A single degree of freedom driving deformable wheel folding and unfolding mechanism based on thick plate origami

CN117360113BActive Publication Date: 2026-06-05JIANGSU UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JIANGSU UNIV OF SCI & TECH
Filing Date
2023-11-27
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Existing deformable wheeled robots have complex structures, making it difficult to achieve a large proportion of folding and deformation. They also lack load-bearing capacity and stability, making it difficult to operate safely and stably in complex environments.

Method used

The deformable wheel folding and unfolding mechanism, based on thick plate origami and driven by a single degree of freedom, includes a hexagonal base plate, a rotating plate, a foldable repeating unit, a connecting mechanism, and a drive device. The wheel unfolds and folds by a single degree of freedom drive, thereby changing the vehicle chassis height and center of gravity.

Benefits of technology

It improves the vehicle's flexibility, maneuverability, and stability in complex environments, enhances its load-bearing capacity and structural simplicity, and reduces manufacturing costs.

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Abstract

The application discloses a single-degree-of-freedom driving deformable wheel folding and unfolding mechanism based on thick plate origami, which comprises a hexagonal bottom plate, a rotating plate, six groups of foldable and unfoldable repeating units, a connecting mechanism and a driving device, wherein the foldable and unfoldable repeating unit comprises a quadrilateral rigid plate, a triangular plate, a first wedge-shaped plate and a second wedge-shaped plate and a connecting rod mechanism; under the driving of a motor, a rotating shaft starts to move to drive the rotating plate to rotate, so that the connecting rod starts to make extension and contraction movement to drive the foldable and unfoldable repeating unit to move, and the wheel can complete folding and unfolding movement, the chassis and the gravity center of the wheel are improved, and the obstacle crossing ability of the vehicle and the stability of the vehicle are greatly improved.
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