Passive transformable wheel and robot having the wheel

摘要

A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and
one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.

主权项

1. A passive transformable wheel, comprising:
a wheel base including a centrally positioned transmitter rotation shaft, a trigger leg rotation shaft positioned in an outer periphery of the wheel base and one or more passive leg rotation shafts positioned in the outer periphery of the wheel base; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter, wherein, when the trigger leg is unfolded by the frictional contact with a road surface, the trigger joint is configured to rotate the force transmitter through the trigger slide of the force transmitter, and upon rotation of the force transmitter, the passive leg joints of the force transmitter are configured to rotate and unfold the passive legs through the passive leg slides of the passive legs.