A single degree of freedom diameter and width variable wheeled mechanism

Abstract

The application provides a single-degree-of-freedom variable-diameter and variable-width wheel mechanism, which comprises a central shaft, a central support is arranged on the central shaft and rotates, a rotating support rod is arranged on the circumferential surface of the central support at intervals in the circumferential direction, the rotating support rod is hinged to the central support, a connecting piece is hinged to one end of the rotating support rod away from the central support, a scissor assembly is hinged to one end of the connecting piece away from the rotating support rod, the scissor assembly is connected with an adjacent scissor assembly through a scissor support connecting piece, a plurality of the scissor assemblies are closed to form a polygonal structure, the scissor support connecting piece is hinged to the scissor assembly, a support rod is hinged to the scissor support connecting piece, and a variable-wheel-face assembly is hinged to one end of the support rod away from the scissor support connecting piece. The variable-wheel-face mechanism is driven by single degree of freedom, is convenient to control, and the diameter is changed while the wheel face width is changed, so that the adaptability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of variable diameter wheel, in particular to a single degree of freedom diameter and width variable wheel mechanism. BACKGROUND

[0002] Wheels are round rolling bodies made of different materials, which are very useful in transportation and widely used in many fields such as robots, detection vehicles, transportation tools and household appliances. The shape and size of the traditional wheel are fixed after manufacturing, and it is difficult to cope with complex ground conditions such as uneven road surface and soft road surface. The variable diameter wheel can easily adapt to the above road conditions by enlarging its diameter, so the research on variable diameter wheel has attracted attention.

[0003] In the traditional variable diameter wheel design, the wheel generally changes the diameter through the combination of one or more of complex mechanisms such as link mechanism, gear mechanism, etc. The width of the wheel is unchanged. However, the wheel and the ground are in plane contact, and the width of the wheel remains unchanged during the change of the diameter of the wheel, which 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 the rolling process of the wheel, thereby leading to poor adaptability of the wheel.

[0004] Therefore, we propose a single degree of freedom diameter and width variable wheel mechanism. SUMMARY

[0005] The purpose of the present application is to provide a single degree of freedom diameter and width variable wheel mechanism to solve the problems raised in the background.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] The present application provides a single degree of freedom diameter and width variable wheel mechanism, which comprises a center shaft, a center support is rotatably arranged on the center shaft, the center support is coaxial with the center shaft, a rotary support rod is arranged on the outer circumferential surface of the center support at intervals in the circumferential direction, the rotary support rod is hinged to the center support, a connecting piece is hinged to one end of the rotary support rod away from the center support, a scissor assembly is hinged to one end of the connecting piece away from the rotary support rod, the scissor assembly is connected with the adjacent scissor assembly through a scissor support connecting piece, a plurality of scissor assemblies are closed to form a polygonal structure, the scissor support connecting piece is hinged to the scissor assembly, a support rod is hinged to the scissor support connecting piece, and a variable wheel surface assembly is hinged to one end of the support rod away from the scissor support connecting piece.

[0008] Further, the variable wheel assembly comprises an arc-shaped rod I, one end of the arc-shaped rod I is hingedly connected with an arc-shaped rod II, one end of the arc-shaped rod II away from the arc-shaped rod I is hingedly connected with an arc-shaped scissor rod II, one end of the arc-shaped scissor rod II away from the arc-shaped rod II is hingedly connected with an arc-shaped rod III, one end of the arc-shaped rod III away from the arc-shaped scissor rod II is hingedly connected with an arc-shaped rod IV, one end of the arc-shaped rod IV away from the arc-shaped rod III is hingedly connected with an arc-shaped scissor rod I, the middle position of the arc-shaped scissor rod I is hingedly connected with the middle position of the arc-shaped scissor rod II, one end of the arc-shaped scissor rod I away from the arc-shaped rod IV is hingedly connected with one end of the arc-shaped rod I away from the arc-shaped rod II, the hinged ends of the arc-shaped rod I and the arc-shaped rod II are connected with the scissor support connector through a support rod I, the hinged ends of the arc-shaped rod III and the arc-shaped rod IV are connected with the scissor support connector through a support rod II.

[0009] Further, the scissor assembly comprises a scissor rod I and a scissor rod II, the middle position of the scissor rod I is hingedly connected with the middle position of the scissor rod II, and the middle position of the scissor rod I is hingedly connected with one end of the connector away from the rotating support rod.

[0010] Further, the scissor support connector comprises a scissor support connector I and a scissor support connector II, one end of the scissor support connector I is hingedly connected with one end of the scissor rod II, the other end of the scissor support connector I is hingedly connected with one end of the scissor rod I of another scissor assembly, the middle position of the scissor support connector I is hingedly connected with one end of the support rod I, the other end of the support rod I is hingedly connected with the hinged ends of the arc-shaped rod I and the arc-shaped rod II, one end of the scissor support connector II is hingedly connected with one end of the scissor rod I, the other end of the scissor support connector II is hingedly connected with one end of the scissor rod II of another scissor assembly, the middle position of the scissor support connector II is hingedly connected with one end of the support rod II, and the other end of the support rod II is hingedly connected with the hinged ends of the arc-shaped rod III and the arc-shaped rod IV.

[0011] Further, the shape of the scissor support connector is a V-shaped structure.

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

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

[0014] In addition, the variable wheel mechanism is single degree of freedom, convenient to control, and locking the central support can make the whole mechanism maintain a stable structure with rigidity, so as to maintain good circularity of the wheel and good driving smoothness of the wheel. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the single degree of freedom diameter and width variable wheel mechanism of the embodiment of the present application.

[0016] Figure 2 It is an exploded schematic diagram of the single degree of freedom diameter and width variable wheel mechanism of the embodiment of the present application.

[0017] The reference signs are explained as follows: 1, central shaft, 2, central support, 3, rotating support rod, 4, connecting piece, 501, scissor support connecting piece I, 502, scissor support connecting piece II, 601, scissor rod I, 602, scissor rod II, 701, support rod I, 702, support rod II, 801, arc-shaped rod I, 802, arc-shaped rod II, 803, arc-shaped rod III, 804, arc-shaped rod IV, 901, arc-shaped scissor rod I, 902, arc-shaped scissor rod II. DETAILED DESCRIPTION

[0018] In order to make the present application clearer and more understandable, the technical solutions of the present application are further described in detail in combination with the drawings, the embodiments given should be understood as only one of the implementation manners, and do not represent all the embodiments.

[0019] In this paper, the terms such as "up, down" are established based on the positional relationship shown in the drawings, according to the different drawings, the corresponding positional relationship may also change accordingly, therefore, it cannot be understood as an absolute limitation on the scope of protection.

[0020] Please refer to Figures 1-2The embodiment provides a single degree of freedom wheel structure with variable diameter and width, comprising a central shaft 1, a central support 2 rotatably arranged on the central shaft 1, and the central support 2 is coaxial with the central shaft 1, in the embodiment, the central support 2 is hingedly connected with the central shaft 1 coaxially, and the central support 2 is in the shape of a hexagonal prism. Rotating support rods 3 are arranged on the outer circumferential surface of the central support 2 at intervals in the circumferential direction, and the rotating support rods 3 are hingedly connected with the central support 2. In the embodiment, the rotating support rods 3 are six, and since the central support 2 is in the shape of a hexagonal prism, the outer circumferential surface of the central support 2 comprises six prism side surfaces, and one rotating support rod 3 is hingedly connected to each prism side surface.

[0021] One end of the rotating support rod 3 away from the central support 2 is hingedly connected with a connecting piece 4, one end of the connecting piece 4 away from the rotating support rod 3 is hingedly connected with a scissor assembly, the scissor assembly is connected with an adjacent scissor assembly through a scissor support connecting piece, a plurality of scissor assemblies are closed to form a polygonal structure, when the rotating support rod 3 drives the scissor assembly to move close to or away from the central shaft 1, the side length of the polygon formed by the plurality of scissor assemblies changes, and the single scissor assembly changes through movement and deformation to change the length of the side length of the polygon. The scissor support connecting piece is hingedly connected with the scissor assembly, and a support rod is hingedly connected to the scissor support connecting piece, one end of the support rod away from the scissor support connecting piece is hingedly connected with a variable wheel surface assembly, the movement and deformation of the scissor assembly drives the support rod to move through the scissor support connecting piece, and the support rod in turn drives the variable wheel surface assembly to move, so that the diameter of the wheel changes, and the width of the wheel surface changes at the same time. When the diameter of the wheel becomes larger, the width of the wheel surface becomes narrower, at this time, the wheel is suitable for high speed, light load and good road conditions; when the diameter of the wheel becomes smaller, the width of the wheel surface becomes wider, at this time, the wheel is suitable for low speed, heavy load and poor road conditions, and the width of the wheel surface changes with the change of the diameter of the wheel, so that the wheel can cope with various conditions, and the adaptability of the wheel is improved.

[0022] Specifically, the variable tread assembly comprises an arc-shaped rod I801, an arc-shaped rod II802, an arc-shaped rod III803, an arc-shaped rod IV804, an arc-shaped scissor rod I901 and an arc-shaped scissor rod II902, one end of the arc-shaped rod I801 is hinged to the arc-shaped rod II802, one end of the arc-shaped rod II802 away from the arc-shaped rod I801 is hinged to the arc-shaped scissor rod II902, one end of the arc-shaped scissor rod II902 away from the arc-shaped rod II802 is hinged to the arc-shaped rod III803, one end of the arc-shaped rod III803 away from the arc-shaped scissor rod II902 is hinged to the arc-shaped rod IV804, one end of the arc-shaped rod IV804 away from the arc-shaped rod III803 is hinged to the arc-shaped scissor rod I901, the middle position of the arc-shaped scissor rod I901 is hinged to the middle position of the arc-shaped scissor rod II902, one end of the arc-shaped scissor rod I901 away from the arc-shaped rod IV804 is hinged to one end of the arc-shaped rod I801 away from the arc-shaped rod II802. The support rod comprises a support rod I701 and a support rod II702, the hinged ends of the arc-shaped rod I801 and the arc-shaped rod II802 are hinged to one end of the support rod I701, the hinged ends of the arc-shaped rod III803 and the arc-shaped rod IV804 are hinged to one end of the support rod II702.

[0023] In operation, when the ends of the support rod I701 and the support rod II702 hinged to the variable tread assembly are away from each other, the hinged ends of the arc-shaped rod I801 and the arc-shaped scissor rod I901, the hinged ends of the arc-shaped rod II802 and the arc-shaped scissor rod II902 are close to each other, the hinged ends of the arc-shaped rod III803 and the arc-shaped scissor rod II902, the hinged ends of the arc-shaped rod IV804 and the arc-shaped scissor rod I901 are close to each other, the variable tread assembly becomes wider, i.e. the tread width of the wheel becomes wider; when the ends of the support rod I701 and the support rod II702 hinged to the variable tread assembly are close to each other, the hinged ends of the arc-shaped rod I801 and the arc-shaped scissor rod I901, the hinged ends of the arc-shaped rod II802 and the arc-shaped scissor rod II902 are away from each other, the hinged ends of the arc-shaped rod III803 and the arc-shaped scissor rod II902, the hinged ends of the arc-shaped rod IV804 and the arc-shaped scissor rod I901 are away from each other, the variable tread assembly becomes narrower, i.e. the tread width of the wheel becomes narrower.

[0024] Specifically, the scissor assembly comprises a scissor rod I 601 and a scissor rod II 602, the middle position of the scissor rod I 601 is hinged to the middle position of the scissor rod II 602, and the middle position of the scissor rod I 601 is hinged to the end of the connecting piece 4 away from the rotating support rod 3. The scissor support connecting piece comprises a scissor support connecting piece I 501 and a scissor support connecting piece II 502, one end of the scissor support connecting piece I 501 is hinged to one end of the scissor rod II 602, the other end of the scissor support connecting piece I 501 is hinged to one end of the scissor rod I 601 of the other scissor assembly, the middle position of the scissor support connecting piece I 501 is hinged to the end of the support rod I 701 away from the variable wheel surface assembly, one end of the scissor support connecting piece II 502 is hinged to one end of the scissor rod I 601, the other end of the scissor support connecting piece II 502 is hinged to one end of the scissor rod II 602 of the other scissor assembly, and the middle position of the scissor support connecting piece II 502 is hinged to the end of the support rod II 702 away from the variable wheel surface assembly. A plurality of scissor assemblies are connected through the scissor support connecting piece I 501 and the scissor support connecting piece II 502 to finally close a hexagonal structure, and the middle position of the scissor rod I 601 in each scissor assembly is connected to the central support 2 through the connecting piece 4 and the rotating support rod 3.

[0025] In operation, if the rotating support rod 3 drives the scissor assembly to approach the central shaft 1, the length of the side of the hexagon formed by the scissor assembly becomes shorter, the ends of the scissor rod I 601 and the scissor rod II 602 in the single scissor assembly move away from each other, and then the two ends of the support rod I 701 and the support rod II 702 are driven by the scissor support connecting piece I 501 and the scissor support connecting piece II 502 to move away from each other, and the variable wheel surface assembly is driven by the support rod I 701 and the support rod II 702 to move. If the rotating support rod 3 drives the scissor assembly to move away from the central shaft 1, the length of the side of the hexagon formed by the scissor assembly becomes longer, the ends of the scissor rod I 601 and the scissor rod II 602 in the single scissor assembly move closer to each other, and then the two ends of the support rod I 701 and the support rod II 702 are driven by the scissor support connecting piece I 501 and the scissor support connecting piece II 502 to move closer to each other, and the variable wheel surface assembly is driven by the support rod I 701 and the support rod II 702 to move.

[0026] Specifically, the shape of the scissor support connecting piece 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 connecting piece can maintain the stability of the hexagonal structure formed by the scissor assembly. In addition, when the scissor support connecting piece is stressed, the V-shaped scissor support connecting piece can effectively transfer and disperse the load, thereby improving the strength and load-carrying capacity of the scissor support connecting piece.

[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 shaft 1, as shown inFigure 1 As shown, when the center support 2 rotates counterclockwise around the center axis 1, the rotating support rod 3 drives the scissor assembly to approach the center axis 1; when the center support 2 rotates clockwise around the center axis 1, the rotating support rod 3 drives the scissor assembly to move away from the center axis 1.

[0028] Specifically, the entire structure of the variable wheel structure is single degree of freedom, and after the wheel structure is deformed, the locking center support 2 can make the entire mechanism maintain a stable structure with rigidity, thereby maintaining good circularity of the wheel and good driving smoothness of the wheel.

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

[0030] The specific process of the wheel diameter increasing and the wheel surface becoming narrower is as follows: when the center support 2 rotates clockwise around the center axis 1, the rotating support rod 3 drives the scissor assembly to move away from the center axis 1, the length of the side of the hexagon formed by the scissor assembly becomes longer, the ends of the scissor rod I 601 and the scissor rod II 602 in the single scissor assembly far away from the hinge approach each other, and then the two ends of the support rod I 701 and the support rod II 702 are driven by the scissor support connecting piece I 501 and the scissor support connecting piece II 502 to approach each other, the support rod I 701 and the support rod II 702 drive the variable wheel surface assembly to move, the hinge ends of the arc-shaped rod I 801 and the arc-shaped scissor rod I 901, the hinge ends of the arc-shaped rod II 802 and the arc-shaped scissor rod II 902, the hinge ends of the arc-shaped rod III 803 and the arc-shaped scissor rod II 902, and the hinge ends of the arc-shaped rod IV 804 and the arc-shaped scissor rod I 901 are far away from each other, the variable wheel surface assembly becomes narrower, and the width of the wheel surface of the wheel becomes narrower.

[0031] The specific process of the wheel diameter decreasing and the wheel surface becoming wider is as follows: when the center support 2 rotates counterclockwise around the center axis 1, the rotating support rod 3 drives the scissor assembly to approach the center axis 1, the length of the side of the hexagon formed by the scissor assembly becomes shorter, the ends of the scissor rod I 601 and the scissor rod II 602 in the single scissor assembly far away from the hinge are far away from each other, and then the two ends of the support rod I 701 and the support rod II 702 are driven by the scissor support connecting piece I 501 and the scissor support connecting piece II 502 to move away from each other, the support rod I 701 and the support rod II 702 drive the variable wheel surface assembly to move, the hinge ends of the arc-shaped rod I 801 and the arc-shaped scissor rod I 901, the hinge ends of the arc-shaped rod II 802 and the arc-shaped scissor rod II 902 approach each other, the hinge ends of the arc-shaped rod III 803 and the arc-shaped scissor rod II 902, and the hinge ends of the arc-shaped rod IV 804 and the arc-shaped scissor rod I 901 approach each other, the variable wheel surface assembly becomes wider, and the width of the wheel surface of the wheel becomes wider.

[0032] While embodiments of the application have been shown and described, it will be obvious to those skilled in the art that many changes, modifications, replacements, and variations of these embodiments can occur to those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A single degree of freedom diameter and width variable wheeled mechanism characterized by, The utility model relates to a center shaft (1) is provided with the center support (2) rotationally on the center shaft (1), the center support (2) is coaxial with the center shaft (1), the outer circumferential surface of the center support (2) is spaced apart and is provided with the rotation support rod (3) along the circumference, the rotation support rod (3) is hinged with the center support (2), the one end of rotation support rod (3) away from the center support (2) is hinged with the connecting piece (4), the one end of connecting piece (4) away from the rotation support rod (3) is hinged with the scissor fork assembly, the scissor fork assembly is connected between the adjacent scissor fork assembly through the scissor fork support connecting piece, and the closed multiple polygon structure is formed between multiple scissor fork assemblies, the scissor fork support connecting piece is hinged with the scissor fork assembly, the scissor fork support connecting piece is hinged with the support rod, and the one end of support rod away from the scissor fork support connecting piece is hinged with the variable wheel face assembly; The utility model relates to a center shaft (1) is provided with the center support (2) rotationally on the center shaft (1), the center support (2) is coaxial with the center shaft (1), the outer circumferential surface of the center support (2) is spaced apart and is provided with the rotation support rod (3) along the circumference, the rotation support rod (3) is hinged with the center support (2), the one end of rotation support rod (3) away from the center support (2) is hinged with the connecting piece (4), the one end of connecting piece (4) away from the rotation support rod (3) is hinged with the scissor fork assembly, the scissor fork assembly is connected between the adjacent scissor fork assembly through the scissor fork support connecting piece, and the closed multiple polygon structure is formed between multiple scissor fork assemblies, the scissor fork support connecting piece is hinged with the scissor fork assembly, the scissor fork support connecting piece is hinged with the support rod, and the one end of support rod away from the scissor fork support connecting piece is hinged with the variable wheel face assembly; The utility model relates to a center shaft (1) is provided with the center support (2) rotationally on the center shaft (1), the center support (2) is coaxial with the center shaft (1), the outer circumferential surface of the center support (2) is spaced apart and is provided with the rotation support rod (3) along the circumference, the rotation support rod (3) is hinged with the center support (2), the one end of rotation support rod (3) away from the center support (2) is hinged with the connecting piece (4), the one end of connecting piece (4) away from the rotation support rod (3) is hinged with the scissor fork assembly, the scissor fork assembly is connected between the adjacent scissor fork assembly through the scissor fork support connecting piece, and the closed multiple polygon structure is formed between multiple scissor fork assemblies, the scissor fork support connecting piece is hinged with the scissor fork assembly, the scissor fork support connecting piece is hinged with the support rod, and the one end of support rod away from the scissor fork support connecting piece is hinged with the variable wheel face assembly; The utility model relates to a center shaft (1) is provided with the center support (2) rotationally on the center shaft (1), the center support (2) is coaxial with the center shaft (1), the outer circumferential surface of the center support (2) is spaced apart and is provided with the rotation support rod (3) along the circumference, the rotation support rod (3) is hinged with the center support (2), the one end of rotation support rod (3) away from the center support (2) is hinged with the connecting piece (4), the one end of connecting piece (4) away from the rotation support rod (3) is hinged with the scissor fork assembly, the scissor fork assembly is connected between the adjacent scissor fork assembly through the scissor fork support connecting piece, and the closed multiple polygon structure is formed between multiple scissor fork assemblies, the scissor fork support connecting piece is hinged with the scissor fork assembly, the scissor fork support connecting piece is hinged with the support rod, and the one end of support rod away from the scissor fork support connecting piece is hinged with the variable wheel face assembly The scissor support connecting piece comprises a scissor support connecting piece I (501) and a scissor support connecting piece II (502), one end of the scissor support connecting piece I (501) is hinged to one end of a scissor rod II (602), the other end of the scissor support connecting piece I (501) is hinged to one end of a scissor rod I (601) of another scissor assembly, the middle position of the scissor support connecting piece 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 hinged ends of an arc-shaped rod piece I (801) and an arc-shaped rod piece II (802), one end of the scissor support connecting piece II (502) is hinged to one end of the scissor rod I (601), the other end of the scissor support connecting piece II (502) is hinged to one end of a scissor rod II (602) of another scissor assembly, the middle position of the scissor support connecting piece II (502) is hinged to one end of a support rod II (702), the other end of the support rod II (702) is hinged to the hinged ends of an arc-shaped rod piece III (803) and an arc-shaped rod piece IV (804).

2. The single degree of freedom diameter and width variable wheeled mechanism of claim 1, wherein, The shape of the scissor support connecting piece is a V-shaped structure.

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