The invention belongs to the technical field of robots, and discloses a spoke wheel mechanism with variable spoke shapes, which comprises a wheel disc, the wheel disc is in a hollow disc shell shape. A plurality of fixed discs are fixed in the wheel disc and are arranged in the axis direction of the wheel disc, and the fixed discs and the wheel disc are coaxially arranged; stretching mechanisms are arranged on the fixed discs, a plurality of spokes are connected to the stretching mechanism of any fixed disc, the spokes are annularly and uniformly distributed around the central axis of the fixed disc, the spokes are arranged in the radial direction of the wheel disc, and the stretching mechanisms are used for synchronously driving the spokes connected with the stretching mechanisms to synchronously move in the radial direction of the fixed discs; the ends, away from the central axis of the wheel disc, of the spokes on the stretching mechanisms are different in shape. A plurality of through grooves are formed in the circumferential wall of the wheel disc; the purpose that the spoked wheel mechanism can be rapidly switched among the wheel mode, the spoke leg mode and the spoke leg modes of various different forms is achieved, so that the spoked wheel mechanism can adapt to various different terrains, and the adaptability of the spoked wheel mechanism to the terrains is improved.

    本发明属于机器人技术领域,公开一种辐条形状可变的辐条轮机构,包括轮盘;轮盘呈内部中空的圆盘壳体状;轮盘内固定有多个固定盘,多个固定盘沿轮盘轴线方向布置,且固定盘均与轮盘呈同轴线放置;固定盘上均设置有伸展机构,任一固定盘的伸展机构上均连接有多个辐条,多个辐条绕固定盘中心轴线呈环形均匀分布,辐条均沿轮盘径向布置,伸展机构用于同步驱动自身连接的各辐条同步沿固定盘径向移动,且各伸展机构上辐条远离轮盘中心轴线端形状不同;轮盘周壁上开设有多个通槽;实现辐条轮机构在车轮模式、辐腿模式及多种不同形态的辐腿模式之间快速切换的目的,以便于辐条轮机构适应多种不同地形,提高辐条轮机构对地形的适应性。


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    Title :

    Spoked wheel mechanism with variable spoke shapes


    Additional title:

    一种辐条形状可变的辐条轮机构


    Contributors:
    BIAN CHENG (author) / WEI ZHONG (author) / ZHAO JIPING (author) / GE HONGQIAN (author) / MENG TIANXIANG (author) / TIAN RUYUN (author) / LIU JIA (author) / SONG AIGUO (author)

    Publication date :

    2025-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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