Radial repeatedly-folding/unfolding wheel mechanism

A wheel and rim technology, applied in the field of robotics, can solve the problems of special unstructured terrain adaptability to be strengthened, and achieve the effect of high engineering application value, reduced space of the wheel body, and compact structure

Active Publication Date: 2014-07-30
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although the current complex terrain mobile detection vehicles have a strong ability to overcome obstacles, their ability to adapt to special unstructured terrain still needs to be strengthened

Method used

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  • Radial repeatedly-folding/unfolding wheel mechanism
  • Radial repeatedly-folding/unfolding wheel mechanism
  • Radial repeatedly-folding/unfolding wheel mechanism

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] Such as figure 1 and 2 As shown, a radially repeating folding wheel mechanism includes a hub assembly, a hub assembly, a spoke assembly and a rim assembly.

[0031] The axle assembly includes a gear 1, an electromagnetic clutch 2, an inner transmission shaft 3 and an outer transmission shaft 4; the outer transmission shaft 4 is supported on two bearing housings 18 through two outer shaft bearings 16, and one end is fixed to the gear 1; the two outer shafts A shaft sleeve 17 is arranged between the bearings 16 to realize the axial positioning of the two outer shaft bearings 16 . The interior of the outer transmission shaft 4 is hollow, and the inner transmission shaft 3 is supported in the outer transmission shaft 4 by two inner shaft bearings 15; one end of the inner transmission shaft 3 is connected with one end of the electromagnetic clutch 2...

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Abstract

The invention discloses a radial repeatedly-folding/unfolding wheel mechanism. The adaptability of a current complex terrain motion detection vehicle to an unstructured terrain remains to be enhanced. A crank hub of the mechanism is fixed with one end of a movable wheel spoke connecting shaft; the other end of the movable wheel spoke connecting shaft is connected with an axial movable wheel spoke through threads; the crank hub is provided with crank push rods; the top end of each of the crank push rods is hinged to a rolling sleeve; the top end of each of axial movable wheel spoke rods is connected with an axial sliding groove in a wheel rim in a sliding way; the middle of each of the axial movable wheel spoke rods is fixed with a locking block; a wheel flange push rod sliding groove is formed in the locking block; two ends of the wheel flange push rod sliding groove are provided with two bumps; radial sliding grooves in the wheel rim are respectively connected with wheel flange push rods in the sliding way; a sleeve connecting rod is fixedly arranged on the bottom part of each of the wheel flange push rods; the top parts of the wheel flange push rods are respectively fixed with wheel flange inclined blocks; a shrinkage locking groove is formed in one side wall of each of the wheel flange push rods; an unfolding locking groove is formed in the other side wall of each of the wheel flange push rods. According to the radial repeatedly-folding/unfolding wheel mechanism, the wheel diameter and the wheel-ground contact way can be changed, so that the adaptability of the complex terrain motion detection vehicle to the unstructured terrain is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a folding and unfolding wheel mechanism, in particular to a radially and repeatedly folding and unfolding wheel mechanism. Background technique [0002] Wheeled complex terrain mobile detection vehicles are widely used in space planet exploration, military operations, search and rescue activities and other fields. The wheels of the wheeled complex terrain mobile detection vehicle, as its parts directly in contact with the ground, not only carry the overall weight of the vehicle, generate traction, and feed back the necessary terrain information, but also play a role in the movement ability, steering flexibility, adaptability, etc. of the vehicle. Capabilities such as terrain have a significant impact. [0003] Although the current complex terrain mobile detection vehicles have a strong ability to overcome obstacles, their ability to adapt to special unstructured terrain still needs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60B19/00B60B15/00
Inventor 胡明王黎喆陈文华李文娟撖亚頔孙宝龙冯军
Owner ZHEJIANG SCI-TECH UNIV
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