Wheel hub mechanism capable of wide and narrow deformation and wheeled robot

Abstract

The utility model provides a kind of wide and narrow deformation's wheel hub mechanism and wheeled robot, belong to wheeled robot technical field, including inner cylinder and main shaft component, deformable wheel hub assembly, tire component and deformation drive assembly, both ends of main shaft are fixedly connected with side fixed cylinder, each group of side fixed cylinder is elastically slidably connected with sliding hub by approaching each other, laterally movable shift fork is screwed in one side of moving frame, the drive mechanism of shift fork is fixedly connected with the screwing mechanism of main shaft, can drive moving frame in the lateral movement of main shaft, and do not interfere with the rotation of main shaft, by the sliding tangent cooperation formed by initiative inclined groove and passive inclined block, the movement of push block can be promoted, so that the initiative inclined surface of symmetry opened in the head end of push block can form sliding tangent cooperation with the push inclined surface in sliding hub, further can form the change of relative distance of pair distribution sliding hub, and utilize the deformation part of flexible bending connection between middle fixed part and side fixed part in tire component, the wide and narrow change of tire component is formed.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, and in particular to a wheel hub mechanism and wheeled robot that can be deformed in width and narrowness. Background Technology

[0002] Wheeled mobile robots, due to their high mobility, mature control technology, and relatively low energy consumption, have become core equipment for automated inspection tasks in industrial and special fields. They are widely used in large factories, data centers, substations, underground utility tunnels, airport warehouses, and other scenarios, replacing manual labor in repetitive, high-risk, or high-precision tasks such as equipment status monitoring, instrument reading recognition, thermal imaging analysis, and abnormal sound detection. By incorporating various sensors and communication modules, these robots construct an intelligent closed loop of environmental perception, data acquisition, and remote monitoring, greatly improving operational efficiency and safety, and are an important component of intelligent manufacturing.

[0003] Despite the widespread use of wheeled robots, the basic structure of their mobile chassis, especially the fixed tire width, greatly limits their performance ceiling in complex and ever-changing environments. This has led to existing wheeled robots exhibiting shortcomings such as poor environmental mobility, limited obstacle-crossing ability, and insufficient adaptability. Utility Model Content

[0004] One of the objectives of this invention is to provide a wheel hub mechanism that can deform in width and narrowness. Based on the side retaining cylinders set at both ends of the main shaft, and with the sliding connection formed by the mutually elastic pull of the paired sliding wheel hubs and the side retaining cylinders, as well as the use of tire components and deformation drive components, the tire components can be safely and reliably realized to change in width and narrowness with the deformable wheel hub assembly using a simple mechanical structure.

[0005] The purpose of this utility model is achieved through the following technical solution: a hub mechanism that can be deformed in width and narrowness, including an inner cylinder and a main shaft component, a deformable hub assembly, a tire component, and a deformation drive assembly. The inner cylinder and main shaft component includes a main shaft and a side fixing cylinder. The deformable hub assembly includes a pushing inclined surface. The tire component includes a central fixing part and a side fixing part. The deformation drive assembly includes an active inclined groove, a shift fork, and an active inclined surface.

[0006] The side-fixed cylinders are symmetrically fixed to the ends of the main shaft. Each set of side-fixed cylinders has a pair of sliding hubs that are elastically pulled closer to each other. The pushing slopes are evenly distributed in the inner ring of the sliding hubs, and the coaxial pushing slopes are symmetrically distributed.

[0007] Both ends of the main shaft are slidably connected to a movable frame. Each set of side fixed cylinders is evenly slidably connected to a sliding block. Active inclined grooves are evenly opened in the main body of the movable frame. Active inclined surfaces are symmetrically opened at the head end of the sliding block. A passive inclined block is fixed at the end of the sliding block. The active inclined groove and the passive inclined block are slidably and tangentially engaged. The active inclined surface and the sliding inclined surface on the same side are slidably and tangentially engaged. A fork that can move laterally is screwed onto one side of the movable frame. The drive mechanism of the fork is fixedly connected to the screwing mechanism of the main shaft.

[0008] The central fixed part is located between the symmetrically distributed side fixed parts. The side fixed parts on the same side are engaged with the sliding hub. The central fixed part and the side fixed parts are provided with symmetrically distributed deformable parts. The deformable parts are flexibly bent and connected between the central fixed part and the side fixed parts.

[0009] The usage process of the technical solution of this utility model is as follows:

[0010] The lateral movement drive mechanism connected to the shift fork can drive the movement of the moving frame. The moving frame is slidably inserted into the main shaft, and because the shift fork is screwed to one side of the moving frame, the moving frame will not affect the rotation of the main shaft.

[0011] As the moving frame moves laterally, the active inclined groove and the passive inclined block can form a sliding tangential engagement. When the moving frame moves towards the side fixed cylinder, it can push the pushing slider towards the pushing inclined surface. When the moving frame moves away from the side fixed cylinder, it can push the pushing slider away from the pushing inclined surface.

[0012] When the push slider moves toward the push ramp, the active ramp symmetrically opened at the head end of the push slider and the symmetrically distributed push ramp form a sliding tangential engagement, which drives the paired sliding hubs that are slidably inserted in the same set of side fixed cylinders to move away from each other, forming a wider support surface for the tire component. Conversely, when the push slider moves away from the push ramp, the elastic tension formed between the paired sliding hubs can form a narrower support surface for the tire component.

[0013] Furthermore, both ends of the tire component are engaged with the sliding hub on the same side through the side fasteners. As the sliding hubs move away from or towards each other, the side fasteners at both ends of the tire component can move away from or towards each other. Since the side fasteners and the center fasteners are symmetrically distributed flexible bending connections, after the paired sliding hubs move closer to each other and narrow in place, the symmetrically distributed flexible bending of the deformation parts contracts between the side fasteners and the center fasteners. The outer tire surface of the center fasteners and the side fasteners together serve as the part in contact with the driving ground.

[0014] After the paired slip wheel hubs are widened and positioned far apart, the symmetrically distributed deformable sections are flexibly laid out between the sidewall and centerwall sections. At this time, the outer surface of the deformable section, together with the outer tire surface of the centerwall and sidewall sections, serves as the part in contact with the driving ground.

[0015] Another objective of this invention is to provide a wheeled robot, which further includes a bottom shell component, a travel drive component, and a steering component. The bottom shell component serves as a supporting foundation. The travel drive component is installed in the bottom shell component and is used to drive the rotation of the drive shaft in the main shaft, thereby forming the travel action of the wheeled robot. The steering component is also installed in the bottom shell component and is used to drive the steering operation of the driven shaft in the main shaft, thereby realizing the steering of the deformable hub component and the tire component connected to both ends of the driven shaft in the main shaft, and realizing the steering action of the four-wheeled robot during travel.

[0016] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0017] (1) This utility model is based on the side fixed cylinders fixed to both ends of the main shaft. In each set of side fixed cylinders, there are sliding hubs that are elastically pulled closer to each other, so that when the paired sliding hubs move towards each other, a support base for the width and narrow deformation of the tire component can be formed.

[0018] (2) This utility model adopts a sliding connection between the moving frame that pushes the passive inclined block and the sliding block and the main shaft, and a fork that pushes the moving frame to move laterally is screwed on one side of the moving frame. This can improve the stability of the lateral movement of the moving frame, and the moving frame will not affect the rotation of the main shaft. The structure is simple and safe and reliable. The lateral movement of the moving frame drives the sliding tangential engagement between the active inclined groove and the passive inclined block, as well as the sliding tangential engagement between the active inclined surface and the pushing inclined surface, to realize the movement of the paired sliding hubs moving away from each other or moving closer to each other. The pair of sliding hubs can support the changes in the width and narrowness of the tire component without complicated structure.

[0019] (3) In order to enable the tire component to match the width variation of the paired sliding hubs, the present invention sets the tire component as a non-fixed width tread structure. By setting a flexible bending structure with symmetrically distributed deformable parts between the central fixed part and the side fixed part, the deformable parts can shrink between the central fixed part and the side fixed part when the tire component is narrow, and when the tire component is wide, as the paired sliding hubs move away from each other, the outer surface of the deformable part is flush with the outer tread of the central fixed part and the side fixed part, so as to adapt to different working conditions. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a structural schematic diagram of the inner cylinder and main shaft components of this utility model;

[0023] Figure 3 This is a front view of the side fixing cylinder portion of this utility model;

[0024] Figure 4 This is a cross-sectional schematic diagram of the main view of the side fixing cylinder part of this utility model;

[0025] Figure 5 This is an exploded structural diagram of the deformable wheel hub assembly of this utility model;

[0026] Figure 6 This is a structural schematic diagram of the deformable wheel hub assembly of this utility model;

[0027] Figure 7 This is a front view of the sliding hub portion of this utility model;

[0028] Figure 8 This is a cross-sectional schematic diagram of the main view of the sliding hub portion of this utility model;

[0029] Figure 9 This is a structural schematic diagram of the tire component of this utility model;

[0030] Figure 10 This is a cross-sectional view of a tire component of a utility model.

[0031] Figure 11 This is a schematic diagram of the deformation drive assembly of this utility model;

[0032] Figure 12 This is a schematic diagram of the transmission structure of the deformation drive assembly of this utility model;

[0033] Figure 13 This is a schematic diagram of the structure of the movable frame part of this utility model;

[0034] Figure 14 This is a structural schematic diagram of the bottom shell component and the travel drive assembly of this utility model;

[0035] Figure 15 This is a schematic diagram of the steering assembly of this utility model;

[0036] Figure 16 This is a schematic diagram of the bogie portion of this utility model;

[0037] Figure 17 This is a schematic diagram of the cooperation structure between the active inclined groove and the passive inclined block of this utility model;

[0038] Figure 18 This is a schematic diagram of the alternating lifting assembly of this utility model;

[0039] Figure 19 This is a schematic diagram of the lifting block part of this utility model.

[0040] Figure label:

[0041] 1. Inner cylinder and main shaft assembly; 2. Deformable hub assembly; 3. Tire assembly; 4. Deformation drive assembly; 5. Bottom shell assembly; 6. Travel drive assembly; 7. Steering assembly; 8. Alternating lifting assembly; 101. Main shaft; 102. Side retaining cylinder; 103. Deformation groove; 104. Pushing groove; 201. Sliding hub; 202. Sliding column; 203. Connecting column; 204. Pushing inclined surface; 205. Locking hole; 206. Tension spring; 207. Side retaining column; 208. Trapezoidal locking groove; 209. Support rib; 301. Central retaining part; 302. Side retaining part; 303. Deformation part; 304. First corner part; 305. Second corner part; 306. Trapezoidal locking platform; 307. Tread pattern; 401. Pushing slider; 402. Moving frame; 403. 404. Active inclined slot; 405. Passive inclined block; 406. Lateral shift boss; 407. Shift fork; 408. Electric cylinder; 409. Active inclined surface; 410. Rotary groove; 501. Lateral shift slide; 502. Bottom housing; 503. Travel drive mounting position; 504. Steering position; 601. Steering motor mount; 602. Travel drive motor; 603. Drive toothed pulley; 604. Rotating toothed pulley; 605. Toothed belt; 606. Torque sensor; 701. Steering shaft; 702. Bogie; 703. Steering shaft mount; 704. Steering shaft mount; 705. Steering half gear; 706. Steering motor; 707. Steering drive gear; 801. Lifting fixed seat; 802. Lifting electric cylinder; 803. Recovery trough; 804. Lifting plate. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0043] In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] like Figures 1-19 As shown, a hub mechanism and wheeled robot that can be deformed in width and narrowness are disclosed. The inner cylinder and main shaft component 1 include a main shaft 101 and a side fixing cylinder 102. The side fixing cylinders 102 are symmetrically fixed to the ends of the main shaft 101. Each pair of side fixing cylinders 102 has a sliding hub 201 that is elastically pulled closer to each other. The pushing inclined surface 204 is evenly distributed in the inner ring of the sliding hub 201, and the coaxial pushing inclined surface 204 is symmetrically distributed.

[0045] Both ends of the main shaft 101 are slidably connected to a movable frame 402. Each set of side fixed cylinders 102 is evenly slidably connected to a sliding block 401. Active inclined grooves 403 are evenly opened in the main body of the movable frame 402. Active inclined surfaces 408 are symmetrically opened at the head end of the sliding block 401. A passive inclined block 404 is fixed at the end of the sliding block 401. The active inclined groove 403 and the passive inclined block 404 are slidably tangentially engaged. The active inclined surface 408 on the same side is slidably tangentially engaged with the sliding inclined surface 204. A laterally movable shift fork 406 is screwed onto one side of the movable frame 402. The drive mechanism of the shift fork 406 is fixedly connected to the screwing mechanism of the main shaft 101.

[0046] Tire component 3 is installed in a pair of sliding hubs 201 and is non-pneumatic. The central fixing part 301 is located between symmetrically distributed side fixing parts 302. The side fixing parts 302 on the same side are engaged with the sliding hub 201. A symmetrically distributed deformable part 303 is provided between the central fixing part 301 and the side fixing part 302. The deformable part 303 is flexibly bent and connected between the central fixing part 301 and the side fixing part 302. It can both shrink the deformable part 303 between the central fixing part 301 and the side fixing part 302 and unfold the outer surface of the deformable part 303 to a position flush with the outer tread of the central fixing part 301 and the side fixing part 302.

[0047] The working principle of the hub mechanism's width-to-width deformation is as follows:

[0048] The purpose of making the hub mechanism adaptable to varying widths is to give the robot excellent environmental adaptability and functional versatility;

[0049] The lateral movement drive mechanism connected to the shift fork 406 can drive the movement of the moving frame 402. The moving frame 402 is slidably inserted into the main shaft 101 and can rotate with the main shaft 101. Since the shift fork 406 is screwed to one side of the moving frame 402, the moving frame 402 will not affect the rotation of the main shaft 101.

[0050] As the moving frame 402 moves laterally, the active inclined groove 403 and the passive inclined block 404 can form a sliding tangential engagement. When the moving frame 402 moves towards the side fixed cylinder 102, it can push the pushing slider 401 towards the pushing inclined surface 204. When the moving frame 402 moves away from the side fixed cylinder 102, it can push the pushing slider 401 away from the pushing inclined surface 204.

[0051] When the push slider 401 moves toward the push ramp 204, the active ramp 408 symmetrically opened at the head end of the push slider 401 and the symmetrically distributed push ramp 204 can form a sliding tangential engagement, which drives the paired sliding hubs 201 that are slidably inserted in the same set of side fixing cylinders 102 to move away from each other, forming a wider support surface for the tire component 3. Conversely, when the push slider 401 moves away from the push ramp 204, the elastic tension formed between the paired sliding hubs 201 can form a narrower support surface for the tire component 3.

[0052] Furthermore, both ends of the tire component 3 are respectively engaged with the sliding hub 201 on the same side via the side fastener 302. As the sliding hub 201 moves away from or towards each other, the side fasteners 302 at both ends of the tire component 3 can move away from or towards each other. Since the side fasteners 302 and the center fasteners 301 are flexibly connected by symmetrically distributed deformable parts 303, after the paired sliding hubs 201 move closer to each other and narrow in place, the flexibly bent deformable parts 303 flexibly contract between the side fasteners 302 and the center fasteners 301. The outer tire surface of the center fasteners 301 and the side fasteners 302 together serve as the part in contact with the driving ground, which is suitable for driving on flat and good road surfaces. Narrowing the tire component 3 can reduce the contact area with the ground and reduce rolling resistance.

[0053] After the paired slip hubs 201 are widened and positioned far apart, the symmetrically distributed deformable portions 303 are flexibly laid out between the sidewall and central fixing portions 302. At this time, the outer surface of the deformable portion 303, together with the outer tire surface of the central fixing portion 301 and the sidewall fixing portion 302, serves as the part in contact with the driving ground. Widening the tire component 3 can increase the contact area with the ground, increase the support surface, and improve the stability of the support.

[0054] The specific structures of the inner cylinder and main shaft component 1 and the deformable hub assembly 2 are as follows: Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the main shafts 101 are used in pairs, with one set serving as the driving shaft and the other set serving as the driven shaft. The deformation grooves 103 are evenly and laterally opened in the main body of the side-fixed cylinder 102. The main body of the side-fixed cylinder 102 is also provided with a pushing groove 104 perpendicular to the opening direction of the deformation grooves 103. The main body of the pushing slider 401 is slidably connected to the pushing groove 104.

[0055] Furthermore, the sliding groove 104 and the deformation groove 103 on the same side are connected to provide space for the sliding tangential engagement of the active inclined surface 408 and the sliding inclined surface 204.

[0056] The sliding columns 202 are evenly fixed in the inner cavity of the sliding hub 201. The sliding columns 202 on the same side are slidably connected to the deformation groove 103. A connecting column 203 is fixed on one side of each set of sliding columns 202. The pushing inclined surface 204 is opened on the inner side of the connecting column 203.

[0057] Each set of sliding columns 202 has a locking hole 205 on one side. Both ends of the tension spring 206 are fixedly connected to side fixing columns 207. The side fixing columns 207 on the same side are inserted and fixed in the locking hole 205. The set of tension springs 206 can provide power for the sliding of the paired sliding hubs 201 to approach each other, so that after the paired sliding hubs 201 approach each other, the inner ends of the two sets of connecting columns 203 directly opposite each other just abut.

[0058] Furthermore, the elastic tension generated by the array of tension springs 206 is sufficient to drive the paired sliding wheel hubs 201 to move to a position close to each other, and the tire component 3 can also form a narrower supporting tread accordingly.

[0059] The support rib 209 is fixed in the outer ring of the sliding hub 201, which can form support for the inner surface of the center fixed part 301 and the side fixed part 302, so that the tire component 3 is in close contact with the sliding hub 201.

[0060] The outer end of the sliding hub 201 is also provided with a trapezoidal groove 208 for engaging with the side fixing part 302.

[0061] The specific structure of tire component 3 is as follows: Figure 9 and Figure 10 As shown, the trapezoidal mounting plate 306 is fixed to the outer side of the inner end of the side fastener 302 and engages with the trapezoidal mounting groove 208. After engagement, it cannot be easily disengaged, so that the tire component 3 as a whole can change width with the pair of sliding hubs 201.

[0062] The symmetrically distributed deformable portions 303 are connected by a second corner portion 305, and the side fixing portion 302 and the deformable portion 303, as well as the middle fixing portion 301 and the deformable portion 303, are connected by a first corner portion 304. The thickness of the deformable portion 303 is less than the thickness of the middle fixing portion 301 and the side fixing portion 302, and the thickness of the first corner portion 304 is less than the thickness of the deformable portion 303, so as to achieve flexible bending of the symmetrically distributed deformable portions 303 between the middle fixing portion 301 and the side fixing portion 302.

[0063] Furthermore, the thickness of the deformable part 303 and the first corner part 304 can meet the requirements of flexible bending of the symmetrically distributed deformable part 303 between the central fixed part 301 and the side fixed part 302, and can also meet the requirements of using the deformable part 303 together with the central fixed part 301 and the side fixed part 302 as the outer tire tread after it is laid out flat.

[0064] The outer surface of the deformable part 303, as well as the outer tread of the central fixing part 301 and the side fixing part 302, are all uniformly fixed with tread patterns 307, which together form the grip force when driving.

[0065] The specific structure of the deformation drive component 4 is as follows: Figure 11 , Figure 12 and Figure 13 As shown, transverse protrusions 405 are evenly fixed on the outer circular surfaces of both ends of the spindle 101, and transverse sliding inserts 410 are evenly opened in the inner hole of the movable frame 402, so that the movable frame 402 and the spindle 101 can form a sliding insertion fit.

[0066] A swivel groove 409 is provided in one side of the main body of the movable frame 402, and the middle part of the main body of the fork 406 is screwed into the swivel groove 409 and will not detach from the swivel groove 409.

[0067] The electric cylinder 407 is used in pairs as a drive mechanism to push the shift fork 406 to move laterally. It is fixedly connected to the screwing mechanism of the main shaft 101. The side of the shift fork 406 is fixedly connected to the telescopic rod head of the electric cylinder 407. It can form the lateral movement of the shift fork 406 and the moving frame 402 without affecting the rotation of the main shaft 101.

[0068] Furthermore, the active inclined groove 403 is a closed double-sided inclined inner hole structure, and the passive inclined block 404 is also a double-sided inclined structure, which can improve the stability of the connection between the push slider 401 and the moving frame 402 while the active inclined groove 403 and the passive inclined block 404 form a sliding tangential fit.

[0069] The specific structure of a wheeled robot including the aforementioned hub mechanism that can change width is as follows: Figure 1 , Figure 14 , Figure 15 and Figure 16 As shown, the bottom shell component 5 serves as a supporting base, and the main controller is installed inside it to realize the electronic control of the wheeled robot. One end of the bottom shell 501 is symmetrically provided with a travel drive mounting position 502, and the other end is symmetrically provided with a steering position 503, which provides space for the transmission of the main shaft 101 and its related mechanisms. The inner top surface of the other end of the bottom shell 501 is also fixed with a pair of steering motor seats 504.

[0070] The drive shaft mounting bases 601 are fixed in pairs on the inner top surface of one end of the bottom housing 501, and the drive shaft in the main shaft 101 is screwed to the drive shaft mounting bases 601.

[0071] A drive motor 602 is fixedly installed on the inner top surface of one end of the bottom shell 501. A drive toothed pulley 603 is inserted into the shaft of the drive motor 602, and a rotary toothed pulley 604 is inserted into the drive shaft of the main shaft 101. A toothed belt 605 is sleeved between the rotary toothed pulley 604 and the drive toothed pulley 603. After the drive motor 602 is started and the drive toothed pulley 603 is rotated, the drive toothed pulley 603 can drive the rotary toothed pulley 604 to rotate through the toothed belt 605, thereby driving the rotation of the drive shaft in the main shaft 101, forming the driving action of the cover wheel robot.

[0072] A torque sensor 606 is also installed in the drive shaft of the main shaft 101. The outer body of the torque sensor 606 is fixedly installed on the inner top surface of the bottom shell 501, which can sense the torque of the drive shaft in the main shaft 101. That is, it can measure the rotational resistance of the tire component 3 connected to the drive shaft, so that the wheeled robot can adjust the width of the tire component 3 according to the actual situation.

[0073] Furthermore, a camera for real-time acquisition of environmental images can be installed on the outer front end of the bottom shell 501. The camera's visual perception is used to acquire environmental information, which is then input into the main controller of the wheeled robot as control data. Through the intelligent decision-making algorithm model built into the main controller, the mechanical mechanism is driven to change the width of the tire component 3, so that the wheeled robot can optimally pass through the current environment. This is prior art and is not protected by this patent application, so it will not be described in detail.

[0074] The main body of the electric cylinder 407 corresponding to the drive shaft in the main spindle 101 is fixedly installed on the inner side of the travel drive mounting position 502;

[0075] The steering shaft 701 is fixedly installed in the middle of the inner top surface of the other end of the bottom housing 501, and the bogie 702 is screwed to the steering shaft 701 through the steering shaft seat 703;

[0076] The position of the steering shaft 701 is directly opposite to the steering position 503 laterally. Steering shaft seats 704 are fixedly installed on both sides of the top of the bogie 702. The driven shaft in the main shaft 101 is screwed to the steering shaft seats 704.

[0077] A steering half gear 705 is fixedly mounted on the outer circular surface of the steering axle seat 703. The two ends of the main body of the steering motor 706 are fixedly connected to the steering motor seat 504. The steering drive gear 707 is inserted and fixed in the rotating shaft of the steering motor 706 and meshes with the steering half gear 705.

[0078] The main body of the electric cylinder 407 corresponding to the driven shaft in the main shaft 101 is fixedly installed on the top of the bogie 702;

[0079] The steering motor 706 is started to drive the steering drive gear 707 to rotate, which allows the steering drive gear 707 to cooperate with the steering half gear 705 to drive the steering of the bogie 702 and the driven shaft in the main shaft 101 that is screwed to the top of the bogie 702. This enables the deformable hub assembly 2 and the tire component 3 connected to both ends of the driven shaft in the main shaft 101 to turn, thus realizing the steering action of the four-wheeled robot during its movement.

[0080] Alternating lifting components 8 are also installed at both the front and rear ends of the bottom shell 501, such as... Figure 18 and Figure 19As shown, lifting bases 801 are fixed at the middle of both ends of the bottom wall of the bottom shell 501. The recovery trough 803 is opened at the bottom of the lifting base 801. The bottom end of the main body of the lifting cylinder 802 is fixedly connected to the top end of the lifting base 801. The bottom end of the telescopic rod of the lifting cylinder 802 is fixedly connected to the lifting plate 804. When the wheeled robot is in motion, the lifting plate 804 is retracted into the recovery trough 803 and will not affect normal driving. When it is necessary to deform the wheel hub mechanism, the wheel hub mechanism at both ends of the drive shaft and the wheel hub mechanism at both ends of the driven shaft in the main shaft 101 must be deformed separately. That is, the lifting plate 804 is pushed out by the telescopic rod of the lifting cylinder 802 in the alternating lifting assembly 8 at both ends of the bottom shell 501, so that the wheel hub mechanism currently being deformed is in a state of suspension and not in contact with the ground, so as to eliminate the support pressure on the deformable wheel hub assembly 2 and the tire component 3 and then adjust its width deformation.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A hub mechanism capable of widening and narrowing, comprising an inner cylinder and a main shaft component (1), characterized in that: It also includes a deformable wheel hub assembly (2), a tire component (3), and a deformable drive assembly (4); The inner cylinder and main shaft assembly (1) includes a main shaft (101) and a side fixing cylinder (102). The deformable hub assembly (2) includes a pushing inclined surface (204). The side fixing cylinders (102) are symmetrically fixed to the ends of the main shaft (101). Each pair of side fixing cylinders (102) has a sliding hub (201) that is elastically pulled closer to each other. The pushing inclined surface (204) is evenly distributed in the inner ring of the sliding hub (201), and the coaxial pushing inclined surface (204) is symmetrically distributed. The tire component (3) includes a central fixing part (301) and a side fixing part (302). The deformation drive assembly (4) includes an active swash plate (403), a shift fork (406), and an active swash plate (408). A movable frame (402) is slidably inserted into both ends of the main shaft (101). A sliding block (401) is evenly slidably inserted into each set of side fixing cylinders (102). The active swash plate (403) is evenly opened in the main body of the movable frame (402). The active swash plate (408) is symmetrically opened at the head end of the sliding block (401). A passive swash plate (404) is fixed at the end of the sliding block (401). The active swash plate (403) and the passive swash plate (404) are directly opposite each other. The inclined block (404) is tangentially engaged with the active inclined surface (408) on the same side and the pushing inclined surface (204) are tangentially engaged with each other. The movable shift fork (406) is screwed onto one side of the moving frame (402), and the drive mechanism of the shift fork (406) is fixedly connected to the screwing mechanism of the main shaft (101). The central fixed part (301) is located between the symmetrically distributed side fixed parts (302). The side fixed parts (302) on the same side are engaged with the sliding hub (201). The central fixed part (301) and the side fixed parts (302) are provided with symmetrically distributed deformable parts (303). The deformable parts (303) are flexibly bent and connected between the central fixed part (301) and the side fixed parts (302).

2. The hub mechanism with adjustable width according to claim 1, characterized in that: The inner cylinder and main shaft component (1) also includes a deformation groove (103), which is evenly opened in the main body of the side cylinder (102). The main body of the side cylinder (102) is also provided with a pushing groove (104) perpendicular to the opening direction of the deformation groove (103). The main body of the pushing slider (401) is slidably connected to the pushing groove (104).

3. The hub mechanism with adjustable width according to claim 2, characterized in that: The deformable hub assembly (2) also includes sliding columns (202) and tension springs (206). The sliding columns (202) are evenly fixed in the inner cavity of the sliding hub (201). The sliding columns (202) on the same side are slidably connected to the deformation groove (103). A connecting column (203) is fixed on one side of each set of sliding columns (202). The pushing slope (204) is opened on the inner side of the connecting column (203). A locking hole (205) is opened on one side of each set of sliding columns (202). The two ends of the tension spring (206) are fixedly connected to side fixing columns (207). The side fixing columns (207) on the same side are inserted and fixed in the locking hole (205).

4. A hub mechanism capable of widening or narrowing according to claim 1, 2, or 3, characterized in that: The deformable hub assembly (2) also includes a support rib (209), which is fixed in the outer ring of the sliding hub (201). A trapezoidal slot (208) is also provided at the end of the outer ring of the sliding hub (201).

5. A wheel hub mechanism capable of widening or narrowing according to claim 4, characterized in that: The tire component (3) also includes a first corner portion (304), a second corner portion (305), and a trapezoidal locking platform (306). The trapezoidal locking platform (306) is fixed to the outer side of the inner end of the side fixing portion (302) and engages with the trapezoidal locking groove (208). The symmetrically distributed deformable portions (303) are connected through the second corner portion (305). The side fixing portion (302) and the deformable portion (303), as well as the middle fixing portion (301) and the deformable portion (303), are connected through the first corner portion (304). The outer surface of the deformable portion (303) and the outer tread of the middle fixing portion (301) and the side fixing portion (302) are uniformly fixed with tread patterns (307).

6. A hub mechanism capable of widening or narrowing according to claim 1, 2, 3 or 5, characterized in that: The deformation drive assembly (4) also includes an electric cylinder (407) and a transverse sliding insert (410). The outer surfaces of both ends of the main shaft (101) are uniformly fixed with transverse bosses (405). The transverse sliding inserts (410) are uniformly opened in the inner hole of the moving frame (402). A rotary groove (409) is opened in the main body of one side of the moving frame (402). The middle part of the main body of the shift fork (406) is screwed into the rotary groove (409). The electric cylinder (407) is fixedly connected to the rotary mechanism of the main shaft (101). The side of the shift fork (406) is fixedly connected to the telescopic rod head of the electric cylinder (407).

7. A wheeled robot, comprising a hub mechanism capable of widening and narrowing as described in any one of claims 1 to 6, characterized in that: It also includes a bottom shell component (5), which includes a bottom shell (501). One end of the bottom shell (501) is symmetrically provided with a driving drive mounting position (502), and the other end is symmetrically provided with a steering position (503). The inner top surface of the other end of the bottom shell (501) is also fixed with a steering motor seat (504) in pairs.

8. A wheeled robot according to claim 7, characterized in that: It also includes a travel drive assembly (6), which includes a drive shaft mount (601) and a toothed belt (605). The drive shaft mounts (601) are fixed in pairs on the inner top surface of one end of the bottom housing (501). The drive shaft in the main shaft (101) is screwed to the drive shaft mount (601). A travel drive motor (602) is also fixedly installed on the inner top surface of one end of the bottom housing (501). A fixed drive toothed pulley (603) is inserted in the rotating shaft of the travel drive motor (602). A fixed rotating toothed pulley (604) is inserted in the drive shaft of the main shaft (101). The toothed belt (605) is sleeved and installed between the rotating toothed pulley (604) and the drive toothed pulley (603).

9. A wheeled robot according to claim 7 or 8, characterized in that: It also includes a steering assembly (7), which includes a steering shaft (701), a bogie (702), a steering shaft seat (703), a steering motor (706), and a steering drive gear (707). The steering shaft (701) is fixedly installed in the middle of the inner top surface of the other end of the bottom housing (501). The bogie (702) is spun to the steering shaft (701) through the steering shaft seat (703). Steering shaft seats (704) are fixedly installed on both sides of the top of the bogie (702). The driven shaft in the main shaft (101) is spun to the steering shaft seat (704). A steering half gear (705) is fixedly installed on the outer circular surface of the steering shaft seat (703). The two ends of the main body of the steering motor (706) are fixedly connected to the steering motor seat (504). The steering drive gear (707) is inserted and fixed in the rotating shaft of the steering motor (706) and meshes with the steering half gear (705).

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