod 4.

[0086] Angle adjustment: As the slider 202 moves, the angle of the support rod 3 is gradually adjusted to 30° - 45°.

[0087] Morphological change: The two half-wheels present a spindle shape under the action of the support rod 3, and the gap between the left and right half-wheels can be adjusted according to the operation requirements.

[0088] Effect manifestation: The contact area between the wheel body 1 and the ground is increased, the ground contact pressure is decreased, effectively preventing the wheel body 1 from sinking in soft wet soil. At the same time, the spindle-shaped structure enhances the stability of the wheel body 1, avoiding slipping phenomena, and ensuring good controllability of the traveling device in the wetland environment.

[0089] 3. Traveling operation process

[0090] After determining the operation mode, the main controller will accurately control the rotation of the reduction motor according to the preset program and the data fed back by the sensors. The reduction motor transmits the power to the variable-diameter traveling wheel 100 through the transmission device, driving the traveling device to move forward.

[0091] 4. Automatic adjustment and real-time monitoring

[0092] To ensure that the traveling device can work efficiently under different soil conditions, the system realizes automatic adjustment and real-time monitoring:

[0093] Attitude monitoring: The inclination sensor monitors the attitude change of the wheel body 1 in real time and feeds back the angle information to the main controller.

[0094] Position monitoring: The limit switch 6 monitors the position of the slider 202 to prevent the slider 202 from moving beyond the limit and ensure the safe operation of the system.

[0095] Based on the data feedback from the sensors, the control system uses PID control to precisely control the stepper motor, ensuring that the angle of the wheel body 1 quickly and accurately reaches the target value. During the operation, the control system dynamically adjusts the angle of the support rod 3 according to the changes in the attitude of the wheel body 1 and the soil conditions to maintain the stable operation of the walking device.

[0096] 5. System collaborative work

[0097] Through the collaborative work of each module, the control system realizes the intelligent adjustment of the wheel body 1 under various conditions:

[0098] Data acquisition: The environmental information and system status data are collected in real time through the soil humidity sensor, the inclination sensor, and the limit switch 6.

[0099] Data processing: The main controller processes and analyzes the collected data and calculates the control quantity for the stepper motor according to the preset control algorithm.

[0100] Instruction execution: The main controller sends the control instruction to the stepper motor driver to drive the stepper motor to operate and adjust the position of the slider 202 and the angle of the support rod 3.

[0101] Status monitoring: The system monitors the attitude of the wheel body 1, the position of the slider 202, and the operating status of the motor 205 in real time to ensure the safe and reliable operation of the system.

[0102] Data interaction: The data exchange with the external system is realized through the communication module to transmit the operation status information and achieve remote monitoring and fault diagnosis.

[0103] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A variable-diameter walking wheel, characterized in that: Comprising a driving device and at least one wheel body, wherein: Each of the wheel bodies includes a first half-wheel and a second half-wheel. The openings of the first half-wheel and the second half-wheel of each wheel body face in opposite directions, and the first half-wheel and the second half-wheel of each wheel body are arranged offset in the wheel width direction of the wheel body; The driving device is connected to each of the first half-wheels and each of the second half-wheels, and the driving device can drive the first half-wheels and the second half-wheels of each wheel body to approach or move away from each other and maintain their positions.

2. The variable-diameter walking wheel according to claim 1, wherein: By driving the first half-wheels and the second half-wheels of each wheel body to approach each other, the driving device can make the two ends of each first half-wheel cross the two ends of the corresponding second half-wheel respectively; by driving the first half-wheels and the second half-wheels of each wheel body to move away from each other, the driving device can make each first half-wheel and the corresponding second half-wheel enclose into a ring shape.

3. The variable-diameter walking wheel according to claim 1, wherein: The driving device includes at least one power device and at least two driving link rods. Each of the first half-wheels and each of the second half-wheels are movably connected to one end of at least one of the driving link rods, and the other end of each driving link rod is movably connected to the power device; the power device can drive the other end of each driving link rod to move towards the direction close to the corresponding wheel body and maintain its position, so that the first half-wheel and the second half-wheel of the corresponding wheel body move away from each other and maintain their positions; the power device can drive the other end of each driving link rod to move away from the direction of the corresponding wheel body and maintain its position, so that the first half-wheel and the second half-wheel of the corresponding wheel body approach each other and maintain their positions.

4. The variable-diameter walking wheel according to claim 1, wherein: It further includes at least two support rods. Each of the wheel bodies further includes a first hub and a second hub. The first half-wheels correspond to the first hubs one by one. At least one of the support rods is arranged between each first half-wheel and the corresponding first hub. Each first half-wheel and the corresponding first hub are respectively movably connected to the two ends of the corresponding support rod; the second half-wheels correspond to the second hubs one by one. At least one of the support rods is arranged between each second half-wheel and the corresponding second hub. Each second half-wheel and the corresponding second hub are respectively movably connected to the two ends of the corresponding support rod; each of the support rods can stretch along its own center line under the action of an external force and can maintain its length when reaching a set length.

5. The variable-diameter walking wheel according to claim 3, wherein: It further includes at least one center link rod. One wheel body is arranged at each end of each center link rod; the driving device further includes at least two sliders. One slider is slidably connected to each end of each center link rod. Each slider is connected to a power device. All the driving link rods connected to each wheel body are movably connected to the slider on the corresponding center link rod close to each wheel body, and the power device can drive the corresponding slider to slide along the center link rod.

6. The variable-diameter walking wheel according to claim 5, wherein: Each of the power devices includes a rack, two gears, and two motors. Each of the racks is fixedly connected to one of the central connecting rods. The two motors of each power device are respectively fixedly connected to two sliders on the corresponding central connecting rod. The output shafts of the two motors of each power device are respectively fixedly connected to the two gears of each power device. Each motor can drive the corresponding gear to rotate around the axis of the output shaft of each motor. The two gears of each power device are both meshed with the rack of each power device.

7. The variable-diameter walking wheel according to claim 6, wherein: It further includes a controller, at least two inclination detection devices, at least two limit switches, and at least two displacement monitoring devices. One inclination detection device is provided on each wheel body, and each inclination detection device is used to detect the included angle between the corresponding wheel body and the horizontal plane; at least two of the limit switches and at least two of the displacement monitoring devices are provided on each central connecting rod. The two limit switches on each central connecting rod correspond one by one to the two sliders on each central connecting rod, and the two displacement monitoring devices on each central connecting rod correspond one by one to the two sliders on each central connecting rod; each motor, each inclination detection device, each limit switch, and each displacement monitoring device are all signal-connected to the controller.

8. A chassis, characterized in that: It includes a chassis platform and the variable-diameter walking wheels according to any one of claims 1 to 7, and each wheel body is connected to the chassis platform.

9. A walking device, characterized in that: It includes a walking body and the variable-diameter walking wheels according to any one of claims 1 to 7, and each wheel body is connected to the walking body.

10. A method for changing the diameter of a walking wheel of a variable-diameter walking wheel according to any one of claims 1 to 7, characterized in that: It includes the following steps: driving the first half-wheel and the second half-wheel of each wheel body to approach or move away from each other through the driving device, and keeping the first half-wheel and the second half-wheel of each wheel body in a set position.

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