Quadruped robot wheel foot cover tire and quadruped robot wheel foot

Abstract

The utility model discloses a quadruped robot wheel foot cover tire, which is in a circular ring shape and comprises a mounting area, a tire cover and a tire cover, and is characterized in that the mounting area is used for connecting a quadruped robot wheel hub; the buffer area is provided with a hollow part, and the hollow part extends inwards from the outer side face in the width direction of the outer tire; the action area can be in contact with the ground, and anti-skid ribs are formed in a circle in the circumferential direction; the mounting area, the buffer area and the action area are sequentially arranged outwards in the radial direction from the center of the outer tire and are concentric and coaxial. The utility model further discloses a quadruped robot wheel foot. Due to the arrangement of the hollow parts in the buffer area, the weight of the outer tire is reduced, vibration generated by the outer tire can be effectively absorbed, and the movement stability of the quadruped robot is high due to the overall structure; the mounting area, the buffering area and the acting area are sequentially and concentrically arranged from inside to outside, the stability of the hub in the circumferential direction in the movement process is guaranteed, and deviation and even slipping are avoided.

Description

Technical Field

[0001] This utility model belongs to the field of robot wheel foot technology, and in particular relates to a quadruped robot wheel foot outer tire and quadruped robot wheel foot. Background Technology

[0002] Quadruped robots need to adapt to complex terrain and have a large load-bearing capacity, making the structural design of their wheels and legs crucial. Traditional quadruped robot tires are pneumatic, which are prone to rupture or leakage in harsh environments, affecting the robot's normal movement. To address this issue, non-pneumatic tire structures have been developed to prevent leaks from contact with sharp objects. However, existing tires have poor shock absorption, causing significant vibrations when walking on rough terrain, resulting in poor stability. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, this utility model provides a quadruped robot wheel foot tire and quadruped robot wheel foot, the tire of which has good shock absorption performance and improves the stability of quadruped robot movement.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a circular ring-shaped outer tire for a quadruped robot wheel foot, comprising:

[0005] The mounting area is used to connect the quadruped robot's wheel hub;

[0006] The buffer area has a hollowed-out portion that extends inward from the outer side along the width of the tire.

[0007] The area of ​​action can contact the ground, with anti-slip ribs forming a circumferential ring.

[0008] The installation area, buffer area, and action area are arranged radially outward from the center of the outer tire, and the three are concentric and coaxial.

[0009] Furthermore, the hollowed-out portion is a blind hole structure with an inner support surface.

[0010] Furthermore, the hollowed-out portion of the buffer area is honeycomb-shaped.

[0011] Furthermore, the hollow portion of the buffer area includes a plurality of first hollow holes arranged circumferentially, and second hollow holes located on both sides of the first hollow holes radially. The cross-section of the first hollow holes is hexagonal, and the cross-section of the second hollow holes is triangular.

[0012] Furthermore, the inner ring of the mounting area is wavy, and the mounting area includes staggered first holes and second holes, with the radial portions of the first holes and second holes overlapping.

[0013] Furthermore, the hollowed-out portion of the buffer area includes a plurality of third hollowed-out holes spaced apart along the circumference.

[0014] Furthermore, the cross-section of the third perforated hole is trapezoidal, with its short side facing the inner circle where the installation area is located.

[0015] Furthermore, the mounting area forms a plurality of mounting grooves along the circumference, with the openings of the mounting grooves facing the center of the tire.

[0016] Furthermore, the effective area forms an arc surface along the width direction, and the anti-slip ribs are continuously bent around the circumference.

[0017] This utility model also discloses a quadruped robot wheel foot, including a wheel hub and an outer tire as described above. The outer tire is fitted around the outer periphery of the wheel hub, and the wheel hub is provided with a connecting post that can be inserted into the installation area.

[0018] Furthermore, an outer edge is formed on both sides of the wheel hub, which covers the mounting area, and the connecting post extends and connects between the two outer edges.

[0019] Furthermore, the hub includes a first hub body and a second hub body that are joined together. The first hub body has a flange on the side facing the second hub body, and the second hub body has an annular arch on the side facing the first hub body. The end of the flange abuts against the outer wall of the annular arch.

[0020] Furthermore, the cross-section of the annular arch is V-shaped; the flange includes a first flange body extending circumferentially, and a plurality of second flange bodies located within the first flange body and extending radially, the second flange bodies forming a notch for the annular arch to abut against.

[0021] Furthermore, the inner ring of the mounting area abuts against the outer ring of the annular arch. The beneficial effects of this utility model are: 1) The hollowed-out portion of the buffer area not only reduces the weight of the tire but also effectively absorbs the vibrations generated by the tire, resulting in high stability for the quadruped robot's movement; 2) The mounting area, buffer area, and action area are arranged concentrically from the inside out, ensuring the stability of the wheel hub in all circumferential directions during movement and preventing deviation or even slippage; 3) The honeycomb design of the hollowed-out portion ensures vibration absorption while providing sufficient support for the buffer area, preventing excessive deformation of the tire due to the hollowed-out structure, resulting in high overall structural stability; 4) The two-ring hole design in the mounting area reduces the weight of the tire, and the inner ring is wavy, which ensures good shock absorption while providing sufficient contact area with the wheel hub to prevent the tire from slipping; 5) The wheel hub is formed by splicing the first wheel hub body and the second wheel hub body, which is simple to disassemble and assemble, and its structural design provides strong support for the tire, preventing excessive deformation of the tire and greatly reducing the chance of the tire and wheel hub slipping; 6) The connecting column is inserted into the mounting area to fix the tire and wheel hub, avoid slipping between the two, reduce wear, and improve the stability of the quadruped robot's movement. Attached Figure Description

[0022] Figure 1 This utility model provides a three-dimensional wheel foot. Figure 1 .

[0023] Figure 2 This utility model provides a three-dimensional wheel foot. Figure 2 .

[0024] Figure 3 This utility model provides a three-dimensional wheel foot. Figure 3 .

[0025] Figure 4 A side view of the wheel foot is provided for this utility model.

[0026] Figure 5 A cross-sectional view of the wheel foot is provided for this utility model.

[0027] Figure 6 A perspective view of the outer tire is provided for this utility model.

[0028] Figure 7 A front view of the outer tire is provided for this utility model.

[0029] Figure 8 This utility model provides a three-dimensional view of the wheel hub. Figure 1 .

[0030] Figure 9 This utility model provides a three-dimensional view of the wheel hub. Figure 2 .

[0031] Figure 10 A perspective view of the second wheel hub body is provided for this utility model.

[0032] Figure 11 A perspective view of the first wheel hub body is provided for this utility model.

[0033] Figure 12 A perspective view of another structural wheel foot is provided for this utility model.

[0034] Figure 13 This utility model provides another three-dimensional structure for the outer tire. Figure 1 .

[0035] Figure 14 This utility model provides another three-dimensional structure for the outer tire. Figure 2 .

[0036] Wherein, 1-installation area, 11-first hole, 12-second hole, 13-installation groove, 131-installation groove opening, 2-buffer area, 21-hollowed-out part, 210-inner support surface, 211-first hollowed-out hole, 212-second hollowed-out hole, 213-third hollowed-out hole, 3-functional area, 31-anti-slip rib, 4-hub, 41-connecting column, 42-outer edge, 43-first hub body, 431-flange, 432-first flange body, 433-second flange body, 434-notch, 44-second hub body, 441-annular arch. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0038] like Figures 1-7 As shown, a quadruped robot wheel tire is annular in shape, including an installation area 1 for connecting the quadruped robot wheel hub, a buffer area 2, and an action area 3 that can contact the ground. Anti-slip ribs 31 are formed around the circumference of the action area 3. The buffer area 2 has a hollow part 21 that extends inward from the outer side along the width direction of the tire. The installation area 1, buffer area 2, and action area 3 are arranged radially outward from the center of the tire, and the three are concentric and coaxial.

[0039] The hollow part 21 is a blind hole structure, that is, the hollow part 21 does not extend through the width direction of the outer tire. It has an inner support surface 210, so that the inner support surface 210 can provide good support for the outer tire and prevent its structural strength from failing to meet the requirements.

[0040] by Figure 7 Taking the example shown, point O is the center of the tire. Installation area 1 is closest to point O. Buffer area 2 and action area 3 are set outwards in sequence. Installation area 1, buffer area 2 and action area 3 are all annular. All three are distributed radially with point O as the center. Here, radial refers to the diameter direction of the tire.

[0041] like Figure 1 , Figure 3 , Figure 6 , Figure 7 As shown, the hollow portion 21 of the buffer area 2 is honeycomb-shaped. In this embodiment, the hollow portion 21 includes a plurality of first hollow holes 211 arranged circumferentially, and second hollow holes 212 located on both radial sides of the first hollow holes 211. The cross-section of the first hollow hole 211 is hexagonal, and the cross-section of the second hollow hole 212 is triangular. The second hollow holes 212 are located on both radial sides of the adjacent first hollow holes 211. That is to say, the honeycomb-shaped hollow portion 21 here has only one complete ring of hexagonal first hollow holes 211, and the remaining hollow holes are incomplete hexagons, that is, the second hollow holes 212 with triangular cross-sections. Of course, in other embodiments, it may also include two or more rings of complete hexagonal first hollow holes 211.

[0042] In other implementations, such as Figure 13 , Figure 14 As shown, the hollowed-out portion 21 of the buffer area 2 includes a plurality of third hollowed-out holes 213 arranged circumferentially. At this time, the cross-section of the third hollowed-out hole 213 is square or trapezoidal, and the short side of the trapezoid faces the inner circle, which is the side where the installation area 1 is located. There is a certain distance between adjacent third hollowed-out holes 213.

[0043] The aforementioned hollowed-out portion 21 not only reduces the weight of the tire, but also effectively absorbs the vibrations caused by the tire moving with the wheel. Moreover, the honeycomb structure design gives the buffer area 2 sufficient support strength, preventing excessive deformation of the tire due to the hollowed-out portion, resulting in high overall structural stability.

[0044] like Figure 6 , Figure 7As shown, the inner ring of mounting area 1 is wavy, comprising staggered first holes 11 and second holes 12. The inner diameter of the first hole 11 is larger than the inner diameter of the second hole 12, and the radial portions of the first hole 11 and the second hole 12 overlap. Specifically, if a circle A is drawn that is circumscribed around all the first holes 11, then a portion of the second hole 12 falls within circle A. The two-ring hole design of mounting area 1 also reduces the weight of the tire, and the wavy inner ring ensures good shock absorption while providing sufficient contact area with the rim 4 to prevent slippage between the tire and the rim 4.

[0045] like Figure 8 , Figure 9 As shown, the wheel hub 4 is provided with a connecting post 41 that can be inserted into the installation area 1. Specifically, the connecting post 41 is inserted into the first hole 11 to achieve an anti-rotation connection between the tire and the wheel hub 4.

[0046] Of course, such as Figure 13 , Figure 14 As shown, in other embodiments, the mounting area 1 forms a plurality of mounting grooves 13 along the circumference. The opening 131 of the mounting groove 13 faces the center of the tire, so that the connecting post 41 of the wheel hub 4 extends into the mounting groove 13 from the opening 131 to realize the assembly connection between the tire and the wheel hub 4. At this time, the contact area between the inner ring of the mounting area 1 and the wheel hub 4 is large, and the two will not slip. Moreover, the connection structure between the plurality of connecting posts 41 and the tire is relatively stable.

[0047] A quadruped robot wheel includes a hub 4 and an outer tire. The outer tire is fitted around the outer periphery of the hub 4. Both sides of the hub 4 form an outer edge 42, which covers the mounting area 1. A connecting post 41 extends and connects between the two outer edges 42.

[0048] like Figure 5 , Figure 10 , Figure 11 As shown, the hub 1 includes a first hub body 43 and a second hub body 44 that are spliced ​​together. A flange 431 is formed on the side of the first hub body 43 facing the second hub body 44, and an annular arch 441 is formed on the side of the second hub body 44 facing the first hub body 43. The end of the flange 431 abuts against the outer wall of the annular arch 441.

[0049] The cross-section of the annular arch 441 is V-shaped. The flange 431 includes a first flange body 432 extending in a circumferential direction and a plurality of second flange bodies 433 located inside the first flange body 432 and extending radially. In other words, the second flange body 433 is a rib located inside the first flange body 432 and fixedly connected to the inner wall of the second flange body 433 and the end face of the first hub body 43 respectively. A notch 434 is formed on one side of the second flange body 433. The notch 434 is just used to accommodate the annular arch 441. That is, the outer surface of the annular arch 441 abuts against the surface of the notch 434, so that the first hub body 43 and the second hub body 44 form a stable abutment structure.

[0050] For the fixed assembly of the first wheel hub 43 and the second wheel hub 44, a connecting post 41 can be fixedly installed on the first wheel hub 43, and then a fixing screw can be used to pass through the second wheel hub 44 and be fixedly connected to the connecting post 41. The overall disassembly and assembly structure is simple.

[0051] After the first wheel hub body 43 and the second wheel hub body 44 are fixedly assembled, the inner ring of the installation area 1 abuts against the outer ring of the annular arch 441. At this time, the first flange body 432 can also form a certain contact support for the tire, greatly reducing the chance of the tire and the wheel hub 4 slipping.

[0052] To prevent the quadruped robot from slipping during movement, the action area 3 is formed into an arc surface along the width direction, and the anti-slip ribs 31 are continuously bent around the circumference.

[0053] The above specific embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A quadruped robot wheel-foot tire in the shape of a torus, characterized in that, include: Mounting area (1) is used to connect the quadruped robot's wheel hub; The buffer area (2) has a hollow part (21) that extends inward from the outer side along the width direction of the outer tire; The area of ​​action (3) can contact the ground, and a circumferential anti-slip rib (31) is formed. The installation area (1), buffer area (2), and action area (3) are arranged radially outward from the center of the outer tire, and the three are concentric and coaxial.

2. The quadruped robot track according to claim 1, wherein: The hollow part (21) is a blind hole structure with an inner support surface (210).

3. The quadruped robot track according to claim 1, wherein: The hollowed-out portion (21) of the buffer area (2) is honeycomb-shaped.

4. The quadruped robot track according to claim 1 or 3, characterized in that: The hollow portion (21) of the buffer area (2) includes a plurality of first hollow holes (211) arranged circumferentially, and second hollow holes (212) located on both sides of the first hollow holes (211) radially. The cross-section of the first hollow hole (211) is hexagonal, and the cross-section of the second hollow hole (212) is triangular.

5. The quadruped robot track according to claim 4, wherein: The inner ring of the installation area (1) is wavy. The installation area (1) includes staggered first holes (11) and second holes (12), and the first holes (11) and second holes (12) overlap radially.

6. The quadruped robot track according to claim 1 or 2, characterized in that: The hollow portion (21) of the buffer area (2) includes a plurality of third hollow holes (213) arranged at intervals along the circumference.

7. The quadruped robot track according to claim 6, wherein: The cross-section of the third perforated hole (213) is trapezoidal, with its short side facing the inner circle of the installation area (1).

8. The quadruped robot track according to claim 7, wherein: The mounting area (1) forms a plurality of mounting grooves (13) along the circumferential direction, and the opening (131) of the mounting groove (13) faces the center of the outer tire.

9. The quadruped robot track for an all-terrain vehicle of claim 1, wherein: The functional area (3) forms an arc surface along the width direction, and the anti-slip ribs (31) around the circumference are continuously bent.

10. A quadrupedal robot wheel, characterized by: Includes a hub (4) and a tire as described in any one of claims 1-9, the tire being fitted around the outer periphery of the hub (4), the hub (4) being provided with a connecting post (41) into which the mounting area (1) can be inserted.

11. The quadruped robot wheel according to claim 10, characterized in that: The hub (4) has an outer edge (42) on both sides, which covers the mounting area (1), and the connecting post (41) extends between the two outer edges (42).

12. The quadruped robot wheel according to claim 10, wherein: The hub (4) includes a first hub body (43) and a second hub body (44) connected together. The first hub body (43) has a flange (431) on the side facing the second hub body (44), and the second hub body (44) has an annular arch (441) on the side facing the first hub body (43). The end of the flange (431) abuts against the outer wall of the annular arch (441).

13. The quadruped robot wheel according to claim 12, characterized in that: The cross section of the annular arch (441) is V-shaped; the flange (431) includes a first flange body (432) extending in a circumferential direction, and a plurality of second flange bodies (433) located inside the first flange body (432) and extending radially, the second flange bodies (433) forming a notch (434) for the annular arch (441) to abut.

14. The quadruped robot wheel according to claim 12, wherein: The inner ring of the installation area (1) abuts against the outer ring of the annular arch (441).

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