Wheel type structure with variable diameter and width and using method

Abstract

The invention relates to the technical field of wheels, and provides a wheel type structure with variable diameter and width and a use method.The wheel type structure comprises a center shaft, branch rod mechanisms are oppositely arranged at the two ends of the center shaft, a plurality of X-shaped shear fork pieces are evenly arranged in the circumferential direction of the center shaft, and the branch ends of the sides, close to each other, of every two X-shaped shear fork pieces are hinged through a connecting piece; the X-shaped shear fork pieces can stretch out and draw back in the axial direction of the center shaft, and the multiple X-shaped shear fork pieces form a complete wheel face structure; the branch rod mechanism comprises a first multi-branch rod and a second multi-branch rod which are arranged on the central shaft in a sleeving manner; each connecting piece is hinged to the first multi-branch branch rod and the second multi-branch branch rod of the corresponding branch rod mechanism on the same side through a telescopic multi-connecting-rod assembly, and the telescopic direction of each multi-connecting-rod assembly is consistent with the radial direction of the center shaft. According to the scheme, the diameter and the wheel face shape of the wheel are changed through connection of the multiple rod piece structures and the branch rod mechanisms so as to adapt to different terrains and driving conditions, the structure is simple, and control is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of wheels, and in particular to a wheel structure with variable diameter and width and a use method thereof. Background Art

[0002] Traditional wheel structures with fixed diameter and width may have problems such as poor passability, insufficient adaptability, and limited maneuverability when facing complex terrain and diverse usage requirements. For example, on rugged terrain, fixed-size wheels may have difficulty providing sufficient support and traction; in narrow spaces, larger wheels may cause inconvenience in operation. Especially in many fields, such as military, firefighting, rescue, exploration, and special industrial applications, vehicles need to have better terrain adaptability and maneuverability. For example, at a disaster relief site, vehicles need to be able to cross various obstacles to reach the disaster area.

[0003] Therefore, there is an urgent need for a wheeled structure with variable diameter and width that can be used in a variety of application scenarios to solve problems related to terrain adaptation, maneuverability, load capacity and space utilization. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the present invention proposes a wheel structure with variable diameter and width, comprising a central axis, two ends of the central axis are provided with branch rod mechanisms opposite to each other, a plurality of X-shaped scissor parts are evenly arranged along the circumference of the central axis, the forked ends of two adjacent X-shaped scissor parts on the side close to each other are respectively hinged by a connecting part, the X-shaped scissor parts can be extended and retracted along the axial direction of the central axis, and a plurality of the X-shaped scissor parts form a complete wheel surface structure;

[0005] The branch rod mechanism comprises a first multi-branch rod and a second multi-branch rod sleeved on the central axis, the first multi-branch rod and the second multi-branch rod of any branch rod mechanism are connected to the central axis cylindrical pair, the first multi-branch rod of another branch rod mechanism is fixedly connected to the central axis, and the second multi-branch rod of another branch rod mechanism is rotatably connected to the central axis;

[0006] The connecting member is respectively hinged with the first multi-branch rod and the second multi-branch rod of the branch rod mechanism on the same side thereof through a multi-link assembly for extension and retraction, and the extension direction of the multi-link assembly is consistent with the radial direction of the central axis.

[0007] Furthermore, the first multi-branched rod and the second multi-branched rod each include a plurality of first rod bodies and second rod bodies uniformly distributed along the circumference of the central axis, the number of the first rod bodies and the second rod bodies are set to be consistent, and the first rod bodies and the second rod bodies are spaced apart.

[0008] Furthermore, one end of the multi-link assembly close to the X-shaped scissors-fork piece is hinged to the outer wall of the connecting piece, and one end of the multi-link assembly away from the X-shaped scissors-fork piece is provided with a forked end respectively hinged to the first rod body and the second rod body.

[0009] Furthermore, the multi-link assembly includes at least one X-shaped link and a V-shaped link, the two forked ends of the V-shaped link are respectively hinged to the two forked ends on one side of the X-shaped link, and the two forked ends on the other side of the X-shaped link are respectively hinged to the adjacent first rod body and second rod body; the X-shaped link includes a first link and a second link cross-hinged at a center point, and the V-shaped link includes two third links hinged at their ends, and the hinge points of the two third links are hinged on the outer side wall of the connecting member.

[0010] Furthermore, a plurality of X-shaped links are provided, and the plurality of X-shaped links are connected in sequence, and the connection mode between adjacent X-shaped links is: the first link of one X-shaped link is hinged to the second link of another X-shaped link, and the second link of one X-shaped link is hinged to the first link of another X-shaped link.

[0011] Furthermore, the X-shaped scissors member includes a first X-shaped scissors member and a second X-shaped scissors member arranged up and down, and the forked ends of the first X-shaped scissors member and the forked ends of the second X-shaped scissors member are fixedly connected in pairs through connecting rods.

[0012] Furthermore, the first X-shaped scissors-fork member includes a first arc-shaped scissors-fork rod and a second arc-shaped scissors-fork rod cross-hinged at a center point, and the first arc-shaped scissors-fork rod and the second arc-shaped scissors-fork rod are both arc-shaped components convex outward in a direction away from the central axis; the second X-shaped scissors-fork member includes a first scissors-fork rod and a second scissors-fork rod cross-hinged at a center point.

[0013] A method for using a wheel structure with variable diameter and width comprises the following steps:

[0014] The second multi-branch rod driving the two-branch rod mechanism rotates forward, and at the same time, the branch rod mechanism connected to the central axis cylindrical pair moves as a whole in a direction close to the other branch rod mechanism. At this time, the adjacent first rod body and the second rod body of the same branch rod mechanism approach each other, the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod approach each other, and the diameter of the wheel structure becomes larger; the crossing angle of the X-shaped scissors fork member located between the two branch rod mechanisms becomes smaller, the X-shaped scissors fork member becomes narrower along the axial direction of the central axis, and the wheel surface of the wheel structure becomes narrower;

[0015] The second multi-branch rod driving the two-branch rod mechanism rotates in the opposite direction, and at the same time, the branch rod mechanism connected to the central axis cylindrical pair moves as a whole in a direction away from the other branch rod mechanism. At this time, the adjacent first rod body and the second rod body of the same branch rod mechanism move away from each other, the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod move away from each other, and the diameter of the wheel structure becomes smaller; the crossing angle of the X-shaped scissors fork member located between the two branch rod mechanisms becomes larger, the X-shaped scissors fork member becomes wider along the axial direction of the central axis, and the wheel surface of the wheel structure becomes wider.

[0016] The beneficial effects of the present invention are as follows: when the diameter is changed, the wheel surface changes accordingly; the second multi-branched rod of the two-branched rod mechanism is driven to rotate in the direction of approaching or moving away from the first multi-branched rod on the same side, and at the same time, the branched rod mechanism connected to the central axis cylindrical pair moves as a whole in the direction of approaching or moving away from the other branched rod mechanism. At this time, the adjacent first rod body and the second rod body of the same branched rod mechanism approach or move away from each other, the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod approach or move away from each other, and the diameter of the wheel structure becomes larger or smaller; the crossing angle of the X-shaped scissors between the two branched rod mechanisms becomes smaller or larger, and the wheel surface of the wheel structure becomes narrower or wider. The wheel structure of this scheme can increase or decrease the diameter of the wheel by extending or retracting the radius of the wheel, so as to adapt to different road heights and slopes; different terrains and driving requirements can be achieved by adjusting the surface shape of the wheel to improve the stability of the vehicle, especially when driving at high speed or turning, to reduce the risk of rollover, and the scheme has a simple structure and is easy to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the assembly structure of the wheel structure of the present invention;

[0018] Figure 2 This is the overall structural diagram of the wheel structure of the present invention with a smaller diameter and a wider wheel surface;

[0019] Figure 3 This is an overall structural diagram of the wheel structure of the present invention with an enlarged diameter and a narrowed wheel surface.

[0020] Numbers in the figure: 1, central axis; 2, branch rod mechanism; 201, first multi-branch rod; 202, second multi-branch rod; 3, X-shaped scissors member; 301, first arc-shaped scissors rod; 302, second arc-shaped scissors rod; 303, first scissors rod; 304, second scissors rod; 4, multi-link assembly; 401, first link; 402, second link; 403, third link; 5, connecting member. DETAILED DESCRIPTION

[0021] In order to make the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the given embodiment is only one implementation method and does not represent all embodiments.

[0022] Embodiment 1

[0023] Combination Figure 1-Figure 3 The present embodiment provides a wheel structure with variable diameter and width, comprising a central axis 1, two ends of the central axis 1 are provided with branch rod mechanisms 2, a plurality of X-shaped scissor parts 3 are evenly arranged along the circumference of the central axis 1, and the forked ends of two adjacent X-shaped scissor parts 3 on the adjacent side are each hinged by a connecting member 5, the X-shaped scissor parts 3 can be extended and retracted along the axial direction of the central axis 1, and the plurality of X-shaped scissor parts 3 form a complete wheel surface structure;

[0024] The branch rod mechanism 2 includes a first multi-branch rod 201 and a second multi-branch rod 202 sleeved on the central shaft 1, the first multi-branch rod 201 and the second multi-branch rod 202 of any branch rod mechanism 2 are connected to the cylindrical pair of the central shaft 1, the first multi-branch rod 201 of another branch rod mechanism 2 is fixedly connected to the central shaft 1, and the second multi-branch rod 202 of another branch rod mechanism 2 is rotatably connected to the central shaft 1;

[0025] The connecting member 5 is respectively hinged to the first multi-branched rod 201 and the second multi-branched rod 202 of the branch rod mechanism 2 on the same side thereof through a multi-link assembly 4 for extension and retraction, and the extension direction of the multi-link assembly 4 is radially consistent with the central axis 1 .

[0026] The wheel structure in this embodiment is a rigid structure as a whole, with good rigidity; simple structure, single degree of freedom, easy to control; when the diameter changes, the width changes accordingly, which can adapt to different speeds, loads and complex road conditions. In this embodiment, six groups of X-shaped scissor parts 3 are provided, and the six groups of X-shaped scissor parts 3 can be extended and retracted along the axial direction of the central axis 1 to change the wheel surface width of the wheel structure, and the six groups of X-shaped scissor parts 3 can form a complete wheel surface structure. The extension and shortening of the multi-link assembly 4 can change the radius length of the wheel structure and thus change its diameter length. One of the branch rod mechanisms 2 is connected to the cylindrical pair of the central axis 1. The cylindrical pair is a common kinematic pair that allows two components to move and rotate relative to each other along the cylindrical surface. In this embodiment, the branch rod mechanism 2 connected to the cylindrical pair of the central axis 1 can move along the central axis 1 as a whole to adjust the crossing angle of the X-shaped scissor parts 3 and thus change the wheel surface width. The second multi-branch rods 202 of the two branch structures rotate around the central axis 1 to adjust the extension and retraction of the multi-link assembly 4 connected thereto, thereby changing the wheel surface radius.

[0027] Specifically, the first multi-branch rod 201 and the second multi-branch rod 202 each include a plurality of first rod bodies and second rod bodies uniformly distributed along the circumference of the central axis 1, the number of the first rod bodies and the second rod bodies is set to be consistent, and the first rod bodies and the second rod bodies are arranged at intervals. The end of the multi-link assembly 4 close to the X-shaped scissors-fork member 3 is hinged to the outer wall of the connecting member 5, and the end of the multi-link assembly 4 away from the X-shaped scissors-fork member 3 is provided with a forked end hinged to the first rod body and the second rod body respectively. Each multi-link assembly 4 is connected to the first rod body and the second rod body at the same time, so the first rod body and the second rod body are one-to-one corresponding. The connecting member 5 in this embodiment is an inverted V-shaped connecting member, one side of the top is connected to an X-shaped scissors-fork member 3, and the other side of the top is connected to an adjacent X-shaped scissors-fork member 3. By connecting in this way, multiple X-shaped scissors-fork members 3 can be connected into a stable integral wheel surface structure. The inverted V-shaped connecting member also serves to connect the X-shaped scissors-fork member 3 and the multi-link assembly 4.

[0028] Specifically, the multi-link assembly 4 includes at least one X-link and a V-link, the two forked ends of the V-link are respectively hinged to the two forked ends on one side of the X-link, and the two forked ends on the other side of the X-link are respectively hinged to the adjacent first rod body and second rod body; the X-link includes a first link 401 and a second link 402 cross-hinged at a center point, and the V-link includes two third links 403 hinged at the ends, and the hinge points of the two third links 403 are fixed on the outer side wall of the connecting member 5. The multi-link assembly 4 in this embodiment includes a V-link connected to the connecting member 5 and an X-link connected to the branch rod mechanism 2. It should be understood that the X-link can be provided with multiple X-links, and the multiple X-links are connected in sequence. The connection method between adjacent X-links is: the first link 401 of one X-link is hinged to the second link 402 of another X-link, and the second link 402 of one X-link is hinged to the first link 401 of another X-link. By adjusting the crossing angle of one of the X-shaped connecting rods, the crossing angles of the other X-shaped connecting rods can be adjusted in the same manner, thereby achieving synchronous movement of the X-shaped connecting rods.

[0029] In the present embodiment, the X-shaped scissors member 3 includes a first X-shaped scissors member and a second X-shaped scissors member arranged in an upper and lower manner, and the first X-shaped scissors member and the second X-shaped scissors member can both be extended and retracted in the axial direction of the central axis 1, and the forked ends of the first X-shaped scissors member and the forked ends of the second X-shaped scissors member are fixedly connected in pairs by connecting rods, and the forked ends of two adjacent second X-shaped scissors members on the adjacent side are each hinged by a connecting member 5. In the embodiment, a relatively stable form of the X-shaped scissors member 3 is provided, that is, an upper and lower layer of X-shaped scissors member 3 is adopted, and the second X-shaped scissors member at the bottom can drive the first X-shaped scissors member to extend and retract. Preferably, the first X-shaped scissors member includes a first arc-shaped scissors rod 301 and a second arc-shaped scissors rod 302 cross-hinged at the center point, and the first arc-shaped scissors rod 301 and the second arc-shaped scissors rod 302 are both arc-shaped components convex outward in a direction away from the central axis 1;

[0030] The second X-type scissors-fork member includes a first scissors-fork rod 303 and a second scissors-fork rod 304 cross-hinged at the center point. The first X-type scissors-fork member uses an arc-shaped member as the external wheel surface structure, especially a convex arc-shaped member, which is beneficial to the stability of the wheel structure. The second X-type scissors-fork member can be used as an internal wheel surface structure without any requirement. The first scissors-fork rod 303 and the second scissors-fork rod 304 can be straight members or convex arc-shaped members in a direction away from the central axis 1. It should be understood that in this embodiment, the X-type scissors-fork member 3 can also use only one layer, that is, only the first X-type scissors-fork member is included, and the forked ends of the adjacent two first X-type scissors-fork members on the side close to each other are directly hinged by a connecting member 5.

[0031] Embodiment 2

[0032] This embodiment also provides a method for using a wheel structure with variable diameter and width, comprising:

[0033] The second multi-branch rod 202 driving the two branch rod mechanisms 2 rotates forward, and at the same time, the branch rod mechanism 2 connected to the cylindrical pair of the central axis 1 moves as a whole toward the direction close to the other branch rod mechanism 2. At this time, the adjacent first rod body and the second rod body of the same branch rod mechanism 2 approach each other, and the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod approach each other. At this time, the radius of the wheel structure becomes larger and then the diameter becomes larger; further, the first scissors rod 303 and the second scissors rod 304 of the second X-shaped scissors fork member approach each other, thereby driving the first arc-shaped scissors rod 301 and the second arc-shaped scissors rod 302 of the first X-shaped scissors fork member above to approach each other. Therefore, the crossing angle of the entire X-shaped scissors fork member 3 located between the two branch rod mechanisms 2 becomes smaller, the X-shaped scissors fork member 3 becomes narrower along the axial direction of the central axis 1, and the wheel surface of the wheel structure becomes narrower.

[0034] The second multi-branch rod 202 driving the two branch rod mechanisms 2 rotates in the opposite direction, and at the same time, the branch rod mechanism 2 connected to the cylindrical pair of the central axis 1 moves as a whole in the direction away from the other branch rod mechanism 2. At this time, the adjacent first rod body and second rod body of the same branch rod mechanism 2 move away from each other, and the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod move away from each other. At this time, the radius of the wheel structure becomes smaller and then the diameter becomes smaller; further, the first scissors rod 303 and the second scissors rod 304 of the second X-shaped scissors fork member move away from each other, thereby driving the first arc-shaped scissors rod 301 and the second arc-shaped scissors rod 302 of the first X-shaped scissors fork member above to move away from each other. Therefore, the crossing angle of the entire X-shaped scissors fork member 3 located between the two branch rod mechanisms 2 becomes larger, the X-shaped scissors fork member 3 becomes wider along the axial direction of the central axis 1, and the wheel surface of the wheel structure becomes wider.

[0035] The specific embodiments of the present invention are described in detail above with reference to the drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A wheel structure with variable diameter and width, characterized in that: The invention comprises a central axis (1), wherein two ends of the central axis (1) are provided with branch rod mechanisms (2) opposite to each other, and a plurality of X-shaped scissor parts (3) are evenly arranged along the circumference of the central axis (1), and the forked ends of two adjacent X-shaped scissor parts (3) on the adjacent side are each hinged by a connecting part (5), and the X-shaped scissor parts (3) can be extended and retracted along the axial direction of the central axis (1), and the plurality of X-shaped scissor parts (3) form a complete wheel surface structure; The branch rod mechanism (2) comprises a first multi-branch rod (201) and a second multi-branch rod (202) which are sleeved on the central shaft (1); the first multi-branch rod (201) and the second multi-branch rod (202) of any one of the branch rod mechanisms (2) are connected to the central shaft (1) cylindrical pair; the first multi-branch rod (201) of another branch rod mechanism (2) is fixedly connected to the central shaft (1); and the second multi-branch rod (202) of another branch rod mechanism (2) is rotatably connected to the central shaft (1); The connecting member (5) is respectively hinged to the first multi-branch rod (201) and the second multi-branch rod (202) of the branch rod mechanism (2) on the same side thereof via a multi-link assembly (4) for telescoping, and the telescoping direction of the multi-link assembly (4) is radially consistent with the central axis (1).

2. A wheel structure with variable diameter and width according to claim 1, characterized in that: The first multi-branch rod (201) and the second multi-branch rod (202) both comprise a plurality of first rod bodies and second rod bodies uniformly distributed circumferentially along the central axis (1), the number of the first rod bodies and the second rod bodies being arranged to be consistent, and the first rod bodies and the second rod bodies being arranged at intervals.

3. A wheel structure with variable diameter and width according to claim 2, characterized in that: One end of the multi-link assembly (4) close to the X-shaped scissors-fork member (3) is hinged to the outer wall of the connecting member (5), and one end of the multi-link assembly (4) away from the X-shaped scissors-fork member (3) is provided with a forked end respectively hinged to the first rod body and the second rod body.

4. A wheel structure with variable diameter and width according to claim 3, characterized in that: The multi-link assembly (4) comprises at least one X-shaped link and a V-shaped link, wherein the two forked ends of the V-shaped link are respectively hinged to the two forked ends on one side of the X-shaped link, and the two forked ends on the other side of the X-shaped link are respectively hinged to the adjacent first rod body and second rod body; the X-shaped link comprises a first link (401) and a second link (402) cross-hinged at a center point, and the V-shaped link comprises two third links (403) whose ends are hinged to each other, and the hinge points of the two third links (403) are hinged to the outer side wall of the connecting member (5).

5. A wheel structure with variable diameter and width according to claim 4, characterized in that: A plurality of X-shaped connecting rods are provided, and the plurality of X-shaped connecting rods are connected in sequence, and the connection mode between adjacent X-shaped connecting rods is as follows: the first connecting rod (401) of one X-shaped connecting rod is hinged to the second connecting rod (402) of another X-shaped connecting rod, and the second connecting rod (402) of one X-shaped connecting rod is hinged to the first connecting rod (401) of another X-shaped connecting rod.

6. A wheel structure with variable diameter and width according to claim 1, characterized in that: The X-shaped scissors member (3) comprises a first X-shaped scissors member and a second X-shaped scissors member arranged up and down, wherein the forked ends of the first X-shaped scissors member and the forked ends of the second X-shaped scissors member are fixedly connected in pairs via connecting rods.

7. A wheel structure with variable diameter and width according to claim 6, characterized in that: The first X-shaped scissors-fork member comprises a first arc-shaped scissors-fork rod (301) and a second arc-shaped scissors-fork rod (302) cross-hinged at a center point, and the first arc-shaped scissors-fork rod (301) and the second arc-shaped scissors-fork rod (302) are both arc-shaped components convex outward in a direction away from the central axis (1); the second X-shaped scissors-fork member comprises a first scissors-fork rod (303) and a second scissors-fork rod (304) cross-hinged at a center point.

8. The method for using a wheel structure with variable diameter and width as claimed in claim 4, characterized in that: The steps include: The second multi-branch rod (202) of the two-branch rod mechanism (2) is driven to rotate in the forward direction, and at the same time, the branch rod mechanism (2) connected to the cylindrical pair of the central axis (1) moves as a whole in a direction close to the other branch rod mechanism (2). At this time, the adjacent first rod body and the second rod body of the same branch rod mechanism (2) approach each other, the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod approach each other, and the diameter of the wheel structure increases; the crossing angle of the X-shaped scissors-fork member (3) located between the two branch rod mechanisms (2) decreases, the X-shaped scissors-fork member (3) becomes narrower along the axial direction of the central axis (1), and the wheel surface of the wheel structure becomes narrower; The second multi-branch rod (202) driving the two branch rod mechanisms (2) rotates in the opposite direction, and at the same time, the branch rod mechanism (2) connected to the cylindrical pair of the central axis (1) moves as a whole in a direction away from the other branch rod mechanism (2). At this time, the adjacent first rod body and the second rod body of the same branch rod mechanism (2) move away from each other, the two forked ends of the X-shaped connecting rod and the two forked ends of the V-shaped connecting rod move away from each other, and the diameter of the wheel structure becomes smaller; the crossing angle of the X-shaped scissors-fork member (3) located between the two branch rod mechanisms (2) becomes larger, the X-shaped scissors-fork member (3) becomes wider along the axial direction of the central axis (1), and the wheel surface of the wheel structure becomes wider.

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