WO2022088069A1

WO2022088069A1 - Wheel and moving device thereof

Info

Publication number: WO2022088069A1
Application number: PCT/CN2020/125390
Authority: WO
Inventors: 李鹏; 徐恩志; 杨陶; 刘云辉
Original assignee: 哈尔滨工业大学（深圳）
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2022-05-05
Also published as: CN112543706B; CN112543706A

Abstract

Disclosed are a wheel and a moving device thereof. The wheel comprises a power mechanism, a wheel hub, an extensible and retractable wheel rim and multiple extensible and retractable wheel spokes. One end of each of the multiple wheel spokes is separately hinged to the wheel hub, and the other end is separately hinged to the wheel rim; the power mechanism is connected to the wheel hub and is used for driving the wheel hub to rotate, so that the wheel hub drives the multiple wheel spokes to extend and retract, thus the multiple wheel spokes drive the wheel rim to extend and retract synchronously. In the present application, the wheel hub is driven by the power mechanism to rotate, so that the wheel hub drives the multiple wheel spokes to extend and retract, and the multiple wheel spokes drive the wheel rim to extend and retract synchronously, so that the diameter of the wheel is variable, the wheel having the variable diameter can adapt to different road conditions, and therefore the traffic capacity of the wheel is improved.

Description

Wheels and their moving equipment

technical field

The present invention relates to the technical field of robots, in particular to a wheel and a mobile device thereof.

Background technique

In the prior art, with the development of wheeled robots, people have higher requirements for the functions of wheeled robots. Usually, the wheel diameter of a wheeled robot is fixed, but the wheel with a fixed diameter has a poor ability to cross obstacles. For areas with poor road conditions, the wheeled robot will have poor traffic ability.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a wheel and its moving equipment, which aims to solve the technical problem that the wheel with a fixed diameter in the prior art has poor ability to overcome obstacles, resulting in poor traffic ability of the wheeled robot.

In order to solve the above-mentioned technical problems, the technical scheme provided by the present invention is:

A wheel includes a power mechanism, a hub, a telescopic rim and a plurality of telescopic spokes, one end of the plurality of spokes is mutually hinged with the hub, and the other end is hinged with the rim, the power The mechanism is connected to the wheel hub, and the power mechanism is used for driving the wheel hub to rotate, so that the wheel hub drives a plurality of the spokes to expand and contract, so that the multiple spokes drive the rim to expand and contract synchronously.

Preferably, the wheel spokes include a linkage unit and a telescopic arm that are hinged to each other, an end of the linkage unit away from the telescopic arm is hinged with the hub, and an end of the telescopic arm away from the linkage unit is interconnected with the wheel rim Hinged, wherein the linkage units in the plurality of spokes are hinged to each other end to end to form a linked first chain, the power mechanism drives the hub to rotate, and the hub drives the first chain to synchronize Rotate, so that the first link chain drives a plurality of the telescopic arms to expand and contract synchronously.

Preferably, the telescopic arm includes a plurality of first scissor-type units, one end of two adjacent first scissor-type units is hinged to each other, and one first scissor fork of the telescopic arm is close to the linkage unit One end of the scissor-type unit and the linkage unit are mutually hinged, and one end of a first scissor-type unit in the telescopic arm close to the wheel rim is hinged with the wheel rim.

Preferably, the first scissor-type unit includes a plurality of straight rods hinged with each other in the middle, and one ends of the plurality of straight rods of two adjacent first scissor-type units are hinged with each other.

Preferably, the telescopic arm further comprises a semi-scissor-type unit, one end of the semi-scissor-type unit is hinged with one end of the first scissor-type unit away from the linkage unit, and the other end is mutually connected with the wheel rim Hinged.

Preferably, the linkage unit includes a plurality of acute-angle links hinged with each other, one end of the multiple acute-angle links is mutually hinged with the telescopic arm, and the other end is mutually hinged with the wheel hub, and the power mechanism drives the The hub rotates, so that the hub drives the plurality of acute-angle links to rotate synchronously, so that the plurality of acute-angle links drives the telescopic arms to synchronously expand and contract.

Preferably, the hub includes a first connecting piece and a second connecting piece, the power mechanism is connected with the first connecting piece, the power mechanism is arranged on the second connecting piece, and the first connecting piece It is hinged with one of the acute-angle links, the second link is hinged with the other acute-angle link, and the power mechanism is used to drive the first link to rotate, and the first link drives one of the acute-angle links. Synchronous rotation, one acute-angle link drives the other acute-angle link to rotate synchronously, and the other acute-angle link drives the second connecting piece to rotate synchronously, so that the second connecting piece rotates relative to the first connecting piece, thereby Synchronize the telescopic boom.

Preferably, the wheel rim includes a plurality of second scissor-type units, the plurality of second scissor-type units are hinged end to end to form a linked second chain, and the ends of the plurality of spokes away from the hub are respectively Articulated with the corresponding second scissor unit.

Preferably, the second scissor-type unit includes a plurality of obtuse-angle links hinged to each other in the middle, and one end of the multiple obtuse-angle links of two adjacent second scissor-type units is hinged to each other.

Another technical scheme provided by the present invention is:

A mobile device includes a vehicle body and wheels provided on the vehicle body.

Preferably, the mobile device further includes a swing arm assembly, which is rotatably disposed on the vehicle body, and the wheel is disposed on the swing arm assembly.

Preferably, the mobile device further includes a balance rod, the balance rod is disposed on the top of the vehicle body and can move along the top of the vehicle body, and the swing arm assembly and the balance rod are rotatably connected.

Preferably, the mobile device further comprises a fourth connecting piece, one end of the fourth connecting piece is rotatably connected with the swing arm assembly, and the other end is rotatably connected with the balance rod.

Preferably, the mobile device further comprises a fifth connecting piece, one end of the fifth connecting piece is rotatably connected with one end of the fourth connecting piece away from the swing arm assembly, and the other end is rotatably connected with the balance rod Rotationally connected.

Compared with the prior art, the present invention has the following beneficial effects:

In the present application, a power mechanism is used to drive the hub to rotate, so that the hub drives a plurality of the spokes to expand and contract, so that the multiple spokes drive the rim to expand and contract synchronously, so that the diameter of the wheel is variable. Can adapt to a variety of different road conditions, thereby improving the capacity of the wheel. When the wheel is running on an irregular road surface, the spokes and the rim can be contracted by the power mechanism, so that the diameter of the wheel becomes smaller, so as to lower the center of gravity of the wheel, thereby improving the stability of the wheel; when the wheel encounters a large obstacle When the power mechanism is used, the spokes and rims can be expanded, so that the diameter of the wheel becomes larger, thereby improving the obstacle-surmounting ability of the wheel.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

Figure 1 is a schematic diagram of a wheel according to one embodiment of the present invention;

Figure 2 is a rear view of a wheel according to one embodiment of the present invention;

Figure 3 is a schematic diagram of a first scissor unit according to an embodiment of the present invention;

4 is a schematic diagram of a semi-scissor unit according to an embodiment of the present invention;

Fig. 5 is a combined schematic diagram of a first scissor-type unit and a semi-scissor-type unit according to an embodiment of the present invention;

Figure 6 is a schematic diagram of an acute angle link according to one embodiment of the present invention;

Figure 7 is a schematic diagram of a wheel spoke according to one embodiment of the present invention;

8 is a schematic diagram of an upper acute-angle connecting rod according to an embodiment of the present invention;

9 is a schematic diagram of a combination of a first chain and a wheel hub according to an embodiment of the present invention;

10 is a schematic diagram of a combination of a spoke and a hub according to an embodiment of the present invention;

Figure 11 is a schematic diagram of a rim according to one embodiment of the present invention;

Figure 12 is a schematic diagram of a second scissor unit according to one embodiment of the present invention;

13 is a schematic diagram of an obtuse-angle link according to one embodiment of the present invention;

Figure 14 is a schematic diagram of a mobile device according to one embodiment of the present invention.

100, mobile equipment; 10, wheel; 1, power mechanism; 2, hub; 21, first connector; 22, second connector; 3, rim; 31, second scissor unit; 311, obtuse link 3111, the fifth straight rod; 3112, the sixth straight rod; 312, the upper obtuse-angle connecting rod; 313, the lower obtuse-angle connecting rod; 32, the third connecting piece; 4, the spokes; 41, the linkage unit; 411, the acute angle connecting rod 4111, the first straight rod; 4112, the second straight rod; 4113, the third straight rod; 4114, the fourth straight rod; 4115, the first hinge hole; 4116, the second hinge hole; 4117, the third hinge hole; 4118, the fourth hinge hole; 412, the upper acute angle connecting rod; 413, the middle acute angle connecting rod; 414, the lower acute angle connecting rod; 415, the upper acute angle connecting rod; 416, the lower acute angle connecting rod; 42, the telescopic arm; 421, the first A scissor unit; 4211, straight rod; 4212, upper straight rod; 4213, middle straight rod; 4214, lower straight rod; 4215, upper straight rod; 4216, middle straight rod; 4217, lower straight rod; 422, half Scissor unit; 4221, semi-straight rod; 4222, upper semi-straight rod; 4223, middle semi-straight rod; 4224, lower semi-straight rod; 20, car body; 30, swing arm assembly; 031, first swing arm; 032, the second swing arm; 40, the balance rod; 50, the fourth connector; 51, the fifth connector; 60, the support; 70, the first motor; 80, the second motor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, "and/or" in the full text includes three solutions, taking A and/or B as an example, including the technical solution of A, the technical solution of B, and the technical solution that A and B satisfy at the same time; in addition, between the various embodiments The technical solutions can be combined with each other, but must be based on those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor is it required by the present invention. within the scope of protection.

As shown in FIG. 1 , this embodiment provides a wheel 10 , the wheel 10 includes a power mechanism 1 , a hub 2 , a telescopic rim 3 and a plurality of telescopic spokes 4 , one end of the plurality of spokes 4 is connected to the hub 2 are hinged to each other, the other end is hinged to the rim 3, the power mechanism 1 is connected to the hub 2, and the power mechanism 1 is used to drive the hub 2 to rotate, so that the hub 2 drives the multiple spokes 4 to expand and contract, so that the multiple spokes 4 drive the rim 3 Synchronous scaling.

In the present application, the power mechanism 1 drives the hub 2 to rotate, so that the hub 2 drives the multiple spokes 4 to expand and contract, so that the multiple spokes 4 drive the rim 3 to expand and contract synchronously, so that the diameter of the wheel 10 is variable, and the wheel 10 with variable diameter can adapt to Various road conditions, thereby improving the passing ability of the wheel 10 . When the wheel 10 is running on an irregular road surface, the wheel spoke 4 and the rim 3 can be contracted by the power mechanism 1, so that the diameter of the wheel 10 is reduced to lower the center of gravity of the wheel 10, thereby improving the stability of the wheel 10; When encountering a large obstacle, the wheel spoke 4 and the rim 3 can be unfolded by the power mechanism 1, so that the diameter of the wheel 10 becomes larger, thereby improving the obstacle surmounting ability of the wheel 10.

In this embodiment, the plurality of spokes 4 are evenly distributed along the circumferential direction of the hub 2 .

In this embodiment, the number of the spokes 4 is five.

In this embodiment, the power mechanism 1 is a motor.

As shown in FIG. 2 , in this embodiment, the spoke 4 includes a linkage unit 41 and a telescopic arm 42 that are hinged to each other. The end of the linkage unit 41 away from the telescopic arm 42 is hinged with the hub 2 , and the end of the telescopic arm 42 away from the linkage unit 41 is hinged to each other. It is hinged with the wheel rim 3, wherein the linkage units 41 in the plurality of spokes 4 are hinged with each other end to end to form a linked first chain, the power mechanism 1 drives the hub 2 to rotate, and the hub 2 drives the first chain to rotate synchronously to The first link chain drives the multiple telescopic arms 42 to expand and contract synchronously. With this arrangement, one power mechanism 1 can drive a plurality of telescopic arms 42 to expand and contract synchronously, so as to reduce the number of power mechanisms 1 and thus reduce the cost of the wheels 10 .

The telescopic arm 42 includes a plurality of first scissor-type units 421, one end of two adjacent first scissor-type units 421 is hinged to each other, and one end of the first scissor-type unit 421 in the telescopic arm 42 close to the linkage unit 41 is connected to the end of the first scissor-type unit 421. The linkage units 41 are hinged with each other, and one end of a first scissor-type unit 421 in the telescopic arm 42 that is close to the rim 3 is hinged with the rim 3 .

The first scissor-type unit 421 includes a plurality of straight rods 4211 hinged to each other in the middle, and one ends of the plurality of straight rods 4211 of two adjacent first scissor-type units 421 are hinged to each other.

As shown in FIG. 3 , in this embodiment, the number of the straight rods 4211 is three, which are the upper straight rod 4212 , the middle straight rod 4213 and the lower straight rod 4214 , the upper straight rod 4212 , the middle straight rod 4213 and the lower straight rod 4214 . The middle part of the rod 4214 is hinged in sequence from top to bottom. The strength of the first scissor-type unit 421 can be improved by the three straight rods 4211 hinged to each other, thereby improving the stability of the first scissor-type unit 421 during the expansion and contraction process.

As shown in FIG. 2 , the telescopic arm 42 further includes a semi-scissor unit 422 . One end of the semi-scissor unit 422 is hinged with one end of the first scissor unit 421 away from the linkage unit 41 , and the other end is hinged with the wheel rim 3 . . The end of the telescopic arm 42 can be formed into a closed rhombus by the semi-scissor-type unit 422, which can facilitate the articulation of the telescopic arm 42 and the wheel rim 3 to each other.

The semi-scissor-type unit 422 includes a plurality of semi-straight rods 4221 , one end of the plurality of semi-straight rods 4221 is mutually hinged with one end of the first scissor-type unit 421 away from the linkage unit 41 , and the other end is mutually hinged with the wheel rim 3 .

As shown in FIG. 4 , in this embodiment, the number of semi-straight rods 4221 is three, which are the upper semi-straight rod 4222 , the middle semi-straight rod 4223 and the lower semi-straight rod 4224 , the upper semi-straight rod 4222 , the middle semi-straight rod 4224 , and the middle semi-straight rod 4224 . One ends of the straight rod 4223 and the lower semi-straight rod 4224 are hinged to each other.

As shown in FIG. 5 , in this embodiment, the hinge holes at one end of the upper semi-straight rod 4222 , the middle semi-straight rod 4223 and the lower semi-straight rod 4224 are hinged to each other through the hinge shaft. The hinge hole at the other end of the straight rod 4223 and the hinge hole at one end of the lower straight rod 4214 are hinged to each other through the hinge shaft. The hinge holes are hinged to each other through the hinge shaft, so that the semi-scissor unit 422 and the first scissor unit 421 are hinged to each other.

As shown in FIG. 2 , the linkage unit 41 includes a plurality of acute-angle links 411 that are hinged to each other. One end of the multiple acute-angle links 411 is hinged with the telescopic arm 42 and the other end is hinged with the hub 2. The power mechanism 1 drives the hub. 2 to rotate, so that the hub 2 drives the multiple acute-angle connecting rods 411 to rotate synchronously, so that the multiple acute-angle connecting rods 411 drive the telescopic arms 42 to expand and contract synchronously. By changing the respective angles of the acute-angle links 411, the telescopic range of the telescopic arm 42 can be increased, thereby improving the telescopic ability of the spoke 4.

As shown in FIG. 6 , in this embodiment, the acute-angle link 411 includes a first straight rod 4111 , a second straight rod 4112 , a third straight rod 4113 and a fourth straight rod 4114 , which are connected end to end. The first straight rod 4111 and the The included angle formed by the second straight rod 4112 is an acute angle, the included angle formed by the third straight rod 4113 and the fourth straight rod 4114 is an acute angle, and a first hinge hole is provided at the connection between the first straight rod 4111 and the second straight rod 4112 4115, the connection between the first straight rod 4111 and the fourth straight rod 4114 is provided with a second hinge hole 4116, and the connection between the second straight rod 4112 and the third straight rod 4113 is provided with a third hinge hole 4117, the third straight rod A fourth hinge hole 4118 is provided at the connection between the 4113 and the fourth straight rod 4114. The lengths of the first straight rod 4111, the second straight rod 4112 and the semi-straight rod 4221 are equal and equal to the length of the straight rod 4211 of the first scissor unit 421 , the lengths of the third straight rod 4113 and the fourth straight rod 4114 are equal.

As shown in FIG. 7 , the first hinge hole 4115 of the upper acute-angle link 412 and the first hinge hole 4115 of the lower acute-angle link 414 are hinged to each other through a hinge shaft, and the second hinge hole 4116 of the upper acute-angle link 412 and the middle acute-angle connection The third hinge hole 4117 of the rod 413 and the second hinge hole 4116 of the lower acute angle link 414 are hinged to each other through the hinge shaft, and the third hinge hole 4117 of the upper acute angle link 412 and the third hinge hole 4117 of the lower acute angle link 414 pass through The hinge shafts are hinged to each other, thereby forming a linkage unit 41 . The third hinge hole 4117 of the middle acute-angle link 413 of one linkage unit 41 , the second hinge hole 4116 of the upper acute-angle link 415 of the other linkage unit 41 , and the second hinge hole 416 of the lower acute-angle link 416 of the other linkage unit 41 The hinge holes 4116 are hinged to each other through the hinge shaft, so that two adjacent linkage units 41 are hinged to each other. The first hinge hole 4115 of the upper acute-angle link 412 of one of the linkage units 41 , the hinge hole at one end of the middle straight rod 4216 of one of the telescopic arms 42 , and the first hinge hole 4115 of the lower acute-angle link 414 of one of the linkage units 41 They are hinged to each other through the hinge shaft, the hinge hole at one end of the upper straight rod 4215 of one of the telescopic arms 42 , the first hinge hole 4115 of the middle acute angle link 413 of one of the linkage units 41 , and the one end of the lower straight rod 4217 of one of the telescopic arms 42 The hinge holes are hinged to each other through the hinge shaft, so that the telescopic arm 42 and the linkage unit 41 are hinged to each other.

As shown in FIG. 8 , in this embodiment, the upper acute-angle connecting rod 411 may also only include the first straight rod 4111 and the second straight rod 4112 connected to each other, and the connection between the first straight rod 4111 and the second straight rod 4112 A first hinge hole 4115 is provided, the end of the first straight rod 4111 away from the first hinge hole 4115 is provided with a second hinge hole 4116 , and the end of the second straight rod 4112 away from the first hinge hole 4115 is provided with a third hinge hole 4117 . In this way, the interference between the upper acute angle connecting rod 411 and the wheel hub 2 can be avoided, thereby improving the reliability of the first link chain.

As shown in FIG. 9 , the hub 2 includes a first connecting member 21 and a second connecting member 22 , the power mechanism 1 is connected with the first connecting member 21 , the power mechanism 1 is arranged on the second connecting member 22 , and the first connecting member 21 and One of the acute-angle links 411 is hinged with each other, the second connecting member 22 and the other acute-angle link 411 are hinged with each other, and the power mechanism 1 is used to drive the first connecting member 21 to rotate, and the first connecting member 21 drives one of the acute-angle links 411 Synchronous rotation, one acute-angle link 411 drives the other acute-angle link 411 to rotate synchronously, and the other acute-angle link 411 drives the second connecting piece 22 to rotate synchronously, so that the second connecting piece 22 rotates relative to the first connecting piece 21, thereby The telescopic arm 42 is synchronously extended and retracted.

The fourth hinge hole 4118 of the middle acute-angle link 413 of one of the linkage units 41 and the corresponding hinge hole on the second connecting member 22 are hinged to each other through the hinge shaft, and the fourth hinge hole of the lower acute-angle link 414 of one of the linkage units 41 The corresponding hinge holes on the 4118 and the first connecting member 21 are hinged to each other through the hinge shaft, so that the linkage unit 41 and the hub 2 are hinged to each other.

As shown in Figure 10, the formula for the length of spoke 4 is expressed as:

where R represents the length of the spokes 4, λ1 and _λ2 _both represent coefficients, β represents the driving angle of the power mechanism 1, l represents the rod length of the rhombus, n represents the number of spokes 4, m represents the number of rhombuses in the spokes 4, α Indicates the angle between the third straight rod 4113 and the fourth straight rod 4114. By accurately calculating the length of the spokes 4 , the spokes 4 can be stretched normally, thereby ensuring the quality of the wheel 10 .

As shown in FIG. 11 , the wheel rim 3 includes a plurality of second scissor-type units 31 . The plurality of second scissor-type units 31 are hinged end to end to form a linked second chain, and the ends of the plurality of spokes 4 away from the hub 2 are respectively Articulated to each other with the corresponding second scissor unit 31 . When the wheel 10 runs on an irregular road surface, the power mechanism 1 drives the spokes 4 to shrink, so that the spokes 4 drive the plurality of second scissor units 31 to rotate synchronously, so that the included angle formed by the second scissor units 31 The second scissor-type unit 31 with a smaller angle and a smaller angle can reliably grasp the ground, thereby improving the adhesion between the wheel 10 and the ground, so that the wheel 10 can smoothly pass through the irregular road surface, thereby improving the stability of the wheel 10. capacity.

The second scissor-type unit 31 includes a plurality of obtuse-angle links 311 hinged to each other in the middle, and one ends of the multiple obtuse-angle links 311 of two adjacent second scissor-type units 31 are hinged to each other.

As shown in FIG. 12 , in this embodiment, the second scissor-type unit 31 includes two obtuse-angle links 311 hinged to each other in the middle, which are an upper obtuse-angle link 312 and a lower obtuse-angle link 313 respectively.

As shown in FIG. 13 , the obtuse-angle connecting rod 311 includes a fifth straight rod 3111 and a sixth straight rod 3112 that are connected to each other, the included angle between the fifth straight rod 3111 and the sixth straight rod 3112 is an obtuse angle, and the fifth straight rod 3111 and the sixth straight rod 3111 The lengths of the six straight rods 3112 are equal.

As shown in FIG. 11 , in this embodiment, the rim 3 further includes a plurality of third connecting pieces 32 , the number of the second link chains is two, and the two second link links are hinged to each other through the plurality of third connecting pieces 32 . , the other ends of the plurality of spokes 4 are hinged with the corresponding third connecting pieces 32 respectively. The strength of the rim 3 can be increased by the two second link chains hinged to each other, thereby improving the durability of the wheel 10 .

As shown in FIG. 14 , in one embodiment, a mobile device 100 is provided, and the mobile device 100 includes a vehicle body 20 and the wheels 10 of any of the above-mentioned embodiments provided on the vehicle body 20 .

The number of the wheels 10 is plural, and the plural wheels 10 are respectively provided on both sides of the vehicle body 20 .

In this embodiment, the number of the wheels 10 is six, and the six wheels 10 are arranged on both sides of the vehicle body 20 in groups of three.

The mobile device 100 further includes a swing arm assembly 30 , the swing arm assembly 30 is rotatably disposed on the vehicle body 20 , and the wheel 10 is disposed on the swing arm assembly 30 .

In this embodiment, the number of the swing arm assemblies 30 is two, the two swing arm assemblies 30 are respectively rotatably disposed on both sides of the vehicle body 20 , and the plurality of wheels 10 are respectively disposed on the two swing arm assemblies 30 .

In this embodiment, three groups of six wheels 10 are respectively arranged on two swing arm assemblies 30 .

The mobile device 100 further includes a balance rod 40 , which is disposed on the top of the vehicle body 20 and can move along the top of the vehicle body 20 , and the swing arm assembly 30 and the balance rod 40 are rotatably connected.

In this embodiment, the two swing arm assemblies 30 are rotatably connected to the balance rod 40 respectively. When one of the swing arm assemblies 30 rotates upward, one of the swing arm assemblies 30 drives the balance rod 40 to the other swing arm assembly 30 Move, so that the balance rod 40 drives the other swing arm assembly 30 to rotate downward, so that the other swing arm assembly 30 can reliably contact the ground, so as to prevent the mobile device 100 from rolling over, thereby improving the stability of the mobile device 100 .

The mobile device 100 further includes a fourth connecting member 50 , one end of the fourth connecting member 50 is rotatably connected with the swing arm assembly 30 , and the other end is rotatably connected with the balance rod 40 .

In this embodiment, the number of the fourth connecting members 50 is two, one end of the fourth connecting member 50 is rotatably connected with the swing arm assembly 30, and the other end is rotatably connected with one end of the balance rod 40; One end of a fourth connecting piece 50 is rotatably connected with the swing arm assembly 30 , and the other end is rotatably connected with the other end of the balance rod 40 .

The mobile device 100 further includes a fifth connecting member 51 , one end of the fifth connecting member 51 is rotatably connected to one end of the fourth connecting member 50 away from the swing arm assembly 30 , and the other end is rotatably connected to the balance rod 40 .

In this embodiment, the number of the fifth connecting members 51 is two, one end of the fifth connecting member 51 is rotatably connected to the end of the fourth connecting member 50 away from the swing arm assembly 30 , and the other end is connected to the balance rod 40 . One end of the other fifth connector 51 is rotatably connected to the end of the fourth connector 50 away from the swing arm assembly 30 , and the other end is rotatably connected to the other end of the balance rod 40 .

The swing arm assembly 30 includes a first swing arm 031 and a second swing arm 032, the part between the two ends of the first swing arm 031 is rotatably connected with the vehicle body 20, and one end of the first swing arm 031 is rotatable with the corresponding wheel 10. The other end is rotatably connected with the second swing arm 032 , the second swing arm 032 is rotatably connected with the corresponding wheel 10 , and one end of the fourth connecting member 50 is rotatably connected with the first swing arm 031 .

The part between the two ends of the second swing arm 032 is rotatably connected to the other end of the first swing arm 031 , and both ends of the second swing arm 032 are rotatably connected to the corresponding wheel 10 . When the wheel 10 on the first swing arm 031 encounters an obstacle, the first swing arm 031 will rotate upward, and the two wheels 10 on the second swing arm 032 can provide greater support for the entire vehicle body 20 and driving force, so that the wheel 10 on the first swing arm 031 can pass the obstacle smoothly, thereby improving the obstacle-surmounting ability of the mobile device 100 .

The mobile device 100 further includes a support member 60 , the support member 60 is rotatably disposed on the swing arm assembly 30 , and the wheel 10 is disposed on an end of the support member 60 away from the swing arm assembly 30 .

In this embodiment, the number of the support members 60 is six, the six support members 60 are respectively arranged on the two swing arm assemblies 30 in groups of three, and the six wheels 10 are arranged in a one-to-one correspondence with the six support members 60 away from the six support members 60 . on one end of the swing arm assembly 30 .

Specifically, one end of the first swing arm 031 is rotatably connected to a support member 60 , and both ends of the second swing arm 032 are rotatably connected to a support member 60 , respectively.

The mobile device 100 further includes a first motor 70 disposed on one end of the support member 60 away from the swing arm assembly 30 , the wheel 10 is disposed on the first motor 70 , and the first motor 70 is used to drive the wheel 10 to rotate.

In this embodiment, the output shaft of the first motor 70 is connected to the first connecting piece 21 of the wheel hub 2. On a regular road surface, the diameter of the wheel 10 needs to remain unchanged. Once the diameter of the wheel 10 changes, it will affect the Driving of the wheel 10 on a regular road surface. At this time, the diameter of the wheel 10 can be kept unchanged only by keeping the second connecting member 22 stationary relative to the first connecting member 21 . Since the power mechanism 1 of the wheel 10 is arranged on the second connecting member 22, the power mechanism 1 of the wheel 10 only needs to exert a corresponding reaction force to the first connecting member 21, so that the second connecting member 22 can be connected to the first connecting member 22 relative to the first connecting member 21. The member 21 is stationary, so that the diameter of the wheel 10 remains constant. On an irregular road surface, the diameter of the wheel 10 needs to be changed, so that the wheel 10 can adapt to the irregular road surface, thereby improving the traffic capacity of the wheel 10 . At this time, only by changing the magnitude of the output torque of the power mechanism 1 of the wheel 10 , the second connecting member 22 can be rotated relative to the first connecting member 21 , thereby changing the diameter of the wheel 10 .

In this embodiment, the number of the first motors 70 is six, and the six first motors 70 are arranged on one end of the six supports 60 away from the swing arm assembly 30 in a one-to-one correspondence, and the six wheels 10 are arranged in a one-to-one correspondence. On the six first motors 70 .

The mobile device 100 further includes a second motor 80, the second motor 80 is disposed on the swing arm assembly 30, the second motor 80 is connected to the support member 60, and the second motor 80 is used to drive the support member 60 to rotate along the swing arm assembly 30 to change The direction of travel of the mobile device 100 .

In this embodiment, the number of the second motors 80 is six, the six second motors 80 are arranged on the two swing arm assemblies 30 in groups of three, and the six second motors 80 are connected to the six support members 60 . A corresponding connection.

Specifically, one second motor 80 is disposed on one end of the first swing arm 031 , and two second motors 80 are disposed on both ends of the second swing arm 032 , respectively.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, any equivalent structural transformations made by the contents of the description and drawings of the present invention, or direct/indirect application Other related technical fields are included in the scope of patent protection of the present invention.

Claims

A wheel is characterized in that it comprises a power mechanism, a hub, a telescopic rim and a plurality of telescopic spokes, one end of the plurality of spokes is mutually hinged with the hub, and the other ends are mutually hinged with the rim The power mechanism is connected to the wheel hub, and the power mechanism is used to drive the wheel hub to rotate, so that the wheel hub drives a plurality of the spokes to expand and contract, so that the multiple spokes drive the rim to expand and contract synchronously.
The wheel according to claim 1, wherein the spokes comprise a linkage unit and a telescopic arm that are hinged to each other, an end of the linkage unit away from the telescopic arm is hinged with the wheel hub, and the telescopic arm is far away from all the telescopic arms. One end of the linkage unit and the rim are hinged to each other, wherein the linkage units in the plurality of spokes are hinged to each other end to end to form a first linkage chain, and the power mechanism drives the wheel hub to rotate, so The hub drives the first chain to rotate synchronously, so that the first chain drives a plurality of the telescopic arms to synchronously expand and contract.
The wheel according to claim 2, wherein the telescopic arm comprises a plurality of first scissor-type units, one end of two adjacent first scissor-type units is hinged with each other, and the telescopic arms are close to each other at one end. One end of a first scissor-type unit of the linkage unit is hinged with the linkage unit, and one end of a first scissor-type unit in the telescopic arm close to the rim is hinged with the rim.
The wheel according to claim 3, wherein the first scissor-type unit comprises a plurality of straight rods hinged to each other in the middle, and one end of the plurality of straight rods of two adjacent first scissor-type units hinged to each other.
The wheel of claim 3, wherein the telescopic arm further comprises a semi-scissor-type unit, one end of the semi-scissor-type unit and an end of the first scissor-type unit away from the linkage unit hinged to each other, and the other end is hinged to the rim.
The wheel according to claim 2, wherein the linkage unit comprises a plurality of acute-angle links that are hinged with each other, one end of the plurality of acute-angle links is mutually hinged with the telescopic arm, and the other end is mutually hinged with the wheel hub Articulated with each other, the power mechanism drives the hub to rotate, so that the hub drives the multiple acute-angle links to rotate synchronously, so that the multiple acute-angle links drive the telescopic arms to synchronously expand and contract.
The wheel according to claim 6, wherein the wheel hub comprises a first connecting piece and a second connecting piece, the power mechanism is connected with the first connecting piece, and the power mechanism is arranged on the second connecting piece. On the connecting piece, the first connecting piece and one of the acute-angle links are hinged with each other, the second connecting piece and the other acute-angle link are hinged with each other, and the power mechanism is used to drive the first connecting piece to rotate, and the The first connecting piece drives one of the acute-angle links to rotate synchronously, one of the acute-angle links drives the other acute-angle link to rotate synchronously, and the other acute-angle link drives the second connecting piece to rotate synchronously, so that the second connecting piece It rotates relative to the first connecting piece, so that the telescopic arm can be extended and retracted synchronously.
The wheel according to claim 1, wherein the rim comprises a plurality of second scissor-type units, and the plurality of second scissor-type units are hinged end to end to form a linked second chain, and a plurality of One end of the wheel spoke away from the wheel hub is respectively hinged with the corresponding second scissor-type unit.
The wheel of claim 8, wherein the second scissor-type unit includes a plurality of obtuse-angle links hinged to each other in the middle, and one end of the obtuse-angle links of two adjacent second scissor-type units is hinged to each other .
A mobile device is characterized by comprising a vehicle body and the wheel according to any one of claims 1-9 arranged on the vehicle body.
The mobile device according to claim 10, wherein the mobile device further comprises a swing arm assembly, the swing arm assembly is rotatably disposed on the vehicle body, and the wheel is disposed on the swing arm assembly superior.
The mobile device according to claim 11, wherein the mobile device further comprises a balance rod, the balance rod is arranged on the top of the vehicle body and can move along the top of the vehicle body, the swing arm The assembly and the balance rod are rotatably connected.
The mobile device according to claim 12, wherein the mobile device further comprises a fourth connecting piece, one end of the fourth connecting piece is rotatably connected with the swing arm assembly, and the other end is connected with the balancer The pull rod is rotatably connected.
The mobile device according to claim 13, wherein the mobile device further comprises a fifth connecting piece, one end of the fifth connecting piece and the end of the fourth connecting piece away from the swing arm assembly are rotatable connected to the ground, and the other end is rotatably connected to the balance rod.