Single-degree-of-freedom diameter and width variable wheel type mechanism

Abstract

The single-degree-of-freedom diameter and width variable wheel type mechanism comprises a center shaft, a center support is rotationally arranged on the center shaft, rotary supporting rods are arranged on the circumferential face of the center support at intervals in the circumferential direction, the rotary supporting rods are hinged to the center support, and connecting pieces are hinged to the ends, away from the center support, of the rotary supporting rods; the ends, far away from the rotary supporting rod, of the connecting pieces are hinged to shear fork assemblies, the shear fork assemblies are connected with the adjacent shear fork assemblies through shear fork supporting connecting pieces, the multiple shear fork assemblies are closed to form a polygonal structure, and the shear fork supporting connecting pieces are hinged to the shear fork assemblies. A supporting rod is hinged to the shear fork supporting connecting piece, and a variable wheel face assembly is hinged to the end, away from the shear fork supporting connecting piece, of the supporting rod. According to the variable wheel type mechanism, single-degree-of-freedom driving is achieved, control is convenient, the wheel face width is changed while the diameter is changed, and adaptability is high.

Description

Technical Field

[0001] The invention relates to the technical field of variable diameter wheels, and in particular to a single-degree-of-freedom diameter and width variable wheel mechanism. Background Art

[0002] Wheels are round rolling objects made of different materials. They are very useful in transportation and are widely used in many fields such as robots, exploration vehicles, vehicles, and household appliances. After the traditional wheels are manufactured, their shape and size are fixed. When faced with complex ground environments such as uneven roads and soft roads, traditional wheels are difficult to cope with. However, wheels with variable wheel diameters can easily adapt to the above road conditions by enlarging their own wheel diameters. Therefore, research on variable wheel diameters has attracted attention.

[0003] In the traditional variable diameter wheel design, the wheel generally achieves the change of diameter through a combination of one or more complex mechanisms such as a connecting rod mechanism, a gear mechanism, etc. The width of the wheel remains unchanged, but the wheel and the ground are in flat contact. During the process of changing the wheel diameter, its width remains unchanged, and it cannot adapt to the contact area between the wheel and the ground under different diameters, further affecting the friction and smoothness between the wheel and the ground during rolling, resulting in poor adaptability of the wheel.

[0004] Therefore, we proposed a single-degree-of-freedom wheel mechanism with variable diameter and width. Summary of the invention

[0005] The object of the present invention is to provide a single-degree-of-freedom diameter and width variable wheel mechanism to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention provides a single-degree-of-freedom diameter and width variable wheeled mechanism, comprising a central axis, a central support rotatably provided on the central axis, the central support being coaxial with the central axis, the outer peripheral surface of the central support being provided with rotating support rods at intervals in the circumferential direction, the rotating support rod being hinged to the central support, the end of the rotating support rod away from the central support being hinged to a connecting piece, the end of the connecting piece away from the rotating support rod being hinged to a scissors-fork assembly, the scissors-fork assembly being connected to adjacent scissors-fork assemblies via a scissors-fork support connecting piece, a plurality of the scissors-fork assemblies being closed to form a polygonal structure, the scissors-fork support connecting piece being hinged to the scissors-fork assembly, a support rod being hinged to the scissors-fork support connecting piece, and the end of the support rod away from the scissors-fork support connecting piece being hinged to a variable wheel surface assembly.

[0008] Further, the wheel changing surface assembly includes an arc-shaped rod member I, one end of the arc-shaped rod member I is hinged to an arc-shaped rod member II, the end of the arc-shaped rod member II away from the arc-shaped rod member I is hinged to an arc-shaped scissor rod II, the end of the arc-shaped scissor rod II away from the arc-shaped rod member II is hinged to an arc-shaped rod member III, the end of the arc-shaped rod member III away from the arc-shaped scissor rod II is hinged to an arc-shaped rod member IV, the end of the arc-shaped rod member IV away from the arc-shaped rod member III is hinged to the arc-shaped scissor rod I, the middle position of the arc-shaped scissor rod I is hinged to the middle position of the arc-shaped scissor rod II, the end of the arc-shaped scissor rod I away from the arc-shaped rod member IV is hinged to the end of the arc-shaped rod I away from the arc-shaped rod member II, the hinged ends of the arc-shaped rod member I and the arc-shaped rod member II are connected to the scissor support connecting member through the support rod I, and the hinged ends of the arc-shaped rod member III and the arc-shaped rod member IV are connected to the scissor support connecting member through the support rod II.

[0009] Furthermore, the scissors-type assembly includes a scissors-type rod I and a scissors-type rod II, the middle position of the scissors-type rod I is hinged to the middle position of the scissors-type rod II, and the middle position of the scissors-type rod I is hinged to an end of the connecting piece away from the rotating support rod.

[0010] Furthermore, the scissors support connector includes a scissors support connector I and a scissors support connector II, one end of the scissors support connector I is hinged to one end of the scissors rod II, the other end of the scissors support connector I is hinged to one end of the scissors rod I of another scissors assembly, the middle position of the scissors support connector I is hinged to one end of the support rod I, the other end of the support rod I is hinged to the hinged ends of the arc rod I and the arc rod II, one end of the scissors support connector II is hinged to one end of the scissors rod I, the other end of the scissors support connector II is hinged to one end of the scissors rod II of another scissors assembly, the middle position of the scissors support connector II is hinged to one end of the support rod II, and the other end of the support rod II is hinged to the hinged ends of the arc rod III and the arc rod IV.

[0011] Furthermore, the scissors support connector is in a V-shaped structure.

[0012] Compared with the prior art, the present invention has the following technical effects:

[0013] In the present invention, multiple scissor-type assemblies are closed to form a polygonal structure. When the rotating support rod drives the scissor-type assemblies to approach or move away from the central axis, the side length of the polygon changes. A single scissor-type assembly deforms through movement to change the length of the polygon side. The movement of the scissor-type assembly drives the support rod to move, and the movement of the support rod drives the variable wheel surface assembly to move, so that the wheel diameter changes while the wheel surface width changes accordingly. When the wheel diameter becomes larger, the wheel surface becomes narrower, which is suitable for high speed, light load, and good road conditions. When the wheel diameter becomes smaller, the wheel surface becomes wider, which is suitable for low speed, heavy load, and poor road conditions. The adaptability of the wheel is increased.

[0014] Furthermore, the variable wheel mechanism has a single degree of freedom and is easy to control. By locking the central support, the entire mechanism can be kept as a rigid and stable structure, thereby maintaining a good arc of the wheel and making the wheel have good driving smoothness. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a single-degree-of-freedom diameter and width variable wheel mechanism according to an embodiment of the present invention;

[0016] Figure 2 Schematic diagram of an exploded view of a single-degree-of-freedom diameter and width variable wheel mechanism according to an embodiment of the present invention.

[0017] Explanation of the accompanying drawings: 1. Central axis, 2. Central support, 3. Rotating support rod, 4. Connecting piece, 501. Scissors support connecting piece I, 502. Scissors support connecting piece II, 601. Scissors rod I, 602. Scissors rod II, 701. Support rod I, 702. Support rod II, 801. Arc rod member I, 802. Arc rod member II, 803. Arc rod member III, 804. Arc rod member IV, 901. Arc scissors rod I, 902. Arc scissors rod II. DETAILED DESCRIPTION

[0018] In order to make the present invention clearer and more understandable, the technical solution of the present invention is further described in detail below in combination with the accompanying drawings and embodiments. It should be understood that the given embodiment is only one of the implementation methods and does not represent all embodiments.

[0019] In this article, the terms "upper, lower" and the like are established based on the positional relationship shown in the drawings. Depending on the different drawings, the corresponding positional relationship may also change accordingly. Therefore, they cannot be understood as an absolute limitation on the scope of protection.

[0020] See also Figure 1 to Figure 2The present embodiment provides a single-degree-of-freedom wheeled structure with variable diameter and width, including a central axis 1, on which a central support 2 is rotatably provided, the central support 2 being coaxial with the central axis 1. In the present embodiment, the central support 2 is coaxially hinged with the central axis 1, and the shape of the central support 2 is a hexagonal prism. Rotating support rods 3 are provided at intervals along the circumferential direction on the outer peripheral surface of the central support 2, and the rotating support rods 3 are hinged to the central support 2. In the present embodiment, six rotating support rods 3 are provided. Since the shape of the central support 2 is a hexagonal prism, the outer peripheral surface of the central support 2 includes six prism side surfaces, and a rotating support rod 3 is hinged to each prism side surface.

[0021] The end of the rotating support rod 3 away from the central support 2 is hinged with a connector 4, and the end of the connector 4 away from the rotating support rod 3 is hinged with a scissor assembly. The scissor assembly is connected to the adjacent scissor assembly through the scissor support connector. Multiple scissor assemblies are closed to form a polygonal structure. When the rotating support rod 3 drives the scissor assembly to approach or move away from the central axis 1, the side length of the polygon formed by the multiple scissor assemblies changes, and a single scissor assembly deforms through movement to change the length of the polygon side. The scissor support connector is hinged to the scissor assembly, and a support rod is hinged on the scissor support connector. The end of the support rod away from the scissor support connector is hinged with a variable wheel surface assembly. The movement and deformation of the scissor assembly drives the support rod to move through the scissor support connector, and the support rod then drives the variable wheel surface assembly to move, so that the wheel diameter changes while the wheel surface width changes accordingly. When the wheel diameter becomes larger, the wheel tread width becomes narrower. At this time, the wheel is adapted to high speed, light load, and good road conditions; when the wheel diameter becomes smaller, the wheel tread width becomes wider. At this time, the wheel is adapted to low speed, heavy load, and poor road conditions. The wheel tread width changes with the change of wheel diameter, so that the wheel can cope with a variety of conditions and improves the adaptability of the wheel.

[0022] Specifically, the wheel changing surface assembly includes an arc rod I801, an arc rod II802, an arc rod III803, an arc rod IV804, an arc scissor rod I901 and an arc scissor rod II902, one end of the arc rod I801 is hinged to the arc rod II802, one end of the arc rod II802 away from the arc rod I801 is hinged to the arc scissor rod II902, and one end of the arc scissor rod II902 away from the arc rod II802 is hinged to the arc rod II I803 is hinged, one end of the arc rod III803 away from the arc scissor rod II902 is hinged to the arc rod IV804, one end of the arc rod IV804 away from the arc rod III803 is hinged to the arc scissor rod I901, the middle position of the arc scissor rod I901 is hinged to the middle position of the arc scissor rod II902, and one end of the arc scissor rod I901 away from the arc rod IV804 is hinged to one end of the arc rod I801 away from the arc rod II802. The support rod includes support rod I701 and support rod II702, the hinged ends of the arc rod I801 and the arc rod II802 are hinged to one end of the support rod I701, and the hinged ends of the arc rod III803 and the arc rod IV804 are hinged to one end of the support rod II702.

[0023] During operation, if the hinged end of the support rod I701 and the wheel changing surface assembly and the hinged end of the support rod II702 and the wheel changing surface assembly move away from each other, the hinged end of the arc rod I801 and the arc scissor rod I901, the hinged end of the arc rod II802 and the arc scissor rod II902 move closer to each other, the hinged end of the arc rod III803 and the arc scissor rod II902, the hinged end of the arc rod IV804 and the arc scissor rod I901 move closer to each other, the wheel changing surface assembly becomes wider, that is, the wheel surface width becomes Width; if one end of the support rod I701 and the hinged end of the wheel surface assembly and one end of the support rod II702 and the wheel surface assembly are close to each other, the hinged end of the arc rod I801 and the arc scissor rod I901, and the hinged end of the arc rod II802 and the arc scissor rod II902 are away from each other, the hinged end of the arc rod III803 and the arc scissor rod II902, and the hinged end of the arc rod IV804 and the arc scissor rod I901 are away from each other, the wheel surface assembly becomes narrower, that is, the wheel surface width becomes narrower.

[0024] Specifically, the scissors assembly includes a scissors rod I601 and a scissors rod II602. The middle position of the scissors rod I601 is hinged to the middle position of the scissors rod II602. The middle position of the scissors rod I601 is hinged to one end of the connector 4 away from the rotating support rod 3. The scissors support connector includes a scissors support connector I501 and a scissors support connector II502. One end of the scissors support connector I501 is hinged to one end of the scissors rod II602. The other end of the scissors support connector I501 is hinged to one end of the scissors rod I601 of another scissors assembly. The middle position of the scissors support connector I501 is hinged to one end of the support rod I701 away from the wheel surface assembly. One end of the scissors support connector II502 is hinged to one end of the scissors rod I601. The other end of the support connector II502 is hinged to one end of the scissors rod II602 of another scissors assembly, and the middle position of the scissors support connector II502 is hinged to the end of the support rod II702 away from the variable wheel surface assembly. Multiple scissors assemblies are connected through the scissors support connector I501 and the scissors support connector II502, and finally closed to form a hexagonal structure. The middle position of the scissors rod I601 in each scissors assembly is connected to the central support 2 through the connector 4 and the rotating support rod 3.

[0025] During operation, if the rotating support rod 3 drives the scissors assembly close to the central axis 1, the side length of the hexagon formed by the scissors assembly becomes shorter, and the ends of the scissors rod I601 and the scissors rod II602 away from the hinged joints of the two in a single scissors assembly move away from each other, and then the two ends of the support rod I701 and the support rod II702 are driven away from each other through the scissors support connector I501 and the scissors support connector II502, and the support rod I701 and the support rod II702 drive the variable wheel surface assembly to move; if the rotating support rod 3 drives the scissors assembly away from the central axis 1, the side length of the hexagon formed by the scissors assembly becomes longer, and the ends of the scissors rod I601 and the scissors rod II602 away from the hinged joints of the two move closer to each other, and then the two ends of the support rod I701 and the support rod II702 are driven close to each other through the scissors support connector I501 and the scissors support connector II502, and the support rod I701 and the support rod II702 drive the variable wheel surface assembly to move.

[0026] Specifically, the shape of the scissor support connector is a V-shaped structure. The V-shaped structure has good stability and rigidity, can withstand a large lateral load, and the V-shaped scissor support connector can maintain the stability of the hexagonal structure formed by the scissor assembly. In addition, when the scissor support connector is subjected to force, the V-shaped scissor support connector can effectively transfer and disperse the load, thereby improving the strength and bearing capacity of the scissor support connector.

[0027] Specifically, the variable wheel structure can be applied to a vehicle, and a driving device on the vehicle drives the central support 2 to rotate around the central axis 1, such as Figure 1 As shown, when the central support 2 rotates counterclockwise around the central axis 1, the rotating support rod 3 drives the scissors-fork assembly to approach the central axis 1, and when the central support 2 rotates clockwise around the central axis 1, the rotating support rod 3 drives the scissors-fork assembly to move away from the central axis 1.

[0028] Specifically, the entire structure of the variable wheel structure is a single degree of freedom. When the wheel structure is deformed, locking the central support 2 can keep the entire mechanism as a rigid and stable structure, thereby maintaining a good arc of the wheel and making the wheel have good driving smoothness.

[0029] Specifically, when the diameter of the variable wheel structure increases, the wheel surface width becomes narrower, and when the diameter decreases, the wheel surface width becomes wider.

[0030] The specific process of the wheel diameter becoming larger and the wheel surface becoming narrower is as follows: when the central support 2 rotates clockwise around the central axis 1, the rotating support rod 3 drives the scissor assembly away from the central axis 1, the side length of the hexagon formed by the scissor assembly becomes longer, and the ends of the scissor rods I601 and II602 in a single scissor assembly move away from the hinged parts and move closer to each other, and then the ends of the support rods I701 and II702 are driven to move closer together through the scissor support connectors I501 and II502. The arc rod I801 and the arc scissor rod I901 of the variable wheel surface assembly move closer to each other, and the arc rod II702 drives the variable wheel surface assembly to move. The hinged end of the arc rod I801 and the arc scissor rod I901, and the hinged end of the arc rod II802 and the arc scissor rod II902 move away from each other. The hinged end of the arc rod III803 and the arc scissor rod II902, and the hinged end of the arc rod IV804 and the arc scissor rod I901 move away from each other. The variable wheel surface assembly becomes narrower, that is, the wheel surface width becomes narrower.

[0031] The specific process of the wheel diameter becoming smaller and the wheel surface becoming wider is as follows: when the central support 2 rotates counterclockwise around the central axis 1, the rotating support rod 3 drives the scissor assembly to approach the central axis 1, the side length of the hexagon formed by the scissor assembly becomes shorter, and the ends of the scissor rods I601 and II602 in a single scissor assembly move away from each other away from the hinged ends of the two, and then the ends of the support rods I701 and II702 are driven to move closer together through the scissor support connectors I501 and II502. The arc rod I801 and the arc scissor rod I901 of the variable wheel surface assembly move away from each other, and the arc rod II702 drives the variable wheel surface assembly to move. The hinged end of the arc rod I801 and the arc scissor rod I901, and the hinged end of the arc rod II802 and the arc scissor rod II902 approach each other. The hinged end of the arc rod III803 and the arc scissor rod II902, and the hinged end of the arc rod IV804 and the arc scissor rod I901 approach each other. The variable wheel surface assembly becomes wider, that is, the wheel surface width becomes wider.

[0032] While embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A single degree of freedom diameter and width variable wheel mechanism, characterized in that: The invention comprises a central axis (1), on which a central support (2) is rotatably provided, the central support (2) is coaxial with the central axis (1), and the outer peripheral surface of the central support (2) is provided with rotating support rods (3) at intervals in the circumferential direction, the rotating support rods (3) are hinged to the central support (2), one end of the rotating support rod (3) away from the central support (2) is hinged to a connecting member (4), one end of the connecting member (4) away from the rotating support rod (3) is hinged to a scissors assembly, the scissors assembly is connected to adjacent scissors assemblies via a scissors support connecting member, and a plurality of the scissors assemblies are closed to form a polygonal structure, the scissors support connecting member is hinged to the scissors assembly, a support rod is hinged to the scissors support connecting member, and one end of the support rod away from the scissors support connecting member is hinged to a variable wheel surface assembly.

2. The single-degree-of-freedom diameter and width variable wheel mechanism according to claim 1, characterized in that: The wheel changing surface assembly comprises an arc-shaped rod member I (801), one end of the arc-shaped rod member I (801) is hinged to an arc-shaped rod member II (802), one end of the arc-shaped rod member II (802) away from the arc-shaped rod member I (801) is hinged to an arc-shaped scissor rod II (902), one end of the arc-shaped scissor rod II (902) away from the arc-shaped rod member II (802) is hinged to an arc-shaped rod member III (803), one end of the arc-shaped rod member III (803) away from the arc-shaped scissor rod II (902) is hinged to an arc-shaped rod member IV (804), and one end of the arc-shaped rod member IV (804) away from the arc-shaped rod member III (803) is hinged to There is an arc-shaped scissor rod I (901), the middle position of the arc-shaped scissor rod I (901) is hinged to the middle position of the arc-shaped scissor rod II (902), one end of the arc-shaped scissor rod I (901) away from the arc-shaped rod IV (804) is hinged to one end of the arc-shaped rod I (801) away from the arc-shaped rod II (802), the hinged ends of the arc-shaped rod I (801) and the arc-shaped rod II (802) are connected to the scissor support connecting member through the support rod I (701), and the hinged ends of the arc-shaped rod III (803) and the arc-shaped rod IV (804) are connected to the scissor support connecting member through the support rod II (702).

3. The single-degree-of-freedom diameter and width variable wheel mechanism according to claim 2, characterized in that: The scissor-type assembly comprises a scissor-type rod I (601) and a scissor-type rod II (602), wherein the middle position of the scissor-type rod I (601) is hinged to the middle position of the scissor-type rod II (602), and the middle position of the scissor-type rod I (601) is hinged to an end of the connecting member (4) away from the rotating support rod (3).

4. The single-degree-of-freedom diameter and width variable wheel mechanism according to claim 3, characterized in that: The scissor support connector comprises a scissor support connector I (501) and a scissor support connector II (502), one end of the scissor support connector I (501) is hinged to one end of a scissor rod II (602), the other end of the scissor support connector I (501) is hinged to one end of a scissor rod I (601) of another scissor assembly, the middle position of the scissor support connector I (501) is hinged to one end of a support rod I (701), the other end of the support rod I (701) is hinged to the arc rod I (801), the arc rod The hinged ends of the two parts II (802) are hinged, one end of the scissor support connecting part II (502) is hinged to one end of the scissor rod I (601), the other end of the scissor support connecting part II (502) is hinged to one end of the scissor rod II (602) of another scissor assembly, the middle position of the scissor support connecting part II (502) is hinged to one end of the support rod II (702), and the other end of the support rod II (702) is hinged to the hinged ends of the arc rod III (803) and the arc rod IV (804).

5. The single-degree-of-freedom diameter and width variable wheel mechanism according to claim 1, characterized in that: The scissors support connector is in a V-shaped structure.

Images