CN219339593U

CN219339593U - Walking wheel for coping with complex environments in multiple fields

Info

Publication number: CN219339593U
Application number: CN202223428708.6U
Authority: CN
Inventors: 陈洪; 李龙; 李伟; 曾欢
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-07-14
Anticipated expiration: 2032-12-21

Abstract

The utility model relates to the technical field of walking wheels, and provides a walking wheel capable of coping with complex environments in multiple fields. The inner side wall of the supporting ring is provided with inner gear teeth. The inner gear teeth are provided with at least two circles, and every two circles of inner gear teeth are parallel to each other. The outer side wall of the support ring is uniformly provided with a plurality of support leg mounting holes along the circumferential direction; the supporting leg comprises a sleeve, a telescopic rod and a spring; the sleeve comprises a first shaft section, a mounting plate and a second shaft section, and the mounting plate is fixedly connected with the support ring; the telescopic rod comprises a third shaft section and a fourth shaft section, and the third shaft section passes through a telescopic rod mounting hole on the sleeve from the inner side of the supporting ring; the third shaft section is rotationally connected with the supporting leg through a pin shaft; the spring is sleeved between the mounting plate and the supporting leg on the first shaft section. The utility model can stably and flexibly travel in the multi-field complex environment and surmount the obstacle, and improves the mobility of the travelling wheel to the multi-field complex environment and the safety and efficiency of the working.

Description

Walking wheel for coping with complex environments in multiple fields

Technical Field

The utility model relates to the technical field of walking wheels, in particular to a walking wheel for coping with complex environments in multiple fields.

Background

In various devices such as robots that need to walk, the running mechanism plays a critical role in the running stability of the whole device and even the functions of each module inside. The road wheel is widely used in various devices due to its own advantages. However, the existing travelling wheels are poor in stability and flexibility, so that the travelling wheels are difficult to stably walk in a multi-field complex environment, and the functional modules carried by the robot and other devices are difficult to stably function, so that the running of the device in the multi-field complex environment is not facilitated.

Disclosure of Invention

Aiming at the problems in the prior art, the utility model provides the walking wheel which can stably and flexibly travel in the multi-field complex environment and surmount the obstacle, thereby improving the mobility and the working safety and efficiency of the walking wheel for coping with the multi-field complex environment.

The technical scheme of the utility model is as follows:

the walking wheel capable of coping with complex environments in multiple fields comprises a supporting ring 4, wherein a plurality of supporting legs 5 are uniformly arranged on the outer side wall of the supporting ring 4 along the circumferential direction, and supporting feet 6 are arranged at the tail ends of the supporting legs 5.

Further, the inner side wall of the supporting ring 4 is provided with inner gear teeth 4-1.

Further, the inner gear 4-1 has at least two circles, and every two circles of inner gear teeth 4-1 are parallel to each other.

Further, a plurality of support leg mounting holes 4-2 are uniformly formed in the outer side wall of the support ring 4 along the circumferential direction; the supporting leg 5 comprises a sleeve 5-1, a telescopic rod 5-2 and a spring 5-3; the sleeve 5-1 sequentially comprises a first shaft section, a mounting plate and a second shaft section from the tail end to the head end, wherein the width of the mounting plate is larger than the inner diameter of the supporting leg mounting hole 4-2 and larger than the diameter of the first shaft section, the second shaft section is arranged in the supporting leg mounting hole 4-2, and the mounting plate is fixedly connected with the supporting ring 4; the telescopic rod 5-1 is internally provided with a telescopic rod mounting hole coaxial with the telescopic rod 5-1, the telescopic rod 5-2 sequentially comprises a third shaft section and a fourth shaft section, the diameter of the fourth shaft section is larger than that of the telescopic rod mounting hole, and the third shaft section penetrates into the telescopic rod mounting hole from the inner side of the supporting ring 4 and stretches out of the telescopic rod mounting hole; the support leg 6 is provided with two mutually parallel mounting edges 6-1 on the end face of the head end, the tail end of the third shaft section extends into the space between the two mounting edges 6-1, and the third shaft section is rotatably connected with the two mounting edges 6-1 through a pin shaft 5-4; the spring 5-3 is sleeved on the first shaft section and respectively abuts against the tail end face of the mounting plate and the head end face of the supporting foot 6 at two ends.

Further, the third shaft section is a shaft left after the whole section of the D-shaped shaft on two sides is cut off symmetrically along the axis of the circular shaft or a shaft left after the whole section of the D-shaped shaft is cut off on one side and the section of the D-shaped shaft is cut off on the other side.

Further, the supporting legs 6 are flat plate-shaped, spherical, arc-shaped, paddle-shaped or paddle-shaped.

The beneficial effects of the utility model are as follows:

(1) According to the utility model, the supporting legs and the supporting legs are uniformly arranged in the circumferential direction of the supporting ring to form the walking wheels, so that the self weight of the walking wheel device and external pressure in all directions can be borne, the device is integrally stable, travels, turns over and stops, the physical standing posture can still be maintained or quickly restored when two groups of application are subjected to any complex environment and sudden external impact, the carried functional modules are not influenced to complete the established tasks, and the mobility of the walking wheels to the complex environments in multiple fields and the safety and the efficiency of work are improved.

(2) According to the utility model, the inner gear teeth are formed in the inner side wall of the support ring in the travelling wheel, so that the travelling wheel can be provided with the corresponding external gear to realize stable transmission of power to the travelling wheel, and the provided external gear can also stably support the travelling wheel, so that the running stability of the travelling wheel is improved. In addition, the number of turns of the inner gear teeth on the inner side wall of the supporting ring can be set according to the requirements, and the external gear with the outer gear teeth corresponding to the number of turns is arranged, so that the stability of power transmission and the stability of supporting the travelling wheel can be further improved, and the running stability of the travelling wheel is greatly improved.

(3) According to the utility model, the telescopic supporting legs and the supporting legs which can rotate relative to the supporting legs are formed by arranging the sleeve fixedly connected with the supporting ring, the telescopic rod which extends into the sleeve from the inner side of the supporting ring and is rotationally connected with the supporting legs at the tail end, and the spring which is sleeved between the mounting plate on the sleeve and the supporting legs, so that the stability and the flexibility of the walking wheel in the walking process can be improved.

Drawings

Fig. 1 is a perspective view of a road wheel according to the present utility model in a first embodiment, which is suitable for a complex environment in multiple fields.

Fig. 2 is a front view of a road wheel according to the present utility model in a complex environment of multiple fields.

Fig. 3 is a side view of a road wheel of the present utility model in a first embodiment that is compatible with a multi-domain complex environment.

Fig. 4 is a partial schematic view of a road wheel according to the present utility model in a first embodiment, which is suitable for a complex environment in multiple fields.

Fig. 5 is a partial cross-sectional view of a road wheel of the present utility model in a first embodiment that is compatible with a multi-domain complex environment.

Fig. 6 is a schematic structural diagram of a telescopic rod in a walking wheel which is suitable for a complex environment in multiple fields according to the first embodiment of the present utility model.

Fig. 7 is a schematic diagram of a walking wheel of the present utility model for a multi-domain complex environment walking in a stair environment according to the first embodiment.

Fig. 8 is a schematic diagram of a walking wheel of the present utility model in an underwater environment to cope with a complex environment in multiple fields in the first embodiment.

Fig. 9 is a perspective view of a road wheel according to the second embodiment of the present utility model, which is suitable for a complex environment in multiple fields.

Fig. 10 is a schematic diagram of a walking wheel of the present utility model in a second embodiment, which is used for walking in an underwater environment.

In the figure, 1-screw, 2-screw mounting hole, 3-first pinhole, 4-supporting ring, 4-1-internal gear tooth, 4-2-supporting leg mounting hole, 5-supporting leg, 5-1-sleeve, 5-2-telescopic link, 5-3-spring, 5-4-round pin axle, 6-supporting leg, 6-1-installation limit.

Detailed Description

The utility model will be further described with reference to the drawings and detailed description.

What needs to be specifically stated is: the "head end" and the "tail end" are ends close to and far from the center of the support ring 4, respectively.

As shown in fig. 1 and 2, the walking wheel capable of coping with the complex environment in multiple fields comprises a supporting ring 4, wherein a plurality of supporting legs 5 are uniformly arranged on the outer side wall of the supporting ring 4 along the circumferential direction, and supporting feet 6 are arranged at the tail ends of the supporting legs 5. The walking wheel of the utility model can be applied to devices such as robots and the like. In the first embodiment, two travelling wheels are applied to the robot in a group to form a travelling mechanism of the robot. According to the utility model, the supporting legs 5 and the supporting legs 6 are uniformly arranged in the circumferential direction of the supporting ring 4 to form the walking wheels, so that the self weight of the walking wheel device and external pressure in all directions can be borne, the whole device can stably travel, walk over and stop, the physical standing posture can still be maintained or quickly restored when the walking wheel device faces any complex environment and sudden external impact during two-group application, the carried functional modules are not influenced to complete set tasks, and the mobility of the walking wheels to the complex environments in multiple fields and the safety and the efficiency of work are improved.

In the first embodiment, the inner wall of the supporting ring 4 is provided with inner gear teeth 4-1. According to the utility model, the inner gear teeth 4-1 are arranged on the inner side wall of the support ring 4 in the travelling wheel, so that the travelling wheel can be provided with the corresponding external gear to realize stable transmission of power to the travelling wheel, and the provided external gear can also stably support the travelling wheel, so that the running stability of the travelling wheel is improved. Wherein the inner gear teeth 4-1 have at least two circles, and every two circles of the inner gear teeth 4-1 are parallel to each other. According to the utility model, the number of turns of the inner gear teeth 4-1 on the inner side wall of the supporting ring 4 can be set according to the requirements, and the external gear with the outer gear teeth corresponding to the number of turns is arranged, so that the stability of power transmission and the stability of supporting the travelling wheel can be further improved, and the running stability of the travelling wheel is greatly improved.

As shown in fig. 3, the outer side wall of the support ring 4 is uniformly provided with a plurality of support leg mounting holes 4-2 along the circumferential direction. In the first embodiment, the inner gear 4-1 has two circles, the two circles of inner gear teeth 4-1 are parallel to each other, and the supporting leg mounting hole 4-2 is located between the two circles of inner gear teeth 4-1. As shown in fig. 4, the support leg 5 includes a sleeve 5-1, a telescopic rod 5-2, and a spring 5-3. As shown in fig. 5, the sleeve 5-1 sequentially comprises a first shaft section, a mounting plate and a second shaft section from the tail end to the head end, wherein the width of the mounting plate is larger than the inner diameter of the supporting leg mounting hole 4-2 and larger than the diameter of the first shaft section, the second shaft section is arranged in the supporting leg mounting hole 4-2, and the mounting plate is fixedly connected with the supporting ring 4; the telescopic rod 5-1 is internally provided with a telescopic rod mounting hole coaxial with the telescopic rod 5-1, the telescopic rod 5-2 sequentially comprises a third shaft section and a fourth shaft section, the diameter of the fourth shaft section is larger than that of the telescopic rod mounting hole, and the third shaft section penetrates into the telescopic rod mounting hole from the inner side of the supporting ring 4 and stretches out of the telescopic rod mounting hole; the support leg 6 is provided with two mutually parallel mounting edges 6-1 on the end face of the head end, the tail end of the third shaft section extends into the space between the two mounting edges 6-1, and the third shaft section is rotatably connected with the two mounting edges 6-1 through a pin shaft 5-4; the spring 5-3 is sleeved on the first shaft section and respectively abuts against the tail end face of the mounting plate and the head end face of the supporting foot 6 at two ends.

The third shaft section is a shaft left after the round shaft is symmetrically cut off the whole section D-shaped shaft on two sides along the axis or a shaft left after the whole section D-shaped shaft is cut off on one side and the section D-shaped shaft is cut off on the other side. In the first embodiment, as shown in fig. 5 and 6, the third shaft section is a shaft left after a whole section of D-shaped shaft is cut off at one side of the circular shaft and a section of D-shaped shaft is cut off at the other side, a first pin hole 3 is formed in a portion of the third shaft section with two planar outer side walls, a second pin hole is formed in a mounting edge 6-1, axes of the first pin hole 3 and the second pin hole are parallel to the axis of the support ring 4, a portion of the third shaft section with two planar outer side walls extends between the two mounting edges 6-1, and a pin shaft 5-4 sequentially penetrates through the second pin hole in one mounting edge 6-1, the first pin hole 3 in the portion with two planar outer side walls and the second pin hole in the other mounting edge 6-1, so that the support leg 6 is rotationally connected with the support leg 5 and the support leg 6 can rotate along the circumferential direction of the support ring 4 in the robot walking process.

In the travelling wheel, the supporting ring 4 is a main body framework of the supporting legs 5 and the supporting legs 6, and has the functions of connecting the supporting legs 5 with a driving transmission mechanism with a travelling wheel device on one hand and bearing dead weight and external pressure on the other hand; the supporting legs 5 are arranged between the supporting rings 4 and the supporting legs 6 and are used for bearing and transmitting the dead weight of the device and the stress in all directions transmitted by the supporting legs 6; the supporting feet 6 are arranged at the outermost side of the whole walking wheel, and have the functions of stabilizing, advancing, turning over, stopping and the like of the whole device.

According to the utility model, the telescopic support legs 5 and the support legs 6 which can rotate relative to the support legs 5 are formed by arranging the sleeve 5-1 fixedly connected with the support ring 4 in the walking wheel, the telescopic rod 5-2 extending into the sleeve 5-1 from the inner side of the support ring 4 and rotatably connected with the support legs 6 at the tail end, and the spring 5-3 sleeved between the mounting plate on the sleeve 5-1 and the support legs 6, so that the telescopic rod 5-2 can stretch along the radial direction of the support ring 4 along with the pressure change received by the support legs 6 in the walking wheel moving process, and the walking wheel can pass through a pit through the rotation of the support legs 6 when encountering uneven road surfaces, thereby ensuring the stability and flexibility in the walking wheel moving process. Specifically, when the supporting leg 6 is pressed, the telescopic rod 5-2 is retracted to the center of the supporting ring 4, and the retraction movement of the telescopic rod 5-2 can be buffered by compressing the spring 5-3; when the pressure applied to the supporting legs 6 is relieved, the telescopic rod 5-2 stretches out in a direction away from the center of the supporting ring 4 under the rebound action of the spring 5-3, the shaft shoulder of the fourth shaft section abuts against the end face of the second shaft section, and the second shaft section limits the stretching stroke of the telescopic rod 5-2.

The shape of the support feet 6 is not limited to cuboid, column, sphere, etc., and its shape, size and number of settings are matched with the environment and bearing pressure. In the first embodiment, the supporting feet 6 are flat plate-shaped when facing a conventional road surface or a stair environment as shown in fig. 7; in the second embodiment of the present utility model, the supporting legs 6 are configured as paddle plates as shown in fig. 9, and the overall shape of the supporting legs 5 and the supporting legs 6 is paddle-shaped, and the paddle-shaped supporting legs 5 and the supporting legs 6 are combined, so that the traveling wheels can freely and safely travel in the underwater environment as shown in fig. 10; when facing a sandy environment, in the third embodiment of the present utility model, the support legs 6 are provided in a sphere or arc-like plate shape, so that the user can walk in the sandy environment stably and flexibly. The shape of the supporting leg 6 is designed according to complex environments in different fields, so that the walking wheel can stably walk in complex environments in multiple fields such as stairs, sandy lands, underwater and the like, and the capability of the walking wheel for coping with the complex environments in multiple fields is improved.

It should be apparent that the above-described embodiments are merely some, but not all, embodiments of the present utility model. The above examples are only for explaining the present utility model and do not limit the scope of the present utility model. Based on the above embodiments, all other embodiments, i.e. all modifications, equivalents and improvements made within the spirit and principles of the present application, which are obtained by persons skilled in the art without making creative efforts are within the scope of the present utility model claimed.

Claims

1. The walking wheel is characterized by comprising a supporting ring (4), wherein a plurality of supporting legs (5) are uniformly arranged on the outer side wall of the supporting ring (4) along the circumferential direction, and supporting feet (6) are arranged at the tail ends of the supporting legs (5);

the outer side wall of the support ring (4) is uniformly provided with a plurality of support leg mounting holes (4-2) along the circumferential direction; the supporting leg (5) comprises a sleeve (5-1), a telescopic rod (5-2) and a spring (5-3); the sleeve (5-1) sequentially comprises a first shaft section, a mounting plate and a second shaft section from the tail end to the head end, the width of the mounting plate is larger than the inner diameter of the supporting leg mounting hole (4-2) and larger than the diameter of the first shaft section, the second shaft section is arranged in the supporting leg mounting hole (4-2), and the mounting plate is fixedly connected with the supporting ring (4); a telescopic rod mounting hole coaxial with the sleeve (5-1) is formed in the sleeve (5-1), the telescopic rod (5-2) sequentially comprises a third shaft section and a fourth shaft section, the diameter of the fourth shaft section is larger than that of the telescopic rod mounting hole, and the third shaft section penetrates into the telescopic rod mounting hole from the inner side of the supporting ring (4) and stretches out of the telescopic rod mounting hole; the support leg (6) is provided with two mutually parallel mounting edges (6-1) on the end face of the head end, the tail end of the third shaft section stretches into the space between the two mounting edges (6-1), and the third shaft section is rotationally connected with the two mounting edges (6-1) through a pin shaft (5-4); the spring (5-3) is sleeved on the first shaft section, and two ends of the spring respectively lean against the tail end face of the mounting plate and the head end face of the supporting leg (6).

2. The walking wheel for coping with complex environments in multiple fields according to claim 1, characterized in that the inner side wall of the supporting ring (4) is provided with inner gear teeth (4-1).

3. The road wheel against a complex environment in multiple fields according to claim 2, characterized in that the inner wheel teeth (4-1) have at least two turns, each two turns of inner wheel teeth (4-1) being parallel to each other.

4. The road wheel according to claim 1, wherein the third shaft section is a shaft left after the round shaft is cut off the whole D-shaped shaft on both sides symmetrically along the axis, or a shaft left after the whole D-shaped shaft is cut off on one side and the D-shaped shaft is cut off on the other side.

5. Road wheel for complex environments in multiple fields according to claim 1, characterized in that the supporting feet (6) are flat or spherical or arched or paddle-shaped.