Deformable cross-domain wheel paddle

Abstract

The utility model discloses a deformable cross-domain wheel paddle which comprises a wheel paddle center body, a plurality of supporting rods are fixed to the circumferential surface of the wheel paddle center body, blades are arranged outside the side faces of the sides, in the same direction, of the supporting rods respectively, the blades are arc-shaped blades, and the arc shapes of the blades can be spliced into a whole circle. One end of each blade is rotationally connected with the end of the corresponding supporting rod, each blade and the corresponding supporting rod form a paddle, a spring is connected between the inner arc face of each blade and the corresponding face of the corresponding supporting rod, and each supporting rod supports the blades connected with the adjacent supporting rods through a supporting mechanism. According to the utility model, a continuous and complete circle can be formed when the robot walks on land, and a wheel paddle with good paddling efficiency can be formed when the robot walks on water.

Description

Technical Field

[0001] The utility model relates to the field of cross-domain robot wheel-paddles, in particular to a deformable cross-domain wheel-paddle. Background Art

[0002] The amphibious cross-domain robot has two cross-medium motion characteristics: swimming on the water surface and maneuvering on the ground. Figure 1 As shown, it includes a coupling as a wheel-paddle center body 1, and a plurality of support rods 2 are fixed to the circumferential surface of the coupling, and each support rod 2 is radially distributed, and a blade 3 is fixed to the end of each support rod 2. Although this wheel-paddle structure can meet the land maneuvering and water paddling functions of the amphibious robot, it has the following problems:

[0003] (1) Due to Figure 1 The discontinuity of the blades 3 in the robot will cause impacts on the hard ground when the robot is walking on the hard ground. In addition to damaging the blades 3 and the support rods 2, the impacts will also be transmitted to the robot body, affecting the movement effect.

[0004] (2) When moving on the water surface, the support rod 2 and the blades as a whole act as paddles, but the paddling efficiency is average.

[0005] In order to solve the above problems, the patent with the prior art application number 202121710635.2 discloses an amphibious toy tire, wherein the tire has multiple outer tire assemblies that can be opened and folded, and the outer tire assembly includes a sidewall and a connecting arm. When the outer tire assembly is folded, it is used for walking on land, and when the outer tire assembly is unfolded, it is used for traveling on water. Although the prior art patent can form a complete and continuous tire interface for walking on land when the outer tire assembly is folded, and can make the outer tire assembly unfold to form a paddle for traveling on water, the prior art patent requires external participation to adjust the folding and unfolding of the outer tire assembly before it can be applied to traveling in different fields. And because the sidewall and connecting arm in the outer tire assembly are fixed, the angle between the sidewall (equivalent to the blade) and the connecting arm is not adjustable, and the unfolding angle of the sidewall depends entirely on the rotation angle of the connecting arm. Therefore, when used for traveling on water, the unfolding angle of the outer tire assembly is limited, and the unfolded outer tire assembly still has the problem of general paddling efficiency. Utility Model Content

[0006] The utility model provides a deformable cross-domain wheel propeller to solve the problems of the prior art patent with application number 202121710635.2, which requires external participation in regulation and has general paddling efficiency.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A deformable cross-domain paddle wheel, comprising a paddle wheel center body, a plurality of support rods are fixed on the circumferential surface of the paddle wheel center body, each support rod is radially distributed on the circumferential surface of the paddle wheel center body, and blades are respectively arranged on the outer side of one side of each support rod in the same direction according to the circumferential direction of the paddle wheel center body, the blades are respectively arc-shaped blades, and the arc shapes of each blade can be spliced ​​into a full circle, each blade is rotated toward one end of the corresponding support rod and connected to the end of the corresponding support rod, and each blade and the corresponding support rod form a paddle blade; a spring is respectively arranged between the inner arc surface of each blade and the corresponding surface of the corresponding support rod, one end of the spring is connected to the inner arc surface of the corresponding blade, and the other end of the spring is connected to the corresponding side surface of the corresponding support rod;

[0009] Each support rod is also provided with a support mechanism on the side surface on the other side opposite to the direction where the corresponding blade is located, and the support mechanism includes a first connecting rod, a second connecting rod, and a telescopic rod; in each support mechanism, one end of the first connecting rod faces the center body of the propeller and is rotatably connected to the corresponding surface of the corresponding support rod, the other end of the first connecting rod is rotatably connected to one end of the corresponding second connecting rod, the other end of the second connecting rod is rotatably connected to the inner arc surface of the blade configured with the adjacent support rod on the other side of the corresponding support rod, one end of the telescopic rod is rotatably connected to the corresponding first connecting rod shaft, and the other end of the telescopic rod is rotatably connected to the corresponding second connecting rod shaft.

[0010] Furthermore, a rubber pad is provided on the outer curved surface of each blade.

[0011] Furthermore, the outer arc surface of each blade is respectively set as a tooth surface.

[0012] Furthermore, each support rod is provided with a groove on the side opposite to the direction of the corresponding blade. In the support mechanism configured for each support rod, one end of the first connecting rod faces the center body of the propeller and is rotatably connected to the groove on the corresponding side of the corresponding support rod.

[0013] In the utility model, one end of the blade is rotatably connected to the corresponding support rod, a spring is connected between the blade and the corresponding support rod, and the support rod is also connected to the blades corresponding to the adjacent support rods through a supporting mechanism. The supporting mechanism is a foldable and extendable rod structure composed of a first connecting rod, a second connecting rod, and a telescopic rod.

[0014] In the initial state, the blades are in a naturally unfolded state at the ends of the corresponding support rods, and the support mechanism connected to the blades is in an extended state, the first connecting rod and the second connecting rod in the support mechanism are distributed in a straight line, and the telescopic rod is stretched. When driving on land, the blades in contact with the ground are squeezed and folded, at which time the corresponding spring is compressed, and the first connecting rod in the support mechanism connected to the blade is folded on the support rod corresponding to the support mechanism, and the telescopic rod in the support mechanism connected to the blade is shortened. When walking continuously and quickly on land, due to the high speed, the spring corresponding to each blade has not yet restored the blade to the unfolded state, and the blade is squeezed by the ground again, which is equivalent to each blade being continuously squeezed, and at this time it is equivalent to each blade being folded, so when walking continuously and quickly on land, each blade can form a complete and continuous circle, avoiding the problem of damage caused by the existence of gaps and the problem of reduced movement effect.

[0015] When switching from the ground to the water, since the water surface has less squeezing effect on the blades, the spring that was compressed during the previous walking on land can restore the corresponding blades to the unfolded state, without the need for external participation to adjust the blade state. When walking on the water continuously, due to the centrifugal force when the wheel and paddle rotate, the blades can be unfolded to the maximum extent at the ends of the corresponding support rods, so the blades formed by the blades and the corresponding support rods have a larger paddling area, so that the wheel and paddle of the utility model have good paddling efficiency.

[0016] In summary, compared with the prior art, the utility model can not only form a continuous and complete circle when walking on land, but also form paddle wheels with good paddling efficiency when walking on water, and can adaptively adjust when switching between different driving areas without the need for external adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the wheel-paddle structure of the existing amphibious cross-domain robot.

[0018] Figure 2 It is a schematic diagram of the structure of an embodiment of the utility model in a land rolling state.

[0019] Figure 3 It is a front view of the structure of the embodiment of the utility model in the land rolling state.

[0020] Figure 4 It is a front view of the structure of the embodiment of the utility model in the water surface paddling state. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0022] like Figure 2 , Figure 3 , Figure 4As shown, the present embodiment discloses a deformable cross-domain propeller, including a propeller center body 1, six support rods 2 are fixed to the circumferential surface of the propeller center body 1, the six support rods 2 are parallel to the radial direction of the corresponding positions of the propeller center body 1, and the six support rods 2 are distributed in annular directions with equal intervals in the circumferential direction of the propeller center body 1, thereby the six support rods 2 form a radial distribution on the circumferential surface of the propeller center body 1.

[0023] Six blades 3 are arranged outside the wheel propeller center body 1, and the six blades 3 are arranged one by one on the six support rods 2. Each blade 3 is an arc-shaped blade, and the inner arc surface of each blade 3 faces the wheel propeller center body 1, and the arcs of each blade 3 can be spliced ​​into a full circle. Figure 1 As shown, in the circumferential direction of the propeller center body 1, each blade 3 is located outside the side surface of the corresponding support rod 2 in the counterclockwise direction (the following clockwise and counterclockwise refer to the clockwise and counterclockwise directions in the circumferential direction of the propeller center body), and each blade 3 is rotatably connected to the corresponding end of the support rod 2 at one end in the clockwise direction, and each blade 3 and the corresponding support rod 2 form a paddle.

[0024] In each set of blades, a spring 4 is connected between the blade 3 and the corresponding support rod 2. Specifically, the spring 4 is located at the connection between the blade 3 and the corresponding support rod 2, one end of the spring 4 is connected to the inner arc surface of the corresponding blade 3, and the other end of the spring 4 is connected to the side surface of the corresponding support rod 2 in the counterclockwise direction.

[0025] The outer arc surface of each blade 3 is respectively set as a tooth surface, and the outer arc surface of each blade 3 is respectively provided with a rubber pad 5, so as to increase friction, reduce impact and eliminate vibration.

[0026] A support mechanism is also configured on the side surface of one clockwise side of each support rod 2. Specifically, the support mechanism includes a first connecting rod 6, a second connecting rod 7, and a telescopic rod 8. In each support mechanism, one end of the first connecting rod 6 faces the wheel-paddle center body 1 and is rotatably connected to the side surface of one clockwise side of the corresponding support rod 2, the other end of the first connecting rod 6 is rotatably connected to one end of the corresponding second connecting rod 7, the other end of the second connecting rod 7 is rotatably connected to the inner arc surface of the blade 3 configured with the corresponding support rod adjacent to the support rod in the clockwise direction of the corresponding support rod 2, one end of the telescopic rod 8 is rotatably connected to the corresponding first connecting rod 7 rod body, and the other end of the telescopic rod 8 is rotatably connected to the corresponding second connecting rod 7 rod body. Thus, each support rod 2 supports the blades 3 configured with the support rods adjacent to the clockwise direction through the support mechanism.

[0027] As an improvement to the present embodiment, a groove is provided on one side face of each support rod 2 in the clockwise direction, and a first connecting rod 6 in a supporting mechanism provided with each support rod 2 is rotatably connected to one end of the propeller center body 1 and is connected to the groove of the corresponding support rod 2, thereby enabling the first connecting rod 6 to be received in the groove of the corresponding support rod 2.

[0028] like Figure 2 , Figure 3 As shown, when walking on land, this embodiment rotates in a clockwise direction. At this time, the blades 3 are squeezed by the ground, so that they are folded at the ends of the corresponding support rods 2. Then the springs 4 corresponding to the blades 3 are compressed, and in the support mechanism connected to the blades 3, the first connecting rod 6 is folded on the corresponding support rod 2, and the telescopic rod 8 is shortened. When the rotation speed is fast, before the spring corresponding to each blade 3 can restore the blade 3 to expand, the blade 3 is squeezed by the ground again, which is equivalent to that each blade 3 is squeezed, so that each blade 3 is folded to form the following Figure 1 The complete continuous circle shown.

[0029] like Figure 4 As shown, when switching from land to water, since the squeezing force of the water surface on the blade 3 is small, each blade 3 is restored to unfold under the action of the previously compressed spring 4, so that each blade 3 and the corresponding support rod 2 form a paddle. When walking on water, due to the centrifugal force when the wheel-paddle center body 1 rotates, each blade 3 can be unfolded to the maximum extent, thereby forming a paddle with a large paddling area. At this time, in the support mechanism connected to each blade 3, the first connecting rod 6 is unfolded from the corresponding support rod 2, and the first connecting rod 6 and the second connecting rod 7 are in a straight line, and the telescopic rod 8 is in an extended state.

[0030] When switching from water to land, the blades 3 are pressed by the ground again, so that each blade 3 forms a complete and continuous circle again.

[0031] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. The embodiments described in the present invention are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention. The various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. Such combinations should also be regarded as the contents disclosed in the present disclosure as long as they do not violate the concept of the present invention. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0032] The present invention is not limited to the specific details in the above-mentioned embodiments. Within the technical concept of the present invention and without departing from the design concept of the present invention, various modifications and improvements made to the technical solution of the present invention by technical personnel in this field should fall within the protection scope of the present invention. The technical contents for which protection is sought in the present invention have been fully recorded in the claims.

Claims

1. A deformable cross-domain propeller, comprising a propeller center body, a plurality of support rods are fixed to the circumferential surface of the propeller center body, and each support rod is radially distributed on the circumferential surface of the propeller center body, characterized in that: According to the circumferential direction of the wheel-paddle center body, blades are respectively arranged on the outer side of one side of each support rod in the same direction, and the blades are respectively arc-shaped blades, and the arc shapes of each blade can be spliced ​​into a whole circle, and each blade is rotated toward one end of the corresponding support rod and connected to the end of the corresponding support rod, and each blade and the corresponding support rod form a paddle blade; a spring is respectively arranged between the inner arc surface of each blade and the corresponding surface of the corresponding support rod, one end of the spring is connected to the inner arc surface of the corresponding blade, and the other end of the spring is connected to the corresponding side surface of the corresponding support rod; Each support rod is also provided with a support mechanism on the side surface on the other side opposite to the direction where the corresponding blade is located, and the support mechanism includes a first connecting rod, a second connecting rod, and a telescopic rod; in each support mechanism, one end of the first connecting rod faces the center body of the propeller and is rotatably connected to the corresponding surface of the corresponding support rod, the other end of the first connecting rod is rotatably connected to one end of the corresponding second connecting rod, the other end of the second connecting rod is rotatably connected to the inner arc surface of the blade configured with the adjacent support rod on the other side of the corresponding support rod, one end of the telescopic rod is rotatably connected to the corresponding first connecting rod shaft, and the other end of the telescopic rod is rotatably connected to the corresponding second connecting rod shaft.

2. A deformable cross-domain propeller according to claim 1, characterized in that: The outer arc surface of each blade is respectively provided with a rubber pad.

3. The deformable cross-domain propeller according to claim 1, characterized in that: The outer arc surface of each blade is respectively set as a tooth surface.

4. The deformable cross-domain propeller according to claim 1, characterized in that: Each support rod is provided with a groove on the side opposite to the direction of the corresponding blade. In the support mechanism configured for each support rod, one end of the first connecting rod faces the center body of the propeller and is rotatably connected to the groove on the corresponding side of the corresponding support rod.

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