CN109911042A - A kind of wheel shoe composite deformation wheel with protective device - Google Patents
A kind of wheel shoe composite deformation wheel with protective device Download PDFInfo
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- CN109911042A CN109911042A CN201910086298.5A CN201910086298A CN109911042A CN 109911042 A CN109911042 A CN 109911042A CN 201910086298 A CN201910086298 A CN 201910086298A CN 109911042 A CN109911042 A CN 109911042A
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- elastic webbing
- wheel
- fixation kit
- extending arm
- protective device
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Abstract
The invention discloses a kind of, and the wheel with protective device carries out composite deformation wheel, includes protective device including variable diameter main wheel and the deformed caterpillar structure being covered on variable diameter main wheel, variable diameter main wheel；Variable diameter main wheel includes fixation kit, extension assembly and driving assembly, the second state that extension assembly has the first state collapsed and relatively fixed component is unfolded under driving assembly effect；Extension assembly includes extending arm, and wherein protective device includes the second elastic webbing for connecting the first elastic webbing on extending arm top and fixation kit top and being connected between extending arm lower part and fixation kit lower part；Variable diameter main wheel includes the protective plate that fixation kit two sides are arranged in; the distance between the width of first elastic webbing and second elastic webbing and two protective plates are adapted; first elastic webbing, second elastic webbing and protective plate form closed barrier space; to protect driving assembly, the sundries in operational process is avoided to damage driving assembly.
Description
Technical field
The present invention relates to robot running gear technical fields more particularly to a kind of wheel with protective device to carry out compound change
Shape wheel.
Background technique
The transmission system of wheeled mobile robot is relatively easy, and energy utilization rate is high, can high speed, stablize, flexible fortune
Row is in flatter road surface landform, but landform adaptability is poor, and obstacle climbing ability is limited.Caterpillar mobile robot lands area
It is larger, traveling can be stablized on larger gully or the rugged ground of larger protrusion, have preferable environmental suitability and obstacle detouring steady
It is qualitative, but its movement speed is lower, and steering behaviour is also poor.
It is considered as the most suitable operational mode of mobile robot that wheel, which carries out Combined robot, in flatter hard ground
It is upper to use wheel type mobile form, uneven ground (gully, rubble rubble, weeds) and soft terrain or need climbing,
It is switched to crawler type when obstacle detouring (step, stair), so that robot still can quickly, flexibly lead in various complex environments
It crosses.
Only with a set of coupled reconstruction mechanism, structure is simple and compact for wheel/caterpillar structure-variable (deformation wheel) robot, can be quick
Wheeled and crawler-type traveling switching is completed, robot miniaturization, light-weight design are conducive to.
Galileo mobile company, Italy shows unique characteristics in the research of deformation wheel, and patent is disclosed in April, 2003,
The structural core be a variable perimeter resilient track and one can make crawler belt deform structure changes device, structure changes device by
Two symmetrical, with swing arm four-bar mechanisms are constituted.When implementation, structure changes device is connected on traveling wheel, wheeled
Resilient track is in contraction state when mode operation, with the walking of traveling wheel radius, and passes through structure changes device machine when crawler belt mode
Structure struts crawler belt for triangle, and front and back swing arm becomes the thrust wheel and directive wheel of robot, will not before and after the radius of traveling wheel
It changes.
Machine is investigated in release in 2007 by buying above-mentioned patent by Ai Er bit company, Israel (Elbit Systems)
People Viper.After this, Beijing Institute of Technology, Harbin Institute of Technology, south China science and engineering, Shenzhen Xianjin Technology Academe, Tianjin science and engineering, state
A lot of research work has all been done on the basis of publication by the domestic institutions such as anti-University of Science and Technology, wheel/shoe converting means of most model machines and
Walking transmission mechanism (gear) is mounted on inside wheel, considers the state of double leval jib structure changes device expansion, the poles such as dust, sandstone
Easily enter wheel, causes transmission clamping stagnation and damage.The main direction of studying of the studies above mechanism concentrate on resilient track structure,
Travel driving unit structure and wheel/shoe converting means structure are expanded, and do not propose targetedly measure to the above problem.
Summary of the invention
For overcome the deficiencies in the prior art, it is an object of the invention to a kind of, and the wheel with protective device carries out composite deformation
Wheel, the protective plate shape using the first elastic webbing and second elastic webbing being connected between fixation kit and extension assembly, with two sides
At closed barrier space, prevent sundries from entering driving assembly position；And utilize first elastic webbing and second elastic webbing
Elasticity makes extension assembly when in the first state collapsed or in the second state of expansion, first elastic webbing and the second bullet
Property band can with protective plate on the inside of be bonded, the side wall of first elastic webbing and second elastic webbing as barrier space, can suitably stretch or
It shrinks, to meet the use demand of extension assembly, while guaranteeing the closure in barrier space.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of wheel with protective device carries out composite deformation wheel, including variable diameter main wheel and is covered on the variable diameter main wheel
Deformed caterpillar structure, the variable diameter main wheel includes protective device；
The variable diameter main wheel includes fixation kit, the extension assembly and driving group that the fixation kit two sides are arranged in
Part, the extension assembly have the first state collapsed and the relatively described fixation kit expansion under the driving component effect
The second state；The extension assembly includes extending arm, wherein
The protective device include connect the first elastic webbing on the extending arm top and the fixation kit top with
And it is connected to the second elastic webbing between the extending arm lower part and the fixation kit lower part；
The variable diameter main wheel includes the protective plate that the fixation kit two sides are arranged in, the first elastic webbing and described
The distance between the width of two elastic webbings and two described protective plates are adapted, the first elastic webbing, the second elastic webbing
And the protective plate forms closed barrier space, the driving component is located in the barrier space.
Preferably, the quantity of the first elastic webbing is one, and both ends are connected with two extending arms respectively, described
The middle part of first elastic webbing is connected with the top of the fixation kit.
Further, the fixation kit includes fixed plate, the first fixed column that the fixed plate top is arranged in, described
The middle part of first elastic webbing offsets or is fixedly connected with first fixed column；
Preferably, the quantity of the first elastic webbing be two, one end is connected with the extending arm, the other end with it is described
The top of fixation kit is connected.
Further, the fixation kit includes fixed plate, the first fixed column that the fixed plate top is arranged in, described
One end of first elastic webbing is connected with the extending arm, and the other end is fixedly connected with first fixed column.
Preferably, the inside of the extending arm be equipped with sliding slot, the first elastic webbing connect with the extending arm one
End is equipped with fixture block, and the fixture block is embedded in the sliding slot and moves along the sliding slot.
Preferably, the quantity of the second elastic webbing be one, the both ends of the second elastic webbing with the extending arm
Lower part be connected, the centre of the second elastic webbing is connected with the lower part of the fixation kit.
Further, the fixation kit includes fixed plate, the second fixed column that the fixed plate lower part is arranged in；
The end of the extending arm is equipped with the first mounting groove, and the both ends of the second elastic webbing are respectively equipped with installation part, institute
Installation part is stated to be respectively embedded into first mounting groove of two extending arm ends；
The middle part of the second elastic webbing offsets or is fixedly connected with second fixed column.
Preferably, the quantity of the second elastic webbing is two, one end of the second elastic webbing and the extending arm
Lower part is connected, and the other end is connected with the lower part of the fixation kit.
Further, the fixation kit includes fixed plate, the second fixed column that the fixed plate lower part is arranged in；
The end of the extending arm is equipped with the first mounting groove, and second fixed column is equipped with the second mounting groove, and described the
The both ends of two elastic webbings are respectively equipped with installation part, and the installation part is respectively embedded into first mounting groove and second mounting groove
In.
The above and other purposes of the present invention, feature, advantage by by following specific embodiment and attached drawing into
One step is clear.
Detailed description of the invention
Fig. 1 is that the deformation wheel of the embodiment of the present invention is in the structural schematic diagram of rounding state；
Fig. 2 is that the deformation wheel of the embodiment of the present invention is in the structural schematic diagram of unfolded state；
Fig. 3 is the schematic diagram of internal structure of the deformation wheel of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the variable diameter main wheel of the embodiment of the present invention, wherein extension assembly is in the first shape collapsed
State；
Fig. 5 is the structural schematic diagram of the variable diameter main wheel of the embodiment of the present invention, wherein extension assembly is in the second shape of expansion
State；
Fig. 6 is the structural schematic diagram of the extending arm of the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the fixture block of the embodiment of the present invention；
In figure: 10, variable diameter main wheel；11, protective plate；12, traveling wheel gear ring；13, gear-driven assembly；
20, deformed caterpillar structure；
30, protective device；31, first elastic webbing；311, fixture block；312, hard strip；32, second elastic webbing；321, pacify
Piece installing；
40, fixation kit；41, fixed plate；42, the first fixed column；421, locating slot；43, the second fixed column；431, second
Mounting groove；44, third fixed column；45, the 4th fixed column；46, mounting post；
50, extension assembly；51, extending arm；52, the first extending part；53, the second extending part；54, main wheel；55, jockey pulley；56,
Installation set；561, the first mounting groove；57, sliding slot；57, it is open；
60, driving assembly；61, push-rod assembly；611, fixing end；612, movable end；62, link assembly；621, first connects
Bar；622, second connecting rod.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
In the description of the present invention, it should be noted that " transverse direction ", " vertical if any term " center " for the noun of locality
To ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top",
The indicating positions such as "bottom", "inner", "outside", " clockwise ", " counterclockwise " and positional relationship are orientation based on the figure or position
Relationship is set, the narration present invention is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It constructs and operates with specific orientation, with particular orientation, should not be understood as limiting specific protection scope of the invention.
In addition, being used for description purposes only if any term " first ", " second ", it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating technical characteristic." first " is defined as a result, " second " feature can be expressed or implicit include
One or more this feature, in the present description, " several " are meant that two or more, unless otherwise clearly having
The restriction of body.
In the present invention, except as otherwise clear stipulaties and restriction, should make if any term " assembling ", " connected ", " connection " term
Broad sense goes to understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It is also possible to mechanical connect
It connects；It can be directly connected, be also possible to be connected by intermediary, can be and be connected inside two elements.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Referring to Fig. 1 to Fig. 7 of attached drawing, the wheel with protective device of embodiment according to the present invention carries out composite deformation wheel will
It is elucidated in following description, the first elastic webbing being provided between fixation kit and extension assembly and the second elasticity
Band and the protective plate of two sides solve the problems, such as that existing wheel carries out composite deformation wheel easily into sandstone, form closed barrier space,
Protect the driving assembly being located in barrier space.
If attached drawing 1 is to shown in Fig. 5, a kind of wheel with protective device carries out composite deformation wheel, including variable diameter main wheel 10 and
The deformed caterpillar structure 20 being covered on the variable diameter main wheel 10, which is characterized in that the variable diameter main wheel 10 includes protective device
30；
The variable diameter main wheel 10 include fixation kit 40, be arranged in 40 two sides of fixation kit extension assembly 50 and
Driving assembly 60, the extension assembly 50 are relatively described with the first state collapsed and under 60 effect of the driving component
The second state that fixation kit 40 is unfolded；The extension assembly 50 includes extending arm 51, wherein
The protective device 30 includes the first bullet for connecting 51 top of extending arm and 40 top of the fixation kit
Property band and the second elastic webbing being connected between 40 lower part of 51 lower part of extending arm and the fixation kit；
The variable diameter main wheel 10 includes that the protective plates 11 of 40 two sides of fixation kit is arranged in, the first elastic webbing and
The distance between the width of the second elastic webbing and two described protective plates 11 are adapted, the first elastic webbing, described
Two elastic webbings and the protective plate 11 form closed barrier space, and the driving component 60 is located in the barrier space.
More specifically, the deformation wheel of the present embodiment includes variable diameter main wheel 10 and is covered on the variable diameter main wheel 10
Deformed caterpillar structure 20, variable diameter main wheel 10 include protective device 30, wherein it is the prior art that band structure is covered in deformation, specific to tie
Structure can be such as Chinese patent, and a kind of wheel carries out crawler attachment shown in composite deformation wheel (application number: CN201611113617.X)
It unanimously, can also be other existing known crawler attachments, details are not described herein.The protective device 30 of the present embodiment can be applied to institute
There are walking transmission device or wheel/shoe transformation transmission device to carry out composite deformation wheel in the wheel in wheel.Existing wheel carries out composite deformation
Wheel has a variety of wheels/shoe mapping mode such as electric pushrod, spiral vice mechanism and four-bar mechanism.It is now carried out with motor push rod type wheel compound
The embodiment of the present invention is illustrated for deformation wheel, since the deformation wheel in the specific example uses gear drive, then variable diameter
The driving assembly 60 of main wheel 10 further includes gear-driven assembly 13, and same gear-driven assembly 13 also is located in barrier space, and
With 12 engaged transmission of traveling wheel gear ring that 10 two sides of variable diameter main wheel are arranged in, to drive deformation wheel mobile, protective plate 11 is settable
On walking gear teeth circle 12.
Fig. 1, Fig. 2 are two kinds of motion state schematic diagrames of wheeled and unfolded state crawler type of the rounding state of deformation wheel.
When deformation wheel switchs to crawler type operation, extension assembly 50 is unfolded under the action of driving assembly 60, and crawler belt is made to be deformed into triangle,
At this point, 10 inner cavity of variable diameter main wheel is open, all sundries in running environment are likely to enter traveling wheel, lead to driving assembly 60
Or other component damage.And the first elastic webbing 31 of the present embodiment is located at the top of variable diameter main wheel 10, second elastic webbing 32 is located at
Spacing phase between the width of the lower part of variable diameter main wheel 10, first elastic webbing 31 and second elastic webbing 32 and two protective plates 11
When, when extension assembly 50 collapses, first elastic webbing 31 is in contraction state, the wider width of first elastic webbing 31, and at this time the
For the width of one elastic webbing 31 the distance between slightly larger than two protective plates 11, second elastic webbing 32 is in tension, width compared with
Narrow, the distance between the width of second elastic webbing 32 and two protective plates 11 are consistent at this time；When extension assembly 50 is unfolded, first
Elastic webbing 31 is in tension, and width narrows, and the distance between two protective plates 11 are consistent, first elastic webbing 31 and two
Protective plate 11 is close to, and second elastic webbing 32 is in contraction state, and width broadens, the spacing between slightly wider than two protective plates 11,
It is interference fitted with two protective plates 11.Based on above-mentioned movement, first elastic webbing 31, second elastic webbing 32 and two 11 shapes of protective plate
At closed barrier space, play a protective role to the driving assembly 60 in it.
The structure of extending arm 51 is same as the prior art, and more specifically, as shown in the picture, the extending arm 51 includes the
One extending part 52 and the second extending part 53 have certain angle between first extending part 52 and second extending part 53；
The top of first extending part 52 is equipped with main wheel 54, and the junction of second extending part 53 and first extending part 52 is set
There is jockey pulley 55, the diameter of the main wheel 54 is greater than the diameter of the jockey pulley 55.The structure of driving mechanism is same as the prior art, more
Specifically, the driving mechanism includes push-rod assembly 61 and link assembly 62, the fixation kit 40 includes being arranged described
The third fixed column 44 on 41 top of fixed plate and the 4th fixed column 45 being arranged among 41 lower part of fixed plate, the connecting rod
Component 62 includes first connecting rod 621 and second connecting rod 622；The fixing end 611 of the push-rod assembly 61 is rotatably connected on described
In three fixed columns 44, movable end 612 and the first connecting rod 621 and the second connecting rod 622 are rotatablely connected；Described first connects
One end of bar 621 and the movable end 612 are rotatablely connected, and the other end is hinged with the extending arm 51；The second connecting rod 622
One end and the movable end 612 be rotatablely connected, the other end and the 4th fixed column 45 are rotatablely connected；Second extending part
53 end is equipped with installation set 56, and the fixed plate 41 is equipped with mounting post 46, and the installation set 56 is rotatably arranged on the peace
It fills on column 46.
The variable diameter component of the present embodiment includes two groups of extension assemblies 50, and the quantity of first elastic webbing can be one, can also
Think two；The quantity of second elastic webbing can be one, or two.Therefore, first elastic webbing and the second bullet are based on
Property band quantity it is different, obtain following examples.
Embodiment one
The quantity of the first elastic webbing is one, and both ends are connected with two extending arms 51 respectively, in order not to dry
Relate to the work for the driving assembly 60 being located in barrier space, the top at the middle part of the first elastic webbing and the fixation kit 40
It is connected.More specifically, the both ends of first elastic webbing are connected with the inside of two extending arms 51 respectively, which can
Think and be fixedly connected, or is flexibly connected.
As being fixedly connected between first elastic webbing and extending arm 51, then need the company of first elastic webbing and extending arm 51
The position on the lower side that the first extending part 52 of extending arm 51 is arranged in position is connect, keeps first elastic webbing still complete when extending arm 51 is unfolded
Portion is located between two protective plates 11, and needs that retaining piece is arranged between fixation kit 40 and extending arm 51, to avoid first
Elastic webbing interference when shrinking presets the lateral location in barrier space using retaining piece in the work of driving assembly 60.Its
In, the fixation kit 40 includes fixed plate 41, the first fixed column 42 that 41 top of fixed plate is arranged in, the first fixed column
42 can be used as a retaining piece, while setting is other between the first fixed column 42 and extending arm 51 under rounding state
Retaining piece, first elastic webbing offset with retaining piece.At this point, first elastic webbing and the first fixed column 42 can be activity cooperation,
It can be secure fit, as long as first elastic webbing is kept to be always positioned at 42 outside of the first fixed column.
As being flexibly connected between first elastic webbing and extending arm 51, then need to be arranged on the inside of the extending arm 51
Sliding slot 57, one end that the first elastic webbing is connect with the extending arm 51 are equipped with fixture block 311, and the fixture block 311 is embedded in institute
It states in sliding slot 57 and is moved along the sliding slot 57.More specifically, sliding slot 57 is located at the inside of the first extending part 52, and sliding slot 57
Highest point be located at the top of the first extending part 52, minimum point is located at the lower part of the first extending part 52, when first elastic webbing is in
When contraction state, then the fixture block 311 in first elastic webbing is located at the highest point of sliding slot 57；When first elastic webbing is in open configuration
When, then the fixture block 311 of first elastic webbing is located at the minimum point of sliding slot 57；Meanwhile the fixation kit 40 include fixed plate 41,
First fixed column 42 on 41 top of fixed plate is set, first elastic webbing and the first fixed column 42 can be activity cooperation,
It may be secure fit, as long as first elastic webbing is kept to be always positioned at 42 outside of the first fixed column.
As shown in attached drawing 6 and Fig. 7, it is equipped with T-slot in the sliding slot 57, the fixture block 311 includes mutually fitting with the T-slot
The T-shaped block matched, and the side of sliding slot 57 is equipped with the opening 57 for making the fixture block 311 enter the sliding slot 57, enters convenient for T-shaped block
T-slot.It is worth noting that, sliding slot 57 can also be the other kinds of slot such as dovetail groove or I-shaped slot, the shape of fixture block 311 with
Sliding slot 57 is adapted, and the shape of sliding slot 57 and fixture block 311 is not limited by the specific example shown in attached drawing.
It no matter is to be flexibly connected or be fixedly connected between first elastic webbing and extending arm 51, first elastic webbing both ends are all provided with
There is hard strip 312, fixture block 311 is located in hard strip 312, and the both ends of first elastic webbing are vertical relative to hard strip 312
Setting, due to the deformation of first elastic webbing itself, makes the both ends of first elastic webbing arch upward outward automatically, when opening to avoid
Internal driving assembly 60.
Embodiment two
The quantity of the first elastic webbing 31 be two, one end is connected with the extending arm 51, the other end with it is described solid
The top for determining component 40 is connected.More specifically, fixation kit 40 includes fixed plate 41, is arranged on 41 top of fixed plate
The first fixed column 42, one end of the first elastic webbing 31 is connected with the extending arm 51, and the other end is solid with described first
Fixed column 42 is fixedly connected.First fixed column 42 is equipped with locating slot 421, fixes for accommodating two first elastic webbings 31 and first
The connecting pin of column 42 is fixedly connected with first elastic webbing with the first fixed column 42, and the first fixed column 42 is arranged in fixed plate 41
Top, so that first elastic webbing 31 is avoided internal driving assembly 60.And connection side between first elastic webbing and extending arm 51
Formula can be to be fixedly connected, or be flexibly connected.
As being fixedly connected between first elastic webbing and extending arm 51, then need the company of first elastic webbing and extending arm 51
The position on the lower side that the first extending part 52 of extending arm 51 is arranged in position is connect, keeps first elastic webbing still complete when extending arm 51 is unfolded
Portion is located between two protective plates 11, and needs that retaining piece is arranged between fixation kit 40 and extending arm 51, to avoid first
Elastic webbing interference when shrinking presets the lateral location in barrier space using retaining piece in the work of driving assembly 60.Its
In, the fixation kit 40 includes fixed plate 41, the first fixed column 42 that 41 top of fixed plate is arranged in, the first fixed column
42 can be used as a retaining piece, while setting is other between the first fixed column 42 and extending arm 51 under rounding state
Retaining piece, first elastic webbing offset with retaining piece.At this point, first elastic webbing and the first fixed column 42 can be activity cooperation,
It can be secure fit, as long as first elastic webbing is kept to be always positioned at 42 outside of the first fixed column.
As being flexibly connected between first elastic webbing 31 and extending arm 51, then need to set on the inside of the extending arm 51
Sliding slot 57 is set, one end that the first elastic webbing 31 is connect with the extending arm 51 is equipped with fixture block 311, and the fixture block 311 is embedding
Enter in the sliding slot 57 and is moved along the sliding slot 57.More specifically, sliding slot 57 is located at the inside of the first extending part 52, and sliding
The highest point of slot 57 is located at the top of the first extending part 52, and minimum point is located at the lower part of the first extending part 52, works as first elastic webbing
31 be in contraction state when, then the fixture block 311 in first elastic webbing 31 is located at the highest point of sliding slot 57；At first elastic webbing 31
When open configuration, then the fixture block 311 of first elastic webbing 31 is located at the minimum point of sliding slot 57；Meanwhile the fixation kit 40 wraps
The first fixed column 42 for including fixed plate 41,41 top of fixed plate being arranged in, first elastic webbing and the first fixed column 42 can be with
For activity cooperation, or secure fit, as long as first elastic webbing is kept to be always positioned at 42 outside of the first fixed column.
As shown in attached drawing 6 and Fig. 7, it is equipped with T-slot in the sliding slot 57, the fixture block 311 includes mutually fitting with the T-slot
The T-shaped block matched, and the side of sliding slot 57 is equipped with the opening 57 for making the fixture block 311 enter the sliding slot 57, enters convenient for T-shaped block
T-slot.It is worth noting that, sliding slot 57 can also be the other kinds of slot such as dovetail groove or I-shaped slot, the shape of fixture block 311 with
Sliding slot 57 is adapted, and the shape of sliding slot 57 and fixture block 311 is not limited by the specific example shown in attached drawing.
It no matter is to be flexibly connected or be fixedly connected between first elastic webbing and extending arm 51,31 both ends of first elastic webbing are equal
Equipped with hard strip 312, fixture block 311 is located in hard strip 312, and the both ends of first elastic webbing are hung down relative to hard strip 312
Straight setting, due to the deformation of first elastic webbing itself, makes the both ends of first elastic webbing arch upward outward automatically, when tensing to keep away
Open internal driving assembly 60.
Embodiment three
The quantity of the second elastic webbing is one, lower part of the both ends of the second elastic webbing with the extending arm 51
It is connected, the centre of the second elastic webbing is connected with the lower part of the fixation kit 40.More specifically, described fixed group
Part 40 includes fixed plate 41, the second fixed column that 41 lower part of fixed plate is arranged in；The end of the extending arm 51 is equipped with the
One mounting groove 561, the both ends of the second elastic webbing are respectively equipped with installation part 321, and the installation part 321 is respectively embedded into two institutes
It states in first mounting groove 561 of 51 end of extending arm；The middle part of the second elastic webbing offsets with second fixed column
Or it is fixedly connected.
As shown in Fig. 6, the end of second extending part 53 of extending arm 51 is equipped with installation set 56, which is provided with first
Mounting groove 561, and the second fixed column (different from figure location) are equipped between two the second extending parts 53, work as second elastic webbing
The installation part 321 at both ends be inserted into two the first mounting grooves 561 respectively, and the second fixed column is arranged in second elastic webbing
Outside.Second elastic webbing can be fixedly connected with the second fixed column, can also be to be flexibly connected, as long as guaranteeing second elastic webbing always
On the outside of the second fixed column.
It is worth noting that, example one can be implemented for the present embodiment or embodiment two combines and implements.
Example IV
The quantity of the second elastic webbing 32 is two, under one end of the second elastic webbing 32 and the extending arm 51
Portion is connected, and the other end is connected with the lower part of the fixation kit 40.More specifically, as shown in Fig. 4, described fixed group
Part 40 includes fixed plate 41, the second fixed column 43 that 41 lower part of fixed plate is arranged in；The end of the extending arm 51 is equipped with
First mounting groove 561, second fixed column 43 are equipped with the second mounting groove 431, and the both ends of the second elastic webbing 32 are distinguished
Equipped with installation part 321, the installation part 321 is respectively embedded into first mounting groove 561 and second mounting groove 431.The
The quantity of two fixed columns 43 is two, is separately positioned on the two sides of the 4th fixed column 45, may be used also between two the second fixed columns 43
Partition separately is set, distance is consistent between the width of partition and two protective plates 11.
The first mounting groove 561 in installation set 56 is arranged outwardly, the second mounting groove in the second fixed column 43
431 are arranged towards installation set 56.The both ends of second elastic webbing 32 are equipped with suitable with the first mounting groove 561 and 431 phase of the second mounting groove
32 both ends opposite mounts 321 of the installation part 321 matched, second elastic webbing are vertically arranged, and are in and are tensed in second elastic webbing 32
When state, due to the deformation of second elastic webbing 32 itself, the both ends of second elastic webbing 32 are made to arch upward outward automatically, to avoid inside
Driving assembly 60.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of wheel with protective device carries out composite deformation wheel, including variable diameter main wheel and it is covered on the variable diameter main wheel
Deformed caterpillar structure, which is characterized in that the variable diameter main wheel includes protective device；
The variable diameter main wheel includes fixation kit, the extension assembly and driving assembly that the fixation kit two sides are arranged in, institute
State extension assembly have the first state collapsed and under the driving component effect relatively the fixation kit be unfolded the
Two-state；The extension assembly includes extending arm, wherein
The protective device includes first elastic webbing and the company for connecting the extending arm top and the fixation kit top
Connect the second elastic webbing between the extending arm lower part and the fixation kit lower part；
The variable diameter main wheel includes the protective plate that the fixation kit two sides are arranged in, the first elastic webbing and second bullet
The distance between the width of property band and two described protective plates are adapted, the first elastic webbing, the second elastic webbing and
The protective plate forms closed barrier space, and the driving component is located in the barrier space.
2. the wheel with protective device carries out composite deformation wheel as described in claim 1, which is characterized in that the first elastic webbing
Quantity be one, both ends are connected with two extending arms respectively, the middle part of the first elastic webbing with described fixed group
The top of part is connected.
3. the wheel with protective device carries out composite deformation wheel as claimed in claim 2, which is characterized in that
The fixation kit includes fixed plate, the first fixed column that the fixed plate top is arranged in, the first elastic webbing
Middle part offsets or is fixedly connected with first fixed column.
4. the wheel with protective device carries out composite deformation wheel as described in claim 1, which is characterized in that the first elastic webbing
Quantity be two, one end is connected with the extending arm, and the other end is connected with the top of the fixation kit.
5. the wheel of protective device as claimed in claim 4 carries out composite deformation wheel, which is characterized in that the fixation kit includes solid
Fixed board, the first fixed column that the fixed plate top is arranged in, one end of the first elastic webbing are connected with the extending arm,
The other end is fixedly connected with first fixed column.
6. the wheel as claimed in claim 1 to 5 with protective device carries out composite deformation wheel, which is characterized in that described to stretch
The inside of swing arm is equipped with sliding slot, and one end that the first elastic webbing is connect with the extending arm is equipped with fixture block, the fixture block
It is embedded in the sliding slot and is moved along the sliding slot.
7. wheel as claimed in claim 1 to 5 with protective device carries out composite deformation wheel, which is characterized in that described the
The quantity of two elastic webbings is one, and the both ends of the second elastic webbing are connected with the lower part of the extending arm, described second
The centre of elastic webbing is connected with the lower part of the fixation kit.
8. the wheel with protective device carries out composite deformation wheel as claimed in claim 6, which is characterized in that the fixation kit packet
The second fixed column for including fixed plate, the fixed plate lower part being set；
The end of the extending arm is equipped with the first mounting groove, and the both ends of the second elastic webbing are respectively equipped with installation part, the peace
Piece installing is respectively embedded into first mounting groove of two extending arm ends；
The middle part of the second elastic webbing offsets or is fixedly connected with second fixed column.
9. wheel as claimed in claim 1 to 5 with protective device carries out composite deformation wheel, which is characterized in that described the
The quantity of two elastic webbings is two, and one end of the second elastic webbing is connected with the lower part of the extending arm, the other end and institute
The lower part for stating fixation kit is connected.
10. the wheel with protective device carries out composite deformation wheel as claimed in claim 9, which is characterized in that the fixation kit
Including fixed plate, the second fixed column of the fixed plate lower part is set；
The end of the extending arm is equipped with the first mounting groove, and second fixed column is equipped with the second mounting groove, second bullet
The both ends of property band are respectively equipped with installation part, and the installation part is respectively embedded into first mounting groove and second mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086298.5A CN109911042A (en) | 2019-01-29 | 2019-01-29 | A kind of wheel shoe composite deformation wheel with protective device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086298.5A CN109911042A (en) | 2019-01-29 | 2019-01-29 | A kind of wheel shoe composite deformation wheel with protective device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109911042A true CN109911042A (en) | 2019-06-21 |
Family
ID=66960939
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910086298.5A Pending CN109911042A (en) | 2019-01-29 | 2019-01-29 | A kind of wheel shoe composite deformation wheel with protective device |
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| CN113463702A (en) * | 2021-06-09 | 2021-10-01 | 中广核研究院有限公司 | Working robot |
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