阅读说明：本技术 作业机器人 (Working robot ) 是由 吴凤岐 陈少南 李志� 邓志燕 于 2021-06-09 设计创作，主要内容包括：本发明涉及一种作业机器人,包括：移动底盘、车体、机械臂,以及用于连接不同工具头的快换接头；车体设置在移动底盘上,机械臂的一端与车体连接,机械臂的另一端与快换接头连接。本申请提供的上述方案,由于机械臂上安装有快换接头,当需要更换作业工具时,只需要控制快换接头工作,在快换接头打开时就可以拆卸掉原来的作业工具,然后通过机械臂带动快换接头移动到另一种作业工具上,以使得快换接头与另一种作业工具连接在一起,此时使得快换接头与作业工具固定,从而就完成了作业工具的更换,整个更换工具头的过程省时省力,提高了工作效率。(The invention relates to a working robot comprising: the quick-change tool comprises a movable chassis, a vehicle body, a mechanical arm and quick-change connectors for connecting different tool heads; the automobile body sets up on removing the chassis, and the one end and the automobile body coupling of arm, the other end and the quick change coupler of arm are connected. The above-mentioned scheme that this application provided, because install quick change coupler on the arm, when needs change the operation instrument, only need control quick change coupler work, just can dismantle original operation instrument when quick change coupler is opened, then drive the quick change coupler through the arm and remove to on another kind of operation instrument, so that quick change coupler links together with another kind of operation instrument, make quick change coupler and operation instrument fixed this moment, thereby the change of operation instrument has just been accomplished, the whole process labour saving and time saving of changing the instrument head, and the work efficiency is improved.)

1. A working robot, characterized by comprising: the tool head comprises a mobile chassis (20), a vehicle body (30), a mechanical arm (40) and a quick-change connector (50) for connecting different tool heads;

the vehicle body (30) is arranged on the movable chassis (20), one end of the mechanical arm (40) is connected with the vehicle body (30), and the other end of the mechanical arm (40) is connected with the quick-change connector (50).

2. A working robot according to claim 1, characterized in that the moving chassis (20) is provided with a plurality of hydraulic legs (201).

3. A working robot according to claim 2, characterized in that the end of the hydraulic leg (201) remote from the moving chassis (20) is provided with a skid pad.

4. A working robot according to claim 1, characterized in that a plurality of deforming wheels (10) are provided on the moving chassis (20), the deforming wheels (10) having a first and a second kinematic configuration, in which first kinematic configuration the deforming wheels (10) are in a circular state; when in the second motion configuration, the deforming wheel (10) is in a polygonal state.

5. A working robot according to claim 4, characterized in that the deforming wheel (10) comprises a drive mechanism, a transmission mechanism and a wheel body mechanism;

the driving mechanism comprises a triangular wheel driving piece (110) and a round wheel driving piece (120) which are arranged at intervals; the transmission mechanism comprises a transmission shaft (210) and a first transmission assembly, the transmission shaft (210) is connected with the triangular wheel driving part (110), and the first transmission assembly is connected with the transmission shaft (210); the wheel body mechanism comprises a triangular plate (310) connected to the round wheel driving part (120), a telescopic driving part (320) installed on the triangular plate (310) and a crawler belt (330) connected to the triangular plate (310), and the crawler belt (330) is connected with the first transmission assembly;

when the deformation wheel (10) is in a first motion structure, the crawler belt (330) is in a circular state, the circular wheel driving part (120) works, the circular wheel driving part (120) drives the crawler belt (330) to synchronously rotate through the triangular plate (310), and the crawler belt (330) drives the transmission shaft (210) to synchronously rotate through the first transmission assembly;

when the deformation wheel (10) is in the second motion structure, the crawler belt (330) is in a triangular state, the telescopic driving piece (320) jacks up the crawler belt (330), the triangular wheel driving piece (110) works, the triangular wheel driving piece (110) drives the first transmission assembly to rotate through the transmission shaft (210), and the first transmission assembly is in meshing transmission with the crawler belt (330).

6. A working robot according to claim 5, characterized in that the transmission mechanism further comprises a second transmission assembly arranged spaced apart from the first transmission assembly, the second transmission assembly comprising a first driving toothed ring (231) connected to the circular wheel drive (120) and a first driven toothed ring (232) in meshing transmission with the first driving toothed ring (231), the first driven toothed ring (232) being connected to the cam plate (310).

7. A working robot according to claim 6, characterized in that a connecting rod is mounted on the first driven gearwheel (232), by means of which connecting rod the first driven gearwheel (232) can be connected to the transmission shaft (210) for rotating the transmission shaft (210) when the endless track (330) is in the circular position.

8. A working robot according to claim 6, characterized in that the second transmission assembly comprises a driving ring gear (221) being fixedly connected to the transmission shaft (210), a second driving ring gear (222) in mesh transmission with the driving ring gear (221), and a second driven ring gear (223) in mesh transmission with the second driving ring gear (222), the second driven ring gear (223) in mesh transmission with the crawler belt (330).

9. A working robot according to claim 8, characterized in that the second transmission assembly further comprises at least two third driven gear rings (224) in meshing transmission with the second driven gear ring (223) and a chain (225) tensioned to the at least two third driven gear rings (224), the chain (225) being in meshing transmission with the track (330).

10. A working robot according to claim 5, characterized in that the wheel body mechanism further comprises a plurality of arc-shaped support plates (350), each arc-shaped support plate (350) having one end connected to the telescopic driver (320) and the other end abutting against the crawler belt (330), the first transmission assembly serving as a fulcrum for the arc-shaped support plate (350).

Technical Field

The invention relates to the technical field of robots, in particular to an operating robot.

Background

In a nuclear power plant or other work site environment, concrete blocks, steel bars, and solid wastes with large volume and heavy weight are often present in the work site, and at this time, an engineering machine is required to work on the objects, so that the objects are convenient to process and the next work can be carried out.

Traditional engineering machinery such as an excavator can only carry one kind of work tool to work once, when carrying out other work, need dismantle the instrument head on the engineering machinery through external force, then install another kind of work tool, the time spent is long, and work efficiency is low.

Disclosure of Invention

Based on this, a working robot is provided to solve at least one of the drawbacks of the prior art.

The invention provides a working robot comprising: the quick-change tool comprises a movable chassis, a vehicle body, a mechanical arm and quick-change connectors for connecting different tool heads;

the vehicle body is arranged on the movable chassis, one end of the mechanical arm is connected with the vehicle body, and the other end of the mechanical arm is connected with the quick-change connector.

Above-mentioned work robot, because install quick-change coupler on the arm, when needs change the operation instrument, only need control quick-change coupler work, just can dismantle original operation instrument when quick-change coupler is opened, then drive quick-change coupler through the arm and remove to on another kind of operation instrument, so that quick-change coupler links together with another kind of operation instrument, make quick-change coupler and operation instrument fixed this moment, thereby just accomplished the change of operation instrument, whole change tool head's process labour saving and time saving, and the work efficiency is improved.

In one embodiment, the movable chassis is provided with a plurality of hydraulic legs.

In one embodiment, the end of the hydraulic leg, which is far away from the moving chassis, is provided with a non-slip mat.

In one embodiment, a plurality of deformation wheels are arranged on the moving chassis, each deformation wheel is provided with a first movement structure and a second movement structure, and the deformation wheels are in a circular state when in the first movement structure; when in the second motion configuration, the deformable wheel is in a polygonal state.

In one embodiment, the deformation wheel comprises a driving mechanism, a transmission mechanism and a wheel body mechanism;

the driving mechanism comprises a triangular wheel driving piece and a round wheel driving piece which are arranged at intervals; the transmission mechanism comprises a transmission shaft and a first transmission assembly, the transmission shaft is connected with the triangular wheel driving part, and the first transmission assembly is connected with the transmission shaft; the wheel body mechanism comprises a triangular plate connected with the round wheel driving part, a telescopic driving part arranged on the triangular plate and a crawler connected with the triangular plate, and the crawler is connected with the first transmission assembly;

when the deformation wheel is in a first motion structure, the crawler belt is in a circular state, the circular wheel driving piece works, the circular wheel driving piece drives the crawler belt to synchronously rotate through the triangular plate, and the crawler belt drives the transmission shaft to synchronously rotate through the first transmission assembly;

when the deformation wheel is in the second motion structure, the crawler belt is in a triangular state, the telescopic driving piece jacks up the crawler belt, the triangular wheel driving piece works, the triangular wheel driving piece drives the first transmission assembly to rotate through the transmission shaft, and the first transmission assembly is in meshing transmission with the crawler belt.

In one embodiment, the transmission mechanism further comprises a second transmission assembly arranged at a distance from the first transmission assembly, the second transmission assembly comprises a first driving gear ring connected to the circular wheel driving piece and a first driven gear ring in meshing transmission with the first driving gear ring, and the first driven gear ring is connected with the triangle.

In one embodiment, a connecting rod is mounted on the first driven gear ring, and when the crawler belt is in a circular state, the first driven gear ring can be connected with the transmission shaft through the connecting rod to drive the transmission shaft to rotate.

In one embodiment, the second transmission assembly comprises a transmission gear ring fixedly connected to the transmission shaft, a second driving gear ring in meshing transmission with the transmission gear ring, and a second driven gear ring in meshing transmission with the second driving gear ring, and the second driven gear ring is in meshing transmission with the crawler.

In one embodiment, the second transmission assembly further comprises at least two third driven gear rings in meshing transmission with the second driven gear ring and a chain tensioned to the at least two third driven gear rings, the chain being in meshing transmission with the track.

In one embodiment, the wheel body mechanism further comprises a plurality of arc-shaped supporting plates, one end of each arc-shaped supporting plate is connected with the telescopic driving piece, the other end of each arc-shaped supporting plate is abutted against the crawler, and the first transmission assembly serves as a fulcrum of the arc-shaped supporting plate.

Drawings

Fig. 1 is a schematic structural diagram of a working robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the deformation wheel of FIG. 1;

FIG. 3 is a cross-sectional view of FIG. 2;

FIG. 4 is yet another schematic view of FIG. 2;

FIG. 5 is another schematic view of FIG. 2;

FIG. 6 is a schematic view of the internal structure of FIG. 2;

FIG. 7 is a schematic view of the deforming wheel of FIG. 1 in a circular state;

FIG. 8 is a schematic view of the deforming wheel of FIG. 1 in a polygonal state;

FIG. 9 is a schematic view of the quick-change coupler of FIG. 1;

FIG. 10 is a schematic view of the tool head of FIG. 1;

fig. 11 is a schematic view of the hydraulic leg of fig. 1 after opening.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As shown in fig. 1 in combination with fig. 9, in an embodiment of the present invention, there is provided an operation robot including: the tool head comprises a moving chassis 20, a vehicle body 30, a mechanical arm 40 and a quick-change connector 50 for connecting different tool heads, wherein the vehicle body 30 is arranged on the moving chassis 20, one end of the mechanical arm 40 is connected with the vehicle body 30, and the other end of the mechanical arm 40 is connected with the quick-change connector 50.

By adopting the technical scheme, because the quick-change connector is installed on the mechanical arm, when the operation tool needs to be replaced, only the quick-change connector needs to be controlled to work, the original operation tool can be detached when the quick-change connector is opened, then the quick-change connector is driven to move to another operation tool through the mechanical arm, so that the quick-change connector is connected with the other operation tool, at the moment, the quick-change connector is fixed with the operation tool, the replacement of the operation tool is completed, the time and labor are saved in the whole process of replacing the tool head, and the working efficiency is improved.

The quick-change connector is provided with a connecting shaft, inserting holes matched with the connecting shaft are formed in various different tool heads, and the connecting shaft can move through hydraulic control or electric control, so that the connecting shaft on the quick-change connector can be easily and quickly inserted into the inserting holes in the different tool heads to complete connection and be convenient to disassemble and fix.

In some embodiments, as shown in fig. 1, the working robot in the present application further includes a tool head 60 connected to the quick-change coupler 50, as shown in (a), (b), and (c) of fig. 10, the tool head 60 includes hydraulic shears, hydraulic claws, and hydraulic hammers, so that the tool head has various types of working tools for grabbing, shearing, breaking, and the like, and can work on concrete, steel bars, and massive solid waste in a working site, and the application range is greatly improved.

It should be noted that the structure type of the tool head in the embodiment of the present application is only an example, and in other alternatives, other structures may be adopted, for example, the tool head further includes a bucket. The specific type of construction of the tool head is not particularly limited in this application, so long as the above-described construction achieves the objectives of the present application.

In some embodiments, as shown in fig. 11, a plurality of hydraulic legs 201 are provided on the moving chassis 20, and a non-slip pad is provided at an end of each hydraulic leg 201 away from the moving chassis 20.

This application has increased hydraulic leg on removing the chassis, when carrying out the operation, hydraulic leg supports subaerial, will warp the wheel unsettledly, has both improved the stability that whole deformation wheel removed the chassis, can effectively avoid again to remove the engineering vehicle that carries on the chassis and cause the damage to warping the wheel when the operation, simultaneously, when hydraulic leg supports subaerial, slipmat and the ground contact on the hydraulic leg further can improve the stability on whole removal chassis.

In some embodiments, as shown in fig. 1, a plurality of deforming wheels 10 are disposed on the moving chassis 20, and the deforming wheels 10 have a first moving structure and a second moving structure, and in the first moving structure, the deforming wheels 10 are in a circular state; in the second kinematic configuration, the deforming wheel 10 assumes a polygonal shape.

Specifically, as shown in fig. 2 in combination with fig. 3 and 4, the deforming wheel 10 in the present application includes a driving mechanism, a transmission mechanism, and a wheel body mechanism; the driving mechanism comprises a triangular wheel driving element 110 and a round wheel driving element 120 which are arranged at intervals; the transmission mechanism comprises a transmission shaft 210 and a first transmission assembly, the first transmission assembly can select a transmission gear, the transmission shaft 210 is connected with the triangular wheel driving part 110, and the first transmission assembly is connected with the transmission shaft 210; the wheel body mechanism comprises a triangular plate 310 connected with the round wheel driving part 120, a telescopic driving part 320 arranged on the triangular plate 310 and a crawler belt 330 connected with the triangular plate 310, and the crawler belt 330 is connected with the first transmission component;

as shown in fig. 7, when the transformable wheel 10 is in the first movement configuration, the track 330 is in a circular state, the circular wheel driving member 120 operates, the circular wheel driving member 120 drives the track 330 to rotate synchronously through the triangle plate 310, and the track 330 drives the transmission shaft 210 to rotate synchronously through the first transmission assembly;

as shown in fig. 8, when the deformed wheel 10 is in the second motion configuration, the track 330 is in a triangular shape, the telescopic driving member 320 jacks up the track 330, the triangular wheel driving member 110 operates, the triangular wheel driving member 110 drives the first transmission assembly to rotate through the transmission shaft 210, and the first transmission assembly is in meshing transmission with the track 330.

Specifically, when the track 330 is in a circular state, the triangular wheel drive 110 stops operating and the circular wheel drive 120 rotates. Since the circular wheel driving member 120 is connected to the triangle plate 310, the triangle plate 310 is driven to rotate, and the caterpillar 330 is connected to the triangle plate 310, and thus can move circularly under the driving of the triangle plate 310. Since the caterpillar 330 is connected with the first transmission assembly, the first transmission assembly can be driven to rotate synchronously. Because the first transmission assembly and the crawler 330 rotate in the same direction, the crawler 330 cannot be separated from the triangular plate 310 or the first transmission assembly, so that the transmission stability is ensured, and the moving reliability of the wheel body is improved; and, because whole wheel body and first transmission assembly rotate as a whole synchronization for the circular wheel has higher translation rate, and the wheel that warp this moment can be fast from the place of origin high-speed removal to the operation scene, so the time saving cost greatly improves the availability factor. After the crawler belt reaches the operation site, the telescopic driving pieces 320 uniformly distributed on the deformation wheels are ejected out simultaneously, so that the crawler belt 330 is in a triangular state. When the track 330 is in the triangular state, the circular wheel driving unit 120 stops working, the triangular plate 310 does not rotate relative to the transmission shaft 210, the triangular wheel driving unit 110 transmits power to the first transmission assembly through the transmission shaft 210, and the track 330 moves relative to the triangular plate 310 through the meshing transmission of the first transmission assembly and the track 330, so as to realize walking. After the crawler 330 is changed into a triangular shape, the contact area with the ground is increased, so that the deformation wheel can be suitable for special operation occasions such as slope roads and stairs with certain angles, and at the moment, the crawler 330 has the best ground gripping force and small ground pressure, and can meet the operation requirements of complex sites. Because track 330 is when circular state and triangle-shaped state, by solitary driving piece drive, this kind of difference control can not appear switching the card on the scheduling problem, and the walking of two kinds of wheels is controlled respectively to direct effectual, and the structure is more simple, and more accurate effective, and the fault error rate can be lower in the appearance for the removal of deformation wheel is safe and reliable more.

In some embodiments, as shown in fig. 3, the transmission mechanism of the present application further includes a second transmission assembly spaced apart from the first transmission assembly, one end of the second transmission assembly is connected to the output shaft of the circular wheel driving member 120, and the other end of the second transmission assembly is connected to the triangle 310. Thus, when the circular wheel driving member 120 works, the power can be transmitted to the triangle 310 through the second transmission assembly, so as to improve the stability of power transmission.

Specifically, the second transmission assembly includes a first driving gear ring 231 connected to the circular wheel driving member 120 and a first driven gear ring 232 in meshing transmission with the first driving gear ring 231, the first driven gear ring 232 is connected to the triangle 310, and the circular wheel driving member 120 may be a hydraulic motor, which has a braking function. When the hydraulic motor is operated, the first driving gear 231 and the first driven gear 232 drive the triangle plate 310 to rotate, and further drive the caterpillar 330 to move. The second transmission assembly may further include a fourth ring gear 233 in meshing engagement with the first driven ring gear 232, the fourth ring gear 233 being connected to the set square 310. Because gear drive has the advantage that power range is big, transmission efficiency is high and the structure size is little, carries out power transmission through setting up a plurality of meshing driven ring gears, guarantees higher transmission precision, guarantees the stability when track 330 moves with circular state.

In some embodiments, a connecting rod (not shown) is mounted on the first driven gear ring 232, a corresponding insertion hole is provided on the transmission shaft 210, and the first driven gear ring 232 is connected with a piston rod of the cylinder. When the caterpillar 330 is in a circular state, the cylinder drives the first driven gear ring 232 to move rightwards, the connecting rod of the first driven gear ring 232 is correspondingly inserted into the inserting hole in the transmission shaft 210, and the first driven gear ring 232 is connected with the transmission shaft 210 through the connecting rod. Therefore, when the circular wheel driving member 120 transmits power to the first driven gear ring 232, the first driven gear ring 232 drives the transmission shaft 210 to synchronously rotate, and the transmission shaft 210 drives the first transmission assembly to rotate in the same direction. That is, when the circular wheel driving member 120 drives the track 330 to rotate clockwise through the triangle 310, the transmission shaft 210 and the first transmission assembly rotate clockwise in the same direction, so that the whole deforming wheel does not rotate relatively and is in a whole motion, and the track 330 travels in a circular state.

In some embodiments, as shown in fig. 2, the transformable wheel 10 further includes a housing 400, and the circular wheel driving member 120, the triangular wheel driving member 110 and the first transmission assembly are all installed in the housing 400, so that the installation space is saved, the structure is compact, the volume of the transformable wheel is reduced, and the transformable wheel is suitable for a work site with smaller space. Because driving piece and first transmission assembly install in casing 400 to avoid taking place the scraping with the barrier in operation place, influence driven stability, be convenient for mobile robot safer effectual current and operation, and reduced the maintenance cost.

In some embodiments, as shown in fig. 5 in combination with fig. 6, the second transmission assembly of the present application includes a driving ring gear 221 fixedly connected to the transmission shaft 210, a second driving ring gear 222 in meshing transmission with the driving ring gear 221, and a second driven ring gear 223 in meshing transmission with the second driving ring gear 222, wherein the second driven ring gear 223 is in meshing transmission with the track 330. When the track 330 is in the triangular state, the triangular plate 310 and the telescopic driving member 320 mounted on the triangular plate 310 stop rotating and the triangular wheel driving member 110 operates because the circular wheel driving member 120 stops operating. In this state, the movement of the crawler 330 is realized by the mesh transmission between the ring gears.

Specifically, the triangular wheel driving member 110 drives the transmission gear ring 221 to rotate through the transmission shaft 210, the transmission gear ring 221 is in meshing transmission with the second driving gear ring 222, and under the power transmission of the second driving gear ring 222 and the second driven gear ring 223, the crawler 330 rotates in a different direction relative to the second driven gear ring 223, so that the crawler 330 moves. Power transmission is performed by arranging a plurality of gear rings in meshing transmission, so that high transmission precision is guaranteed, and stability of the crawler 330 in a triangular state during operation is guaranteed. In other embodiments, the second driving assembly may also include a driving ring gear 221 fixed to the driving shaft 210, a driving sprocket and a driven sprocket engaged with the driving ring gear 221, and a chain 225 tensioned between the driving sprocket and the driven sprocket, wherein the chain 225 is engaged with the track 330, and the track 330 is driven by the chain 225 to move in a triangular state.

In some embodiments, as shown in fig. 6, the second transmission assembly of the present application may further include at least two third driven ring gears 224 in meshing transmission with the second driven ring gear 223 and a chain 225 tensioned to the at least two third driven ring gears 224, the chain 225 in meshing transmission with the track 330. When the caterpillar 330 is in a triangular state, the caterpillar 330 can be driven to move through chain transmission, so that the caterpillar 330 is prevented from slipping, and when the caterpillar 330 is far away from the transmission shaft 210, motion and power can be transmitted, and the moving reliability of the caterpillar 330 is guaranteed. In another embodiment, the second driving assembly may include a sprocket coaxially rotating with the second driven ring gear 223, the sprocket being in meshed connection with the track 330, such that the movement of the track 330 in the triangular state is achieved by the engagement of the sprocket with the track 330.

In some embodiments, as shown in fig. 4 in combination with fig. 6, the wheel mechanism of the present application further includes a plurality of mounting plates 340 uniformly distributed along the circumferential direction, wherein the gear shafts of the driving gear ring 221, the second driving gear ring 222 and the second driven gear ring 223 can penetrate through the mounting plates 340 and are fixedly connected to the mounting plates 340. Specifically, the position for fixing the gear shaft appears in a cross shape. Through the fixed position with the gear to prevent that track 330 from taking place the dislocation because the gear bearing leads to the position of gear at the in-process that removes, avoid influencing track 330 stability and the reliability of operation under the triangle-shaped state.

In some embodiments, as shown in fig. 4 in combination with fig. 6, the wheel mechanism of the present application further includes a plurality of arc-shaped support plates 350 distributed along the circumferential direction, one end of each arc-shaped support plate 350 is connected to the telescopic driving member 320, the other end is abutted to the track 330, and the mounting plate 340 serves as a fulcrum for the arc-shaped support plate 350, so that the arc-shaped support plates 350 present a lever structure. That is, when the telescopic driving member 320 is ejected in a direction close to the track 330, the other end of the arc support plate 350, which is far from the telescopic driving member 320, is retracted in a direction close to the transmission shaft 210, the track 330, which abuts against the arc support plate 350, is displaced synchronously, and assumes an approximately triangular state, the telescopic driving member 320 extends out of three vertexes forming a triangle, and the retracted portion, which is located between the telescopic driving members 320, forms three sides of the triangle. By this design, the overall length of the track 330 remains constant and can be converted from a triangular to a circular configuration. In other embodiments, the track 330 may be a rubber track 330 having elasticity. As such, when the telescopic driving member 320 is extended, it is elastically deformed by the caterpillar 330 to satisfy the deformation requirement. The telescopic driving member 320 may be a deformation cylinder, and the deformation of the caterpillar 330 is realized by the extension and retraction of the cylinder rod.

Further, as shown in fig. 5, the wheel body mechanism of the present application further includes a plurality of bearing wheels 360 distributed at intervals along the circumferential direction, each bearing wheel 360 abuts against the track 330, and each bearing wheel 360 is disposed between two adjacent arc-shaped supporting plates 350. When the wheels are changed into triangles or circles, the shape of the wheels needs to be stable and unchanged, accidents cannot occur in the walking process, and if the shape of the wheels is changed accidentally, the robot can be possibly subjected to walking dysfunction or damage, so that the crawler belt 330 is supported by arranging the bearing wheels 360, the arc-shaped supporting plates 350, the mounting plate 340 and the like, accidents caused by accidental deformation cannot occur when the wheels are driven in a certain state, and the stability of the deformation wheels is greatly improved. When the telescopic driving member 320 is ejected, the triangular wheel is fixed by the limiting action of the arc-shaped supporting plate 350, the bearing wheel 360 and the mounting plate 340 and is not deformed, so that the telescopic driving member is safer and more stable. The conversion between the two shapes is quick and effective, and the jamming can not occur.

When the crawler belt 330 is in a circular state and travels at a high speed, only the round wheel driving member 120 rotates in the deformed wheel 10. The circular wheel driving member 120 drives the triangular plate 310 to rotate through the first driving gear ring 231 and the first driven gear ring 232, and then drives the crawler 330 connected with the triangular plate 310 to rotate synchronously, and the deformation wheel can be rapidly moved to an operation site from an initial place at a high speed, so that the time and cost are greatly saved, and the use efficiency is improved. After the crawler belt 330 reaches the operation site, the telescopic driving pieces 320 uniformly distributed on the deformation wheels are ejected out at the same time, the telescopic driving pieces 320 eject three points of the crawler belt 330 to form vertexes, and under the lever action of the arc-shaped supporting plate 350 and the mounting plate 340, the part between the telescopic driving pieces 320 retracts to form three sides of a triangle, so that the crawler belt 330 is in a triangular state. When the crawler 330 is in the triangular state, the circular wheel driving element 120 stops, the triangular wheel driving element 110 acts, the triangular wheel driving element 110 transmits power to the second driving gear ring 222 and the second driven gear ring 223 through the transmission shaft 210 and the transmission gear ring 221 fixedly connected to the transmission shaft 210, further, the triangular state walking is realized through the meshing transmission of the third driven gear ring 224 and the crawler 330, and the stability of the crawler 330 running in the triangular state is ensured through the supporting function of the arc-shaped supporting plate 350, the bearing wheel 360 and the mounting plate 340. After the crawler 330 is changed into a triangular shape, the contact area with the ground is increased, so that the deformation wheel can be suitable for special operation occasions such as slope roads and stairs with certain angles, and at the moment, the crawler 330 has the best ground gripping force and small ground pressure, and can meet the operation requirements of complex sites. Because track 330 is when circular state and triangle-shaped state, by solitary driving piece drive, this kind of difference control can not appear switching the card on the scheduling problem, and the walking of two kinds of wheels is controlled respectively to direct effectual, and the structure is more simple, and more accurate effective, and the fault error rate can be lower in the appearance for the removal of deformation wheel is safe and reliable more.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.