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CN-224224822-U - Wheel track shape reconfigurable deformation wheel

CN224224822UCN 224224822 UCN224224822 UCN 224224822UCN-224224822-U

Abstract

The utility model provides a wheel track form reconfigurable deformation wheel, relates to the mobile robot field, realizes the wheel form that each wheel hub piece constitutes by circular wheeled structure and the quick switch of non-circular crawler-type structure through the change of guide sleeve's position, can adapt to complicated topography such as stair, meadow, sand, adopts link mechanism drive wheel hub piece to remove in radial, and it does not have the sideslip, has greatly reduced axial dimension simultaneously, makes whole deformation wheel compacter.

Inventors

  • WANG XIAO
  • HU FANGLIN
  • GU YUNHAO
  • Jin Haoshan
  • WEI GUOZHAO

Assignees

  • 山东建筑大学

Dates

Publication Date
20260512
Application Date
20250618

Claims (7)

  1. 1. A wheel track shape reconfigurable deformation wheel, characterized by comprising the following steps: an axle (13) whose axis is arranged in the horizontal direction; The shaft disc (6) is coaxially connected with the head end of the wheel shaft (13) in a transmission way; a plurality of hub pieces, each of which is in a circular arc structure; the center of the guide sleeve (1) is provided with a through hole (20) along the axial direction, the tail end of the wheel axle (13) passes through the through hole (20), and the guide sleeve (1) is coaxially connected with the wheel axle (13) in a transmission manner; The guide sleeve driving mechanism is arranged on the vehicle body and used for driving the guide sleeve (1) to move left and right along the axial direction of the wheel axle (13); The head end of each supporting rod (4) is hinged with a corresponding hub plate through a pin shaft I (5), the tail end of each supporting rod (4) is connected with a shaft disc (6) through a connecting rod mechanism in a hinged mode and an elastic reset mechanism, when the supporting rods (4) swing towards the axis direction of a wheel shaft (13), the elastic reset mechanisms compress and store energy, and when the guide sleeve driving mechanism drives the guide sleeve (1) to move to the position nearest to the shaft disc (6), the elastic reset mechanisms drive the supporting rods (4) to swing outwards through the connecting rod mechanism until the hub plates are mutually distributed circumferentially.
  2. 2. The wheel-track reconfigurable deformable wheel according to claim 1, wherein the axle disc (6) is in flat key transmission connection with the front end of the wheel axle (13).
  3. 3. The wheel-track reconfigurable deformable wheel according to claim 1, wherein the guide sleeve (1) is in driving connection with the wheel axle (13) through a guide flat key.
  4. 4. The wheel track reconfigurable deforming wheel of claim 1, wherein the guide sleeve driving mechanism comprises a clamping ring (9) rotatably mounted at the rear end of the guide sleeve (1), a motor (22) mounted on a vehicle body, a rotating rod (23) and a swinging rod (24), the clamping ring (9) is coaxial with the guide sleeve (1), one end of the rotating rod (23) is in transmission connection with an output shaft of the motor (22), the other end of the rotating rod is in hinged connection with one end of the swinging rod (24) through a pin shaft VIII (25), and the other end of the swinging rod (24) is in hinged connection with the clamping ring (9) through a pin shaft IX (26).
  5. 5. The wheel track reconfigurable deforming wheel of claim 1, wherein the wheel hub piece comprises a wheel hub piece I (2) and a wheel hub piece II (3), the wheel hub piece I (2) is positioned at the front end of the wheel hub piece II (3), the wheel hub pieces I (2) are uniformly distributed at intervals along the circumferential direction, the wheel hub pieces II (3) are uniformly distributed at intervals along the circumferential direction, and the rear ends of every two adjacent wheel hub pieces I (2) are provided with a wheel hub piece II (3) in a staggered manner.
  6. 6. The wheel track reconfigurable deforming wheel of claim 1, wherein the link mechanism comprises a driven swing rod (7), an actuating link (8) and a driven link (10), wherein the tail end of the driven swing rod (7) is hinged on a shaft disc (6) through a pin shaft II (14), the head end of the driven swing rod is hinged with a supporting rod (4) through a pin shaft VI (18), the head end of the actuating link (8) is hinged with the middle part of the driven swing rod (7) through a pin shaft III (15), the tail end of the actuating link (8) is connected with a corresponding elastic reset mechanism, the tail end of the driven link (10) is hinged with the actuating link (8) through a pin shaft IV (16), the head end of the driven link (10) is hinged with the tail end of the supporting rod (4) through a pin shaft VII (19), and the actuating link (8) is parallel to the supporting rod (4).
  7. 7. The wheel track reconfigurable deforming wheel of claim 6, wherein the elastic resetting mechanism comprises a plurality of guide holes (21) which are circumferentially arranged in the guide sleeve (1) around the through hole (20), the axes of the guide holes (21) are horizontally arranged, the guide rods (11) are inserted in the guide holes (21), one ends of the springs (12) are connected with the tail ends of the guide rods (11), the other ends of the springs are connected with the tail ends of the guide holes (21), the head ends of the guide rods (11) are hinged with the tail ends of the actuating links (8) through pin shafts V (17), the guide rods (11) horizontally slide inwards and compress the springs (12) when the support rods (4) swing towards the axis direction of the wheel shafts (13), when the guide sleeve driving mechanism drives the guide sleeve (1) to a position nearest to the shaft disc (6), the springs (12) are in a compressed state, and when the guide sleeve driving mechanism drives the guide sleeve (1) to a position nearest to the shaft disc (6), the springs (12) are in a free state.

Description

Wheel track shape reconfigurable deformation wheel Technical Field The invention relates to the field of mobile robots, in particular to a wheel track shape reconfigurable deformation wheel. Background As the population ages, the demand for stair climbing assistance devices is increasing for people with mobility difficulties. The traditional wheelchair can only run on flat ground and cannot cope with complex terrains such as stairs, and the existing stair climbing robot mostly adopts a wheel-track composite structure, so that the problems of large mass, low mechanical efficiency, high cost and the like exist. At present, the key technology of the wheel track deformable robot still needs to be broken through further, and the simplicity, the practicability, the adaptability and the reliability are further improved. Therefore, the wheel track shape reconfigurable deformation wheel which is compact in structure, low in cost and high in adaptability is developed and applied to the stair climbing robot, and the wheel track shape reconfigurable deformation wheel has important social and economic values. Disclosure of Invention In order to overcome the defects of the technology, the utility model provides the reconfigurable deformation wheel which can efficiently realize the switching of the track form and adapt to various terrains. The technical scheme adopted for overcoming the technical problems is as follows: A wheel track shape reconfigurable deformation wheel, comprising the following steps: the axle, its axis is set up along the horizontal direction; The shaft disc is coaxially connected with the head end of the wheel shaft in a transmission way; a plurality of hub pieces, each of which is in a circular arc structure; The center of the guide sleeve is provided with a through hole along the axial direction, the tail end of the wheel shaft penetrates through the through hole, and the guide sleeve is coaxially connected with the wheel shaft in a transmission way; the guide sleeve driving mechanism is arranged on the vehicle body and used for driving the guide sleeve to move left and right along the axial direction of the wheel shaft; The head end of each supporting rod is hinged with the corresponding hub piece through a pin shaft I, the tail end of each supporting rod is connected with the corresponding hub piece through a connecting rod mechanism in a hinged mode, and the tail ends of the supporting rods are connected with the elastic reset mechanisms respectively. Further, the shaft disc is in transmission connection with the front end of the wheel shaft through a flat key. Further, the guide sleeve is in transmission connection with the wheel shaft through a guide flat key. Further, the guide sleeve driving mechanism comprises a clamping ring rotatably arranged at the rear end of the guide sleeve, a motor arranged on the vehicle body, a rotating rod and a swinging rod, wherein the clamping ring is coaxial with the guide sleeve, one end of the rotating rod is in transmission connection with an output shaft of the motor, the other end of the rotating rod is hinged with one end of the swinging rod through a pin shaft VIII, and the other end of the swinging rod is hinged with the clamping ring through a pin shaft IX. Further, the hub piece includes hub piece I and hub piece II, and hub piece I is located hub piece II's front end, and each hub piece I evenly arranges along the circumferencial direction interval, and each hub piece II evenly arranges along the circumferencial direction interval, and every two adjacent hub piece I's rear end is crisscross to be provided with a hub piece II. Further, the linkage mechanism comprises a driven swing rod, an execution link and a driven link, wherein the tail end of the driven swing rod is hinged on the shaft disc through a pin shaft II, the head end of the driven swing rod is hinged with the supporting rod through a pin shaft VI, the head end of the execution link is hinged with the middle part of the driven swing rod through a pin shaft III, the tail end of the execution link is connected with a corresponding elastic reset mechanism, the tail end of the driven link is hinged with the execution link through a pin shaft IV, the head end of the driven link is hinged with the tail end of the supporting rod through a pin shaft VII, and the execution link is parallel to the supporting rod. Further, the elastic reset mechanism comprises a plurality of guide holes which are circumferentially arranged in the guide sleeve in a surrounding manner by taking the through hole as the center, the axes of the guide holes are horizontally arranged, the guide rod is inserted in the guide holes, one end of the spring is connected with the tail end of the guide rod, the other end of the spring is connected with the tail end of the guide hole, the head end of the guide rod is hinged with the tail end of the execution connecting rod through a pin shaft V, and when the support rod swings tow