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CN-121989585-A - Deformation device for wheel and foot transformation

CN121989585ACN 121989585 ACN121989585 ACN 121989585ACN-121989585-A

Abstract

The invention relates to the technical field of self-walking machines, in particular to a deformation device for wheel and foot transformation. The wheel rim comprises a rim member, wherein the rim member is divided into a plurality of arc-shaped rim sections, the deformation member drives and controls the plurality of arc-shaped rim sections of the rim member to move and deform, the rim member deformation form at least comprises a wheel form and a foot form, the rim member and the deformation member are in transmission connection with a driving member, and the driving member is used for controlling the deformation member to deform and driving the rotation movement of the wheel form and the swing movement of the foot form of the rim member. Through the mutual matching of the rim member, the deformation member and the driving member, the plurality of arc rim sections can be recombined and separated under the driving of the deformation member, so that the rim member can be switched between a wheel shape and a foot shape, and meanwhile, the driving member can drive the rotation movement in the wheel shape and the swinging movement in the foot shape, so that the device has wheel type rolling and foot type crossing capabilities on the basis of the same mechanism.

Inventors

  • LIU DERUI
  • ZHAO DONG
  • ZHU XIAOXUAN
  • ZHANG YIHUA
  • LIU HAILONG

Assignees

  • 济南大学

Dates

Publication Date
20260508
Application Date
20260325

Claims (10)

  1. 1. The deformation device for the wheel and foot transformation is characterized by comprising a rim member (1), wherein the rim member (1) is divided into a plurality of arc-shaped rim sections, the arc-shaped rim sections of the rim member (1) are sequentially connected with a deformation member (2), the deformation member (2) is used for driving and controlling the arc-shaped rim sections of the rim member (1) to move and deform, the deformation form of the rim member (1) at least comprises a wheel form and a foot form, the rim member (1) and the deformation member (2) are in transmission connection with a driving member (3), and the driving member (3) is used for controlling the deformation of the deformation member (2) and driving the rotation movement of the wheel form of the rim member (1) and the swinging movement of the foot form.
  2. 2. A deforming apparatus for wheel and foot changing according to claim 1 wherein the rim member (1) comprises a first rim segment (11), a second rim segment (12) and a rim segment (13), the first rim segment (11), the second rim segment (12) and the rim segment (13) are arc-shaped and have equal radii, the first rim segment (11), the second rim segment (12) and the rim segment (13) of the wheel shape of the rim member (1) are connected in a head-to-tail loop to form a circular rim structure, and the first rim segment (11), the second rim segment (12) and the rim segment (13) of the foot shape of the rim member (1) are separated to form a vertical stretching structure.
  3. 3. A deforming device for wheel and foot transformation according to claim 2, wherein the outer sides of the first rim section (11), the second rim section (12) and the bottom rim section (13) are respectively covered with a tread (14), and reinforcing ribs (15) are respectively arranged on the inner sides of the first rim section (11), the second rim section (12) and the bottom rim section (13).
  4. 4. A deforming apparatus for wheel and foot transformation according to claim 2, wherein the deforming member (2) comprises a first scissors rod (23) and a second scissors rod (24), the first scissors rod (23) and the second scissors rod (24) are hinged to each other in the middle to form a scissors telescopic structure, the upper end of the first scissors rod (23) is hinged to the first rim section (11), the upper end of the second scissors rod (24) is hinged to the second rim section (12), the lower ends of the first scissors rod (23) and the second scissors rod (24) are respectively connected with the bottom rim section (13), and the first scissors rod (23) and the second scissors rod (24) control the bottom rim section (13) to be far away from the first rim section (11) and the second rim section (12) through swinging and folding.
  5. 5. A deforming apparatus for wheel and foot transformation according to claim 4, wherein the deforming member (2) comprises two groups of diamond-shaped telescopic joints, the two groups of diamond-shaped telescopic joints move in a synchronous telescopic manner, the first shearing fork rod (23) is hinged on one side of the rim segment (13), the second shearing fork rod (24) is hinged on the other side of the rim segment (13) through a shearing fork connecting rod (25), the first rim segment (11), the second rim segment (12), the first shearing fork rod (23) and the second shearing fork rod (24) are hinged with each other to form a first group of diamond-shaped telescopic joints, and the first shearing fork rod (23), the second shearing fork rod (24), the shearing fork connecting rod (25) and the rim segment (13) are hinged with each other to form a second group of diamond-shaped telescopic joints.
  6. 6. A deforming device for wheel and foot change according to claim 5, characterized in that the first rim section (11) is fixedly connected to the first pendulum rod (21), the first rim section (11) is connected to the driving member (3) via the first pendulum rod (21), the second rim section (12) is fixedly connected to the second pendulum rod (22), and the second rim section (12) is connected to the driving member (3) via the second pendulum rod (22).
  7. 7. A deforming apparatus for wheel and foot transformation according to claim 6, wherein the driving member (3) comprises a first wheel axle (31) and a second wheel axle (32), the first wheel axle (31) is fixedly connected with the first swing link (21), the second wheel axle (32) is fixedly connected with the second swing link (22), the first wheel axle (31) is in transmission connection with the first power device (313), the second wheel axle (32) is in transmission connection with the second power device (323), and the first wheel axle (31) and the second wheel axle (32) are coaxially rotated.
  8. 8. A deforming apparatus for wheel and foot transformation according to claim 7, wherein a first worm wheel (312) is mounted on the first wheel shaft (31), a first worm (314) is connected to the first power device (313) main shaft, the first worm wheel (312) and the first worm (314) are meshed with each other for transmission, a second worm wheel (322) is mounted on the second wheel shaft (32), a second worm (324) is connected to the second power device (323) main shaft, and the second worm wheel (322) and the second worm (324) are meshed with each other for transmission.
  9. 9. A deforming apparatus for wheel and foot transformation according to claim 7, wherein the second wheel axle (32) is of a hollow cylinder structure, the second wheel axle (32) is sleeved on the first wheel axle (31), the first wheel axle (31) is sleeved with an end bearing (315), the second wheel axle (32) is sleeved with a support bearing (325), and the first wheel axle (31) and the second wheel axle (32) are rotatably mounted in the transmission housing (33) through the end bearing (315) and the support bearing (325).
  10. 10. The deformation device for wheel and foot transformation according to claim 9, wherein a swing shaft sleeve (331) and a swing supporting rod (332) are arranged on the transmission shell (33), the swing shaft sleeve (331) is externally connected with a mobile machine and is rotatably sleeved on a vertical shaft of the mobile machine, and the swing supporting rod (332) is connected with a fixed structure of the mobile machine through a telescopic power component.

Description

Deformation device for wheel and foot transformation Technical Field The invention relates to the technical field of self-walking machines, in particular to a deformation device for wheel and foot transformation. Background The self-walking machinery and the mobile robot are increasingly widely applied in the fields of disaster relief, logistics transportation, field investigation, military reconnaissance, industrial inspection, special operation and the like, as the actual operation environment shows a complicated and diversified development trend, the mobile platform often needs to be frequently switched among flat roads, rugged terrains, steps, ravines, rubble areas and other unstructured terrains, the common mobile mode of the self-walking machinery mainly comprises wheels, crawler-type and foot-type and the like, the wheel-type mobile mechanism has the advantages of high efficiency, high speed, relatively simple structure, convenient control, lower energy consumption and the like, is suitable for running in the relatively flat and high-structuring ground environment, but has limited obstacle crossing capability, has strong terrain adaptability and obstacle crossing capability when facing steps, pits, obstacles and unstructured complex terrains, can span complex obstacles and realize stable walking on irregular ground, and generally has the problems of high structure, high driving and control system requirements, lower movement speed, higher energy consumption and the like. In order to take account of the advantages of the wheel type mechanism and the foot type mechanism, a mobile robot with wheel foot switching capability appears on the market, the robot can generally operate in a wheel type mode under flatter terrain to improve the moving speed and the energy utilization efficiency, and when encountering steps, ravines, barriers and unstructured terrains, the robot is switched into a foot type mode to improve obstacle surmounting capability and terrain adaptability, and the deformable wheel foot mechanism can realize the balance of speed, efficiency and trafficability to a certain extent by autonomously or controllably switching the motion mode under different terrain environments. The deformable wheel structure in the prior art still belongs to the combined structure of the round wheel and the foot mechanism in essence, the whole mechanical constitution is more complicated, the number of parts is more, the transmission chain is longer, secondly, because the existing structure adopts a multi-component linkage, segmented driving or multi-degree-of-freedom unfolding mode, the control strategy is generally more complicated, the requirements on driving coordination, attitude control and motion synchronism in the switching process of the wheel mode and the foot mode are higher, the reliability and the real-time control performance of the system are not favorable, and part of the existing scheme only realizes the unfolding deformation of the local rim, the local arc section or the half-wheel structure, the deformation degree is limited, the geometric dimension change range after the wheel foot conversion is difficult to be obviously improved, the theoretical crossing ratio and the actual crossing performance are difficult to reach higher level, and the requirements of self-walking machinery on large deformation, high passing performance and high adaptability are difficult to fully meet under the complex environment. Disclosure of Invention In order to solve the problem that the deformable wheel foot robot is limited in deformation geometric dimension and improve the complex environment adaptability of the deformable wheel foot robot, the invention provides a deformation device for wheel and foot transformation. The invention provides a deformation device for wheel and foot transformation, which adopts the following technical scheme: The utility model provides a deformation device for wheel and sufficient transformation, includes the rim component, the rim component is cut apart into a plurality of arc rim sections, a plurality of arc rim sections of rim component connect gradually the deformation component, the deformation component drive control a plurality of arc rim sections of rim component remove the deformation, the rim component deformation form includes wheel shape form and sufficient shape form at least, rim component and deformation component transmission connection drive member, drive member is used for controlling the deformation of deformation component to the rotary motion of the wheel shape form of drive rim component and the swing motion of sufficient shape form. The wheel rim member is divided into a plurality of arc-shaped wheel rim sections, and the deformation member drives the plurality of arc-shaped wheel rim sections to perform relative movement and form reconstruction, so that the wheel rim member can be switched between a wheel form and a foot form, the device has the functions of w