Tire dismounting and replacing structure of wheel-foot type robot

Abstract

The utility model relates to the technical field of wheel-foot type robots, in particular to a tire dismounting and replacing structure of a wheel-foot type robot, which comprises a machine body, a mechanical foot is connected to the side surface of the machine body, and a moving wheel is arranged at one end of the bottom of the mechanical foot; by arranging the connecting column on the mounting base, the tire can be conveniently connected to the connecting column in a sleeving manner through the connecting sleeve, and during sleeving, the connecting key on the inner wall of the connecting sleeve is aligned with the key groove in the outer wall of the connecting sleeve to be inserted, so that the situation that the connecting sleeve rotates in the radial direction after sleeving the outer wall of the connecting column is avoided; the clamping blocks can be pushed by the tension of the springs to be inserted into the annular clamping grooves, so that the situation that the tire falls off due to axial displacement after the outer wall of the connecting column is sleeved with the connecting sleeve is avoided, the tire mounting firmness is ensured, and mounting is easy.

Description

TECHNICAL FIELD

[0001] The utility model relates to wheel-foot robot technical field, concretely is a wheel-foot robot tire dismounting replacement structure. BACKGROUND

[0002] Wheel-foot robot is generally composed of main structure, wheel mechanism and foot mechanism. The main structure bears various sensors, control system and energy supply device. The wheel mechanism generally includes wheels, driving motor and transmission system, which enables it to move quickly and efficiently on flat ground, with the characteristics of fast speed and good stability. The foot mechanism is composed of leg joints and driving devices, which endows the robot with the ability to walk, climb and cross obstacles in complex terrain.

[0003] During the movement of the wheel-foot robot, the tire is in constant contact and friction with the ground. Especially when driving a long distance or frequent turning, the tire surface will gradually wear out. As the wear intensifies, the tire's grip will decrease, affecting the robot's stability and maneuverability, so the tire needs to be replaced regularly. When the wheel-foot robot is driving in complex terrain, such as sandy and muddy ground, different tires with different characteristics need to be replaced according to different terrains. In the prior art, the tire is usually fixed on the rim by bolts. The bolt passes through the mounting hole of the tire and the corresponding hole of the rim, and is tightened by a nut to firmly fix the tire on the rim, which has good firmness and is not easy to loosen. However, external tools are needed to assist in screwing the screw for disassembly, which is troublesome in scenarios where the tire needs to be replaced frequently. In view of this, we propose a tire dismounting replacement structure for a wheel-foot robot. SUMMARY

[0004] The utility model aims at providing a tire dismounting replacement structure for a wheel-foot robot, which solves the problem of the prior art that the tire is firmly fixed on the rim by tightening the nut, which is troublesome in scenarios where the tire needs to be replaced frequently.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0006] A tire dismounting replacement structure for a wheel-foot robot, comprising a body, the side of the body is connected with a mechanical foot, the bottom of the mechanical foot is provided with a moving wheel at one end;

[0007] The moving wheel is composed of a mounting seat, a connecting sleeve and a tire, the mounting seat is rotatably connected to the bottom of the mechanical foot, the outer wall of the connecting sleeve is arranged on the outer wall of the mounting seat, and the tire is connected to the outer wall of the connecting sleeve.

[0008] Preferably, the surface of the mounting base is connected with a connecting column, a key groove is formed in the outer wall of the connecting column, and the inner wall of the connecting sleeve is connected with a connecting key which is clamped in the inner wall of the key groove.

[0009] Preferably, an annular air cavity is formed in the position outside the connecting column on the surface of the mounting base, the inner wall of the annular air cavity is slidably connected with a clamping block, the outer wall of the connecting column is formed with an annular clamping groove corresponding to the position of the clamping block, and the clamping block is clamped in the inner wall of the annular clamping groove.

[0010] Preferably, the number of the clamping blocks is four, which are evenly distributed in a ring shape, and a spring is connected between each clamping block and the inner wall of the annular air cavity.

[0011] Preferably, a supporting ring is connected between the tire and the connecting sleeve, an air passage is formed in the inner ring of the tire, and an air hole is formed in the side of the annular air cavity corresponding to the supporting ring.

[0012] Preferably, an air chamber is formed in the inner wall of the connecting column, the air chamber is in communication with the inside of the annular clamping groove through a squeezing hole, and a piston is connected to the inner wall of the air chamber.

[0013] Preferably, a threaded rod is threadedly connected to the inner wall of the piston, limit rods are slidably connected to the positions of the piston on both sides of the threaded rod, the limit rods are connected to the inner wall of the air chamber, and a knob is arranged at one end of the connecting column to drive the threaded rod to rotate.

[0014] By means of the above technical scheme, the tire dismounting and replacing structure of the wheel-foot robot is provided. At least the following beneficial effects are achieved:

[0015] Firstly, the connecting column is arranged on the mounting base, so that the tire can be sleeved on the connecting column through the connecting sleeve. When the connecting sleeve is sleeved, the connecting key in the inner wall of the connecting sleeve is inserted into the key groove in the outer wall of the connecting sleeve, so that the connecting sleeve cannot rotate radially after being sleeved on the outer wall of the connecting column. When the connecting sleeve is pushed against the mounting base, the tension of the spring will push the clamping block into the annular clamping groove, so that the connecting sleeve cannot axially displace after being sleeved on the outer wall of the connecting column, thereby preventing the tire from falling off. The tire mounting is firm and easy to install.

[0016] Secondly, when the tire needs to be dismounted, the knob is twisted to drive the threaded rod to rotate. The relative position of the piston and the limit rod is limited, so that when the threaded rod rotates, the piston will push the air in the air chamber and inject the air into the annular clamping groove through the squeezing hole. The clamping block in the annular clamping groove is pushed into the annular air cavity by the injected air, and is separated from the inside of the annular clamping groove, so that the limit of the connecting sleeve is released, thereby facilitating the dismounting and replacing of the tire. Within a certain range, the air injected into the annular clamping groove can be used to push the clamping block to slightly adjust the air pressure in the tire. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the present invention, form part of this application:

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 In this utility model Figure 1 A magnified view of point A;

[0020] Figure 3 This is a partial cross-sectional view of the movable wheel in this utility model;

[0021] Figure 4 This is a partial sectional view of the mounting base in this utility model;

[0022] Figure 5 This is a partial sectional view of the connecting sleeve in this utility model.

[0023] In the diagram: 1. Body; 2. Mechanical foot; 3. Caster wheel; 31. Mounting base; 311. Connecting column; 312. Annular groove; 313. Keyway; 314. Extrusion hole; 32. Connecting sleeve; 321. Connecting key; 322. Annular air chamber; 323. Locking block; 324. Spring; 325. Air hole; 33. Tire; 331. Vent groove; 332. Support ring; 34. Air chamber; 341. Piston; 342. Knob; 343. Threaded rod; 344. Limiting rod. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] A tire removal and replacement structure for a wheeled robot, such as Figure 1 - Figure 5As shown, including the fuselage 1, the side of the fuselage 1 is connected with the mechanical foot 2, the bottom end of the mechanical foot 2 is provided with the moving wheel 3, the moving wheel 3 is composed of the mounting seat 31, the connecting sleeve 32, the tire 33, the mounting seat 31 is rotatably connected at the bottom end of the mechanical foot 2, the outer wall of the connecting sleeve 32 is arranged on the outer wall of the mounting seat 31, the tire 33 is connected to the outer wall of the connecting sleeve 32, the surface of the mounting seat 31 is connected with the connecting column 311, the outer wall of the connecting column 311 is provided with the key groove 313, the inner wall of the connecting sleeve 32 is connected with the connecting key 321, the connecting key 321 is clamped in the inner wall of the key groove 313, the surface of the mounting seat 31 is provided with the annular air cavity 322 at the position outside the connecting column 311, the inner wall of the annular air cavity 322 is slidably connected with the clamping block 323, the outer wall of the connecting column 311 is provided with the annular clamping groove 312 corresponding to the position of the clamping block 323, the clamping block 323 is clamped in the inner wall of the annular clamping groove 312, the number of the clamping block 323 is four, which is evenly distributed in a ring shape, and each clamping block 323 is connected with the spring 324 between the inner wall of the annular air cavity 322.

[0026] In the embodiment, the connecting column 311 is arranged on the mounting seat 31 to facilitate the tire 33 being sleeved and connected on the connecting column 311 through the connecting sleeve 32, the connecting key 321 on the inner wall of the connecting sleeve 32 is inserted into the key groove 313 on the outer wall of the connecting sleeve 32 during sleeving to avoid the connecting sleeve 32 from rotating radially after being sleeved on the outer wall of the connecting column 311, and when the connecting sleeve 32 is pushed against the mounting seat 31, the tension of the spring 324 will push the clamping block 323 to insert into the annular clamping groove 312 to avoid the tire 33 from falling off due to axial displacement of the connecting sleeve 32 after being sleeved on the outer wall of the connecting column 311, so as to ensure the firmness of the tire 33 and facilitate installation.

[0027] As shown in the figure, Figure 3 The tire 33 and the connecting sleeve 32 are connected at a position, the inner ring of the tire 33 is provided with the air passage 331, and the annular air cavity 322 is provided with the air hole 325 corresponding to one side of the supporting ring 332.

[0028] In the embodiment, the air hole 325 and the air passage 331 are arranged to communicate the inside of the tire 33 with the annular air cavity 322, when the tire 33 is pressed by contacting the ground, the air in the inside of the tire 33 will be injected into the annular air cavity 322 to increase the pressure in the annular air cavity 322 and form a supporting force on the clamping block 323, so as to avoid the clamping block 323 from being separated from the annular clamping groove 312.

[0029] As shown in the figure, Figure 3 , Figure 4 , Figure 5As shown, the inner wall of the connecting column 311 is provided with an air chamber 34, the air chamber 34 is communicated with the inside of the annular clamping groove 312 through the extrusion hole 314, the inner wall of the air chamber 34 is connected with a piston 341, the inner wall of the piston 341 is threadedly connected with a threaded rod 343, the piston 341 is slidingly connected with a limiting rod 344 at the positions on both sides of the threaded rod 343, and the limiting rod 344 is connected with the inner wall of the air chamber 34, and one end of the outer wall of the connecting column 311 is provided with a knob 342 for driving the threaded rod 343 to rotate.

[0030] In the embodiment, when the tire 33 needs to be disassembled, the knob 342 is only needed to be twisted to drive the threaded rod 343 to rotate, and the relative limiting of the piston 341 and the limiting rod 344 is performed, so that when the threaded rod 343 rotates, the piston 341 is pushed to extrude the air in the air chamber 34, and the extrusion hole 314 is injected into the annular clamping groove 312, so that the clamping block 323 in the annular clamping groove 312 is pushed into the annular air cavity 322 by the injected air, and is separated from the inside of the annular clamping groove 312, so as to release the limiting of the connecting sleeve 32, so as to facilitate the disassembly and replacement of the tire 33, and the air injection pushing mode of the clamping block 323 can be used to adjust the air pressure in the tire 33 within a certain range.

[0031] The tire dismounting and replacing structure of the wheel-foot type robot of the utility model in use, when installing tire 33, connecting key 321 of connecting sleeve 32 inner wall is inserted to keyway 313 of connecting sleeve 32 outer wall in alignment, to avoid the radial rotation of connecting sleeve 32 after being set on the outer wall of connecting column 311, and when connecting sleeve 32 is pushed against mounting seat 31, the tension of spring 324 will push clamping block 323 to insert into annular clamping groove 312, to avoid the axial displacement of connecting sleeve 32 after being set on the outer wall of connecting column 311, which leads to the falling of tire 33, to ensure the firmness of tire 33 installation, when tire 33 needs to be disassembled, only need to twist knob 342 to drive threaded rod 343 to rotate, and the relative limiting of piston 341 and limiting rod 344 is performed, so that when threaded rod 343 rotates, piston 341 is pushed to extrude the air in air chamber 34, and the extrusion hole 314 is injected into annular clamping groove 312, so that clamping block 323 in annular clamping groove 312 is pushed into annular air cavity 322 by the injected air, and is separated from the inside of annular clamping groove 312, to release the limiting of connecting sleeve 32, to facilitate the disassembly and replacement of tire 33, and the air injection pushing mode of clamping block 323 can be used to adjust the air pressure in tire 33 within a certain range.

[0032] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0033] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A tire detachment and replacement structure for a wheel-legged robot including a body (1), characterized by: The side of the fuselage (1) is connected with a mechanical foot (2), and the bottom end of the mechanical foot (2) is provided with a moving wheel (3); The moving wheel (3) is composed of a mounting seat (31), a connecting sleeve (32) and a tire (33), the mounting seat (31) is rotationally connected at the bottom end of the mechanical foot (2), the outer wall of the connecting sleeve (32) is arranged on the outer wall of the mounting seat (31), and the tire (33) is connected to the outer wall of the connecting sleeve (32).

2. The tire detachment and replacement structure of the wheel-legged robot according to claim 1, characterized in that: The surface of the mounting seat (31) is connected with a connecting column (311), the outer wall of the connecting column (311) is provided with a key groove (313), the inner wall of the connecting sleeve (32) is connected with a connecting key (321), and the connecting key (321) is clamped on the inner wall of the key groove (313).

3. The tire detachment and replacement structure of the wheel-legged robot according to claim 2, characterized in that: The surface of the mounting seat (31) is connected with a connecting column (311), the outer wall of the connecting column (311) is provided with a key groove (313), the inner wall of the connecting sleeve (32) is connected with a connecting key (321), and the connecting key (321) is clamped on the inner wall of the key groove (313).

4. The tire detachment and replacement structure of the wheel-legged robot according to claim 3, characterized in that: The number of the clamping blocks (323) is four, which are evenly distributed in a ring shape, and a spring (324) is connected between each clamping block (323) and the inner wall of the ring-shaped air cavity (322).

5. The tire detachment and replacement structure of the wheel-legged robot according to claim 4, characterized in that: The position between the tire (33) and the connecting sleeve (32) is connected with a supporting ring (332), the inner ring of the tire (33) is provided with a vent groove (331), and the ring-shaped air cavity (322) is provided with an air hole (325) on the side corresponding to the supporting ring (332).

6. The tire detachment and replacement structure of the wheel-legged robot according to claim 5, characterized in that: The inner wall of the connecting column (311) is provided with an air chamber (34), the air chamber (34) is in communication with the inside of the ring-shaped clamping groove (312) through the extrusion hole (314), and the inner wall of the air chamber (34) is connected with a piston (341).

7. The wheel detachment and replacement structure of the wheel-legged robot according to claim 6, characterized in that: The inner wall of the piston (341) is threadedly connected with a threaded rod (343), the piston (341) is slidably connected with a limiting rod (344) on both sides of the threaded rod (343), and the limiting rod (344) is connected with the inner wall of the air chamber (34), and one end of the connecting column (311) is provided with a knob (342) for driving the threaded rod (343) to rotate.

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