Deformable obstacle crossing wheel based on lantern mechanism
阅读说明:本技术 一种基于灯笼机构的可变形越障车轮 (Deformable obstacle crossing wheel based on lantern mechanism ) 是由 张娜 朱青松 荀致远 于 2020-06-16 设计创作,主要内容包括:本发明公开了一种基于灯笼机构的可变形越障车轮,包括其中一端连接于轮轴上的灯笼状本体,灯笼状本体的中心轴与轮轴的延长线重合,灯笼状本体的直径能够随着灯笼状本体两端间距的减小而增大,灯笼状本体的外壁对应腰线处设有若干轮胎组件。本发明灵活性好,能够快速地在多种不同的工作姿态之间转换,适应地形多,而且应用本车轮的运动部件不需要额外设置结构就可以实现转向。(The invention discloses a deformable obstacle-surmounting wheel based on a lantern mechanism, which comprises a lantern-shaped body, wherein one end of the lantern-shaped body is connected to a wheel shaft, a central shaft of the lantern-shaped body is overlapped with an extension line of the wheel shaft, the diameter of the lantern-shaped body can be increased along with the reduction of the distance between two ends of the lantern-shaped body, and a plurality of tire components are arranged on the outer wall of the lantern-shaped body corresponding to a waist line. The invention has good flexibility, can quickly switch among different working postures, is suitable for a plurality of terrains, and can realize steering without additionally arranging a structure by applying the moving part of the wheel.)
1. The utility model provides a but, flexible obstacle-surmounting wheel based on lantern mechanism which characterized in that: the wheel comprises a lantern-shaped body (20) with one end connected to a wheel shaft (10), wherein the central axis of the lantern-shaped body (20) is overlapped with the extension line of the wheel shaft (10), the diameter of the lantern-shaped body (20) can be increased along with the reduction of the distance between the two ends of the lantern-shaped body (20), and a plurality of tire components (30) are arranged on the outer wall of the lantern-shaped body (20) corresponding to the waist line.
2. A transformable obstacle-surmounting wheel based on a lantern mechanism, as defined in claim 1, wherein: the lantern-shaped body (20) comprises a first connecting piece (21) sleeved on the wheel shaft (10), one side of the first connecting piece (21) is connected with a second connecting piece (22) through a telescopic assembly (40), and the second connecting piece (22) is arranged in parallel with the first connecting piece (21); the outer edge of the first connecting piece (21) is hinged with a plurality of first rods (23) which are uniformly arranged along the circumference, and the outer edge of the second connecting piece (22) is hinged with a plurality of second rods (24) which are in one-to-one correspondence with the first rods (23); the plurality of tyre components (30) is connected to the lantern body (20) by a plurality of intermediate members (50), each intermediate member (50) being hinged to both an end of one of the first bars (23) and an end of one of the second bars (24).
3. A transformable obstacle-surmounting wheel based on a lantern mechanism, according to claim 2, wherein: the first connecting piece (21) and the second connecting piece (22) both comprise connecting piece main bodies, a plurality of connecting plates (25) which are uniformly arranged along the circumference and are in group two by two are formed on the outer edge of each connecting piece main body, and a gap between the two connecting plates (25) in the same group is in clearance fit with the head ends of the first rod (23) and the second rod (24); connecting hole (26) have been seted up on connecting plate (25), first pole (23) with first shaft hole (27) that correspond with connecting hole (26) are all seted up to the head end of second pole (24), be equipped with first connecting axle in first shaft hole (27), the both ends of first connecting axle with connecting hole (26) cooperation.
4. A transformable obstacle-surmounting wheel based on a lantern mechanism, according to claim 3, wherein: the middle piece (50) comprises a horizontal section (51) and a vertical section (52), two ends of the horizontal section (51) are provided with first connecting grooves (53) which are symmetrically arranged, the first connecting grooves (53) are in clearance fit with the tail ends of the first rod (23) and the second rod (24), the side walls of two sides of the first connecting grooves (53) are provided with first middle piece holes (54), the tail ends of the first rod (23) and the second rod (24) are provided with second shaft holes (28) corresponding to the first middle piece holes (54), second connecting shafts penetrate through the second shaft holes (28), and two ends of the second connecting shafts are matched with the first middle piece holes (54); the tail end of the vertical section (52) is provided with a second connecting groove (55) which is used for connecting the tire component (30) and is vertical to the first connecting groove (53), and the side walls of two sides of the second connecting groove (55) are provided with second middle piece holes (56).
5. A deformable obstacle-surmounting wheel based on a lantern mechanism, as defined in claim 4, wherein: the tire assembly (30) comprises a tire connecting rod (31) accommodated in the second connecting groove (55), the width of the tire connecting rod (31) is smaller than that of the second connecting groove (55), one end of the tire connecting rod (31) is provided with a third shaft hole (32) corresponding to the second intermediate piece hole (56), a third connecting shaft penetrates through the third shaft hole (32), and two ends of the third connecting shaft are matched with the second intermediate piece hole (56); the other end of tire connecting rod (31) is connected with tire perpendicularly and touches ground pole (33), the shaping of tire touch ground pole (33) is the arc, the centre of a circle that the tire touched ground pole (33) is located first connecting piece (21) the centre of a circle with on the line of second connecting piece (22) the centre of a circle.
6. A deformable obstacle-surmounting wheel based on a lantern structure, as defined in claim 5, wherein: the third is connected and is located partial cover in second connecting groove (55) on the axle is equipped with torsion spring (60), torsion spring (60) highly be equal to second connecting groove (55) width with the difference of the width of tire connecting rod (31), torsion spring (60) both ends connect respectively in intermediate member (50) with on the tire connecting rod (31).
7. A deformable obstacle-surmounting wheel based on a lantern structure, as defined in claim 6, wherein: one end of the tire ground contact rod (33) is formed to be branched, and the distance of the branches is larger than the width of the tire ground contact rod (33).
8. A deformable obstacle-surmounting wheel based on a lantern construction, as claimed in claim 7, wherein: the tire connecting rod (31) is made of a hard material, and the tire ground contacting rod (33) is made of an elastic material.
9. A deformable obstacle-surmounting wheel based on a lantern construction, as claimed in claim 8, wherein: the cross section that the ground pole (33) was touched to the tire is trapezoidal, the bottom surface and the terminal surface that the ground pole (33) was touched to the tire all shaping have anti-skidding line.
10. A deformable obstacle-surmounting wheel based on a lantern structure, as claimed in claim 2, wherein: the telescopic assembly (40) comprises an electric push rod fixedly connected to the side face of the first connecting piece (21) opposite to the second connecting piece (22), and the output end of the electric push rod is fixedly connected to the side face of the second connecting piece (22) opposite to the first connecting piece (21).
Technical Field
The invention belongs to the field of intelligent obstacle crossing equipment, and particularly relates to a deformable obstacle crossing wheel based on a lantern mechanism.
Background
The existing obstacle-surmounting robots are divided into wheeled robots, tracked robots, legged robots and spherical robots in moving modes, and different moving modes enable the robots to have different moving effects and adaptive working environments. The wheel type mobile robot has unique speed advantage on a flat structured road surface, the crawler type mobile robot has good trafficability on a fluctuant unstructured road surface, the leg type mobile robot has excellent obstacle crossing performance on a rugged mountain road and other complex road surfaces, and the ball type mobile robot has the characteristics of high moving efficiency and energy conservation. At present, no structure can simultaneously have all the performances, and most of the existing mobile robots use pairwise combination or even multiple combinations of the mobile structures to deal with various mixed road conditions.
However, most of moving structures have great limitation in combination due to the self-structure, so that the robot is very inflexible when various structures of different road surfaces are converted, the passing efficiency of the robot is affected, and the development of the application field of the robot is limited.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a deformable obstacle-surmounting wheel based on a lantern mechanism, which has the following specific scheme:
the tire comprises a lantern-shaped body, wherein one end of the lantern-shaped body is connected to a wheel shaft, the central axis of the lantern-shaped body coincides with the extension line of the wheel shaft, the diameter of the lantern-shaped body can be increased along with the reduction of the distance between the two ends of the lantern-shaped body, and a plurality of tire components are arranged on the outer wall of the lantern-shaped body corresponding to the waist line.
Furthermore, the lantern-shaped body comprises a first connecting piece sleeved on the wheel shaft, one side of the first connecting piece is connected with a second connecting piece through a telescopic assembly, and the second connecting piece and the first connecting piece are arranged in parallel; the outer edge of the first connecting piece is hinged with a plurality of first rods which are uniformly arranged along the circumference, and the outer edge of the second connecting piece is hinged with a plurality of second rods which are in one-to-one correspondence with the first rods; the tire assemblies are connected with the lantern body through a plurality of intermediate pieces, and each intermediate piece is hinged to the tail end of one first rod and the tail end of one second rod at the same time.
Furthermore, the first connecting piece and the second connecting piece both comprise connecting piece main bodies, a plurality of connecting plates which are uniformly arranged along the circumference and are in a group of two-by-two are formed on the outer edge of each connecting piece main body, and a gap between the two connecting plates in the same group is in clearance fit with the head ends of the first rod and the second rod; the connecting plate is provided with a connecting hole, the head ends of the first rod and the second rod are provided with first shaft holes corresponding to the connecting hole, a first connecting shaft is arranged in each first shaft hole, and the two ends of the first connecting shaft are matched with the connecting hole.
Furthermore, the middle piece comprises a horizontal section and a vertical section, wherein two ends of the horizontal section are provided with first connecting grooves which are symmetrically arranged, the first connecting grooves are in clearance fit with the tail ends of the first rod and the second rod, the side walls of two sides of each first connecting groove are provided with first middle piece holes, the tail ends of the first rod and the second rod are provided with second shaft holes corresponding to the first middle piece holes, second connecting shafts penetrate through the second shaft holes, and two ends of each second connecting shaft are matched with the first middle piece holes; the tail end of the vertical section is provided with a second connecting groove which is used for connecting the tire assembly and is vertical to the first connecting groove, and the side walls of two sides of the second connecting groove are provided with second middleware holes.
Furthermore, the tire assembly comprises a tire connecting rod accommodated in the second connecting groove, the width of the tire connecting rod is smaller than that of the second connecting groove, one end of the tire connecting rod is provided with a third shaft hole corresponding to the second middleware hole, a third connecting shaft penetrates through the third shaft hole, and two ends of the third connecting shaft are matched with the second middleware hole; the other end of the tire connecting rod is vertically connected with a tire grounding contact rod, the tire grounding contact rod is formed into an arc shape, and the circle center of the tire grounding contact rod is located on a connecting line of the circle center of the first connecting piece and the circle center of the second connecting piece.
Furthermore, a torsion spring is sleeved on a part, located in the second connecting groove, of the third connecting shaft, the height of the torsion spring is equal to the difference between the width of the second connecting groove and the width of the tire connecting rod, and two ends of the torsion spring are connected to the intermediate piece and the tire connecting rod respectively.
Further, one end of the tire ground contact rod is formed into a fork, and the distance of the fork is larger than the width of the tire ground contact rod.
Further, the tire connecting rod is made of a hard material, and the tire ground contacting rod is made of an elastic material.
Further, the cross section that the ground pole was touched to the tire is trapezoidal, the bottom surface and the terminal surface that the ground pole was touched to the tire all formed with anti-skidding line.
Furthermore, the telescopic assembly comprises an electric push rod fixedly connected to the side face of the second connecting piece opposite to the first connecting piece, and the output end of the electric push rod is fixedly connected to the side face of the first connecting piece opposite to the second connecting piece.
The invention has the beneficial effects that:
the deformable obstacle-surmounting wheel based on the lantern mechanism is good in flexibility, capable of being rapidly switched among different working postures, suitable for a large number of terrains, and capable of achieving steering without additionally arranging a structure by using moving parts of the wheel.
Drawings
Figure 1 is a schematic structural view of the present invention in a first operating state,
figure 2 is a schematic left side view of the present invention in a first operating state,
figure 3 is a schematic front view of the present invention in a first operating state,
figure 4 is a schematic structural view of the lantern body of the present invention,
figure 5 is an enlarged view of the construction of the first and second connectors of the present invention,
figure 6 is an enlarged view of the configuration of the first and second rods of the present invention,
figure 7 is an enlarged view of the structure of the intermediate member of the present invention,
figure 8 is an enlarged view of the structure of the tire assembly of the present invention,
figure 9 is a schematic structural view of one embodiment of a tire ground contact patch of the present invention,
figure 10 is a schematic structural view of another embodiment of a tire ground contact patch of the present invention,
figure 11 is a schematic view of the connection of a tire assembly of the present invention to an intermediate member,
figure 12 is a schematic structural view of the present invention in a second operating state,
figure 13 is a schematic left side view of the present invention in a second operational state,
fig. 14 is a schematic front view of the present invention in a second operating state.
Figure number and name: 10. axle, 20, lantern body, 21, first connecting piece, 22, second connecting piece, 23, first pole, 24, second pole, 25, connecting plate, 26, connecting hole, 27, first axle hole, 28, second axle hole, 30, tire subassembly, 31, tire connecting rod, 32, third axle hole, 33, tire ground contact pole, 40, telescopic component, 50, middleware, 51, horizontal segment, 52, vertical segment, 53, first connecting groove, 54, first middleware hole, 55, second connecting groove, 56, second middleware hole, 60, torsion spring.
Detailed Description
To explain the technical content, structural features, attained objects and effects of the present invention in detail, embodiments are described below in detail with reference to the accompanying drawings.
As shown in figure 1, the invention discloses a deformable obstacle-surmounting wheel based on a lantern mechanism, which comprises a lantern-
Referring to fig. 2 to 4, the
As shown in fig. 5, each of the first connecting
Referring to fig. 7, the
As shown in fig. 8, the
One end of the tire
As shown in fig. 11, a torsion spring 60 is sleeved on a portion of the third connecting shaft located inside the second connecting
The tire connecting rod 31 is made of hard materials, so that the tire connecting rod is always arranged in the radial direction of the connecting piece, bears radial load and plays a role of a spoke; the
The cross section that the tire touched
The working principle of the invention is as follows:
1. when walking on a flat ground, the electric push rod moves to the longest form, the diameter of the lantern-shaped body is the smallest at the moment, a plurality of herringbone rod parts of the deformation wheel are overlapped (the main view angle) and combined into a complete circle, and then the lantern-shaped body is driven to rotate through the wheel shaft (as shown in figures 1-3);
2. when the deformation wheel crosses an obstacle or climbs a step, the electric push rod moves to the shortest form, the diameter of the lantern-shaped body is the largest at this time, a plurality of herringbone ground contact rods of the deformation wheel do not contact with each other (the main view angle) and work independently, the wheels become legged robots, and gaps between every two adjacent ground contact rods can be used for crossing the obstacle or climbing the step (as shown in figures 12-14);
3. when the lantern-shaped body is used for walking on the ground with the pit groove, the electric push rod is retracted inwards for a certain length (the specific length can be determined by the size of the pit groove on the ground), the diameter of the lantern-shaped body is increased, the head-to-tail correspondence (the main view angle) of the plurality of herringbone ground touching rods of the deformation wheel is changed into a circle with a larger radius, and then the lantern-shaped body is driven to rotate through the wheel shaft (the shape is between 1 and 2).
The base part of each herringbone touch pole is provided with a torsion spring, when the herringbone touch pole crosses an obstacle or climbs a step, the herringbone touch pole can adapt to the shape of the ground and be bent, and the herringbone touch pole can automatically reset under the action of the torsion spring after crossing the obstacle or climbing the step, so that a certain assistance effect is realized on obstacle crossing.
In addition, when the angular velocity of dolly shaft motion is the same, the lantern form body through the dolly both sides is in the form realization of difference and need not set up and turn to the device and just can let the dolly turn: for example, when the diameters of the two lantern-shaped bodies on the left side of the trolley are smaller than the diameters of the two lantern-shaped bodies on the right side of the trolley, the trolley turns left; when the diameters of the two lantern-shaped bodies on the left side of the trolley are larger than the diameters of the two lantern-shaped bodies on the right side of the trolley, the trolley turns to the right.
Therefore, the invention is not limited to the specific embodiments and examples, but rather, all equivalent variations and modifications are within the scope of the invention as defined in the claims and the specification.
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