阅读说明：本技术 一种水陆两栖机器人用轮胎 (Tire for amphibious robot ) 是由 李军 杨爱林 张扬扬 于 2021-01-25 设计创作，主要内容包括：本发明涉及轮胎技术领域,尤其设计了一种水陆两栖机器人用轮胎,包括外胎和内胎,外胎设置在内胎的内部,外胎的胎表面设置有通孔,通孔呈圆周均匀分布在外胎的胎表面,内胎与通孔对应处设置有安装槽,安装槽内设置有拨块以及能够将拨块推出通孔的推出组件,外胎的侧壁设置有轮辐,轮辐的中心处设置有与外部连接的中心孔,中心孔的孔壁处设置有插槽,轮辐内部设置有传动管路,传动管路与插槽连通,内胎的内部设置有过渡管路,过渡管路将推出组件和传动管路连接,本发明所述水陆两栖机器人用轮胎通过设置拨块以及与其配合的推动组件,能够实现适应各种地形的目的。(The invention relates to the technical field of tires, in particular to a tire for an amphibious robot, which comprises an outer tire and an inner tire, wherein the outer tire is arranged in the inner tire, through holes are formed in the surface of the outer tire, the through holes are circumferentially and uniformly distributed on the surface of the outer tire, a mounting groove is formed in the position of the inner tire corresponding to the through holes, a shifting block and a pushing assembly capable of pushing the shifting block out of the through holes are arranged in the mounting groove, spokes are arranged on the side wall of the outer tire, a central hole connected with the outside is formed in the center of each spoke, slots are formed in the hole wall of the central hole, a transmission pipeline is arranged in each spoke and communicated with the slots, a transition pipeline is arranged in the inner tire and connects the pushing assembly with the transmission pipeline.)

1. The utility model provides a tire for amphibious robot, includes cover tire (1) and inner tube of a tyre (2), its characterized in that: cover tire (1) sets up the inside at inner tube of a tyre (2), the child surface of cover tire (1) is provided with through-hole (3), through-hole (3) are circumference evenly distributed at the child surface of cover tire (1), inner tube of a tyre (2) and through-hole (3) correspond the department and be provided with mounting groove (17), be provided with shifting block (4) in mounting groove (17) and can release subassembly (5) of through-hole (3) with shifting block (4), the lateral wall of cover tire (1) is provided with spoke (6), the center department of spoke (6) is provided with centre bore (7) with external connection, the pore wall department of centre bore (7) is provided with slot (8), spoke (6) inside is provided with transmission line (9), transmission line (9) and slot (8) intercommunication, the inside of inner tube of a tyre (2) is provided with transition pipeline (10), transition pipeline (10) will release subassembly (5) and transmission line (9.

2. A tire for an amphibious robot according to claim 1, wherein: the pushing-out component (5) comprises a spring (11), an electromagnet (12) and a magnetic block (13) which is arranged to be repellent to the same poles when the electromagnet (12) is activated, the electromagnet (12) is arranged in the installation groove (17), the magnetic block (13) is arranged inside the shifting block (4), the magnetic block (13) is located on one side, close to the bottom of the installation groove (17), of the shifting block (4), the spring (11) is arranged between the shifting block (4) and the bottom of the installation groove (17), and the shifting block (4) is connected together in the installation groove (17) through the spring (11).

3. A tire for an amphibious robot according to claim 2, characterized in that: the widths of the magnetic block (13) and the electromagnet (12) are both smaller than the diameter of the inner ring of the spring (11).

4. A tire for an amphibious robot according to claim 1, wherein: the pushing assembly (5) is arranged to be a pushing air chamber (14), the pushing air chamber (14) is arranged between the shifting block (4) and the bottom of the mounting groove (17), and the pushing air chamber (14) is communicated with the transition pipeline (10).

5. A tire for an amphibious robot according to claim 4, wherein: the groove side wall of mounting groove (17) department is provided with spacing groove (15), and lateral wall department that shifting block (4) are located mounting groove (17) is provided with stopper (16), and stopper (16) are located spacing groove (15), and stopper (16) can move in spacing groove (15).

6. A tire for an amphibious robot according to claim 1, wherein: one side of the shifting block (4) far away from the mounting groove (17) is set to be a conical structure.

7. A tire for an amphibious robot according to claim 1, wherein: the spoke (6) and the outer tire (1) are arranged into an integrated structure.

8. A tire for an amphibious robot according to claim 7, wherein: the spoke (6) and the outer tire (1) are formed by extrusion of polyurethane.

Technical Field

The invention relates to the technical field of tires, and particularly designs a tire for an amphibious robot.

Background

With the continuous development of robot technology, the variety of robots is increasing, and besides industrial robots mainly used in manufacturing industry, robots applied to the fields of aerospace (such as courage and opportunity mars in the united states), navigation (such as deep sea operation robots), medical care (such as surgical robots), services (such as robot nanny), military (such as mine clearance robots), and the like have appeared. However, most robots can only move in a single environment, for example, a land robot cannot move underwater due to the absence of an underwater propulsion mechanism or a waterproof function, and an underwater robot cannot move on the land due to the lack of land walking capability, so that an amphibious robot capable of moving amphibious appears, some existing amphibious robots can deal with some complex environments by adopting foot devices with six feet or spherical structures, but due to the limitation of the self structures, the robot has poor moving capability on the land, has the problems of slow moving speed, severe vibration, easy target exposure and the like, and cannot meet the basic requirements of detection and reconnaissance robots; in addition, when the feet of the robot sink into the terrain such as pits, swamps and the like, the simple wheel type and crawler type structures cannot easily get rid of the dilemma.

Chinese patent CN110758034A discloses a patent with the name of a bionic webbed foot device with a double-wheel structure for an amphibious robot, and the technical key points lie in that: a bionic webbed foot device with a double-wheel structure for an amphibious robot comprises a transmission shaft arranged at a walking position of the robot, double tires arranged at two ends of the transmission shaft, a plurality of cylinders fixed between the double tires in the axial direction of the transmission shaft, and piston rods connected to the cylinders, wherein rubber materials are connected between the piston rods to form rubber webbed feet, the surfaces where the rubber webbed feet are located are parallel to the surfaces where the transmission shaft is located, switching between a land mode and a water mode of foot movement of the robot is achieved, stability of the robot movement can be improved on the premise that speed can be guaranteed on rugged terrain, the structure of the bionic webbed foot device is complex, amphibious movement is achieved by changing the structure of the feet, and the applicability is poor.

Disclosure of Invention

The invention provides a tire for an amphibious robot, aiming at the problems in the background technology.

In order to solve the technical problem, the invention is solved by the following technical scheme:

the utility model provides a tire for amphibious robot, including cover tire and inner tube of a tyre, the cover tire sets up the inside at the inner tube of a tyre, the child surface of cover tire is provided with the through-hole, the through-hole is circumference evenly distributed at the child surface of cover tire, the inner tube of a tyre is provided with the mounting groove with the through-hole department of correspondence, be provided with the shifting block in the mounting groove and can release the release subassembly of through-hole with the shifting block, the lateral wall of cover tire is provided with the spoke, the center department of spoke is provided with the centre bore with external connection, the pore wall department of centre bore is provided with the slot, the inside transmission line that is provided with of spoke, transmission line and slot.

Preferably, the pushing assembly comprises a spring, an electromagnet and a magnetic block, the magnetic block is arranged to repel with the electromagnet in the same polarity when the electromagnet is activated, the electromagnet is arranged in the mounting groove, the magnetic block is arranged inside the shifting block, the magnetic block is located on one side, close to the bottom of the mounting groove, of the shifting block, the spring is arranged between the shifting block and the bottom of the mounting groove, and the shifting block is connected together in the mounting groove through the spring.

Preferably, the width of each of the magnetic block and the electromagnet is smaller than the diameter of the inner ring of the spring.

Preferably, the pushing assembly is arranged to be a pushing air chamber, the pushing air chamber is arranged between the shifting block and the bottom of the mounting groove, and the pushing air chamber is communicated with the transition pipeline.

As preferred, the groove lateral wall department of mounting groove is provided with the spacing groove, and the lateral wall department that the shifting block is located the mounting groove is provided with the stopper, and the stopper is located the spacing inslot, and the stopper can be at spacing inslot removal, guarantees that the shifting block has.

As the preferred, one side that the mounting groove was kept away from to the shifting block sets up to the toper structure, and water is stirred along the conical surface for it is more laborsaving to strike.

Preferably, the spoke and the outer tire are of an integrally formed structure, so that the stability of the tire during running is guaranteed.

Preferably, the spokes and the outer cover are formed by extrusion molding of polyurethane, and the polyurethane tire is used as a material for manufacturing the non-pneumatic tire, so that certain benefits of the tire are ensured, and the tire is not required to be inflated.

Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:

the invention arranges the shifting block in the inner tube, the outer tube is provided with a through hole, the shifting block can push the shifting block out of the through hole through the push-out component arranged in the inner tube to realize that water flow is shifted in water and the shifting block moves forwards, the center of the spoke of the tire is provided with a central hole, the hole can be connected with an external transmission shaft and can be connected with a cylinder or an electric wire through the transmission shaft to realize the push-out of the shifting block, and the tire of the invention can increase the friction force with the ground through the through hole when the shifting block is positioned in the through hole, is beneficial to driving, can smoothly move on muddy road, can push out the shifting block when moving in water or in low-lying areas, the adaptability of the tire to the ground is guaranteed when obstacles cross, and stones or sludge blocked in the through hole can be cleaned when the shifting block is pushed out, so that the service life is prolonged.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a schematic sectional view taken along line a-a of fig. 2 in example 1 of the present invention.

Fig. 4 is a schematic sectional view taken along line a-a of fig. 2 in embodiment 2 of the present invention.

The names of the parts indicated by the numerical references in the drawings are as follows: the device comprises a tire casing 1, a tire casing 2, a tire casing 3, a through hole 3, a shifting block 4, a pushing assembly 5, a spoke 6, a central hole 7, a slot 8, a transmission pipeline 9, a transition pipeline 10, a spring 11, an electromagnet 12, a magnet 13, a pushing air chamber 14, a limiting groove 15, a limiting block 16 and a mounting groove 17.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1

As shown in fig. 1, 2 and 3, the tire for amphibious robot comprises an outer tire 1 and an inner tire 2, wherein the outer tire 1 is arranged inside the inner tire 2, through holes 3 are formed in the tire surface of the outer tire 1, the through holes 3 are circumferentially and uniformly distributed on the tire surface of the outer tire 1, an installation groove 17 is formed in the position, corresponding to the through holes 3, of the inner tire 2, a shifting block 4 and a pushing assembly 5 capable of pushing the shifting block 4 out of the through holes 3 are arranged in the installation groove 17,

the lateral wall of cover tire 1 is provided with spoke 6, and spoke 6 sets up to the integrated into one piece structure with cover tire 1, and the center department of spoke 6 is provided with the centre bore 7 with external connection, and the pore wall department of centre bore 7 is provided with slot 8, and 6 inside transmission pipeline 9 that are provided with of spoke, transmission pipeline 9 and slot 8 intercommunication, the inside of inner tube 2 is provided with transition pipeline 10, and transition pipeline 10 will release subassembly 5 and transmission pipeline 9 and be connected.

The pushing-out component 5 comprises a spring 11, an electromagnet 12 and a magnetic block 13 which is set to be repellent to the same poles when the electromagnet 12 is activated, the width of the magnetic block 13 and the width of the electromagnet 12 are both smaller than the inner ring diameter of the spring 11, the electromagnet 12 is arranged in the mounting groove 17, the magnetic block 13 is arranged inside the shifting block 4, the magnetic block 13 is located on one side, close to the bottom of the mounting groove 17, of the shifting block 4, the spring 11 is arranged between the shifting block 4 and the bottom of the mounting groove 17, and the shifting block 4 is connected with the mounting groove 17 through the spring.

In addition, one side of the shifting block 4, which is far away from the mounting groove 17, is set to be in a conical structure, so that water flow can be easily shifted during underwater movement.

In this embodiment, the external transmission shaft is connected with the tire described in this embodiment through the slot 8 at the central hole 7, the electric wire penetrates through the slot 8 and the transmission pipeline 9, all the electromagnets 12 are connected in series through the transition pipeline 10, when the movement of the robot needs to be assisted by the shifting block 4, the electromagnets 12 can be activated through the electric wire, and the shifting block 4 with the magnets 13 is pushed out by the electromagnets 12 through the repulsive force; when the shifting block 4 is not needed to assist the movement of the robot, the electromagnet 12 can be powered off, and the spring 11 can pull back the shifting block; in addition, the distance of the push block 4 can be controlled by controlling the current for activating the electromagnet 12, so that the device can adapt to various terrains.

Example 2

As shown in fig. 1, 2 and 4, the tire for amphibious robot comprises an outer tire 1 and an inner tire 2, wherein the outer tire 1 is arranged inside the inner tire 2, through holes 3 are arranged on the tire surface of the outer tire 1, the through holes 3 are uniformly distributed on the tire surface of the outer tire 1 in a circumferential manner, an installation groove 17 is arranged at the position of the inner tire 2 corresponding to the through holes 3, a shifting block 4 and a pushing assembly 5 capable of pushing the shifting block 4 out of the through holes 3 are arranged in the installation groove 17,

the lateral wall of cover tire 1 is provided with spoke 6, and spoke 6 sets up to the integrated into one piece structure with cover tire 1, and the center department of spoke 6 is provided with the centre bore 7 with external connection, and the pore wall department of centre bore 7 is provided with slot 8, and 6 inside transmission pipeline 9 that are provided with of spoke, transmission pipeline 9 and slot 8 intercommunication, the inside of inner tube 2 is provided with transition pipeline 10, and transition pipeline 10 will release subassembly 5 and transmission pipeline 9 and be connected.

The pushing assembly 5 is arranged to be a pushing air chamber 14, the pushing air chamber 14 is arranged between the shifting block 4 and the bottom of the mounting groove 17, and the pushing air chamber 14 is communicated with the transition pipeline 10.

The groove lateral wall department of mounting groove 17 is provided with spacing groove 15, and the lateral wall department that shifting block 4 is located mounting groove 17 is provided with stopper 16, and stopper 16 is located spacing groove 15, and stopper 16 can remove in spacing groove 15.

This embodiment tire can set up the cylinder when using on the robot, and the cylinder inflates to promoting air chamber 14 through transmission line 9 and transition pipeline 10 for shifting block 4 can follow roll-off in through-hole 3, and has spacing groove 15 and stopper 16's existence, makes shifting block 4 have a stroke distance, can not drop, through the inflation volume of control cylinder to promoting air chamber 14, can realize controlling shifting block 4's displacement, with this adaptation different topography.

Example 3

As shown in fig. 1, fig. 2 and fig. 3, a tire for amphibious robot, including cover tire 1 and inner tube 2, cover tire 1 sets up the inside at inner tube 2, the child surface of cover tire 1 is provided with through-hole 3, through-hole 3 is circumference evenly distributed at the child surface of cover tire 1, inner tube 2 is provided with mounting groove 17 with through-hole 3 department of correspondence, be provided with shifting block 4 in the mounting groove 17 and can release pushing out subassembly 5 of through-hole 3 with shifting block 4, the lateral wall of cover tire 1 is provided with spoke 6, the center department of spoke 6 is provided with centre bore 7 with external connection, the pore wall department of centre bore 7 is provided with slot 8, the inside transmission line 9 that is provided with of spoke 6, transmission line 9 communicates with slot 8, the inside of inner tube 2 is provided with transition line 10, transition line 10 will push out subassembly 5 and transmission line.

The pushing-out assembly 5 comprises a spring 11, an electromagnet 12 and a magnetic block 13 which is arranged to be repellent to the like poles when the electromagnet 12 is activated, the electromagnet 12 is arranged in the mounting groove 17, the magnetic block 13 is arranged inside the shifting block 4, the magnetic block 13 is located on one side, close to the bottom of the mounting groove 17, of the shifting block 4, the spring 11 is arranged between the shifting block 4 and the bottom of the mounting groove 17, the shifting block 4 is connected together through the spring 11 in the mounting groove 17, and the widths of the magnetic block 13 and the electromagnet 12 are smaller than the diameter of an inner ring of the spring 11.

One side of the shifting block 4 far away from the mounting groove 17 is provided with a conical structure.

In addition, the spokes 6 and the tire casing 1 are integrally formed, and the spokes 6 and the tire casing 1 are formed by polyurethane extrusion.