Double ring deformation wheel mechanism

Abstract

The double-ring deformable wheel mechanism is composed of a first flip rod (A-1), a second flip rod (A-2), a third flip rod (A-3), a fourth flip rod (A-4), a fifth flip rod (A-5), a steering gear arm 1 (A-6), a steering gear bracket 1 (A-7), a steering gear 1 (A-8), a sixth flip rod (B-1), a seventh flip rod (B-2), an eighth flip rod (B-3), a ninth flip rod (B-4), a tenth flip rod (B-5), a steering gear arm 2 (B-6), a steering gear bracket 2 (B-7), a steering gear 2 (B-8), and a frame rod (C-1). The folding and unfolding of the wheel body are controlled by the forward and reverse rotation of the motor. When folded, it is in a round wheel mode, which can have the stability of a wheel type, and when unfolded, it is in a special-shaped mode, which has a stronger obstacle-crossing performance. Moreover, after the double-ring deformable wheel mechanism of the present invention is deformed, a larger obstacle-crossing radius can be obtained, and it has a better obstacle-crossing ability, and can be well applied in the fields of education, entertainment, and military.

Description

Technical Field

[0001] This patent relates to a double-ring deformable wheel mechanism, specifically a double-ring deformable wheel mechanism that controls the spatial flipping direction of each rod of the deformable wheel by driving a motor to rotate forward and reverse to achieve the contraction and expansion of the deformable wheel. Background Art

[0002] At present, the common deformable wheel mechanism usually changes the wheel diameter after the wheel body is deformed, thereby improving the adaptability of the wheel body under complex terrain conditions. The double-ring deformable wheel uses two series-connected spatial single closed chain mechanisms, the plane-symmetric Bricard mechanism, as the wheel body. Each plane-symmetric Bricard mechanism constructs a half wheel. Each half wheel uses the spatial flipping characteristics of the plane-symmetric Bricard mechanism rod to achieve contraction and extension by flipping some rods around their own axis. The two half wheels can be deformed independently, and the deformable wheel can realize the switching between the round wheel mode with a complete rim and the six-spoke wheel mode with an incomplete rim. Summary of the invention

[0003] Problems to be solved by the present invention:

[0004] 1. The conventional deformation wheel adopts the deformation mode of radial contraction and extension. The deformation wheel has radial freedom. The radial load needs to be balanced by an additional locking device or a driving motor. The present invention constructs a deformation wheel based on a spatial single closed chain over-constraint mechanism. In the round wheel mode and the six-spoke wheel mode, the deformation wheel does not have radial freedom. The radial load can be balanced by the strength of the wheel body structure, and the radial load capacity is high.

[0005] 2. The traditional deformable wheel adopts a deformation method in which the wheel body deforms as a whole. During the deformation process, the drive motor needs to bear the weight of the entire robot, and the drive motor torque requirement is relatively high. The present invention adopts a deformable wheel composed of two independently deformed half-wheels. Only the upper half-wheel that is not touching the ground is deformed each time, avoiding the drive motor from bearing the load of the entire robot during the deformation process, and the drive motor torque requirement is relatively low.

[0006] The technical solution of the present invention:

[0007] The double-ring deformable wheel mechanism is characterized in that the double-ring deformable wheel mechanism is composed of a first flip rod, a second flip rod, a third flip rod, a fourth flip rod, a fifth flip rod, a servo arm 1, a servo bracket 1, a servo 1, a sixth flip rod, a seventh flip rod, an eighth flip rod, a ninth flip rod, a tenth flip rod, a servo arm 2, a servo bracket 2, a servo 2, and a frame rod.

[0008] The parts structure of the mechanism:

[0009] A through hole is respectively provided at both ends of the first flip rod, and the axes of the two through holes are perpendicular and different from each other.

[0010] A through hole is provided at each end of the second flip rod, the axes of the two through holes are perpendicular and intersecting, and a spoke and a partial rim of a six-spoke wheel mode and a partial rim of a circular wheel mode are provided along the axis direction of the two through holes.

[0011] A through hole is respectively provided at both ends of the third flip rod, the axes of the two through holes are perpendicular and different from each other, and a partial rim of a six-spoke wheel mode and a partial rim of a round wheel mode are respectively provided along the axis directions of the two through holes.

[0012] A through hole is respectively provided at both ends of the fourth flip rod, the axes of the two through holes are perpendicular and different from each other, and a partial rim of a six-spoke wheel mode and a partial rim of a round wheel mode are respectively provided along the axis directions of the two through holes.

[0013] The fifth flip rod is provided with a through hole at one end and three through holes with mutually parallel axes at the other end. The axes of the through holes at both ends are perpendicular to and intersect with each other. A spoke and a partial rim of a six-spoke wheel mode and a partial rim of a circular wheel mode are respectively provided along the axes of the two through holes.

[0014] The steering gear arm 1 is provided with a through hole group and a circular groove; the through hole group is composed of four through holes arranged side by side.

[0015] The steering gear bracket 1 is in a U-shaped structure and is provided with a frame fixing hole and a steering gear fixing hole.

[0016] The frame rod structure is centrally symmetrical in shape, and is provided with a boss and a steering gear bracket mounting hole, and a through hole is provided at the center of the boss.

[0017] The sixth flip rod has the same shape and size as the first flip rod.

[0018] The seventh flip rod and the second flip rod are completely the same in shape and size.

[0019] The eighth flip rod has exactly the same shape and size as the third flip rod.

[0020] The ninth flip rod is completely the same in shape and size as the fourth flip rod.

[0021] The tenth flip rod and the fifth flip rod are completely the same in shape and size.

[0022] The steering gear arm 2 and the steering gear arm 1 are completely the same in shape and size.

[0023] The steering gear bracket 2 and the steering gear bracket 1 are completely the same in shape and size.

[0024] Specific connection method

[0025] Install the hole 1 of the first flip rod on the boss of the rack rod; connect the hole 2 of the first flip rod with the hole 1 of the second flip rod; connect the hole 2 of the second flip rod with the hole 1 of the third flip rod; connect the hole 2 of the third flip rod with the hole 1 of the fourth flip rod; connect the hole 2 of the fourth flip rod with the hole 1 of the fifth flip rod; connect the through hole group of the fifth flip rod with the through hole group at the upper end of the servo arm 1; connect the groove at the lower end of the servo arm 1 with the output end of the servo 1; connect the servo mounting hole of the servo 1 with the servo fixing hole of the servo bracket; install the rack fixing hole of the servo bracket at the servo bracket hole of the rack rod; the installation method of the sixth flip rod, the seventh flip rod, the eighth flip rod, the ninth flip rod, the tenth flip rod, the servo arm 2, the servo bracket 2, and the servo 2 is the same as the installation method of the first flip rod, the second flip rod, the third flip rod, the fourth flip rod, the fifth flip rod, the servo arm 1, the servo bracket 1, and the servo 1; the final installation effect is a completed circle in the flat state.

[0026] The double-ring deformable wheel mechanism is characterized in that the rotational connection relationship formed between the various rods can be formed in a variety of ways, such as screw and nut connection.

[0027] The double-ring deformable wheel mechanism is characterized in that: the size of each rod is not limited to the size described in the present application, and can be expanded to other shapes; the angle of the six spokes is not limited to one setting method, and can be personalized according to the specific terrain environment.

[0028] Beneficial effects of the present invention: The double-ring deformable wheel mechanism described in the present invention uses two motors to drive the deformation, and the deformation mode can be selected according to the specific road conditions, switching from the round wheel mode to the special-shaped wheel mode to improve the obstacle crossing performance of the mechanism. In the round wheel mode and the six-spoke wheel mode, the double-ring deformable wheel mechanism described in the present invention has no radial degree of freedom, and the radial load can be balanced by the strength of the wheel body structure, and the radial load-bearing capacity is high; the present invention uses two independently deformable half-wheel combinations to construct the deformable wheel, and only the upper half-wheel that does not touch the ground is deformed each time, so as to avoid the drive motor from bearing the load of the entire robot during the deformation process, and the drive motor torque requirement is relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 3D image of double ring deformable wheel mechanism

[0030] Figure 2 3D image of the first flip rod

[0031] Figure 3 3D image of the second flip rod

[0032] Figure 4 3D illustration of the third flip rod

[0033] Figure 53D image of the fourth flip rod

[0034] Figure 6 3D illustration of the fifth flip rod

[0035] Figure 7 3D image of servo arm

[0036] Figure 8 3D image of steering gear bracket

[0037] Fig. 9 3D image of steering gear

[0038] Fig.10 3D image of rack rod

[0039] Fig.11 Schematic diagram of the deformation process of the double-ring deformation wheel DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0041] like Figure 1 As shown, the double-ring deformable wheel mechanism is characterized in that: the double-ring deformable wheel mechanism consists of a first flip rod (A-1), a second flip rod (A-2), a third flip rod (A-3), a fourth flip rod (A-4), a fifth flip rod (A-5), a steering gear arm 1 (A-6), a steering gear bracket 1 (A-7), a steering gear 1 (A-8), a sixth flip rod (B-1), a seventh flip rod (B-2), an eighth flip rod (B-3), a ninth flip rod (B-4), a tenth flip rod (B-5), a steering gear arm 2 (B-6), a steering gear bracket 2 (B-7), a steering gear 2 (B-8), and a frame rod (C-1).

[0042] The parts structure of the mechanism:

[0043] like Figure 2 As shown, a through hole (A-1-1) and a through hole (A-1-2) are respectively provided at both ends of the first flip rod (A-1), and the axes of the two through holes are perpendicular and different from each other.

[0044] like Figure 3 As shown, a through hole (A-2-1) and (A-2-2) are respectively provided at both ends of the second flip rod (A-2), the axes of the two through holes are perpendicular to each other and intersect, and a spoke and a partial rim (A-2-3) of a six-spoke wheel mode and a partial rim (A-2-4) of a circular wheel mode are respectively provided along the axis direction of the two through holes.

[0045] like Figure 4As shown, the third flip rod (A-3) is provided with a through hole (A-3-1) and (A-3-2) at both ends, the axes of the two through holes are perpendicular and different from each other, and a partial rim (A-3-3) of a six-spoke wheel mode and a partial rim (A-3-4) of a circular wheel mode are provided along the axis direction of the two through holes.

[0046] like Figure 5 As shown, the fourth flip rod (A-4) is provided with a through hole (A-4-1) and (A-4-2) at both ends, the axes of the two through holes are perpendicular and different from each other, and a partial rim (A-4-4) of a six-spoke wheel mode and a partial rim (A-4-3) of a circular wheel mode are provided along the axis direction of the two through holes.

[0047] like Figure 6 As shown, the fifth flip rod (A-5) is provided with a through hole (A-5-1) at one end and three through holes (A-5-2) with mutually parallel axes at the other end. The axes of the through holes at both ends are perpendicular to each other and intersect with each other. A spoke and a partial rim (A-5-3) of a six-spoke wheel mode and a partial rim (A-5-4) of a circular wheel mode are provided along the axis directions of the two through holes.

[0048] like Figure 7 As shown, the servo arm 1 (A-6) is provided with a through hole group (A-6-1) and a circular groove (A-6-2); the through hole group (A-6-1) is composed of four through holes arranged side by side.

[0049] like Figure 8 As shown, the steering gear bracket 1 (A-7) is a U-shaped structure, and is provided with a frame fixing hole (A-7-1) and a steering gear fixing hole (A-7-2).

[0050] like Fig.10 As shown, the frame rod (C-1) has a centrally symmetrical structure and is provided with a boss (C-1-1) and a steering gear bracket mounting hole (C-1-2), and a through hole is provided at the center of the boss (C-1-1).

[0051] The sixth turning rod (B-1) and the first turning rod (A-1) are completely identical in shape and size.

[0052] The seventh turning rod (B-2) and the second turning rod (A-2) are completely identical in shape and size.

[0053] The eighth turning rod (B-3) and the third turning rod (A-3) are completely identical in shape and size.

[0054] The ninth turning rod (B-4) and the fourth turning rod (A-4) are completely identical in shape and size.

[0055] The tenth turning rod (B-5) and the fifth turning rod (A-5) are completely identical in shape and size.

[0056] The shape and size of the steering gear arm 2 (B-6) and the steering gear arm 1 (A-6) are exactly the same.

[0057] The steering gear bracket 2 (B-7) and the steering gear bracket 1 (A-7) are exactly the same in shape and size.

[0058] Specific connection method

[0059] Install the hole 1 (A-1-1) of the first flip rod (A-1) on the boss (C-1-1) of the frame rod (C-1); connect the hole 2 (A-1-2) of the first flip rod (A-1) with the hole 1 (A-2-1) of the second flip rod (A-2); connect the hole 2 (A-2-2) of the second flip rod (A-2) with the hole 1 (A-3-1) of the third flip rod (A-3); connect the hole 2 (A-3-2) of the third flip rod (A-3) with the hole 1 (A-3-2) of the third flip rod (A-3); 2) connected to the hole 1 (A-4-1) of the fourth flip rod (A-4); connecting the hole 2 (A-4-2) of the fourth flip rod (A-4) to the hole 1 (A-5-1) of the fifth flip rod (A-5); connecting the through hole group (A-5-2) of the fifth flip rod (A-5) to the upper through hole group (A-6-1) of the steering gear arm 1 (A-6); connecting the lower end groove (A-6-2) of the steering gear arm 1 (A-6) to the output end of the steering gear 1 (A-8) (A-8-1); connect the servo mounting hole (A-8-2) of the servo 1 (A-8) with the servo fixing hole (A-7-2) of the servo bracket (A-7); install the frame fixing hole (A-7-1) of the servo bracket (A-7) at the servo bracket hole (C-1-2) of the frame rod (C-1); the sixth flip rod (B-1), the seventh flip rod (B-2), the eighth flip rod (B-3), the ninth flip rod (B-4), the tenth flip rod The installation method of the rotating rod (B-5), the servo arm 2 (B-6), the servo bracket 2 (B-7), and the servo 2 (B-8) is the same as that of the first flip rod (A-1), the second flip rod (A-2), the third flip rod (A-3), the fourth flip rod (A-4), the fifth flip rod (A-5), the servo arm 1 (A-6), the servo bracket 1 (A-7), and the servo 1 (A-8); the final installation effect is a completed circle in the flat state.

[0060] The double-ring deformable wheel mechanism is characterized in that the rotational connection relationship formed between the various rods can be formed in a variety of ways, such as screw and nut connection.

[0061] The double-ring deformable wheel mechanism is characterized in that: the size of each rod is not limited to the size described in the present application, and can be expanded to other shapes; the angle of the six spokes is not limited to one setting method, and can be personalized according to the specific terrain environment.

[0062] Specific usage:

[0063] The double-ring deformable wheel mechanism can realize the folding and unfolding actions of the wheel body.

[0064] When the steering gear 1 (A-8) and the steering gear 2 (B-8) are in operation, the double-ring deformation wheel mechanism can be driven to deform. Fig.11 (a) shows the state of the double-ring deformable wheel mechanism being completely folded; the steering gear 1 (A-8) is running, and the upper half of the deformable wheel is unfolded. Fig.11 (b) As shown, the wheel rotates forward, and the upper half of the deformed wheel touches the ground. Fig.11 (c) As shown; the steering gear 2 (B-8) is running, and the lower half of the deformation wheel is unfolded, as shown Fig.11 (d) as shown.

Claims

1. Double-ring deformation wheel mechanism, characterized by The double-ring deformable wheel mechanism is composed of a first flip rod (A-1), a second flip rod (A-2), a third flip rod (A-3), a fourth flip rod (A-4), a fifth flip rod (A-5), a steering gear arm 1 (A-6), a steering gear bracket 1 (A-7), a steering gear 1 (A-8), a sixth flip rod (B-1), a seventh flip rod (B-2), an eighth flip rod (B-3), a ninth flip rod (B-4), a tenth flip rod (B-5), a steering gear arm 2 (B-6), a steering gear bracket 2 (B-7), a steering gear 2 (B-8), and a frame rod (C-1); The parts structure of the mechanism: The first flip rod (A-1) is provided with a through hole 1 (A-1-1) and a through hole 2 (A-1-2) at both ends, and the axes of the two through holes are perpendicular and different from each other; The second turning rod (A-2) is provided with a through hole 1 (A-2-1) and a through hole 2 (A-2-2) at both ends, the axes of the two through holes are perpendicular to each other and intersect, and a wheel spoke and a partial wheel rim 1 (A-2-3) of a six-spoke wheel mode and a partial wheel rim 2 (A-2-4) of a round wheel mode are provided along the axis direction of the two through holes; The third turning rod (A-3) is provided with a through hole 1 (A-3-1) and a through hole 2 (A-3-2) at both ends, the axes of the two through holes are perpendicular and different from each other, and a partial rim 3 (A-3-3) of a six-spoke wheel mode and a partial rim 4 (A-3-4) of a round wheel mode are provided along the axis directions of the two through holes; The fourth turning rod (A-4) is provided with a through hole 1 (A-4-1) and a through hole 2 (A-4-2) at both ends, the axes of the two through holes are perpendicular and different from each other, and a partial rim 5 (A-4-4) of a six-spoke wheel mode and a partial rim 6 (A-4-3) of a round wheel mode are provided along the axis direction of the two through holes; The fifth turning rod (A-5) is provided with a through hole 1 (A-5-1) at one end, and three through holes 2 (A-5-2) with mutually parallel axes at the other end. The axes of the through holes at both ends are perpendicular to each other and intersect each other. A spoke and a partial rim 7 (A-5-3) of a six-spoke wheel mode and a partial rim 8 (A-5-4) of a round wheel mode are provided along the axis directions of the two through holes respectively. The steering gear arm 1 (A-6) is provided with a through hole group (A-6-1) and a circular groove (A-6-2); the through hole group (A-6-1) is composed of four through holes arranged side by side; The steering gear bracket 1 (A-7) is in a U-shaped structure and is provided with a frame fixing hole (A-7-1) and a steering gear fixing hole (A-7-2); The frame rod (C-1) is centrally symmetrical in structure and is provided with a boss (C-1-1) and a steering gear bracket mounting hole (C-1-2), and a through hole is provided at the center of the boss (C-1-1); The sixth turning rod (B-1) is completely the same in shape and size as the first turning rod (A-1); The seventh turning rod (B-2) and the second turning rod (A-2) are completely the same in shape and size; The eighth turning rod (B-3) is completely the same in shape and size as the third turning rod (A-3); The ninth turning rod (B-4) is exactly the same in shape and size as the fourth turning rod (A-4); The tenth turning rod (B-5) and the fifth turning rod (A-5) are completely the same in shape and size; The steering gear arm 2 (B-6) is exactly the same in shape and size as the steering gear arm 1 (A-6); The steering gear bracket 2 (B-7) and the steering gear bracket 1 (A-7) are exactly the same in shape and size; Specific connection method: The through hole 1 (A-1-1) of the first flip rod (A-1) is installed on the boss (C-1-1) of the frame rod (C-1); the through hole 2 (A-1-2) of the first flip rod (A-1) is connected with the through hole 1 (A-2-1) of the second flip rod (A-2); the through hole 2 (A-2-2) of the second flip rod (A-2) is connected with the through hole 1 (A-3-1) of the third flip rod (A-3); the through hole 2 (A-1-2) of the third flip rod (A-3) is connected with the through hole 1 (A-3-1) of the third flip rod (A-3); 3-2) is connected to the through hole 1 (A-4-1) of the fourth flip rod (A-4); the through hole 2 (A-4-2) of the fourth flip rod (A-4) is connected to the through hole 1 (A-5-1) of the fifth flip rod (A-5); the three through holes 2 (A-5-2) of the fifth flip rod (A-5) are connected to the upper end through hole group (A-6-1) of the steering gear arm 1 (A-6); the circular groove (A-6-2) of the steering gear arm 1 (A-6) is connected to the through hole 1 (A-8) of the steering gear 1 (A-9); The output end (A-8-1) is connected; the servo mounting hole (A-8-2) of the servo 1 (A-8) is connected to the servo fixing hole (A-7-2) of the servo bracket 1 (A-7); the frame fixing hole (A-7-1) of the servo bracket 1 (A-7) is installed at the servo bracket mounting hole (C-1-2) of the frame rod (C-1); the sixth flip rod (B-1), the seventh flip rod (B-2), the eighth flip rod (B-3), the ninth flip rod (B-4), The installation method of the tenth flip rod (B-5), servo arm 2 (B-6), servo bracket 2 (B-7), and servo 2 (B-8) is the same as the installation method of the first flip rod (A-1), the second flip rod (A-2), the third flip rod (A-3), the fourth flip rod (A-4), the fifth flip rod (A-5), the servo arm 1 (A-6), the servo bracket 1 (A-7), and the servo 1 (A-8); the final installation effect is a completed circle in the flat state.

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