A single-degree-of-freedom foldable deformation wheel mechanism

Abstract

The invention discloses a single-degree-of-freedom foldable deformation wheel mechanism, which is composed of six folding surfaces, namely the first to sixth folding surfaces, and a motor. The first folding surface is supported by an upper support rod, a circular center plate and a lower hollow sector. The rods together form a whole, the fan-shaped angle of the lower hollow fan-shaped support rod is 90°; the second folding surface is a hollow fan-shaped structure with a fan-shaped angle of 90°; the structural dimensions of the four folding surfaces from the third folding surface to the sixth folding surface Exactly the same, all are hollow fan-shaped structures with 45° fan-shaped angles, in which the six folding surfaces are connected by rotating pairs, and the edge position of the upper surface between the first and second folding surfaces is connected by a motor; the second and third folding surfaces The positions of the rotation pairs between the folding surfaces are located on the upper surface edges of the two folding surfaces, the positions of the sixth and first folding surface rotation pairs are located on the upper surface edges of the two folding surfaces, and the other rotation pairs are arranged alternately up and down. The invention can realize a larger folding ratio and further improve the ability to overcome obstacles.

Description

technical field [0001] The invention relates to a single-degree-of-freedom foldable deformation wheel mechanism. Background technique [0002] At present, the common deformation wheel mechanism usually adopts the deformation of the wheel body to change the size of the wheel diameter to improve the ability to overcome obstacles, but this method often requires a large deformation driving torque. [0003] Chinese patent application 201910665957.0 discloses a foldable deformation wheel mechanism. The foldable deformation wheel mechanism is composed of a first folding surface, a second folding surface, a third folding surface, a fourth folding surface, and a motor. Turn to control the folding and unfolding of the wheel body. When unfolded, it is a round wheel mode, which can have wheeled stability, and when it is folded, it is a special-shaped mode, which has stronger obstacle crossing performance. [0004] The above deformation wheel mechanism can realize the deformation of th...

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned deformation wheel mechanism can realize the deformation of the wheel body with a small deformation moment, but after the wheel body is folded, it is limited by the size of the 120-degree included angle of the lower hollow fan-shaped structure, which limits the ability to overcome obstacles

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