Obstacle crossing tire of walking robot

Abstract

The utility model discloses an obstacle crossing tire of a walking robot, and belongs to the technical field of tires. Comprising a hub, a fixed tread is fixedly arranged on the outer side of the hub, grooves are formed in the outer side of the fixed tread in an annular array mode, and wheel carriers are arranged on the inner side of the hub in an annular array mode; the plurality of L-shaped supporting plates are arranged corresponding to the grooves, and the horizontal ends of the L-shaped supporting plates are located on the inner sides of the grooves; the adjusting assembly is adopted to drive the L-shaped supporting plate to slide on the outer side of the hub, so that the horizontal end of the L-shaped supporting plate is separated from the inner side of the groove for obstacle crossing work of the robot, the L-shaped supporting plate and the sliding block A are detachably mounted, and after the sliding block A and the wheel frame are slidably mounted, the adjusting stability of the L-shaped supporting plate is guaranteed, the L-shaped supporting plate is conveniently detached and replaced, and the labor intensity of workers is reduced. A traditional moving rod is replaced by the L-shaped supporting plate, and the L-shaped supporting plate and the sliding block A can be detached from each other for independent replacement, so that the influence on the functions of the whole tire is prevented, and the overall service life is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tires, more specifically, to a walking robot obstacle crossing tire. BACKGROUND

[0002] The obstacle crossing tire is a special tire designed for walking robots, and its design and function are both to help the robot walk and overcome obstacles in rough terrain.

[0003] In related technologies, in order to enable the walking robot to stably perform actions such as climbing and crossing obstacles, for example, the patent with the publication number CN214874029U provides a tire for a climbing robot. The tire has a through hole, a connecting column and a moving rod arranged inside the airless tire. The connecting column can both play a certain role in the airless tire and connect the through hole and the center block. When the robot needs to climb, the center block can be inflated by the air cylinder, and different volumes of air can be filled in the center block according to the climbing angle, so that the limit distance of the moving rod extending out of the tire is appropriate, thereby making climbing easier. In addition, the limit distance of the moving rod can be lengthened, and after being lengthened to a certain distance, it can also climb stairs or cross obstacles, ensuring that it can adapt to different terrains during use, and all devices are arranged inside the tire body, without the need to increase devices outside, without increasing the occupied volume under the condition of ensuring no slipping.

[0004] Although the above-mentioned prior art solution can achieve the effect of improving the obstacle crossing ability of the tire and enabling the robot to move stably by arranging a telescopic and sliding moving rod inside the tire, the moving rod is slidingly installed on the inner side of the connecting column, and sliding extension is realized by inflating the center block. When the moving rod is bent and deformed under the load of the robot, the moving rod cannot be quickly retracted and replaced, resulting in the entire tire being scrapped and having a low service life.

[0005] In view of this, we propose a walking robot obstacle crossing tire. CONTENT OF THE UTILITY MODEL

[0006] The purpose of the present application is to provide a walking robot obstacle crossing tire, which can effectively solve the problem in the prior art that the moving rod is slidingly installed on the inner side of the connecting column, and sliding extension is realized by inflating the center block. When the moving rod is bent and deformed under the load of the robot, the moving rod cannot be quickly retracted and replaced, resulting in the entire tire being scrapped and having a low service life.

[0007] The present application provides a walking robot obstacle crossing tire, which comprises:

[0008] A hub is provided with a fixed tire tread outside, a plurality of recesses are arranged in an annular array outside the tire tread, and a wheel carrier is arranged in an annular array inside the hub.

[0009] A plurality of L-shaped supporting plates are arranged corresponding to the recesses, the horizontal ends of the L-shaped supporting plates are located inside the recesses, and the vertical ends of the L-shaped supporting plates are slidingly arranged outside the wheel carrier.

[0010] An adjusting assembly is arranged outside the hub and is used to drive the L-shaped supporting plates to slide along the wheel carrier.

[0011] The horizontal ends of the L-shaped supporting plates are fixedly provided with a movable tire tread outside, and the vertical ends of the L-shaped supporting plates are detachably provided with sliding blocks A, which are slidingly connected with the wheel carrier.

[0012] As an optional solution of the technical scheme of the present application, a sliding hole is formed inside the wheel carrier, a sliding block A is slidingly arranged inside the sliding hole, limiting blocks are fixedly arranged on both sides of the sliding block A, a bolt is fixedly arranged on the side of the limiting block close to the L-shaped supporting plate, and a U-shaped groove is formed in the bottom of the L-shaped supporting plate corresponding to the bolt.

[0013] As an optional solution of the technical scheme of the present application, two bolts are arranged along the radial direction of the hub, a right-angle gasket is arranged outside the bolt close to the movable tire tread, the right-angle gasket is fixed to the outside of the L-shaped supporting plate through a nut outside the bolt, and a plug hole is formed in the outside of the L-shaped supporting plate corresponding to the right-angle gasket.

[0014] As an optional solution of the technical scheme of the present application, the adjusting assembly comprises a rotating member and a pushing member used to drive the rotating member to rotate.

[0015] The rotating member comprises a sliding ring, the sliding ring is rotationally arranged inside the hub, a shaft sleeve is fixedly arranged inside the hub through the wheel carrier and is used to support the sliding ring, arc-shaped push levers are arranged in an annular array outside the sliding ring corresponding to the L-shaped supporting plates and are used to push the limiting blocks to slide relative to the wheel carrier, fixed rods are arranged in an annular array outside the sliding ring and are used to reinforce the arc-shaped push levers, the sliding ring is driven by the pushing member to rotate by a certain angle, and a magnet is fixedly arranged on the side of the fixed rod close to the limiting block and is used to enhance the stability of the L-shaped supporting plate in a storage state.

[0016] As an optional solution of the technical scheme of the present application, the rotating member further comprises a shaft block, the shaft block is coaxially fixedly connected with the sliding ring, and a helical sliding groove is formed in the outside of the shaft block.

[0017] The pushing member is sleeved outside the shaft block, a sliding block B is fixedly arranged inside the pushing member, and rolling balls are arranged inside the pushing member corresponding to the sliding groove, the pushing member is driven by an axial thrust to rotate the shaft block, and the pushing member is rotated under the driving of the hub.

[0018] As an optional solution of the technical scheme of the present application file, the hub inner side is fixedly provided with an axle through a shaft sleeve, and the axle outer side is fixedly provided with a hub ring corresponding to the pusher, and the hub ring is in sliding connection with the pusher along the axial direction.

[0019] As an optional solution of the technical scheme of the present application file, the hub two sides are both annularly arranged with L-shaped support plates, the L-shaped support plates on the two sides are arranged staggeredly, and the hub two sides are both provided with adjusting assemblies driven by external force to separately adjust the L-shaped support plates on the two sides.

[0020] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] In the present application, the adjusting assembly is used to drive the L-shaped support plate to slide on the outer side of the hub, so that the horizontal end of the L-shaped support plate is separated from the inner side of the groove for the robot to overcome obstacles, and the L-shaped support plate is detachably installed with the sliding block A, and after the sliding block A is slidingly installed with the wheel carrier, the stability of the L-shaped support plate adjustment is ensured, and the L-shaped support plate is conveniently detached and replaced, thereby realizing the replacement of the traditional moving rod by the L-shaped support plate, and the L-shaped support plate and the sliding block A can be detached and replaced separately, preventing the function of the entire tire from being affected, and improving the overall service life.

[0022] In the present application, the pusher is arranged on the outer side of the hub, and the pusher is axially pushed to rotate the rotating piece by a certain angle under the action of external force, so that the rotating piece drives the L-shaped support plate to slide on the outer side of the hub during rotation, so as to conveniently adjust the L-shaped support plate through a mechanical mechanism, and ensure the overall strength of the L-shaped support plate and the tire, which is suitable for the obstacle overcoming work of the walking robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The overall structure diagram of the obstacle overcoming tire of the walking robot is disclosed for a preferred embodiment of the present application;

[0024] Figure 2 The explosion structure diagram of the obstacle overcoming tire of the walking robot is disclosed for a preferred embodiment of the present application;

[0025] Figure 3 The structure diagram of the hub in the obstacle overcoming tire of the walking robot is disclosed for a preferred embodiment of the present application;

[0026] Figure 4 The explosion structure diagram of the L-shaped support plate in the obstacle overcoming tire of the walking robot is disclosed for a preferred embodiment of the present application;

[0027] Figure 5 The structure diagram of the adjusting assembly in the obstacle overcoming tire of the walking robot is disclosed for a preferred embodiment of the present application;

[0028] Figure 6 Structure diagram of the rotating member in the obstacle-crossing tire of the walking robot according to an embodiment of the present application;

[0029] Figure 7 Structure diagram of the pushing member in the obstacle-crossing tire of the walking robot according to an embodiment of the present application;

[0030] Label explanation in the figure: 100, wheel seat; 101, hydraulic push rod; 102, bearing plate;

[0031] 1, hub; 11, fixed tire; 12, groove; 13, wheel carrier; 131, sliding hole; 14, shaft sleeve; 15, wheel shaft; 16, axle circle;

[0032] 2, L-shaped support plate; 21, movable tire; 22, sliding block A; 23, limiting block; 24, bolt; 25, U-shaped groove; 26, insertion hole; 27, right-angle spacer;

[0033] 3, adjusting assembly; 31, rotating member; 311, sliding ring; 312, arc-shaped lever; 313, fixed rod; 314, shaft block; 315, sliding groove; 316, magnet; 32, pushing member; 321, sliding block B; 322, ball. DETAILED DESCRIPTION

[0034] The present application will be further described in detail below in combination with the accompanying drawings.

[0035] Reference Figures 1-4 The embodiment of the present application discloses an obstacle-crossing tire of a walking robot, which comprises a hub 1, an L-shaped support plate 2, and an adjusting assembly 3. The outer side of the hub 1 is fixedly provided with a fixed tire 11. The outer side of the fixed tire 11 is annularly arranged with grooves 12. The inner side of the hub 1 is annularly arranged with wheel carriers 13. The L-shaped support plate 2 is provided with a plurality of plates corresponding to the grooves 12. The horizontal end of the L-shaped support plate 2 is located on the inner side of the groove 12. The vertical end of the L-shaped support plate 2 is slidingly arranged on the outer side of the wheel carrier 13. The adjusting assembly 3 is arranged on the outer side of the hub 1 and is used to drive the L-shaped support plate 2 to slide along the wheel carrier 13. The horizontal end of the L-shaped support plate 2 is fixedly provided with a movable tire 21 on the outer side. The vertical end of the L-shaped support plate 2 is detachably provided with a sliding block A 22. The sliding block A 22 is slidingly connected with the wheel carrier 13.

[0036] The wheel hub 1 is installed at the bottom of the walking robot, when the walking robot moves on the relatively flat ground, i.e. without the need to overcome obstacles, several L-shaped support plates 2 are accommodated in the inner side of the groove 12 under the drive of the adjusting assembly 3, so that the outer side of the wheel hub 1 keeps a circular shape through the tire tread 11 and the movable tire tread 21 of the outer side of the L-shaped support plate 2, to ensure the stability of the robot walking; when the robot needs to overcome obstacles, the L-shaped support plate 2 is driven to slide on the outer side of the wheel frame 13 through the adjusting assembly 3, so that the horizontal end of the L-shaped support plate 2 moves outward from the inner side of the groove 12, and then the L-shaped support plate 2 serves as a support structure for the robot to overcome obstacles, instead of the traditional moving rod; and when the L-shaped support plate 2 as a support structure needs to be replaced, the L-shaped support plate 2 and the sliding block A22 can be disassembled and replaced separately, preventing the function of the entire tire from being affected and improving the overall service life.

[0037] With reference to Figure 3 and Figure 4 , the inner side of the wheel frame 13 is provided with a sliding hole 131, and the sliding block A22 is slidably arranged in the inner side of the sliding hole 131. The sliding block A22 is fixedly provided with a limiting block 23 on both sides, and the limiting block 23 is fixedly provided with a bolt 24 on the side close to the L-shaped support plate 2. The bottom of the L-shaped support plate 2 is provided with a U-shaped groove 25 corresponding to the bolt 24.

[0038] By slidingly installing the sliding block A22 in the inner side of the sliding hole 131, the wheel hub 1 drives the L-shaped support plate 2 to rotate together when rotating, and after loosening the nut outside the bolt 24, the L-shaped support plate 2 can be easily disassembled along the radial direction of the wheel hub 1 through the U-shaped groove 25 at the bottom of the L-shaped support plate 2, so as to be replaced separately.

[0039] With reference to Figure 4 , two bolts 24 are arranged along the radial direction of the wheel hub 1, and a right-angle washer 27 is arranged outside the bolt 24 close to the movable tire tread 21. The right-angle washer 27 is fixed to the outer side of the L-shaped support plate 2 through the nut outside the bolt 24, and the outer side of the L-shaped support plate 2 is provided with a insertion hole 26 corresponding to the right-angle washer 27.

[0040] In order to ensure that the L-shaped support plate 2 supports the robot to walk stably as a support structure, the L-shaped support plate 2 is fixed by the two bolts 24 outside the limiting block 23, to prevent the L-shaped support plate 2 from rotating outside the limiting block 23 when subjected to a load, and the right-angle washer 27 is arranged outside the bolt 24 to cooperate with the insertion hole 26 on the outer side of the L-shaped support plate 2, to increase the fixed area of the L-shaped support plate 2, so as to ensure the stability of the L-shaped support plate 2 after disassembly and installation.

[0041] With reference to Figure 2 , Figure 5 and Figure 6 ​, the adjusting assembly 3 comprises a rotating piece 31 and a pushing piece 32 for driving the rotating piece 31 to rotate; the rotating piece 31 comprises a sliding ring 311 which is rotationally arranged inside the wheel hub 1, the inside of the wheel hub 1 is fixedly provided with a shaft sleeve 14 through the wheel frame 13, for supporting the sliding ring 311; the outside of the sliding ring 311 is provided with an arc-shaped push rod 312 in a ring array corresponding to the L-shaped support plate 2, for pushing the limiting block 23 to slide with the wheel frame 13; the outside of the sliding ring 311 is also provided with a fixed rod 313 in a ring array for reinforcing the arc-shaped push rod 312, the side of the fixed rod 313 close to the limiting block 23 is fixedly provided with a magnet 316, for strengthening the stability of the L-shaped support plate 2 in the storage state.

[0042] By arranging the pushing piece 32 to push the sliding ring 311 to rotate, the sliding ring 311 drives the arc-shaped push rod 312 outside to slide outside the limiting block 23, with the increase of the supporting height of the arc-shaped push rod 312 to the limiting block 23, the limiting block 23 drives the L-shaped support plate 2 to slide in the radial direction of the wheel hub 1, so as to move the horizontal end of the L-shaped support plate 2 out of the inside of the groove 12 for the robot to overcome the obstacles; after the robot finishes overcoming the obstacles, the pushing piece 32 is reset by external force, the limiting of the sliding ring 311 is released, and then the horizontal end of the L-shaped support plate 2 is automatically pressed into the inside of the groove 12 in the process of the robot walking, the L-shaped support plate 2 pushes the limiting block 23 to gather towards the center of the wheel hub 1, and finally the limiting block 23 is adsorbed by the magnet 316 to prevent the L-shaped support plate 2 from automatically separating from the inside of the groove 12 in the rolling process of the wheel hub 1, so as to ensure the stability of the L-shaped support plate 2 in the storage state.

[0043] With reference to Figure 6 and Figure 7 , the rotating piece 31 further comprises a shaft block 314 which is fixedly connected with the sliding ring 311 in a coaxial manner, and a helical sliding groove 315 is formed in the outside of the shaft block 314; the pushing piece 32 is sleeved outside the shaft block 314, a sliding block B321 is fixedly arranged in the inside of the pushing piece 32, and a ball 322 is arranged in the inside of the pushing piece 32 corresponding to the sliding groove 315; the pushing piece 32 is driven to rotate the shaft block 314 by the axial thrust, and the pushing piece 32 rotates under the driving of the wheel hub 1.

[0044] When the robot rolls the wheel hub 1 in the process of movement, the wheel hub 1 drives the rotating piece 31 and the pushing piece 32 to rotate together, so that the rotating piece 31 and the pushing piece 32 remain relatively stationary in the circumferential direction; when the L-shaped support plate 2 needs to be adjusted, the pushing piece 32 is axially pushed by external force, so that the sliding block B321 slides axially along the wheel hub 1, so that the pushing piece 32 can slide axially and rotate under the driving of the wheel hub 1, and the ball 322 in the inside of the pushing piece 32 slides along the inside of the sliding groove 315, thereby driving the shaft block 314 to rotate relative to the wheel hub 1 by a certain angle to achieve the adjustment of the L-shaped support plate 2.

[0045] With reference to Figure 3 and Figure 7 , the inner side of the hub 1 is fixedly provided with an axle 15 through a shaft sleeve 14, and the outer side of the axle 15 is fixedly provided with a hub ring 16 corresponding to the pusher 32, and the hub ring 16 is in sliding connection with the pusher 32 along the axial direction.

[0046] When the pusher 32 is pushed by an axial external force, the sliding block B321 on the inner side of the pusher 32 slides along the hub ring 16 in the axial direction, and the hub ring 16 is fixedly connected with the shaft sleeve 14 on the inner side of the hub 1 through the axle 15, so that the pusher 32 can rotate synchronously with the hub 1 and can drive the slip ring 311 to rotate along the axial direction of the hub 1; in order to facilitate the application of the axial pushing force to the pusher 32, specifically, the axle 15 is rotatably installed at both ends in the inner side of the wheel seat 100, the wheel seat 100 is fixedly provided with a hydraulic push rod 101 on the outer side, the driving end of the hydraulic push rod 101 is fixedly provided with a bearing plate 102, and the bearing plate 102 is rotatably arranged on the outer side of the pusher 32; so that when the wheel seat 100 supports the hub 1, the bearing plate 102 is moved by the hydraulic push rod 101 to make the bearing plate 102 drive the pusher 32 to slide along the axial direction of the hub ring 16, so as to apply the axial pushing and pulling force to the pusher 32, so as to automatically reset the pusher 32.

[0047] With reference to Figure 2 , the hub 1 is arranged with L-shaped support plates 2 in an annular array on both sides, the L-shaped support plates 2 on both sides are arranged in an interlaced manner, and the hub 1 is arranged with adjusting assemblies 3 on both sides, which are respectively driven by external forces to individually adjust the L-shaped support plates 2 on both sides.

[0048] By arranging the L-shaped support plates 2 on both sides of the hub 1 and arranging the L-shaped support plates 2 on both sides in an interlaced manner, when one side of the L-shaped support plate 2 is individually adjusted, the spacing between the support points of the adjacent two L-shaped support plates 2 is large, and when the L-shaped support plates 2 on both sides are adjusted at the same time, the spacing between the support points of the adjacent two L-shaped support plates 2 is small, so as to adapt to the obstacle crossing work in different situations.

[0049] In summary, the walking robot obstacle wheel tire disclosed in the embodiments of the present application is used by rotating the wheel shaft 15 on the inner side of the wheel hub 1 inside the wheel seat 100, and fixing the bearing plate 102 on the outer side of the pushing piece 32 to the driving end of the hydraulic push rod 101, and finally connecting the wheel seat 100 with the walking robot; when the walking robot moves on relatively flat ground, i.e. without the need to overcome obstacles, the L-shaped supporting plates 2 are accommodated inside the grooves 12 under the driving of the adjusting assembly 3, so that the outer side of the wheel hub 1 maintains a circular shape through the fixed tread 11 and the movable tread 21 on the outer side of the L-shaped supporting plates 2, and when the robot moves, the wheel hub 1 rolls, and the wheel hub 1 drives the rotating piece 31 and the pushing piece 32 to rotate together, so that the rotating piece 31 and the pushing piece 32 remain relatively stationary in the circumferential direction, to ensure the stability of the robot walking; when the robot needs to overcome obstacles, the bearing plate 102 is moved by the hydraulic push rod 101, so that the bearing plate 102 drives the pushing piece 32 to slide along the axial direction of the flower shaft ring 16, the sliding block B321 on the inner side of the pushing piece 32 slides along the axial direction of the flower shaft ring 16, to ensure that the pushing piece 32 can slide in the axial direction and can rotate under the driving of the wheel hub 1, and then the ball 322 on the inner side of the pushing piece 32 slides along the inner side of the sliding groove 315, and then the shaft block 314 rotates relative to the wheel hub 1, so that the shaft block 314 drives the sliding ring 311 to rotate by a certain angle, and the arc-shaped lever 312 on the outer side of the sliding ring 311 slides outside the limiting block 23, and as the supporting height of the arc-shaped lever 312 on the limiting block 23 increases, the limiting block 23 drives the L-shaped supporting plate 2 to slide in the radial direction of the wheel hub 1, so as to move the horizontal end of the L-shaped supporting plate 2 out of the inner side of the groove 12 for robot obstacle operation; after the robot finishes overcoming obstacles, the hydraulic push rod 101 drives the pushing piece 32 to reset, and the limiting of the sliding ring 311 is released, and then the horizontal end of the L-shaped supporting plate 2 is automatically pressed into the inner side of the groove 12 during the robot walking process, so that the L-shaped supporting plate 2 pushes the limiting block 23 to gather towards the center of the wheel hub 1, and finally the limiting block 23 is attracted by the magnet 316, to prevent the L-shaped supporting plate 2 from automatically separating from the inside of the groove 12 during the rolling process of the wheel hub 1, so as to ensure the stability of the L-shaped supporting plate 2 when it is accommodated.

Claims

1. A walking robot obstacle wheel, characterized in that The utility model relates to a wheel hub adjusting device, including: Wheel hub (1), the wheel hub (1) outside fixedly arranged with the tire (11), the tire (11) outside annular array is provided with the recess (12), the wheel hub (1) inside annular array is provided with the wheel frame (13); L type support board (2) is provided with a plurality of corresponding the recess (12), the horizontal end of L type support board (2) is located the inside of recess (12), the vertical end of L type support board (2) is arranged outside the wheel frame (13) slidingly; Adjusting assembly (3) is arranged outside the wheel hub (1) and is used for driving L type support board (2) along the wheel frame (13) slidingly; Wherein, the horizontal end of L type support board (2) is fixedly arranged with the tire (21) outside, the vertical end of L type support board (2) is detachably arranged with the slider A (22), the slider A (22) is slidably connected with the wheel frame (13).

2. The walking robot tire of claim 1, wherein: The wheel frame (13) is provided with a sliding hole (131) inside, the slider A (22) is slidably arranged inside the sliding hole (131), the limiting block (23) is fixedly arranged on both sides of the slider A (22), the bolt (24) is fixedly arranged on the side of the limiting block (23) close to L type support board (2), the U-shaped groove (25) is arranged on the bottom of L type support board (2) corresponding to the bolt (24).

3. The walking robot tire of claim 2, wherein: The bolt (24) is arranged with two along the radial direction of the wheel hub (1), the bolt (24) is arranged with the right-angle spacer (27) outside close to the tire (21), the right-angle spacer (27) is fixed on the outside of L type support board (2) through the nut outside the bolt (24), the insertion hole (26) is arranged on the outside of L type support board (2) corresponding to the right-angle spacer (27).

4. The walking robot tire of claim 2, wherein: The adjusting assembly (3) includes a rotating member (31) and a pushing member (32) for driving the rotating member (31) to rotate; The rotating member (31) includes a slip ring (311), the slip ring (311) is rotatably arranged inside the wheel hub (1), the shaft sleeve (14) is fixedly arranged on the inside of the wheel hub (1) through the wheel frame (13) for supporting the slip ring (311), the arc-shaped lever (312) is arranged on the outside of the slip ring (311) corresponding to the annular array of L type support board (2) for pushing the limiting block (23) to slide relative to the wheel frame (13), the fixed rod (313) is further arranged on the outside of the slip ring (311) in an annular array for reinforcing the arc-shaped lever (312), the slip ring (311) is driven to rotate by the pushing member (32) by a certain angle, the magnet (316) is fixedly arranged on the side of the fixed rod (313) close to the limiting block (23) for enhancing the stability of the L type support board (2) in the storage state.

5. The walking robot tire of claim 4, wherein: The rotating member (31) further includes a shaft block (314), the shaft block (314) is fixedly connected with the slip ring (311) coaxially, the spiral-shaped sliding groove (315) is arranged on the outside of the shaft block (314). The pusher (32) is sleeved outside the shaft block (314), a sliding block B (321) is fixedly arranged inside the pusher (32), the inside of the pusher (32) is provided with a ball (322) corresponding to the sliding groove (315), the pusher (32) is driven by the axial thrust to rotate the shaft block (314), and the pusher (32) rotates under the driving of the hub (1).

6. The walking robot tire of claim 5, wherein: The hub (1) is fixedly provided with an axle (15) inside through a shaft sleeve (14), the axle (15) is fixedly provided with a flower shaft ring (16) outside corresponding to the pusher (32), and the flower shaft ring (16) is in sliding connection with the pusher (32) along the axial direction.

7. The walking robot tire of claim 1, wherein: The hub (1) is provided with an L-shaped supporting plate (2) in an annular array on both sides, the L-shaped supporting plates (2) on both sides are arranged in interlacing mode, and the hub (1) is provided with an adjusting assembly (3) on both sides and is driven by external force to separately adjust the L-shaped supporting plates (2) on both sides.

Images