A single-degree-of-freedom deployable deformable wheel structure

Abstract

This invention relates to a single-degree-of-freedom deployable deformable wheel structure, which is composed of N identical face-symmetrical structural units connected end to end, where N≥3; each face-symmetrical structural unit consists of a sector-shaped plate A1, a trapezoidal block B1, a trapezoidal block C1, a sector-shaped plate A2, a trapezoidal block B2, and a trapezoidal block C2 connected end to end to form a single closed-loop mechanism, wherein sector-shaped plate A1 and sector-shaped plate A2 have the same structure, trapezoidal block B1 and trapezoidal block B2 have the same structure, and trapezoidal block C1 and trapezoidal block C2 have the same structure, and the sum of the central angles of the sector-shaped plates A1 or A2 of the N face-symmetrical structural units is 360 degrees; the outer side of trapezoidal block B1 or trapezoidal block C1 of any face-symmetrical structural unit is rotatably connected to the outer side of trapezoidal block C2' or trapezoidal block B2' of its adjacent face-symmetrical structural unit, thereby forming a deployable deformable wheel structure by connecting the N face-symmetrical structural units end to end. This deployable deformable wheel structure has a single degree of freedom, is easy to control, has a variable diameter, a large unfolding ratio, and is highly adaptable to complex road environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical structures, in particular to a single-degree-of-freedom deployable deformable wheel structure. BACKGROUND

[0002] Deployable structures have a large folding and unfolding ratio, and can adapt to various application scenarios through deformation, and have broad application prospects in mobile robots, transportation, military detection and other fields. The deformable wheel structure has self-adaptive ability to complex terrain environment by changing the structure form, and is a new type of structure in recent years. When the deformable wheel structure faces complex road environment, it can switch from a round wheel form to an obstacle-crossing form to overcome complex terrain movement and has good passability. When the deformable wheel structure faces flat road environment, the deformable wheel runs efficiently in a round wheel state. The two different forms of the deformable wheel make up for the mobility and passability of mobile robots in unstructured complex terrain. However, most of the current research on deformable wheels has the characteristics of multiple degrees of freedom, fixed special-shaped wheels and complex structures, which greatly limits their application in the field of mobile robots. SUMMARY

[0003] The purpose of the present application is to provide a single-degree-of-freedom deployable deformable wheel structure, which has a single degree of freedom, is easy to control, can change diameter, has a large folding and unfolding ratio, and has strong adaptability to complex road environment.

[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is: a single-degree-of-freedom deployable deformable wheel structure, which is composed of N identical face-symmetrical structure units connected end to end, N≥3; each face-symmetrical structure unit is composed of a sector plate A1, a trapezoidal block B1, a trapezoidal block C1, a sector plate A2, a trapezoidal block B2 and a trapezoidal block C2 connected end to end to form a single closed-loop mechanism, wherein the sector plate A1 and the sector plate A2 are the same in structure, the trapezoidal block B1 and the trapezoidal block B2 are the same in structure, the trapezoidal block C1 and the trapezoidal block C2 are the same in structure, and the sum of the central angles of the sector plates A1 or A2 of the N face-symmetrical structure units is 360 degrees; the outer sides of the trapezoidal block B1 and the trapezoidal block C1 of any face-symmetrical structure unit are rotatably connected with the outer sides of the trapezoidal block C2' and the trapezoidal block B2' of the adjacent face-symmetrical structure unit, so that the N face-symmetrical structure units are connected end to end to form a deployable deformable wheel structure.

[0005] Further, the fan-shaped plate A1 has two connecting edges, wherein the front side radius of the fan-shaped upper side of the fan-shaped plate A1 is the first connecting edge, and the back side radius is the second connecting edge; the trapezoidal block B1 has three connecting edges, wherein the upper base and the lower base of the front side of the trapezoidal block B1 are the first connecting edge and the second connecting edge respectively, and the lower base of the back side is the third connecting edge; the trapezoidal block C1 has three connecting edges, wherein the upper base and the lower base of the back side of the trapezoidal block C1 are the first connecting edge and the second connecting edge respectively, and the lower base of the front side is the third connecting edge; the fan-shaped plate A2 has two connecting edges, wherein the front side radius of the fan-shaped upper side of the fan-shaped plate A2 is the first connecting edge, and the back side radius is the second connecting edge; the trapezoidal block B2 has three connecting edges, wherein the upper base and the lower base of the front side of the trapezoidal block B2 are the first connecting edge and the second connecting edge respectively, and the lower base of the back side is the third connecting edge; the trapezoidal block C2 has three connecting edges, wherein the upper base and the lower base of the back side of the trapezoidal block C2 are the first connecting edge and the second connecting edge respectively, and the lower base of the front side is the third connecting edge;

[0006] The first connecting edge of the fan-shaped plate A1 is connected with the third connecting edge of the trapezoidal block B1 through a revolute pair, the first connecting edge of the trapezoidal block B1 is connected with the first connecting edge of the trapezoidal block C1 through a revolute pair, the third connecting edge of the trapezoidal block C1 is connected with the second connecting edge of the fan-shaped plate A2 through a revolute pair, the first connecting edge of the fan-shaped plate A2 is connected with the third connecting edge of the trapezoidal block B2 through a revolute pair, the first connecting edge of the trapezoidal block B2 is connected with the first connecting edge of the trapezoidal block C2 through a revolute pair, and the third connecting edge of the trapezoidal block C2 is connected with the second connecting edge of the fan-shaped plate A1 through a revolute pair;

[0007] The face-symmetry structure unit has four connecting positions, the first connecting position is the second connecting edge of the trapezoidal block B1, the second connecting position is the second connecting edge of the trapezoidal block C1, the third connecting position is the second connecting edge of the trapezoidal block B2, and the fourth connecting position is the second connecting edge of the trapezoidal block C2; the second connecting edge of the trapezoidal block B1 is connected with the second connecting edge of the trapezoidal block C2' of the adjacent face-symmetry structure unit through a revolute pair, and the second connecting edge of the trapezoidal block C1 is connected with the second connecting edge of the trapezoidal block B2' of the adjacent face-symmetry structure unit through a revolute pair;

[0008] The developable deformable wheel structure has the characteristic of single degree of freedom, the face-symmetry structure unit is a single closed loop linkage mechanism with six revolute pairs, the distance between the fan-shaped plate A1 and the fan-shaped plate A2 is changed through any revolute pair, the positional relationship of any two mechanisms in the face-symmetry structure unit is changed synchronously, and the developable deformable wheel structure is switched between the completely folded circle wheel state and the completely unfolded petal state.

[0009] Further, the fan-shaped plate A1 or the fan-shaped plate A2 is a sector with a central angle of 90°i The fan-shaped flat plate A1 or A2 is composed of two fan-shaped planes which are parallel to each other;

[0010] The trapezoidal block B1 or B2 is a quasi-right trapezoidal block composed of a quasi-right trapezoidal plane with a left bottom angle of i / 2 degree and a right waist of a circular arc; i / 2 degree to prevent interference when the face-symmetry structure unit is completely folded; the trapezoidal block B1 or B2 has four different quasi-trapezoidal planes, one rectangular plane and one circular arc surface; the front side is a quasi-right trapezoidal plane with a left bottom angle of i / 2 degree and a right waist of a convex circular arc; the back side is a quasi-right trapezoidal plane with a left bottom angle of i / 2 degree and a right waist of a convex circular arc; the upper bottom surface is a quasi-right trapezoidal plane with a right side slope of a convex circular arc, and the lower bottom surface is a quasi-right trapezoidal plane with a right side slope of a convex circular arc; the left side is a rectangular plane and has an angle of i / 2 degree with the lower bottom surface; the right side is a convex circular arc surface which is a part of a spherical surface, and the spherical center of the spherical surface is the vertex of the left bottom angle of the back side and the radius is equal to the length of the lower bottom side of the back side;

[0011] The trapezoidal block C1 or C2 is a quasi-right trapezoidal block which is mirror-symmetrical to the trapezoidal block B1 or B2; the trapezoidal block C1 or C2 also has four different quasi-trapezoidal planes, one rectangular plane and one circular arc surface; the front side is a quasi-right trapezoidal plane with a left bottom angle of i / 2 degree and a right waist of a convex circular arc, and the back side is a quasi-right trapezoidal plane with a left bottom angle of i / 2 degree and a right waist of a convex circular arc; the upper bottom surface is a quasi-right trapezoidal plane with a right side slope of a convex circular arc, and the lower bottom surface is a quasi-right trapezoidal plane with a right side slope of a convex circular arc; the left side is a rectangular plane and has an angle of i / 2 degree with the lower bottom surface; the right side is a convex circular arc surface which is a part of a spherical surface, and the spherical center of the spherical surface is the vertex of the left bottom angle of the front side and the radius is equal to the length of the lower bottom side of the front side;

[0012] In the deployable deformable wheel structure, N face-symmetry structure units are arranged in counterclockwise order, and the circular arc surfaces of all the face-symmetry structure units are uniformly directed outward; for K ∈ (1, N-1), the second connecting position of the Kth face-symmetry structure unit and the third connecting position of the K+1th face-symmetry structure unit are connected through a revolute pair, and the first connecting position of the Kth face-symmetry structure unit and the fourth connecting position of the K+1th face-symmetry structure unit are connected through a revolute pair; the second connecting position of the Nth face-symmetry structure unit and the third connecting position of the 1st face-symmetry structure unit are connected through a revolute pair, and the first connecting position of the Nth face-symmetry structure unit and the fourth connecting position of the 1st face-symmetry structure unit are connected through a revolute pair.

[0013] Further, the central angle of the sector plate A1 and the sector plate A2 of all face-symmetrical structural units can be changed as needed, thereby changing the number of face-symmetrical structural units; when the central angle of the sector plate A1 or the sector plate A2 is 60 degrees, the developable deformable wheel structure is composed of six face-symmetrical structural units.

[0014] Further, the left side and the lower base of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 can be reduced by 1 / 2 degrees on the premise that no interference is generated. i

[0015] Further, the thickness between the upper base and the lower base of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 can be set as needed on the premise that no interference is generated, thereby changing the thickness of the developable deformable wheel structure when it is completely unfolded.

[0016] Further, the thickness between the front side and the back side of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 can be set as needed on the premise that no interference is generated, thereby changing the thickness of the developable deformable wheel structure when it is completely folded.

[0017] Further, the convex arc of the right side of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 has the same curvature as the arc of the sector plate A1, thereby realizing smooth transition from the arc surface of the sector plate to the right side of the trapezoidal block when the developable deformable wheel structure is completely unfolded.

[0018] Further, in the completely folded state, the front side of the trapezoidal block B1 of each face-symmetrical structural unit completely fits the back side of the trapezoidal block C1, and is parallel to the sector plane of the sector plate A1; in the completely unfolded state, the upper base of the trapezoidal block B1 of each face-symmetrical structural unit completely fits the upper base of the trapezoidal block C1, and is parallel to the sector plane of the sector plate A1; the face-symmetrical structural unit changes the distance between the sector plate A1 and the sector plate A2 through any revolute pair, thereby realizing the transition of the developable deformable wheel structure from the completely folded circular wheel state to the completely unfolded petal state.

[0019] Further, the revolute pair between the connecting edges of the sector plate A1, the trapezoidal block B1, the trapezoidal block C1, the sector plate A2, the trapezoidal block B2 and the trapezoidal block C2 includes a hinge and a bearing.

[0020] ​Compared with the prior art, the present application has the beneficial effects that a single degree of freedom deployable deformed wheel structure is provided, the single degree of freedom deployable deformed wheel structure is simple and ingenious in design, has the characteristics of single degree of freedom, variable diameter, large folding and unfolding ratio, complete unfolding and folding, and the like, the adaptability of the single degree of freedom deployable deformed wheel structure to a non-structural road surface environment is improved, the single degree of freedom deployable deformed wheel structure has high practicability and high passability in the fields of mobile robots, transportation, military exploration, and the like, and has wide application prospects. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a three-dimensional schematic view of a single degree of freedom deployable deformed wheel structure of an embodiment of the present application;

[0022] Figure 2 is a top view schematic view of a single degree of freedom deployable deformed wheel structure of an embodiment of the present application;

[0023] Figure 3 is a left view schematic view of a single degree of freedom deployable deformed wheel structure of an embodiment of the present application;

[0024] Figure 4 is a structure schematic view of a face symmetry structure unit in an embodiment of the present application;

[0025] Figure 5 is a structure schematic view of a fan-shaped flat plate in an embodiment of the present application;

[0026] Figure 6 is a structure schematic view of a trapezoidal block B1 in an embodiment of the present application;

[0027] Figure 7 is a structure schematic view of a trapezoidal block C1 in an embodiment of the present application;

[0028] Figure 8 is a variation process schematic view of a deployable deformed wheel structure in an embodiment of the present application.

[0029] Mark explanation in the figure:

[0030] 1-1-Upper surface of the fan-shaped flat plate; 1-2-Lower surface of the fan-shaped flat plate;

[0031] 2-1-Left side surface of the trapezoidal block C1; 2-2-Right side surface of the trapezoidal block C1; 2-3-Front side surface of the trapezoidal block C1; 2-4-Back side surface of the trapezoidal block C1; 2-5-Upper bottom surface of the trapezoidal block C1; 2-6-Lower bottom surface of the trapezoidal block C1;

[0032] 3-1-Left side surface of the trapezoidal block B1; 3-2-Right side surface of the trapezoidal block B1; 3-3-Front side surface of the trapezoidal block B1; 3-4-Back side surface of the trapezoidal block B1; 3-5-Upper bottom surface of the trapezoidal block B1; 3-6-Lower bottom surface of the trapezoidal block B1;

[0033] A1 - sector plate A1; B1 - trapezoidal block B1; C1 - trapezoidal block C1; A2 - sector plate A2; B2 - trapezoidal block B2; C2 - trapezoidal block C2; B2' - trapezoidal block B2'; C2' - trapezoidal block C2';

[0034] E1E2 - first connecting edge of sector plate E1E2; E1E3 - second connecting edge of sector plate E1E3;

[0035] F1F2 - first connecting edge of trapezoidal block C1; F3F4 - second connecting edge of trapezoidal block C1; F5F6 - third connecting edge of trapezoidal block C1;

[0036] G1G2 - first connecting edge of trapezoidal block B1; G3G4 - second connecting edge of trapezoidal block B1; G5G6 - third connecting edge of trapezoidal block B1;

[0037] H1H2 - first connecting position of face-symmetrical structure unit; H3H4 - second connecting position of face-symmetrical structure unit; H5H6 - third connecting position of face-symmetrical structure unit; H7H8 - fourth connecting position of face-symmetrical structure unit; R - revolute pair. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with the accompanying drawings and examples.

[0039] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0040] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0041] As Figures 1-8As shown, the embodiment provides a single degree of freedom deployable deformation wheel structure, which is composed of N same face-symmetrical structure units (N≥3) connected in head-to-tail. Each face-symmetrical structure unit is composed of sector plate A1, trapezoidal block B1, trapezoidal block C1, sector plate A2, trapezoidal block B2, trapezoidal block C2 connected in head-to-tail in a single closed loop mechanism, wherein the sector plate A1 and the sector plate A2 are the same in structure, and the sum of the central angles of the sector plate A1 or the sector plate A2 of the N face-symmetrical structure units is 360 degrees; the trapezoidal block B1 and the trapezoidal block B2 are the same in structure, the trapezoidal block C1 and the trapezoidal block C2 are the same in structure, and the trapezoidal block B1 and the trapezoidal block C1 are mirror-symmetrical, and the trapezoidal block B2 and the trapezoidal block C2 are mirror-symmetrical. The outer side edges of the trapezoidal block B1 and the trapezoidal block C1 of any face-symmetrical structure unit are rotatably connected with the outer side edges of the trapezoidal block C2' and the trapezoidal block B2' of the adjacent face-symmetrical structure unit, so that the N face-symmetrical structure units are connected in head-to-tail to form the deployable deformation wheel structure.

[0042] As shown in the figure, Figure 5 The sector plate A1 is a sector thick plate with a central angle of i degrees, and the upper and lower two sector planes of the sector plate A1 are parallel to each other. The sector plate A1 has two connecting edges, wherein the front side radius of the sector upper side face of the sector plate A1 is the first connecting edge E1E2, and the back side radius is the second connecting edge E1E3. The first connecting edge E1E2 and the second connecting edge E1E3 intersect at a point and the included angle is i degrees.

[0043] As shown in the figure, Figure 6 The trapezoidal block B1 is a similar right-angled trapezoidal block composed of a similar right-angled trapezoidal face with a left bottom angle of i / 2 degrees and a right waist of a circular arc. The left bottom angle of i / 2 degrees is to prevent interference when the face-symmetrical structure unit is completely folded. The trapezoidal block B1 has four different similar trapezoidal planes, one rectangular plane and one circular arc surface. The front side is a similar right-angled trapezoidal face with a left bottom angle of i / 2 degrees and a right waist of a convex circular arc, and the back side is a similar right-angled trapezoidal face with a left bottom angle of i / 2 degrees and a right waist of a convex circular arc. The upper bottom face is a similar right-angled trapezoidal face with a right side slope edge of a convex circular arc, and the lower bottom face is a similar right-angled trapezoidal face with a right side slope edge of a convex circular arc; the left side is a rectangular plane and the included angle with the lower bottom face is i / 2 degrees. The right side is a convex circular arc surface, which is part of a spherical surface, and the center of the spherical surface is the vertex G5 of the left bottom angle of the back side, and the radius is equal to the length of the lower bottom edge of the back side. The trapezoidal block B1 has three connecting edges, wherein the upper bottom edge and the lower bottom edge of the front side of the trapezoidal block B1 are the first connecting edge G1G2 and the second connecting edge G3G4 respectively, and the lower bottom edge of the back side is the third connecting edge G5G6.

[0044] AsFigure 7 As shown, the trapezoidal block C1 is a similar right trapezoidal block which is mirror symmetric to the trapezoidal block B1. The trapezoidal block C1 also has 4 different similar trapezoidal planes, 1 rectangular plane and 1 circular arc curved surface. The front side is a similar right trapezoidal plane with the left bottom angle of i / 2 degree and the right waist of convex circular arc. The back side is a similar right trapezoidal plane with the left bottom angle of i / 2 degree and the right waist of convex circular arc. The upper bottom side is a similar right trapezoidal plane with the right side slope of convex circular arc. The lower bottom side is a similar right trapezoidal plane with the right side slope of convex circular arc. The left side is a rectangular plane and the included angle with the lower bottom side is i / 2 degree. The right side is a convex circular arc surface which is a part of spherical surface and the spherical center of the spherical surface is the vertex F5 of the left bottom angle of the front side and the radius is equal to the length of the lower bottom side of the front side. The trapezoidal block C1 has three connecting edges, in which the upper bottom side and the lower bottom side of the back side of the trapezoidal block C1 are the first connecting edge F1F2 and the second connecting edge F3F4 respectively, and the lower bottom side of the front side is the third connecting edge F5F6.

[0045] Correspondingly, the sector flat plate A2 also has two connecting edges, in which the front side radius of the sector upper side of the sector flat plate A2 is the first connecting edge E1E2 and the back side radius is the second connecting edge E1E3. The trapezoidal block B2 also has three connecting edges, in which the upper bottom side and the lower bottom side of the front side of the trapezoidal block B2 are the first connecting edge G1G2 and the second connecting edge G3G4 respectively, and the lower bottom side of the back side is the third connecting edge G5G6. The trapezoidal block C2 also has three connecting edges, in which the upper bottom side and the lower bottom side of the back side of the trapezoidal block C2 are the first connecting edge F1F2 and the second connecting edge F3F4 respectively, and the lower bottom side of the front side is the third connecting edge F5F6.

[0046] In the face symmetry structure unit, the first connecting edge E1E2 of the sector flat plate A1 and the third connecting edge G5G6 of the trapezoidal block B1 are connected through the rotary pair R, the first connecting edge G1G2 of the trapezoidal block B1 and the first connecting edge F1F2 of the trapezoidal block C1 are connected through the rotary pair R, the third connecting edge F5F6 of the trapezoidal block C1 and the second connecting edge E1E3 of the sector flat plate A2 are connected through the rotary pair R, the first connecting edge E1E2 of the sector flat plate A2 and the third connecting edge G5G6 of the trapezoidal block B2 are connected through the rotary pair R, the first connecting edge G1G2 of the trapezoidal block B2 and the first connecting edge F1F2 of the trapezoidal block C2 are connected through the rotary pair R, and the third connecting edge F5F6 of the trapezoidal block C2 and the second connecting edge E1E3 of the sector flat plate A1 are connected through the rotary pair R.

[0047] The symmetrical structural unit has four connection positions. The first connection position H1H2 is the second connection edge G3G4 of trapezoidal block B1, the second connection position H3H4 is the second connection edge F3F4 of trapezoidal block C1, the third connection position H5H6 is the second connection edge G3G4 of trapezoidal block B2, and the fourth connection position H7H8 is the second connection edge F3F4 of trapezoidal block C2. The second connection edge G3G4 of trapezoidal block B1 is connected to the second connection edge F3F4 of trapezoidal block C2' of the adjacent symmetrical structural unit via a revolute joint R. The second connection edge F3F4 of trapezoidal block C1 is connected to the second connection edge G3G4 of trapezoidal block B2' of the adjacent symmetrical structural unit via a revolute joint R.

[0048] The symmetrical structural unit and the deployable deformable wheel structure have a single degree of freedom. The symmetrical structural unit is a single closed-loop linkage mechanism with 6 rotational joints. By changing the distance between the sector plate A1 and the sector plate A2 through any rotational joint, the positional relationship between any two mechanisms in the symmetrical structural unit changes synchronously, thereby allowing the deployable deformable wheel structure to switch between a fully folded wheel state and a fully unfolded petal state.

[0049] In the deployable deformable wheel structure, N symmetrical structural units are arranged in a counterclockwise order, with the arc surfaces of all symmetrical structural units facing outwards. For K∈(1, N-1), the second connection position H3H4 of the Kth symmetrical structural unit is connected to the third connection position H5H6 of the (K+1)th symmetrical structural unit via a revolute joint R, and the first connection position H1H2 of the Kth symmetrical structural unit is connected to the fourth connection position H7H8 of the (K+1)th symmetrical structural unit via a revolute joint R; the second connection position H3H4 of the Nth symmetrical structural unit is connected to the third connection position H5H6 of the 1st symmetrical structural unit via a revolute joint R, and the first connection position H1H2 of the Nth symmetrical structural unit is connected to the fourth connection position H7H8 of the 1st symmetrical structural unit via a revolute joint R.

[0050] For the single-degree-of-freedom deployable deformable wheel structure provided in this embodiment, the central angles of the sector plates A1 and A2 of all the symmetrical structural units can be changed as needed, thereby changing the number of symmetrical structural units; when the central angle of the sector plate A1 or the sector plate A2 is 60 degrees, the deployable deformable wheel structure is composed of six symmetrical structural units.

[0051] Without causing interference, it can be done as needed. i Reduce the angle between the left side and the bottom surface of trapezoidal blocks B1, B2, C1, and C2, based on a 2-degree reduction.

[0052] Without causing interference, the thickness between the upper and lower surfaces of trapezoidal blocks B1, B2, C1, and C2 can be set as needed, thereby changing the thickness of the deployable deformable wheel structure when it is fully deployed.

[0053] Without causing interference, the thickness between the front and rear sides of trapezoidal blocks B1, B2, C1, and C2 can be set as needed, thereby changing the thickness of the deployable deformable wheel structure when fully folded.

[0054] In this embodiment, the convex arcs on the right side of trapezoidal blocks B1, B2, C1, and C2 have the same curvature as the arc of the sector plate A1, thereby achieving a smooth transition from the arc surface of the sector plate to the right side of the trapezoidal block in the fully unfolded state of the deployable deformable wheel structure.

[0055] In the fully folded state, the front side of trapezoidal block B1 of each symmetrical structural unit is completely in contact with the rear side of trapezoidal block C1, and is parallel to the sector plane of sector plate A1; in the fully unfolded state, the upper bottom surface of trapezoidal block B1 of each symmetrical structural unit is completely in contact with the upper bottom surface of trapezoidal block C1, and is parallel to the sector plane of sector plate A1; the symmetrical structural unit changes the distance between sector plate A1 and sector plate A2 through arbitrary rotation joints, thereby realizing the transition of the deployable deformable wheel structure from a fully folded wheel state to a fully unfolded petal state.

[0056] In this embodiment, the rotating pairs between the connecting edges of the sector plate A1, trapezoidal block B1, trapezoidal block C1, sector plate A2, trapezoidal block B2, and trapezoidal block C2 can be implemented in various forms, such as hinges or bearings.

[0057] In the description of this invention, it should be understood that the terms "front side", "rear side", "upper bottom", "lower bottom", "left side", "right side", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this patent, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this patent.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A single degree of freedom deployable deformable wheel structure, characterized by, N face-symmetry structure units are connected end to end, and N is greater than or equal to 3; each face-symmetry structure unit is formed by connecting a sector plate A1, a trapezoidal block B1, a trapezoidal block C1, a sector plate A2, a trapezoidal block B2 and a trapezoidal block C2 end to end in a single closed loop mechanism, wherein the sector plate A1 and the sector plate A2 are the same in structure, the trapezoidal block B1 and the trapezoidal block B2 are the same in structure, the trapezoidal block C1 and the trapezoidal block C2 are the same in structure, and the sum of the central angles of the sector plate A1 or the sector plate A2 of the N face-symmetry structure units is 360 degrees; the outer side edges of the trapezoidal block B1 and the trapezoidal block C1 of any face-symmetry structure unit are connected to the outer side edges of the trapezoidal block C2' and the trapezoidal block B2' of the adjacent face-symmetry structure unit, so that the N face-symmetry structure units are connected end to end to form the developable variable deformation wheel structure.

2. The single degree of freedom deployable deformable wheel structure of claim 1, wherein, The sector plate A1 has two connecting edges, wherein the front side radius of the sector upper side of the sector plate A1 is a first connecting edge, and the back side radius is a second connecting edge; the trapezoidal block B1 has three connecting edges, wherein the upper base and the lower base of the front side face of the trapezoidal block B1 are a first connecting edge and a second connecting edge respectively, and the lower base of the back side face is a third connecting edge; the trapezoidal block C1 has three connecting edges, wherein the upper base and the lower base of the back side face of the trapezoidal block C1 are a first connecting edge and a second connecting edge respectively, and the lower base of the front side face is a third connecting edge; the sector plate A2 has two connecting edges, wherein the front side radius of the sector upper side of the sector plate A2 is a first connecting edge, and the back side radius is a second connecting edge; the trapezoidal block B2 has three connecting edges, wherein the upper base and the lower base of the front side face of the trapezoidal block B2 are a first connecting edge and a second connecting edge respectively, and the lower base of the back side face is a third connecting edge; the trapezoidal block C2 has three connecting edges, wherein the upper base and the lower base of the back side face of the trapezoidal block C2 are a first connecting edge and a second connecting edge respectively, and the lower base of the front side face is a third connecting edge; The first connecting edge of the sector plate A1 is connected to the third connecting edge of the trapezoidal block B1 through a revolute pair, the first connecting edge of the trapezoidal block B1 is connected to the first connecting edge of the trapezoidal block C1 through a revolute pair, the third connecting edge of the trapezoidal block C1 is connected to the second connecting edge of the sector plate A2 through a revolute pair, the first connecting edge of the sector plate A2 is connected to the third connecting edge of the trapezoidal block B2 through a revolute pair, the first connecting edge of the trapezoidal block B2 is connected to the first connecting edge of the trapezoidal block C2 through a revolute pair, and the third connecting edge of the trapezoidal block C2 is connected to the second connecting edge of the sector plate A1 through a revolute pair; The face-symmetry structure unit has four connecting positions, the first connecting position is the second connecting edge of the trapezoidal block B1, the second connecting position is the second connecting edge of the trapezoidal block C1, the third connecting position is the second connecting edge of the trapezoidal block B2, and the fourth connecting position is the second connecting edge of the trapezoidal block C2; the second connecting edge of the trapezoidal block B1 is connected to the second connecting edge of the trapezoidal block C2' of the adjacent face-symmetry structure unit through a revolute pair, and the second connecting edge of the trapezoidal block C1 is connected to the second connecting edge of the trapezoidal block B2' of the adjacent face-symmetry structure unit through a revolute pair. The single-degree-of-freedom expandable wheel structure has a single closed loop linkage mechanism with six rotating pairs, and the position relationship of any two mechanisms in the face-symmetrical structure unit changes synchronously by changing the distance between the sector plate A1 and the sector plate A2 through any rotating pair, so that the expandable wheel structure switches between the fully folded circle wheel state and the fully expanded petal state.

3. The single degree of freedom deployable deformable wheel structure of claim 2, wherein, The sector-shaped plate A1 or sector-shaped plate A2 has a central angle of... i A sector-shaped thick plate of a certain degree, wherein the upper and lower sector-shaped planes of the sector-shaped plate A1 or sector-shaped plate A2 are parallel to each other; The trapezoidal block B1 or the trapezoidal block B2 is a right-angled trapezoidal block composed of a right-angled trapezoidal face with a left bottom corner of i / 2 degrees and a right waist of a circular arc, a left side face of a rectangular plane and a right side face of a convex circular arc face, wherein the convex circular arc face is a part of a spherical face, and the spherical center of the spherical face is the vertex of the left bottom corner of the left side face, and the radius is equal to the length of the lower bottom side of the left side face. i / 2 degrees is used to prevent interference when the face-symmetrical structure unit is completely folded; the trapezoidal block B1 or the trapezoidal block B2 has four different trapezoidal planes, one rectangular plane and one circular arc curved surface; the front side face is a right-angled trapezoidal face with a left bottom corner of i / 2 degrees and a right waist of a convex circular arc, the back side face is a right-angled trapezoidal face with a left bottom corner of i / 2 degrees and a right waist of a convex circular arc; the upper bottom face is a right-angled trapezoidal face with a right side slope of a convex circular arc, and the lower bottom face is a right-angled trapezoidal face with a right side slope of a convex circular arc; the left side face is a rectangular plane and the included angle with the lower bottom face is i / 2 degrees; the right side face is a convex circular arc face, the convex circular arc face is a part of a spherical face, and the spherical center of the spherical face is the vertex of the left bottom corner of the back side face, and the radius is equal to the length of the lower bottom side of the back side face. The trapezoidal block C1 or the trapezoidal block C2 is a similar right trapezoidal block which is mirror-symmetrical to the trapezoidal block B1 or the trapezoidal block B2; the trapezoidal block C1 or the trapezoidal block C2 also has four different similar trapezoidal planes, one rectangular plane and one circular arc curved surface; the front side is a similar right trapezoidal plane with a left bottom corner of i / 2 degrees and a right waist of a convex circular arc, the back side is a similar right trapezoidal plane with a left bottom corner of i / 2 degrees and a right waist of a convex circular arc; the upper bottom side is a similar right trapezoidal plane with a right side inclined edge of a convex circular arc, and the lower bottom side is a similar right trapezoidal plane with a right side inclined edge of a convex circular arc; the left side is a rectangular plane and has an included angle of i / 2 degrees with the lower bottom side; the right side is a convex circular arc surface which is a part of a spherical surface, and the spherical center of the spherical surface is the vertex of the left bottom corner of the front side, and the radius is equal to the length of the lower bottom side of the front side. In the expandable wheel structure, N face-symmetrical structure units are arranged in counterclockwise order, and the circular arc surfaces of all face-symmetrical structure units are uniformly directed outward; for K∈(1, N-1), the second connecting position of the Kth face-symmetrical structure unit is connected to the third connecting position of the K+1th face-symmetrical structure unit through a rotating pair, and the first connecting position of the Kth face-symmetrical structure unit is connected to the fourth connecting position of the K+1th face-symmetrical structure unit through a rotating pair; the second connecting position of the Nth face-symmetrical structure unit is connected to the third connecting position of the 1st face-symmetrical structure unit through a rotating pair, and the first connecting position of the Nth face-symmetrical structure unit is connected to the fourth connecting position of the 1st face-symmetrical structure unit through a rotating pair.

4. The single degree of freedom deployable wheel structure of claim 1, wherein, The central angles of the sector plate A1 and the sector plate A2 of all face-symmetrical structure units can be changed as needed, thereby changing the number of face-symmetrical structure units; when the central angle of the sector plate A1 or the sector plate A2 is 60 degrees, the expandable wheel structure is composed of six face-symmetrical structure units.

5. The single degree of freedom deployable wheel structure of claim 3, wherein, The trapezoidal blocks B1, B2, C1 and C2 can be reduced in angle on the left side and the lower base on the basis of 2 degrees, as needed, without generating interference. i The trapezoidal blocks B1, B2, C1 and C2 can be reduced in angle on the left side and the lower base on the basis of 2 degrees, as needed, without generating interference.

6. The single degree of freedom deployable wheel structure of claim 3, wherein, The thickness between the upper base and the lower base of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 can be set as needed without interference, thereby changing the thickness of the expandable wheel structure when fully expanded.

7. The single degree of freedom deployable deformable wheel structure of claim 3, wherein, The thickness between the front side and the back side of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 can be set as needed without interference, thereby changing the thickness of the expandable wheel structure when fully folded.

8. The single degree of freedom deployable wheel structure of claim 3, wherein, The convex circular arc of the right side of the trapezoidal block B1, the trapezoidal block B2, the trapezoidal block C1 and the trapezoidal block C2 has the same curvature as the circular arc of the sector plate A1, thereby achieving smooth transition of the circular arc surface of the sector plate to the right side of the trapezoidal block in the fully expanded state of the expandable wheel structure.

9. The single degree of freedom deployable wheel structure of claim 3, wherein, In the fully folded state, the front side of the trapezoidal block B1 and the back side of the trapezoidal block C1 of each face-symmetrical structure unit are completely attached and mutually parallel to the sector plane of the sector plate A1; in the fully expanded state, the upper base of the trapezoidal block B1 and the upper base of the trapezoidal block C1 of each face-symmetrical structure unit are completely attached and mutually parallel to the sector plane of the sector plate A1; the face-symmetrical structure unit changes the distance between the sector plate A1 and the sector plate A2 through any rotating pair, thereby achieving the transition of the expandable wheel structure from the fully folded circle wheel state to the fully expanded petal state.

10. The single degree of freedom deployable deformable wheel structure of claim 2, wherein, The rotating pairs between the connecting edges of the sector plate A1, the trapezoidal block B1, the trapezoidal block C1, the sector plate A2, the trapezoidal block B2 and the trapezoidal block C2 include hinges and bearings.

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