The invention belongs to the field of robot design, and relates to a deformable wheel which comprises an axle, a wheel disc, an automatic telescopic part, a supporting arc and a deformable rubber rim. The multiple sets of supporting arcs form a whole ring structure coaxial with the wheel disc, and the telescopic unit of each set of automatic telescopic piece is connected with one set of supporting arcs. When the robot is on the ground, the deformable wheels can be driven to freely roll on the ground through the power of the robot; when the robot needs to climb stairs or climbs a slope, the telescopic unit of the lowest automatic telescopic piece is controlled to be shortened, the telescopic unit of the uppermost automatic telescopic piece is controlled to be extended, the telescopic units on the two adjacent sides of the uppermost automatic telescopic piece are controlled to be shortened, the deformable rubber wheel rim deforms to form a polygonal stable structure, and a local plane is formed at the bottom. In this way, during stair climbing or climbing, the robot controls the two variable wheels to be lifted or put down, and stair climbing or climbing is efficiently achieved in the mode similar to walking of people.
本申请属于机器人设计领域,为一种可变形轮子,包括轮轴、轮盘、自动伸缩件、支撑弧和可变形橡胶轮圈。多组支撑弧形成与轮盘同轴设置的整环结构,每组自动伸缩件的伸缩单元与一组支撑弧相连;当机器人在地面上时,通过机器人自身的动力能够带动可变形轮子在地面上自由滚动;当机器人需要爬楼梯或者爬坡时,控制处于最下方自动伸缩件的伸缩单元缩短、最上方的自动伸缩件的伸缩单元伸长,最上方自动伸缩件相邻两侧的伸缩单元缩短,可变形橡胶轮圈变形成多边形稳定结构,底部形成局部平面,这样在爬楼梯或者爬坡时,机器人控制两个可变性轮子的抬起或者放下,通过类似人走路的方式高效地实现爬楼梯或者爬坡。
Deformable wheel
一种可变形轮子
2023-09-15
Patent
Electronic Resource
Chinese
Deformable wheel, deformable wheel control system and vehicle
European Patent Office | 2021
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