Controllable reducing type spoked wheel mechanism

Abstract

The utility model belongs to the technical field of robot wheel feet, and particularly relates to a controllable reducing type spoked wheel mechanism. Comprising a walking motor, a variable-diameter motor, a wheel carrier and a wheel shaft, the other end of the wheel shaft is connected with the wheel carrier; n wheel legs are arranged on the wheel carrier in an annular array mode with the wheel shaft as the center, n is an integer larger than or equal to 3, the wheel legs can slide in the radial direction of the wheel shaft, the variable-diameter motor is installed on the wheel carrier, and a rotating shaft of the variable-diameter motor is connected with the n wheel legs through a transmission mechanism and used for driving the n wheel legs to stretch out and draw back synchronously. According to the controllable variable-diameter spoked wheel mechanism, the driving bevel gear and the driven bevel gear can be driven to rotate through the built-in motor, so that radial stretching and retracting of the spokes are achieved, and the wheel diameter is changed. Through the design, the robot can automatically adjust the wheel diameter according to different terrain conditions so as to improve the trafficability and adaptability of the robot, so that the robot can better adapt to various terrains, and the application potential and efficiency of the robot in a complex environment are enhanced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot wheel foot, concretely relates to a controllable variable diameter spoke wheel mechanism. BACKGROUND

[0002] At present, in the traditional mobile robot, the main movement mode is wheel type, leg type and track type. The wheel type robot has high moving efficiency, but low obstacle crossing ability. The track type robot has good environmental adaptability, but is slightly heavy. The leg type robot has the best obstacle crossing ability, but its obstacle crossing ability is limited by the leg length. If the leg length is too short, the leg type robot can cross small obstacles.

[0003] The existing related technology: the invention patent with the announcement number CN117429205A discloses "a spoke wheel mechanism capable of bidirectional deformation and isotropy", which changes the wheel type robot into the leg type robot through gear transmission. However, the leg length of the leg type robot converted by the technology is limited by the wheel diameter and cannot be too long, and the obstacle that can be crossed cannot be too large. Moreover, the leg structure converted is circular arc, and the obstacle crossing efficiency is low.

[0004] The invention patent with the announcement number CN115817066B discloses "a spoke wheel mechanism capable of realizing smooth wheel type movement", which realizes elastic sliding connection between the spoke and the foot end through the setting of compression springs, and realizes the smooth wheel type movement of the spoke wheel mechanism on the horizontal terrain under the buffering action of the compression spring. However, the technology does not realize the controllable extension and contraction of the wheel leg, the obstacle crossing efficiency is low, and the obstacle crossing type is limited.

[0005] On this basis, we design a controllable variable diameter spoke wheel mechanism. On the premise of the good obstacle crossing ability of the leg type robot, the length of the spoke wheel is changed through the controllable type, the type of obstacles that can be crossed by the robot is increased, and the obstacle crossing efficiency of the robot is improved. UTILITY MODEL CONTENTS

[0006] The utility model solves the problem that the existing robot has limited adaptability to different terrains, especially when it needs to cross large obstacles or travel on complex terrain. The wheel leg structure is mostly fixed, which limits the application efficiency and adaptability of the robot in different environments.

[0007] The utility model provides the following technical scheme: a controllable variable diameter spoke wheel mechanism, which comprises a walking motor, a variable diameter motor, a wheel frame and a wheel shaft; one end of the wheel shaft is connected to the rotating shaft of the walking motor, and the other end is connected to the wheel frame;

[0008] n wheel legs are arranged in a ring array around the wheel shaft on the wheel frame, n is an integer greater than or equal to 3, the wheel legs can slide radially along the wheel shaft, the variable diameter motor is installed on the wheel frame, and the rotating shaft of the variable diameter motor is connected to the n wheel legs through a transmission mechanism to drive the n wheel legs to extend and contract synchronously.

[0009] Further, the rotating shaft of the variable diameter motor is connected with the input shaft, the input shaft is provided with a driving bevel gear, the wheel leg is threadedly engaged with a screw rod parallel to the sliding direction of the wheel leg, the screw rod is assembled on the wheel frame and is axially fixed and circumferentially free, and the screw rod is provided with a driven bevel gear engaged with the driving bevel gear.

[0010] Further, the wheel leg is provided with a guide groove along the sliding direction of the wheel leg, and a pin fixed on the wheel frame extends into the guide groove, and the pin and the guide groove cooperatively form a anti-disengagement limiting structure.

[0011] Further, the wheel frame comprises a frame body, a cover plate and an intermediate frame, the intermediate frame connects the frame body with the wheel shaft, the wheel leg is assembled in an open sliding groove of the frame body, and the cover plate is connected with the frame body to close the sliding groove.

[0012] Further, the intermediate frame comprises a connecting plate and connecting rods equal in number to the wheel leg strips, one end of each connecting rod is connected with the frame body and corresponds to one wheel leg in position, and the other end of each connecting rod is connected with the connecting plate, and the connecting plate is connected with the rotating shaft of the walking motor.

[0013] Further, the ground-contacting end of the wheel leg is a circumferential surface.

[0014] Further, the variable diameter motor is mounted on the frame body through a holder and a connecting rod.

[0015] Further, the shell of the walking motor is connected with the frame.

[0016] Further, the frame body and the cover plate are connected through bolts and nuts.

[0017] Compared with the prior art, the advantages of the controllable variable diameter spoke wheel mechanism lie in that:

[0018] The controllable variable diameter spoke wheel mechanism can drive the driving bevel gear and the driven bevel gear to rotate through the built-in motor, so as to realize the radial expansion and contraction of the spokes and change the wheel diameter. Through this design, the robot can automatically adjust the wheel diameter according to different terrain conditions to improve its passability and adaptability, so that the robot can better adapt to various terrains, facilitate crossing obstacles and enhance its application potential and efficiency in complex environments. In addition, this design can also enhance the stability and energy efficiency of the robot at different speeds, further expanding its use scenarios and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is an assembly view of the controllable variable diameter spoke wheel mechanism;

[0020] Figure 2 is a schematic view of the engagement of the driving bevel gear and the driven bevel gear;

[0021] Figure 3It is a disassembled view of the controllable variable-diameter spoke wheel mechanism.

[0022] In the figure: 1-walking motor; 2-frame; 3-wheel shaft; 4-intermediate frame; 5-variable-diameter motor; 6-gimbal; 7-input shaft; 8-iron column; 9-wheel leg; 10-frame body; 11-cover plate; 12-driven bevel gear; 13-driven bevel gear; 14-bolt; 15-screw rod; 16-pin; 17-bearing; 18-nut. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, a brief introduction will be given below to the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0024] As shown in Figure 1 , Figure 2 , Figure 3 : a controllable variable-diameter spoke wheel mechanism, comprising a walking motor 1, a variable-diameter motor 5, a wheel frame and a wheel shaft 3; one end of the wheel shaft 3 is connected to the rotating shaft of the walking motor 1, and the other end is connected to the wheel frame; n wheel legs 9 are arranged in a circular array on the wheel frame with the wheel shaft 3 as the center, n is an integer greater than or equal to 3, and three wheel legs 9 are used in this embodiment; the wheel legs 9 can slide radially along the wheel shaft 3; the variable-diameter motor 5 is installed on the wheel frame, and the rotating shaft of the variable-diameter motor 5 is connected to the n wheel legs 9 through a transmission mechanism to drive the n wheel legs 9 to expand and contract synchronously.

[0025] Through the variable-diameter spoke wheel design, the adaptability of the wheel leg robot on different terrains is significantly improved. Through the radial movement of the wheel legs 9, the robot can adjust the wheel diameter according to the terrain characteristics, so as to maintain good stability and mobility on soft soil, sandy ground and other soft or uneven ground.

[0026] The design of the telescopic wheel legs 9 enables the robot to increase the wheel diameter to improve the passing ability when encountering large obstacles such as stones or steps. This design greatly improves the practicality and flexibility of the robot in complex environments.

[0027] The wheel frame comprises a frame body 10, a cover plate 11 and an intermediate frame 4, the intermediate frame 4 connects the frame body 10 and the wheel shaft 3, the wheel legs 9 are assembled in the open sliding groove of the frame body 10, and the cover plate 11 is connected with the frame body 10 to close the sliding groove. The frame body 10 and the cover plate 11 are connected through the bolt 14 and the nut 18.

[0028] The intermediate frame 4 comprises a connecting plate and a plurality of connecting rods equal in number to the number of wheel legs 9, one end of each connecting rod being connected to the frame body 10 and corresponding to one wheel leg 9, and the other end of each connecting rod being connected to the connecting plate, and the connecting plate being connected to the rotating shaft of the walking motor 1.

[0029] The rotating shaft of the variable-diameter motor 5 is connected to the input shaft 7, and a bearing 17 is arranged between the input shaft 7 and the frame body 10. The input shaft 7 is provided with a driving bevel gear 13. The wheel leg 9 is provided with a screw rod 15 parallel to the sliding direction of the wheel leg 9. The screw rod 15 is fixed axially and free in the circumferential direction and is arranged on the wheel frame. The screw rod 15 is provided with a driven bevel gear 12. The driven bevel gear 12 is engaged with the driving bevel gear 13. The driving bevel gear 13 drives three driven bevel gears 12 arranged around it. Through the transmission of the driving bevel gear 13 and the driven bevel gear 12, the function of one driving three is realized. At the same time, through the rotation of the driven bevel gear 12, the screw rod 15 is driven to rotate. The frame body 10 and the cover plate 11 limit the two degrees of freedom of the wheel leg 9, so that the wheel leg 9 can only move in one degree of freedom, i.e., the forward and backward extension. Finally, the three wheel legs 9 are synchronously elongated and contracted, and the radial length of the whole spoke wheel is changed.

[0030] Through the design of the built-in driving bevel gear 13 and the driven bevel gear 12, the compactness and high efficiency of the wheel body structure are realized. The transmission efficiency of the driving bevel gear 13 and the driven bevel gear 12 is high, and the structure is more compact. At the same time, by limiting the movement freedom of the wheel leg 9, the stability and durability of the whole mechanism are improved.

[0031] A guide groove is formed in the wheel leg 9 along the sliding direction of the wheel leg 9. A pin 16 fixed on the wheel frame extends into the guide groove. The pin 16 and the guide groove cooperate to form a anti-falling limiting part to prevent the wheel leg 9 from falling off.

[0032] The ground-contacting end of the wheel leg 9 is a circumferential surface.

[0033] The variable-diameter motor 5 is installed on the frame body 10 through the holder 6 and the connecting rod 8. The shell of the walking motor 1 is connected to the vehicle frame 2.

[0034] Through the above technical scheme, the controllable variable-diameter spoke wheel mechanism of the embodiment can effectively improve the mobility and adaptability of the wheel leg robot in various environments, further expanding its application range and efficiency. The implementation of this mechanism will significantly improve the passability, stability and energy efficiency of the robot in complex terrain.

[0035] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A controllable variable diameter spoked wheel mechanism, characterized in that: It includes a walking motor (1), a variable diameter motor (5), a wheel frame and a wheel axle (3); one end of the wheel axle (3) is connected to the shaft of the walking motor (1) and the other end is connected to the wheel frame; The wheel frame has n wheel legs (9) arranged in a circular array around the wheel axle (3), where n is an integer greater than or equal to 3. The wheel legs (9) can slide radially along the wheel axle (3). The variable diameter motor (5) is mounted on the wheel frame. The rotating shaft of the variable diameter motor (5) is connected to the n wheel legs (9) through a transmission mechanism to drive the n wheel legs (9) to extend and retract synchronously.

2. The controllable variable diameter spoke wheel mechanism according to claim 1, characterized in that: The rotating shaft of the variable diameter motor (5) is connected to the input shaft (7). The input shaft (7) is equipped with a driving bevel gear (13). The wheel leg (9) is threaded with a lead screw (15) parallel to its sliding direction. The lead screw (15) is mounted on the wheel frame. The lead screw (15) is axially fixed and circumferentially free. The driven bevel gear (12) is installed on the lead screw (15). The driven bevel gear (12) meshes with the driving bevel gear (13).

3. The controllable variable diameter spoke wheel mechanism according to claim 2, characterized in that: The wheel leg (9) has a guide groove along its sliding direction. The pin (16) fixed on the wheel frame extends into the guide groove, and the pin (16) and the guide groove cooperate to form an anti-detachment limit.

4. The controllable variable diameter spoke wheel mechanism according to claim 1, characterized in that: The wheel frame includes a frame (10), a cover plate (11), and an intermediate frame (4). The intermediate frame (4) connects the frame (10) to the wheel axle (3). The wheel legs (9) are assembled in an open groove on the frame (10). The cover plate (11) is connected to the frame (10) to close the groove.

5. The controllable variable diameter spoke wheel mechanism according to claim 4, characterized in that: The intermediate frame (4) includes a connecting plate and a number of connecting rods equal to the number of wheel legs (9). One end of the connecting rod is connected to the frame body (10), and its position corresponds one-to-one with the wheel legs (9). The other end of the connecting rod is connected to the connecting plate, and the connecting plate is connected to the shaft of the walking motor (1).

6. The controllable variable diameter spoke wheel mechanism according to claim 1, characterized in that: The ground contact end of the wheel leg (9) is a circular surface.

7. The controllable variable diameter spoke wheel mechanism according to claim 4, characterized in that: The variable diameter motor (5) is mounted on the frame (10) via a gimbal (6) and a connecting rod (8).

8. The controllable variable diameter spoke wheel mechanism according to claim 1, characterized in that: The housing of the walking motor (1) is connected to the vehicle frame (2).

9. A controllable variable diameter spoke wheel mechanism according to claim 4, characterized in that: The frame (10) and the cover plate (11) are connected by bolts (14) and nuts (18).

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