CN113978180A - Deformation wheel and walking machine adopting same - Google Patents
Deformation wheel and walking machine adopting same Download PDFInfo
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- CN113978180A CN113978180A CN202111158454.8A CN202111158454A CN113978180A CN 113978180 A CN113978180 A CN 113978180A CN 202111158454 A CN202111158454 A CN 202111158454A CN 113978180 A CN113978180 A CN 113978180A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 79
- 230000001681 protective effect Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000001276 controlling effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The application relates to a deformation wheel, which relates to the field of wheels for walking machines and comprises a main wheel, a transmission part, an angle adjusting mechanism and a plurality of walking legs; the plurality of walking legs are uniformly distributed between the main wheel and the transmission part, the walking legs are rotatably connected with the main wheel, and the walking legs are also rotatably connected with the transmission part; the angle adjusting mechanism is installed to the machine body of the walking machine and used for rotatably supporting the axis of the transmission piece, and meanwhile the angle adjusting mechanism is further used for driving the axis of the transmission piece to move around the axis of the main wheel. The walking machine has the advantage that the walking machine can adapt to more complex road conditions.
Description
Technical Field
The application relates to the field of wheels for walking machines, in particular to a deformation wheel and a walking machine adopting the deformation wheel.
Background
The walking machine generally comprises a machine body, a plurality of wheels and a driving mechanism which is arranged on the machine body and used for driving the wheels to rotate, wherein the wheels on the machine body are generally arranged according to actual application scenes, and the wheels are rotationally connected to the machine body; the driving mechanism is arranged on the machine body and used for driving the wheels to rotate, and then displacement of the machine body is achieved. The generation of the walking machine greatly improves the production efficiency, reduces the labor intensity and makes great contribution to the development of the modern society.
For the walking machines in the related art, the inventor finds that the motion state of the walking machine is relatively stable when the walking machine faces relatively flat ground, but the walking machine faces relatively complex ground (such as steps, uneven ground and the like) and is unstable and difficult to adapt, so that designing a wheel capable of adapting to the complex ground becomes a problem to be solved urgently.
Disclosure of Invention
In order to solve the problem that wheels in the related art are difficult to adapt to complex ground, the application provides a deformation wheel and a walking machine adopting the deformation wheel.
One of the purposes of this application is a deformation wheel that provides adopts following technical scheme:
a deformation wheel comprises a main wheel, a transmission part, an angle adjusting mechanism and a plurality of walking legs;
the plurality of walking legs are uniformly distributed between the main wheel and the transmission part, the walking legs are rotatably connected with the main wheel, and the walking legs are also rotatably connected with the transmission part; one end of each walking leg is a walking end;
the angle adjusting mechanism is mounted to a machine body of the walking machine and used for rotatably supporting the axis of the transmission piece, and meanwhile, the angle adjusting mechanism is also used for driving the axis of the transmission piece to move around the axis of the main wheel;
when the main wheel rotates, the walking ends of the walking legs alternately extend out of the edge of the main wheel.
By adopting the technical scheme, when different road conditions are met, the main wheel of the deformation wheel or the plurality of walking legs can work alternately by changing the state of the deformation wheel, so that the walking machine can adapt to the terrain as much as possible.
Optionally, the angle adjusting mechanism includes a first angle adjusting member, an adjusting member and a supporting member;
the supporting piece is rotatably connected with the center of the transmission piece, the adjusting piece is rotatably connected to the machine body, and the adjusting piece is rotatably connected with the supporting piece;
the first angle adjusting piece is used for driving the adjusting piece to rotate.
Through adopting above-mentioned technical scheme, first angle regulating part is rotatory through drive adjusting part, and the axis that the regulating part can drive the driving medium through the regulating part is around the axis motion of main round, and then realizes the switching of deformation wheel operating condition.
Optionally, the angle adjusting mechanism includes an adjusting member, an adjusting shaft, and a second angle adjusting member;
the adjusting and controlling part is positioned between the main wheel and the transmission part, and the center of the transmission part is rotationally connected with the adjusting and controlling part;
the center of one side of the main wheel, which is far away from the transmission part, is vertically and fixedly connected with an installation shaft, and the installation shaft is used for being connected with an output shaft of the driving part;
the mounting shaft is coaxially provided with an arrangement hole, the adjusting shaft is rotatably connected to the mounting shaft through the arrangement hole, and the adjusting shaft penetrates through the main wheel and is fixedly connected with the regulating and controlling part; the adjusting shaft is rotationally connected with the main wheel;
the second angle adjusting piece is used for driving the adjusting shaft to rotate.
Through adopting above-mentioned technical scheme, the second angle adjustment spare rotates through the drive regulating spindle, and the axis that the regulating spindle passes through the regulating and controlling spare drive transmission spare moves around the axis of main round to realize the switching of out of shape round operating condition.
Optionally, a first transmission gear is coaxially and fixedly connected to the mounting shaft; a second transmission gear is coaxially and fixedly connected to the adjusting shaft; a first driving gear is coaxially and fixedly connected to an output shaft of the second angle adjusting part;
and the second angle adjusting piece completes the driving of the adjusting shaft through the matching of the first driving gear and the second driving gear.
Through adopting above-mentioned technical scheme, avoid producing mutual interference between driving piece and the second angle modulation spare on the organism as far as.
Optionally, a mounting seat is arranged on the mounting shaft, and the mounting shaft is rotatably connected with the mounting seat; the installation axle passes through the mount pad is installed to the organism.
Through adopting above-mentioned technical scheme, the staff can be more convenient through the mount pad with the deformation wheel installation to the organism.
Optionally, a protective shell for protecting the first transmission gear, the second transmission gear and the first driving gear is fixedly connected to the mounting seat.
Through adopting above-mentioned technical scheme, the protective housing can protect first drive gear, first transmission gear and second transmission gear, reduces the external environment to first drive gear and the transmission of first transmission gear to and the driven influence between second drive gear and the second transmission gear.
Optionally, the protective housing is provided with an installation opening which is convenient for matching the driving piece on the machine body with the installation shaft.
Through adopting above-mentioned technical scheme, the output shaft of driving piece stretches into the installation axle cooperation in the protective housing on the organism of being convenient for.
Optionally, the second angle adjuster is fixed to the protective case.
By adopting the technical scheme, the whole turning wheel forms a whole, so that subsequent workers can conveniently install the deformation wheel on the machine body.
Another object of the present invention is to provide a running machine using the transformable wheel according to any one of claims 1 to 8.
Through adopting above-mentioned technical scheme, the walking machine adopts can adapt to the topography as much as possible after going up the deformation wheel.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the deformation wheel is provided with the main wheel, the transmission part, the angle adjusting mechanism and the plurality of walking support legs, so that the main wheel and the plurality of walking support legs can be respectively adopted to work when the deformation wheel faces different terrains, and the walking machine can adapt to more terrains;
2. the angle adjusting mechanism is arranged into the supporting piece, the adjusting piece and the first angle adjusting piece, and the first angle adjusting piece can adjust the transmission piece through the adjusting piece and the supporting piece, so that the change of the angle of the deformation wheel is realized;
3. through setting up angle adjustment mechanism to transfer controlling part, regulating spindle and second angle modulation spare, transfer controlling part and regulating spindle to hide in the inboard that warp the wheel, reduced the interference of external environment to warping the wheel.
Drawings
Fig. 1 is a schematic view of a state in which a body advances or retreats through a main wheel in embodiment 1 of the present application.
Fig. 2 is a schematic structural diagram of the shape of a deforming wheel in embodiment 1 of the application.
Fig. 3 is a schematic view of the state in which the body moves forward or backward by the walking legs in embodiment 1 of the present application.
Fig. 4 is a schematic view of the state in which the body is advanced or retracted by the main wheels in embodiment 2 of the present application.
FIG. 5 is a schematic view showing the arrangement state of the mounting shafts on the mounting base in embodiment 2 of the present application.
Fig. 6 is a side view of a deforming wheel in embodiment 2 of the present application.
Fig. 7 is a schematic view of the installation structure of the highlight adjusting member between the main wheel and the transmission member in embodiment 2 of the present application.
Fig. 8 is a plan view of a deforming wheel in embodiment 2 of the present application.
Fig. 9 is a schematic view showing a state where the protective cover is laid on the mount in embodiment 2 of the present application.
Description of reference numerals: 1. a main wheel; 11. installing a shaft; 111. arranging holes; 112. a second transmission gear; 2. a transmission member; 3. an angle adjusting mechanism; 31. a first angle adjuster; 32. an adjustment member; 33. a support member; 34. adjusting a control piece; 35. an adjustment shaft; 351. a first drive gear; 36. a second angle adjustment member; 361. a first drive gear; 4. a walking leg; 41. a connecting end; 42. a walking end; 43. an intermediate portion; 5. a body; 51. a drive member; 511. a second drive gear; 6. a mounting seat; 61. a support portion; 611. a mounting portion; 612. a connecting portion; 62. a fixed part; 7. a protective shell; 71. and (7) installing the opening.
Detailed Description
The present application is described in further detail below with reference to figures 1-9.
The embodiment of the application discloses a deformation wheel. The deformation wheel is mounted to the body 5 of the walking machine, and with reference to fig. 1, the deformation wheel comprises a main wheel 1, a transmission member 2, an angle adjustment mechanism 3 and a plurality of walking legs 4.
Referring to fig. 2, the diameters of the main wheel 1 and the transmission member 2 are the same, the main wheel 1 and the transmission member 2 are parallel to each other and are eccentrically arranged, and the axis of the main wheel 1 is positioned right below the axis of the transmission member 2.
The perpendicular rigid coupling of central point department of putting that main wheel 1 deviates from the one side of driving medium 2 has installation axle 11, and main wheel 1 can rotate through installation axle 11 and be connected to organism 5, sets up on the organism 5 to be used for driving main wheel 1 and carries out rotatory driving piece 51, and driving piece 51 can be engine or motor etc..
Referring to fig. 2, for convenience of description, one end of the walking leg 4 is a connection end 41, the other end of the walking leg 4 is a walking end 42, and the middle part of the walking leg 4 is an intermediate part 43.
The number of the walking legs 4 is four in the embodiment, four walking legs 4 are arranged between the main wheel 1 and the transmission member 2, and the four walking legs 4 are uniformly arranged around the axis of the main wheel 1. The walking legs 4 are vertically arranged, the connecting ends 41 of the walking legs 4 are positioned right below the walking ends 42, the connecting ends 41 of the walking legs 4 are rotatably connected with the main wheel 1, and the middle parts 43 of the walking legs 4 are rotatably connected with the transmission piece 2.
Referring to fig. 3, the angle adjustment mechanism 3 is used to rotatably support the transmission member 2, while the angle adjustment mechanism 3 is used to drive the axis of the transmission member 2 to rotate about the axis of the main wheel 1.
Referring to fig. 1, when facing a relatively flat ground, the main wheel 1 in the deforming wheel mounted on the machine body 5 is in contact with the ground, and the machine body 5 is displaced by the main wheel 1, in this state, the axis of the transmission member 2 is positioned directly above the main wheel 1, the traveling ends 42 of the traveling legs 4 are always positioned directly above the connecting ends 41, and simultaneously, the transmission member 2 rotates synchronously with the main wheel 1 under the driving of the plurality of traveling legs 4 while the main wheel 1 rotates.
Referring to fig. 3, when facing a ground with complicated road conditions, the angle adjusting mechanism 3 is moved to just below the axis of the main wheel 1 by rotating the axis of the driving medium 2 around the axis of the main wheel 1 until the axis of the driving medium 2 moves to just below the axis of the main wheel 1, and the walking ends 42 of the walking legs 4 are located just below the connecting ends 41. When the main wheel 1 on the machine body 5 rotates, the main wheel 1 drives the transmission piece 2 to synchronously rotate through the plurality of walking legs 4, the walking end 42 of the walking leg 4 is always positioned under the connecting end 41 in the process, and the plurality of walking legs 4 alternately contact with the ground along with the rotation of the main wheel 1 and the transmission piece 2, so that the machine body 5 continuously moves forwards or backwards. The body 5 can be adapted to more terrains (such as steps, uneven ground, etc.) by a plurality of walking legs 4.
Example 1
Referring to fig. 3, the angle adjusting mechanism 3 includes a first angle adjusting member 31, an adjusting member 32 and a supporting member 33, the supporting member 33 is a long strip-shaped plate-shaped structure, the supporting member 33 is horizontally disposed on a side of the driving member 2 away from the main wheel 1, and the supporting member 33 is rotatably connected to a center of the driving member 2.
The adjusting member 32 is a long strip-shaped plate-shaped structure, the adjusting member 32 is vertically arranged, the adjusting member 32 is rotatably connected with the supporting member 33, and the adjusting member 32 is rotatably connected to the machine body 5 through a rotating shaft.
The first angle adjusting piece 31 selects a servo motor, the first angle adjusting piece 31 is fixedly installed on the machine body 5, and a rotating shaft between the adjusting piece 32 and the machine body 5 is coaxially and fixedly connected with an output shaft of the first angle adjusting piece 31.
When the state of the deformation wheel needs to be switched, the first angle adjusting piece 31 drives the adjusting piece 32 to rotate 180 degrees through the output shaft, the adjusting piece 32 can drive the axis of the transmission piece 2 to rotate 180 degrees around the axis of the main wheel 1 through the supporting piece 33, and the state of the deformation wheel can be switched at the moment.
The implementation principle of the embodiment 1 in the application is as follows: when the walking machine provided with the deformation wheel walks on a flat road surface, the main wheel 1 of the deformation wheel is contacted with the ground, and the walking machine continuously moves forwards or backwards through the main wheel 1. When complex road conditions (such as steps and uneven ground) appear in the advancing process, the first angle adjusting piece 31 drives the adjusting piece 32 to rotate 180 degrees, the axis of the transmission piece 2 of the deformation wheel rotates 180 degrees downwards around the axis of the main wheel 1, the walking end 42 of the walking leg 4 is located right below the connecting end 41, and the walking machine can continuously advance or retreat through the walking leg 4 at the moment.
Example 2
Referring to fig. 5 and 6, the angle adjusting mechanism 3 includes an adjusting member 34, an adjusting shaft 35, and a second angle adjusting member 36.
Referring to fig. 7, the adjusting member 34 is disposed between the main wheel 1 and the transmission member 2, and the adjusting member 34 has a strip-shaped plate structure.
Referring to fig. 5, an arrangement hole 111 is formed between end faces of both ends of the mounting shaft 11, and the arrangement hole 111 is coaxial with the mounting shaft 11; the adjusting shaft 35 is inserted into the mounting shaft 11, and the adjusting shaft 35 is rotatably connected with the mounting shaft 11.
Referring to fig. 7, an adjusting hole adapted to the adjusting shaft 35 is formed in the center of the main wheel 1, and one end of the adjusting shaft 35 penetrates through the adjusting hole and extends into a space between the main wheel 1 and the transmission member 2. One end of the regulating member 34 is rotatably connected with the center of the transmission member 2, and the other end of the regulating member 34 is fixedly connected with one end of the regulating shaft 35 extending between the main wheel 1 and the transmission member 2.
Referring to fig. 6, the second angle adjusting element 36 may be a servo motor, and the second angle adjusting element 36 is used for driving the adjusting shaft 35 to rotate, so as to rotate the axis of the transmission element 2 around the axis of the main wheel 1.
When the state of the deformation wheel needs to be switched, the adjusting motor can drive the adjusting piece 32 to rotate by driving the adjusting shaft 35 to rotate, and the adjusting piece 32 can drive the axis of the transmission piece 2 to rotate around the axis of the main wheel 1 while rotating, so that the state of the deformation wheel is switched.
Referring to fig. 5, one end of the adjusting shaft 35, which is far away from the transmission member 2, extends out of the arrangement hole 111 on the mounting shaft 11, and one end of the adjusting shaft 35, which extends out of the arrangement hole 111, is coaxially and fixedly connected with a first transmission gear 351. A second transmission gear 112 is coaxially and fixedly connected to the mounting shaft 11.
A first driving gear 361 is coaxially and fixedly connected to an output shaft of the second angle adjusting member 36, and the first driving gear 361 is meshed with the first transmission gear 351. A second driving gear 511 is fixedly connected to an output shaft of the driving member 51 on the machine body 5, and the second driving gear 511 is meshed with the second transmission gear 112.
The cooperation of the first driving gear 361 and the first transmission gear 351, and the cooperation of the second driving gear 511 and the second transmission gear 112 can avoid the position of the driving member 51 on the machine body 5 and the position of the second angle adjusting member 36 from interfering with each other as much as possible.
Referring to fig. 5, a mounting seat 6 is disposed on the mounting shaft 11, the mounting shaft 11 is rotatably connected to the mounting seat 6, and a mounting bolt penetrates through the mounting seat 6. When the staff need be installed the deformation wheel to organism 5, only need with mount pad 6 through mounting bolt installation to organism 5 can, or directly fix mount pad 6 to organism 5 through the welded mode. The operation is simple and convenient.
The mount 6 includes a support portion 61 and a fixing portion 62, the support portion 61 including a mounting portion 611 and a connecting portion 612 perpendicular to each other; the mounting portion 611 and the connecting portion 612 together constitute the support portion 61 in an "L" shape, the connecting portion 612 is fixedly secured to the fixing portion 62, and the mounting bolt is mounted to the fixing portion 62; the mounting shaft 11 is rotatably connected to the mounting portion 611 of the support.
Referring to fig. 9, a protective shell 7 is fixedly connected to the mounting seat 6, and the first driving gear 361, the first transmission gear 351 and the second transmission gear 112 are all located in the protective shell 7; meanwhile, a mounting opening 71 is formed in one side of the protective housing 7, which is away from the main wheel 1, and the mounting opening 71 is provided to facilitate the output shaft of the driving part 51 on the machine body 5 to extend into the protective housing 7, so that the second driving gear 511 is matched with the second transmission gear 112 of the mounting shaft 11.
The protective casing 7 can protect the first drive gear 361, the first transmission gear 351 and the second transmission gear 112, and reduce the influence of the external environment on the transmission between the first drive gear 361 and the first transmission gear 351 and the transmission between the second drive gear 511 and the second transmission gear 112.
The adjusting motor is fixedly connected to the protective shell 7, so that the whole turning wheel forms a whole, and subsequent workers can conveniently install the deformation wheel to the machine body 5.
The implementation principle of embodiment 2 of the present application is as follows: when the walking machine provided with the deformation wheel walks on a flat road surface, the main wheel 1 of the deformation wheel is contacted with the ground, and the walking machine continuously moves forwards or backwards through the rotation of the main wheel 1. When complex road conditions (such as steps and uneven ground) appear in the advancing process, the second angle adjusting part 36 drives the adjusting part 34 to rotate 180 degrees through the adjusting shaft 35, the adjusting part 34 drives the axis of the transmission part 2 to rotate 180 degrees downwards around the axis of the main wheel 1, the walking end 42 of the walking leg 4 is located right below the connecting end 41, and the walking machine can continuously advance or retreat through the walking leg 4 at the moment.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A deforming wheel mounted to an output shaft of a driving member (51) on a machine body (5), characterized in that: comprises a main wheel (1), a transmission piece (2), an angle adjusting mechanism (3) and a plurality of walking legs (4);
the plurality of walking legs (4) are arranged between the main wheel (1) and the transmission piece (2), the walking legs (4) are rotatably connected with the main wheel (1), and the walking legs (4) are also rotatably connected with the transmission piece (2); one end of the walking leg (4) is a walking end (42);
the angle adjusting mechanism (3) is mounted to a machine body (5) of the walking machine, the angle adjusting mechanism (3) is used for rotatably supporting the axis of the transmission piece (2), and meanwhile, the angle adjusting mechanism (3) is also used for driving the axis of the transmission piece (2) to move around the axis of the main wheel (1);
when the main wheel (1) rotates, the walking ends (42) of the walking legs (4) alternately extend out of the edge of the main wheel (1).
2. A deformable wheel as claimed in claim 1, wherein: the angle adjusting mechanism (3) comprises a first angle adjusting piece (31), an adjusting piece (32) and a supporting piece (33);
the supporting piece (33) is rotationally connected with the center of the transmission piece (2); the adjusting piece (32) is rotatably connected to the machine body (5); the adjusting piece (32) is rotatably connected with the supporting piece (33);
the first angle adjusting piece (31) is used for driving the adjusting piece (32) to rotate.
3. A deformable wheel as claimed in claim 1, wherein: the angle adjusting mechanism (3) comprises a second angle adjusting part (33), a regulating part (34) and an adjusting shaft (35);
the adjusting and controlling part (34) is positioned between the main wheel (1) and the transmission part (2), and the center of the transmission part (2) is rotationally connected with the adjusting and controlling part (34);
the center of one surface, deviating from the transmission piece (2), of the main wheel (1) is vertically and fixedly connected with a mounting shaft (11), and the mounting shaft (11) is used for being connected with an output shaft of a driving piece (51);
the mounting shaft (11) is coaxially provided with an arrangement hole (111), the adjusting shaft (35) is rotatably connected to the mounting shaft (11) through the arrangement hole (111), and the adjusting shaft (35) penetrates through the main wheel (1) and is fixedly connected with the adjusting and controlling piece (34); the adjusting shaft (35) is rotationally connected with the main wheel (1);
the second angle adjusting piece (33) is used for driving the adjusting shaft (35) to rotate.
4. A deformable wheel as claimed in claim 3, wherein: a first transmission gear (351) is coaxially and fixedly connected to the mounting shaft (11); a second transmission gear (112) is coaxially and fixedly connected to the adjusting shaft (35); a first driving gear (361) is coaxially and fixedly connected to an output shaft of the second angle adjusting piece (33);
the second angle adjusting piece (33) completes driving of the adjusting shaft (35) through matching of the first driving gear (361) and the second driving gear (511).
5. A deformable wheel as claimed in claim 4, wherein: the mounting shaft (11) is provided with a mounting seat (6), and the mounting shaft (11) is rotatably connected with the mounting seat (6); the installation shaft (11) is installed to the machine body (5) through the installation seat (6).
6. A deformable wheel as claimed in claim 5, wherein: and a protective shell (7) for protecting the first transmission gear (351), the second transmission gear (112) and the first driving gear (361) is fixedly connected to the mounting seat (6).
7. A deformable wheel as claimed in claim 6, wherein: the protective shell (7) is provided with a mounting opening (71) which is convenient for matching the driving piece (51) on the machine body (5) with the mounting shaft (11).
8. A deformable wheel as claimed in claim 5 or 6, characterized in that: the second angle adjusting member (33) is fixed to the protective case (7).
9. A walking machine adopting a deformation wheel is characterized in that: the walking machine employs the deforming wheel of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158454.8A CN113978180B (en) | 2021-09-28 | 2021-09-28 | Deformation wheel and walking machine adopting same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158454.8A CN113978180B (en) | 2021-09-28 | 2021-09-28 | Deformation wheel and walking machine adopting same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113978180A true CN113978180A (en) | 2022-01-28 |
| CN113978180B CN113978180B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111158454.8A Active CN113978180B (en) | 2021-09-28 | 2021-09-28 | Deformation wheel and walking machine adopting same |
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| CN (1) | CN113978180B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201400046Y (en) * | 2008-12-28 | 2010-02-10 | 孙达然 | Road wheel with auxiliary claw |
| CN102180062A (en) * | 2011-04-02 | 2011-09-14 | 北京交通大学 | Cross-country vehicle wheel |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN209289321U (en) * | 2018-12-26 | 2019-08-23 | 中科创源(天津)科技有限公司 | A kind of Multi-functional transmission articulation mechanism |
| WO2021008175A1 (en) * | 2019-07-12 | 2021-01-21 | 江苏美的清洁电器股份有限公司 | Obstacle-surmounting wheel device and self-walking robot |
| CN112339493A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Three-wheel spoke deformation wheel mechanism |
| CN112829512A (en) * | 2019-11-04 | 2021-05-25 | 上海尊颐智能科技有限公司 | Open-close type walking device |
-
2021
- 2021-09-28 CN CN202111158454.8A patent/CN113978180B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201400046Y (en) * | 2008-12-28 | 2010-02-10 | 孙达然 | Road wheel with auxiliary claw |
| CN102180062A (en) * | 2011-04-02 | 2011-09-14 | 北京交通大学 | Cross-country vehicle wheel |
| CN105774394A (en) * | 2016-04-08 | 2016-07-20 | 重庆大学 | Mobile robot with deformation wheels |
| CN209289321U (en) * | 2018-12-26 | 2019-08-23 | 中科创源(天津)科技有限公司 | A kind of Multi-functional transmission articulation mechanism |
| WO2021008175A1 (en) * | 2019-07-12 | 2021-01-21 | 江苏美的清洁电器股份有限公司 | Obstacle-surmounting wheel device and self-walking robot |
| CN112829512A (en) * | 2019-11-04 | 2021-05-25 | 上海尊颐智能科技有限公司 | Open-close type walking device |
| CN112339493A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Three-wheel spoke deformation wheel mechanism |
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| Publication number | Publication date |
|---|---|
| CN113978180B (en) | 2024-04-16 |
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