The invention provides a folding wheel and a robot, and belongs to the technical field of wheel diameter variable type wheels, and the folding wheel comprises a hub, a plurality of folding cells, a plurality of spoke plates, a lantern ring, an elastic connecting piece and a driving structure. Wherein the foldable cell elements are connected with the spoke plates, and the spoke plates are arranged between every two adjacent cell elements. The spoke plate is connected with the peripheral face of the hub, the two ends of the hub are rotationally connected with the lantern ring, and the elastic connecting piece is connected with the lantern ring and the spoke plate. The driving system drives the lantern ring to rotate relative to the hub, the spoke plate is pulled through the elastic connecting piece, folding and unfolding of the cells are achieved, the wheel diameter of the wheel is changed, the obstacle crossing ability of a robot under complex road conditions is improved, the technology is simple, and installation is convenient.
本申请提供一种折叠车轮及机器人,属于轮径可变式车轮技术领域,该折叠车轮包括轮毂、多个可折叠胞元、多个轮辐板、套环、弹性连接件和驱动结构。其中,可折叠胞元与轮辐板相连,轮辐板介于相邻两个胞元之间。轮辐板与轮毂的外周面相连,轮毂的两端与套环转动相连,而弹性连接件连接套环与轮辐板。驱动系统带动套环相对于轮毂旋转,通过弹性连接件拉动轮辐板,实现胞元的折叠和展开,使车轮的轮径发生改变,提高机器人在复杂路况下的越障能力,工艺简单,安装方便。
Folding wheel and robot
一种折叠车轮及机器人
2024-06-14
Patent
Electronic Resource
Chinese