A variable-width origami wheel

Abstract

The present invention relates to an origami wheel with variable width, comprising a variable-diameter wheel frame and a wheel axle mounted on the variable-diameter wheel frame; the variable-diameter wheel frame includes a number of folding units; the number of folding units are connected end to end in sequence to form a ring; each folding unit has a first plane, a second plane, a third plane, a fourth plane, a fifth plane, and a sixth plane; a first valley fold line is provided between the first plane and the second plane and is symmetrically arranged with the first valley fold line as the center, a first mountain fold line is provided between the third plane and the fourth plane and is symmetrically arranged with the first mountain fold line as the center, a second valley fold line is provided between the first plane and the third plane, a third valley fold line is provided between the second plane and the fourth plane, the fifth plane and the sixth plane are symmetrically arranged with the first valley fold line as the center, and the fifth plane and the sixth plane are respectively connected to the first plane and the second plane. This origami wheel with variable width can adjust the width of the variable-diameter wheel frame and belongs to the technical field of variable-width wheels and variable-diameter wheels.

Description

Technical Field

[0001] The present invention relates to the technical field of variable-diameter wheels, and particularly to an origami-style wheel with variable width. Background Art

[0002] In the uneven road surfaces in disaster areas, narrow gaps in caves or unknown complex road surface environments, higher requirements are put forward for the adaptability and passability of wheels. At present, domestic research has started on rigid variable-diameter wheels, such as a variable-diameter wheel that automatically adapts to the road surface. Such rigid variable-diameter wheels are assembled by a certain number of components and can run smoothly on flat hard road surfaces or some known uneven complex road surfaces. However, the internal structure of the rigid variable-diameter wheel is complex, the assembly process is cumbersome, the manufacturing precision requirements for components are high, and the deformation method is single, and the deformation of the wheel width cannot be achieved. In recent years, several types of deformable origami wheels have also emerged abroad, but these types of wheels can only achieve the deformation of the wheel diameter and still cannot achieve the deformation of the wheel width, and cannot ensure the adaptability and passability of the wheels to unknown narrow and complex road surfaces, and still cannot meet the practicality. Summary of the Invention

[0003] Aiming at the technical problems existing in the prior art, the object of the present invention is to provide an origami-style wheel with variable width, which has a simple structure and is easy to control. This origami-style wheel can adjust the width and diameter of the wheel and can adapt to various road conditions.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An origami-style wheel with variable width, comprising a variable-diameter wheel frame and a wheel axle installed on the variable-diameter wheel frame; the variable-diameter wheel frame includes a plurality of folding units; the plurality of folding units are connected end to end in sequence to form a ring;

[0006] Each folding unit has a first plane, a second plane, a third plane, a fourth plane, a fifth plane, and a sixth plane; the first plane and the second plane are connected to each other, a first valley fold line is provided between the first plane and the second plane and is symmetrically arranged with the first valley fold line as the center, the third plane and the fourth plane are connected to each other, a first mountain fold line is provided between the third plane and the fourth plane and is symmetrically arranged with the first mountain fold line as the center, the first mountain fold line is connected to the first valley fold line to form a fold line, the first plane and the second plane are respectively connected to the third plane and the fourth plane, a second valley fold line is provided between the first plane and the third plane, a third valley fold line is provided between the second plane and the fourth plane, the fifth plane and the sixth plane are symmetrically arranged with the fold line as the center, the fifth plane and the sixth plane are respectively connected to the first plane and the second plane, a second mountain fold line is provided between the first plane and the fifth plane, and a third mountain fold line is provided between the second plane and the sixth plane;

[0007] The fifth planes of all folding units together form the first end surface of the variable diameter wheel frame, and the sixth planes of all folding units together form the second end surface of the variable diameter wheel frame. The variable diameter wheel frame is folded with the folding line as the center, and the variable diameter wheel frame can change the width and diameter.

[0008] Furthermore, the variable width origami wheel also includes a first hub mounted on the first end surface and a second hub mounted on the second end surface; the first hub and the second hub are both located outside the variable diameter wheel frame and are respectively provided with a first end cover and a second end cover. The first hub and the second hub can strengthen the strength of the variable diameter wheel frame, and the first end cover and the second end cover prevent dust from entering the variable diameter wheel frame.

[0009] Furthermore, the variable width origami wheel also includes a third wheel hub; the third wheel hub is fixed on the first end surface and in the variable diameter wheel frame; one end of the wheel axle is fixedly connected to the third wheel hub, and the other end of the wheel axle passes through the second wheel hub and the second end cover in sequence, and the second wheel hub and the second end cover are slidably sleeved on the wheel axle. The third wheel hub is used to fix the wheel axle, and the wheel axle provides support for the variable diameter wheel frame to change its diameter.

[0010] Furthermore, the wheel axle includes a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are fixedly connected to the third wheel hub, the other end of the metal wire and the other end of the spring coil pass through the second wheel hub and the second end cover in sequence, and a pulley is provided at one end of the second end cover, and the metal wire is wound on the pulley. The pulley is controlled to retract and release the metal wire, thereby driving the variable diameter wheel frame to change diameter and width.

[0011] Furthermore, the first end surface and the second end surface are both provided with hub mounting holes, and the first hub, the second hub and the third hub are all mounted by bolts passing through the hub mounting holes.

[0012] Furthermore, a diameter-changing rod and a rod hole are provided on both the first plane and the second plane, and the diameter-changing rod is installed on the first plane or the second plane through the rod hole. The width of the diameter-changing wheel frame changes continuously, which can cause the spatial position of the symmetric plane on the folding unit to change, thereby causing the spatial position of the diameter-changing rod to change. The diameter-changing rod switches between the flat position and the vertical position to achieve continuous change of the wheel diameter.

[0013] Furthermore, when viewed from the rolling direction of the variable diameter wheel frame, the variable diameter rod is arranged to be inclined outwards.

[0014] Furthermore, the first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane are all rigid sheets, and the rigid sheets can provide sufficient strength.

[0015] The first mountain fold line, the second mountain fold line, the third mountain fold line, the first valley fold line, the second valley fold line and the third valley fold line are all filled with flexible materials. The flexible materials are labor-resistant and wear-resistant, and are convenient for the diameter change of the diameter-changing wheel frame.

[0016] Generally speaking, the present invention has the following advantages:

[0017] The variable-diameter wheel frame folded according to a specific origami pattern is actually a multi-mechanism assembly. By making full use of its origami structure characteristics and crease distribution characteristics, it realizes one-piece molding. And only by applying an excitation in the axial direction of the axle can the continuous variation of the wheel width be achieved, thereby realizing the continuous variation of the wheel diameter. An external motor is connected to drive the pulley, and the pulley winds or releases the metal wire and the wheel axle. The driving and control are simple and reliable, and the variable-diameter wheel frame has a large multiple of continuous width variation and a large multiple of continuous wheel diameter variation. The folding unit adopts a manufacturing method of distributing and forming rigid materials and flexible materials, thereby improving the load-bearing capacity and other performances of the wheel. At the same time, the foldable characteristics at the creases are retained, realizing the continuous variation of the width and the wheel diameter. In the working state of a large width and a small wheel diameter, it becomes an ordinary rigid wheel, which is suitable for smooth roads and uneven roads; in the working state of a small width and a large wheel diameter, the wheel rim is still continuous, and it can pass through narrow gaps and cross over higher gravels, and is used in complex road surface occasions, effectively enhancing the obstacle-crossing ability, adaptability and flexibility. The present invention can be applied to rescue robots in special occasions such as narrow caves, small gravels, earthquake-stricken areas, as well as detection robots and search and rescue robots. The present invention not only makes use of the characteristics of its origami structure, reduces the assembly complexity between components, but also reduces the manufacturing time of the origami wheel, realizes width reduction for passing through gaps and diameter expansion for crossing obstacles, and can simplify the assembly process and reduce the manufacturing time. Brief Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of a variable-width origami wheel.

[0019] Figure 2 is a cross-sectional view of a variable-width origami wheel.

[0020] Figure 3 is a schematic structural diagram of a variable-diameter wheel frame.

[0021] Figure 4 is a schematic structural diagram of a folding unit.

[0022] Figure 5 is an unfolded view of the variable-diameter wheel frame structure.

[0023] Figure 6 is an unfolded view of the folding unit structure.

[0024] Figure 7 is a schematic structural diagram of a wheel axle.

[0025] Figure 8 is a schematic structural diagram of a variable-width origami wheel when its width becomes larger.

[0026] Figure 9It is a schematic structural diagram when the width of the variable-width origami wheel becomes smaller. Specific embodiments

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] For the convenience of uniformly viewing each reference numeral in the accompanying drawings of the specification, the reference numerals appearing in the accompanying drawings of the specification are uniformly described as follows:

[0029] 1 is the first plane, 2 is the second plane, 3 is the third plane, 4 is the fourth plane, 5 is the fifth plane, 6 is the sixth plane, 7 is the first valley fold line, 8 is the first mountain fold line, 9 is the second valley fold line, 10 is the third valley fold line, 11 is the second mountain fold line, 12 is the third mountain fold line, 13 is the wheel axle, 14 is the first end face, 15 is the second end face, 16 is the first hub, 17 is the second hub, 18 is the third hub, 19 is the first end cover, 20 is the second end cover, 21 is the metal wire, 22 is the spring coil, 23 is the hub mounting hole, 24 is the variable-diameter rod, 25 is the rod hole.

[0030] Combined with Figure 1 , Figure 4 , Figure 5 , Figure 6 As shown, a variable-width origami wheel includes a variable-diameter wheel frame and a wheel axle installed on the variable-diameter wheel frame; the variable-diameter wheel frame includes a plurality of folding units; the plurality of folding units are connected end to end in sequence to form a ring; the variable-diameter wheel frame is based on a classic Miura origami structure. On the basis of the folding diagram of the Miura crease structure, a rigid thin sheet is used and additional mountain fold lines or valley fold lines are added, and finally the variable-diameter wheel frame is formed. A mountain fold line means that the connection between two faces is convex, and a valley fold line means that the connection between two faces is concave. The variable-diameter wheel frame is composed of a plurality of identical folding units (such as Figure 5 , the grid part is cut off). Each folding unit has a folding line, and the entire variable-diameter wheel frame folds with the folding line as the axis of symmetry to achieve width change and diameter change.

[0031] Each folding unit has a first plane, a second plane, a third plane, a fourth plane, a fifth plane, and a sixth plane. The first plane and the second plane are connected to each other. A first valley fold line is provided between the first plane and the second plane and is symmetrically arranged with the first valley fold line as the center. The third plane and the fourth plane are connected to each other. A first mountain fold line is provided between the third plane and the fourth plane and is symmetrically arranged with the first mountain fold line as the center. The first mountain fold line and the first valley fold line are connected to form a folding line. The first plane and the second plane are respectively connected to the third plane and the fourth plane. A second valley fold line is provided between the first plane and the third plane, and a third valley fold line is provided between the second plane and the fourth plane. The fifth plane and the sixth plane are symmetrically arranged with the folding line as the center. The fifth plane and the sixth plane are respectively connected to the first plane and the second plane. A second mountain fold line is provided between the first plane and the fifth plane, and a third mountain fold line is provided between the second plane and the sixth plane; each folding unit is as Figure 6 shown, and is composed of a rigid thin sheet of the first plane, the second plane, the third plane, the fourth plane, the fifth plane, the sixth plane, and flexible creases (the first mountain fold line, the second mountain fold line, the third mountain fold line, the first valley fold line, the second valley fold line, the third valley fold line). The first plane and the second plane of each folding unit are respectively connected to the third plane and the fourth plane of another adjacent folding unit.

[0032] The variable-diameter wheel frame is integrally formed by folding a rigid thin sheet coated with a flexible material according to the above creases. First, a flexible high-viscosity material (such as high-viscosity PVC material) is used as the base, and the crease lines (the first mountain fold line, the second mountain fold line, the third mountain fold line, the first valley fold line, the second valley fold line, the third valley fold line) are replaced. The rigid thin sheet (such as a copper sheet) is distributed on the flexible high-viscosity material base, and a deformation space (crease) must be reserved between the first plane, the second plane, the third plane, the fourth plane, the fifth plane, and the sixth plane. Finally, a layer of flexible high-viscosity material is covered on the rigid thin sheet, folded according to the above folding method, and then each folding unit is connected end to end in sequence, and the first folding unit and the last folding unit are connected to form a wheel shape.

[0033] The fifth planes of all folding units together form the first end face of the variable-diameter wheel frame (i.e., one end face of the wheel), and the sixth planes of all folding units together form the second end face of the variable-diameter wheel frame (i.e., the other end face of the wheel).

[0034] Combined with Figure 1 、 Figure 2 、 Figure 3 、 Figure 7As shown in the figure, the variable-width origami wheel further includes a first hub mounted on the first end face and a second hub mounted on the second end face; both the first hub and the second hub are located outside the variable-diameter wheel frame and are respectively provided with a first end cover and a second end cover. The variable-width origami wheel further includes a third hub; the third hub is fixed on the first end face and inside the variable-diameter wheel frame; one end of the axle is fixedly connected to the third hub, and the other end of the axle sequentially passes through the second hub and the second end cover, and the second hub and the second end cover are slidably sleeved on the axle. The first hub and the third hub are respectively installed outside and inside the first end face of the variable-diameter wheel frame, the fixed end of the axle is fixed to the third hub, and a driving device (servo motor) of the pulley is provided at the movable end of the axle. By controlling the servo motor to drive the pulley to rotate a certain angle, the pulley winds or releases the axle, controls the length of the axle, drives the first end face to move towards the second end face, thereby realizing continuous change in the width of the variable-diameter wheel frame and continuous change in the wheel diameter. The axial centerlines of the first hub, the third hub, the first end cover, the second hub, the second end cover and the axle are all consistent with the axial centerline of the variable-diameter wheel frame.

[0035] The axle includes a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are both fixedly connected to the third hub, the other end of the metal wire and the other end of the spring coil sequentially pass through the second hub and the second end cover, and a pulley is provided at the end of the second end cover, and the metal wire is wound around the pulley (not shown in the figure). By controlling the servo motor (not shown in the figure) to drive the pulley to rotate a certain angle, the pulley winds or releases the metal wire and the spring coil, and then drives the first hub to move towards the second hub, realizing continuous change in the width of the variable-diameter wheel frame. When the width of the variable-diameter wheel frame changes continuously, it can cause changes in the spatial position of the rigid thin plates on the variable-diameter wheel frame, thereby causing changes in the spatial position of the variable-diameter rods. The variable-diameter rods on the first plane and the second plane switch between the flat position and the vertical position, realizing continuous change in the wheel diameter of the wheel.

[0036] Hub mounting holes are provided on both the first end face and the second end face. The first hub, the second hub and the third hub are fixed through bolts and the hub mounting holes. There are four corresponding threaded holes on both the first hub and the second hub for fixing the first end cover and the second end cover respectively.

[0037] Variable-diameter rods and rod holes are provided on both the first plane and the second plane, and the variable-diameter rods are installed on the first plane or the second plane through the rod holes. Looking from the rolling direction of the variable-diameter wheel frame, the variable-diameter rods are inclined outwards. The variable-diameter rods are installed on the symmetrical first plane and second plane according to a certain rule. When the variable-diameter wheel frame widens, it causes the variable-diameter rods to move along the radial direction of the variable-diameter wheel frame, and the variable-diameter rods can amplify the diameter change of the variable-diameter wheel frame.

[0038] The first plane, the second plane, the third plane, the fourth plane, the fifth plane, and the sixth plane are all rigid thin sheets. The rigid thin sheets have sufficient strength and hardness to enable the origami wheel to be used as a wheel.

[0039] The first mountain fold line, the second mountain fold line, the third mountain fold line, the first valley fold line, the second valley fold line, and the third valley fold line are all filled with flexible materials. Replace the creases with flexible materials and fold them in the original folding manner of the folding lines to form a variable-diameter wheel frame.

[0040] The working principle of this variable-width origami wheel: Combine Figure 8 , Figure 9 As shown, when the variable-width origami wheel is running normally, it is in the state of large width and small wheel diameter (as shown in Figure 8 ). At this time, the variable-diameter rod is in a flat state (i.e., the state of the smallest wheel diameter, and the variable-diameter rod tends to be in a horizontal state). When encountering a narrow gap or a road environment with a cave or a high obstacle, the control servo motor drives the pulley to rotate and reel in the wheel shaft. When the wheel shaft is gradually reeled into the pulley, the fixed end of the wheel shaft drives the first end face to move axially. Due to the distribution characteristics of the origami creases of the variable-diameter wheel frame, the first end face shrinks towards the second end face with the folding line as the folding center, and the variable-diameter wheel frame becomes narrower. When the variable-diameter wheel frame becomes narrower, it drives the variable-diameter rod to switch from the flat position to the vertical position (the variable-diameter rod tends to be in a vertical state). When the variable-diameter rod tends to be vertical, the wheel diameter becomes larger. When the wheel width shrinks to the minimum (as shown in Figure 9 ), and when the wheel diameter of the variable-diameter wheel frame expands to the maximum position in the maximum diameter state, the origami wheel can travel on a flat hard road surface after passing through a narrow gap or over an obstacle. Similarly, by controlling the motor to drive the pulley to rotate in the reverse direction, release the retracted wheel shaft, expand the width of the variable-diameter wheel frame, increase the contact area with the road surface, improve the stability during the wheel running process, and the width of the variable-diameter wheel frame can continuously change by 1 to 2.5 times and the wheel diameter can continuously change by 1 to 1.5 times.

[0041] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A foldable wheel with variable width, characterized in that: It includes a variable-diameter wheel frame and a wheel axle installed on the variable-diameter wheel frame; the variable-diameter wheel frame includes a number of folding units; the number of folding units are connected end to end in sequence to form a ring; Each folding unit has a first plane, a second plane, a third plane, a fourth plane, a fifth plane, and a sixth plane; the first plane and the second plane are connected to each other, a first valley fold line is provided between the first plane and the second plane and is symmetrically arranged with the first valley fold line as the center, the third plane and the fourth plane are connected to each other, a first mountain fold line is provided between the third plane and the fourth plane and is symmetrically arranged with the first mountain fold line as the center, the first mountain fold line is connected to the first valley fold line to form a fold line, the first plane and the second plane are respectively connected to the third plane and the fourth plane, a second valley fold line is provided between the first plane and the third plane, a third valley fold line is provided between the second plane and the fourth plane, the fifth plane and the sixth plane are symmetrically arranged with the fold line as the center, the fifth plane and the sixth plane are respectively connected to the first plane and the second plane, a second mountain fold line is provided between the first plane and the fifth plane, and a third mountain fold line is provided between the second plane and the sixth plane; The fifth planes of all folding units together form the first end face of the variable-diameter wheel frame, and the sixth planes of all folding units together form the second end face of the variable-diameter wheel frame; The variable-width origami wheel further includes a first hub installed on the first end face and a second hub installed on the second end face; both the first hub and the second hub are located outside the variable-diameter wheel frame and are respectively provided with a first end cover and a second end cover; Variable-diameter rods and rod holes are provided on both the first plane and the second plane, and the variable-diameter rods are installed on the first plane or the second plane through the rod holes.

2. The foldable wheel with variable width according to claim 1, characterized in that: The variable-width origami wheel further includes a third hub; the third hub is fixed on the first end face and inside the variable-diameter wheel frame; one end of the wheel axle is fixedly connected to the third hub, and the other end of the wheel axle sequentially passes through the second hub and the second end cover, and the second hub and the second end cover are slidably sleeved on the wheel axle.

3. The foldable wheel with variable width according to claim 2, characterized in that: The wheel axle includes a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are both fixedly connected to the third hub, the other end of the metal wire and the other end of the spring coil sequentially pass through the second hub and the second end cover, and a pulley is provided at the end of the second end cover, and the metal wire is wound around the pulley.

4. The foldable wheel with variable width according to claim 2, characterized in that: Hub mounting holes are provided on both the first end face and the second end face.

5. The foldable wheel with variable width according to claim 1, characterized in that: Viewed from the rolling direction of the variable-diameter wheel frame, the variable-diameter rods are inclined outward.

6. The foldable wheel with variable width according to claim 1, characterized in that: The first plane, the second plane, the third plane, the fourth plane, the fifth plane, and the sixth plane are all rigid thin sheets.

7. The foldable wheel with variable width according to claim 6, characterized in that: The first mountain fold line, the second mountain fold line, the third mountain fold line, the first valley fold line, the second valley fold line, and the third valley fold line are all filled with flexible materials.

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