Reconfigurable regular octagonal wheel based on geometric transformation

Abstract

The utility model belongs to the technical field of deformable wheels, and relates to a reconfigurable regular octagonal wheel based on geometric transformation, which comprises a fixed petal disc assembly, an extension petal block assembly and an unfolding transmission structure, the fixed petal disc assembly comprises a fixed petal disc, a driving device fixed in the fixed petal disc and an elastic reset telescopic rod movably mounted in the fixed petal disc; the extension petal block assembly comprises a plurality of extension petal blocks, the inner sides of the outer edges of the extension petal blocks are rotationally connected with the fixed petal disc through long shafts, the center of the cam disc is fixedly connected with an output shaft of the driving device, a plurality of guide grooves in one-to-one correspondence with the extension petal blocks are formed in the guide disc, and each extension petal block is provided with a short shaft in sliding fit with the wire groove; the short shaft penetrates through the guide groove to be attached to the edge of each section of cam of the cam disc and is driven by the cam disc, and the tail end of the short shaft is fixedly connected with the telescopic end of the elastic reset telescopic rod. Particle sundries entering a transmission mechanism can be reduced, and the transmission layout is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of deformable wheel, and relates to a reconfigurable regular octagon wheel based on geometric transformation. BACKGROUND

[0002] The circular wheel has the motion characteristics of good driving stability, small driving resistance and large traction, but its obstacle crossing ability is slightly insufficient, and it cannot normally move when encountering irregular terrains such as steps and construction sites. Robots now have the demand for multifunctional and multi-scene use, and quite a number of robots are small in size, which makes the influence of bad ground, obstacles on the ground, abnormal terrain and the like on the moving ability of the robot greater. The prior art does not solve this kind of problem, and a deformable wheel is derived, that is, the circular wheel is deformed and recombined into a special-shaped wheel through active or passive mechanical structure, so as to increase the obstacle crossing ability of the circular wheel.

[0003] The outward stretching of the component combined into a disc structure can realize the deformation of the wheel, and the stretching driving of multiple components can be realized at the same time through the locking mechanism and the connecting rod mechanism, but the gap needs to be left between the connecting rods when the structure is running, so that the particles may enter the transmission mechanism when moving on the ground, thereby causing obstruction, affecting the stretching of the component, and even causing damage to the connecting rod and the like. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a reconfigurable regular octagon wheel based on geometric transformation, so as to solve the technical problem that the transmission mechanism of the wheel deformation unfolding component in the prior art is easily affected by particles, causing the wear and even damage of the components.

[0005] The reconfigurable regular octagon wheel based on geometric transformation comprises a fixed petal disc assembly, a stretching petal block assembly and an unfolding transmission mechanism, the fixed petal disc assembly comprises a fixed petal disc, a driving device fixed in the fixed petal disc and an elastic reset telescopic rod movably installed in the fixed petal disc, the stretching petal block assembly comprises a plurality of stretching petal blocks, the outer edge of the stretching petal block is rotatably connected to the fixed petal disc through a long shaft, in the contracted state, the stretching petal blocks are combined into a disc structure concentric with the fixed petal disc, in the unfolded state, the stretching petal blocks are unfolded outward around the long shaft, the unfolding transmission mechanism comprises a cam disc and a guide disc, the center of the cam disc is fixedly connected to the output shaft of the driving device, a plurality of guide grooves corresponding to the stretching petal blocks are arranged on the guide disc, a short shaft in sliding fit with the guide groove is arranged on each stretching petal block, the short shaft is in fit with and driven by each cam edge of the cam disc through the guide groove, and the end of the short shaft is fixedly connected to the telescopic end of the elastic reset telescopic rod.

[0006] Preferably, the center of the valve setting disc is provided with a center groove for accommodating the driving device, and the side of the valve setting disc facing the stretching valve block assembly is further provided with a plurality of strip-shaped accommodating grooves arranged radially and corresponding to the stretching valve blocks one by one, and the elastic reset telescopic rods are accommodated in the strip-shaped accommodating grooves, and the mounting end of the elastic reset telescopic rod is movably connected to the center of the valve setting disc.

[0007] Preferably, a mounting ring is rotatably mounted at the opening of the center groove through a bearing, the outer edge of the mounting ring is provided with a mounting portion facing the end opening of the strip-shaped accommodating groove, the fixed end of the elastic reset telescopic rod is fixedly connected with the mounting portion, and the width of the strip-shaped accommodating groove is greater than the width of the elastic reset telescopic rod.

[0008] Preferably, the cam disc is provided with a plurality of cam edges corresponding to the short shaftes one by one, the plurality of cam edges are symmetrically arranged around the center of the cam disc, the distance from one end of the cam edge to the center of the cam disc is less than the distance from the other end of the cam edge to the center of the cam disc, and the cam edge is a smooth curve or a straight line.

[0009] Preferably, the cam edge is provided with a limiting protrusion at the end far from the center of the cam disc, in the stretched state, the limiting protrusion blocks the short shaft, and the driving device is in a self-locking state.

[0010] Preferably, the guide disc is provided with a through hole for the long shaft to pass through, and the guide groove is an arc-shaped groove with the through hole as the center.

[0011] The utility model has the following advantages: the utility model adopts the cam disc and the guide disc to drive the short shaft of the stretching valve block, so that the unfolding transmission mechanism does not need to be provided with connecting rods and other components needing a large gap for operation, and the components can be close to each other to reduce the gap as much as possible. Therefore, the utility model can reduce the entry of particles into the transmission mechanism and avoid damage to the transmission layout. Moreover, the driving device and the elastic reset telescopic rod are accommodated in the valve setting disc with shell protection around the circumference, so that the driving device and other structures can also be prevented from being worn by impurities.

[0012] In addition, the wheel body provided by the utility model can contact the obstacles through the outer arc edge and the telecentric arc edge in the unfolded state, so that the wheel body can slide through as a whole, and the obstacles can smoothly pass along the telecentric arc edge and the arc-shaped front side edge of the supporting leg piece. In combination with the elastic tire, the collision of the obstacles on the wheel in the unfolded state can be further avoided, and the wheel can pass over the obstacles more smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structure schematic view of the utility model in the contracted state.

[0014] Figure 2The utility model discloses a reconfigurable regular octagon wheel based on geometric transformation in the structure schematic diagram of unfolded state.

[0015] Figure 3 For Figure 1 The structure schematic diagram of partial stretch petal block in the structure shown.

[0016] Figure 4 For Figure 3 The top view of the structure shown.

[0017] Figure 5 For Figure 1 The structure schematic diagram of unfolding transmission mechanism in the structure shown.

[0018] Figure 6 For Figure 5 The top view of the structure shown.

[0019] Figure 7 For Figure 2 The structure schematic diagram of partial stretch petal block in the structure shown.

[0020] The reference signs in the drawing are as follows: 1, petal fixing disc assembly, 101, petal fixing disc, 102, driving device, 103, elastic reset telescopic rod, 104, mounting ring, 105, strip-shaped accommodating groove, 2, stretch petal block assembly, 201, stretch petal block, 202, elastic tire, 203, long shaft, 204, short shaft, 205, far centric arc edge, 206, near centric arc edge, 3, unfolding transmission mechanism, 301, guide disc, 302, cam disc, 303, guide groove, 304, cam edge, 305, limiting protrusion. Specific embodiments

[0021] The utility model discloses a reconfigurable regular octagon wheel based on geometric transformation in the structure schematic diagram of unfolded state.

[0022] As Figures 1-7The utility model provides a reconfigurable regular octagon wheel based on geometry transformation, including fixed petal disc subassembly 1, stretch petal piece subassembly 2 and unfolding transmission mechanism 3, fixed petal disc subassembly 1 includes fixed petal disc 101, drive device 102 fixed in fixed petal disc 101 and the elastic reset telescopic link 103 of movable mounting in fixed petal disc 101, stretch petal piece subassembly 2 includes several stretch petal pieces 201, the outer edge inboard of stretch petal piece 201 is connected with fixed petal disc 101 rotation through long shaft 203, in the contraction state, stretch petal piece 201 is spliced into the disc structure concentric with fixed petal disc 101, in the unfolded state, stretch petal piece 201 is unfolded outward around long shaft 203, the unfolding transmission mechanism 3 includes cam disc 302 and guide disc 301, the center of cam disc 302 is fixedly connected with the output shaft of drive device 102, the guide disc 301 is equipped with several guide grooves 303 corresponding with stretch petal piece 201 one to one, every stretch petal piece 201 is equipped with the short shaft 204 of guide groove sliding fit, short shaft 204 passes through guide groove 303 and every cam edge 304 of cam disc 302 is attached and is driven by cam disc 302, the end of short shaft 204 is fixedly connected with the telescopic end of elastic reset telescopic link 103.

[0023] The center of fixed petal disc 101 is equipped with the center groove containing drive device 102, one side of fixed petal disc 101 towards stretch petal piece subassembly 2 is also equipped with the strip containing groove 105 of radial arrangement and corresponding with stretch petal piece 201 one to one, the elastic reset telescopic link 103 is contained in strip containing groove 105, and the mounting end of elastic reset telescopic link 103 is movably connected to the center of fixed petal disc 101. Elastic reset telescopic link 103 thus provides the power for the wheel to restore the contraction state.

[0024] The opening of center groove is rotatably installed with mounting ring 104 through bearing, and the outer edge of mounting ring 104 is equipped with the mounting portion of the end opening of strip containing groove 105, and the fixed end of elastic reset telescopic link 103 is fixedly connected with the mounting portion, and the width of strip containing groove 105 is greater than the width of elastic reset telescopic link 103. In this way, elastic reset telescopic link 103 can move in the circumferential direction in strip containing groove 105 with mounting ring 104 by a certain distance, and the structure realizes the synchronous movement of elastic reset telescopic link 103.

[0025] The cam disc 302 is provided with a plurality of cam edges 304 corresponding to the short shafts 204, which are symmetrically arranged around the center of the cam disc 302, and the distance from one end of the cam edge 304 to the center of the cam disc 302 is smaller than the distance from the other end of the cam edge 304 to the center of the cam disc 302. The cam edge 304 is a smooth curve or a straight line. In this way, the short shafts 204 are driven by the cam disc 302, and the gap between the cam disc 302 and the guide disc 301 can be as small as possible, so that the wheel of the present application reduces the possibility of particles entering the transmission mechanism and improves the stability of the transmission mechanism.

[0026] The cam edge 304 is provided with a limiting protrusion 305 at the end far from the center of the cam disc 302. In the stretched state, the limiting protrusion 305 blocks the short shaft 204, and the driving device 102 is in the self-locking state.

[0027] The guide disc 301 is provided with a through hole for the long shaft 203 to pass through, and the guide groove 303 is an arc-shaped groove with the through hole as the center.

[0028] The shape of the stretched petal block 201 is composed of two side edges and an outer arc edge. In the contracted state, all the stretched petal blocks 201 are combined into a disc structure concentric with the fixed petal disc 101. Each side edge is composed of a proximal arc edge 206 and a distal arc edge 205, which are connected in a tangent manner and the protruding directions of the arc edges are opposite. Figure 7 As shown in the figure, the arcs AB and FG are distal arc edges 205, and the arcs BC and DE are proximal arc edges 206.

[0029] The outer edge of the outer arc edge of each stretched petal block 201 is provided with an outer edge groove. In the contracted state, the outer edge grooves of each stretched petal block 201 form a tire groove, and the elastic tire 202 is sleeved in the tire groove.

[0030] The deformation process of the reconfigurable regular octagonal wheel is as follows: in the contracted state, the short shaft 204 on the stretch petal block 201 is located at the end of the guide groove 303 close to the center of the guide disc 301, and the stretch petal block 201 is spliced into a disc structure concentric with the fixed petal disc 101. When deformed, the output shaft of the driving device 102 drives the cam disc 302 to rotate, and the cam edge 304 pushes the short shaft 204 in the direction away from the center in rotation, and the short shaft 204 moves along the guide groove to drive the stretch petal block 201 to rotate around the long shaft 203, so as to realize the unfolding of the stretch petal block 201. Finally, the short shaft 204 is blocked at the limiting protrusion 305, the driving device 102 is self-locked, so that the utility model is in the unfolded state, and the wheel is deformed into a regular octagonal state. When it is needed to be contracted, the driving shaft is reversely operated to return to the initial position, the elastic reset telescopic rod 103 pulls the short shaft 204 to the center of the wheel under the action of the internal elastic element, drives the stretch petal block 201 to rotate inward, and the stretch petal block 201 is spliced into a disc structure again, and the driving device 102 is self-locked, so that the utility model returns to the unfolded state.

[0031] The utility model is described above in combination with the drawings, and obviously, the specific implementation of the utility model is not limited by the above mode, as long as various non-essential improvements are made by using the inventive concept and technical scheme of the utility model, or the inventive concept and technical scheme are directly applied to other occasions without improvement, and all falls within the protection scope of the utility model.

Claims

1. A reconfigurable regular octagon wheel based on geometric transformation, characterized in that: The application relates to a valve-expanding device, which comprises a valve-setting disc assembly (1), an expanding valve block assembly (2) and an unfolding transmission mechanism (3), wherein the valve-setting disc assembly (1) comprises a valve-setting disc (101), a driving device (102) fixed in the valve-setting disc (101) and an elastic reset telescopic rod (103) movably mounted in the valve-setting disc (101); the expanding valve block assembly (2) comprises a plurality of expanding valve blocks (201), the outer edge of the expanding valve block (201) is rotationally connected to the valve-setting disc (101) through a long shaft (203), in the contracted state, the expanding valve blocks (201) are combined into a disc structure concentric with the valve-setting disc (101), in the unfolded state, the expanding valve blocks (201) are unfolded outward around the long shaft (203); the unfolding transmission mechanism (3) comprises a cam disc (302) and a guide disc (301), the center of the cam disc (302) is fixedly connected to the output shaft of the driving device (102), the guide disc (301) is provided with a plurality of guide grooves (303) corresponding to the expanding valve blocks (201), each expanding valve block (201) is provided with a short shaft (204) slidably matched with the guide groove (303), the short shaft (204) passes through the guide groove (303) and is matched with and driven by each cam edge (304) of the cam disc (302), and the end of the short shaft (204) is fixedly connected to the telescopic end of the elastic reset telescopic rod (103).

2. A reconfigurable regular octagon wheel based on geometric transformation according to claim 1, characterized in that: The valve-setting disc (101) is provided with a central groove accommodating the driving device (102), and the side of the valve-setting disc (101) facing the expanding valve block assembly (2) is further provided with a plurality of strip-shaped accommodating grooves (105) arranged in the radial direction and corresponding to the expanding valve blocks (201), the elastic reset telescopic rod (103) is accommodated in the strip-shaped accommodating grooves (105), and the mounting end of the elastic reset telescopic rod (103) is movably connected to the center of the valve-setting disc (101).

3. A reconfigurable regular octagon wheel based on geometric transformation according to claim 2, characterized in that: The mounting ring (104) is rotationally mounted on the opening of the central groove through a bearing, the outer edge of the mounting ring (104) is provided with a mounting portion facing the end opening of the strip-shaped accommodating groove (105), the fixed end of the elastic reset telescopic rod (103) is fixedly connected to the mounting portion, and the width of the strip-shaped accommodating groove (105) is greater than the width of the elastic reset telescopic rod (103).

4. The reconfigurable regular octagon wheel based on geometric transformation of claim 1, wherein: The cam disc (302) is provided with a plurality of cam edges (304) corresponding to the short shafts (204), the plurality of cam edges (304) are symmetrically arranged around the center of the cam disc (302), the distance from one end of the cam edge (304) to the center of the cam disc (302) is less than the distance from the other end of the cam edge (304) to the center of the cam disc (302), and the cam edge (304) is a smooth curve or a straight line.

5. A reconfigurable regular octagon wheel based on geometric transformation according to claim 4, characterized in that: The cam edge (304) is provided with a limiting protrusion (305) at one end far from the center of the cam disc (302), which blocks the short shaft (204) in the stretched state, and the driving device (102) is in the self-locking state.

6. A reconfigurable regular octagon wheel based on geometric transformation according to claim 1, characterized in that: The guiding disc (301) is provided with a through hole for the long shaft (203) to pass through, and the guiding groove (303) is an arc-shaped groove with the through hole as the center.

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