Multi-stage deformation wheel structure

Abstract

The invention discloses a multi-stage deformation wheel structure which comprises hubs, the hubs are arranged on the two sides of a support mechanism, the support mechanism is provided with a tread, the middle of the support mechanism is provided with a middle shaft, the middle shaft is connected with a locomotive frame through a driving mechanism, and the outer surface of the tread is provided with multi-stage tread assemblies capable of freely changing forms. A plurality of transmission mechanisms used for controlling the first module, the second module, the third module, the fourth module, the fifth module, the sixth module, the seventh module, the eighth module, the ninth module and the tenth module to stretch out and draw back independently are further arranged in the support mechanism. According to the invention, the extension and retraction of the first module, the second module, the third module, the fourth module, the fifth module, the sixth module, the seventh module, the eighth module, the ninth module and the tenth module can be independently controlled, so that the modules are combined into different tread pattern forms, and the use in different environments and road conditions can be met.

Description

Technical Field

[0001] The invention belongs to the technical field of wheels, and in particular relates to a multi-stage deformation wheel structure. Background Art

[0002] As a rescue vehicle and combat support vehicle, the rescue vehicle is used to equip and transport rescue and firefighting equipment, and can perform on-site rescue or transport equipment to the disaster area. Due to the complex situation in the disaster area, the rescue vehicle is often required to have multiple functions, especially the wheels of the rescue vehicle need to be suitable for various road conditions.

[0003] For example, the driving wheel of an autonomous mobile inspection robot disclosed in the invention with the authorization announcement number CN214874202U includes a wheel assembly, a reducer, and a drive motor; the common planetary wheel assembly meshes with the sun wheel, the movable inner gear ring, and the fixed inner gear ring; the movable inner gear ring is supported by a first rolling bearing and installed in the inner hole of the reducer housing; the inner cylindrical surface on the left side of the fixed inner gear ring is matched with the outer cylindrical surface on the right side of the movable inner gear ring and fixed in the reducer housing; the two ends of the sun wheel are supported by two second rolling bearings in the inner holes of the movable inner gear ring and the end cover, respectively. The right side of the sun wheel is fixedly connected to the input end of the drive motor; the end cover is fixed to the reducer housing; the movable inner gear ring, the sun wheel, and the drive motor are concentrically arranged; the wheel assembly is installed on the output shaft on the left side of the movable inner gear ring. This solution increases the transmission ratio of the deceleration mechanism, and can use a smaller power drive motor to generate a larger driving force, which can meet the walking needs of the autonomous mobile inspection robot under the complex terrain of the unmanned station. However, in the above technical solution, the inner ring gear only plays a role in transmission and increasing the driving force. It cannot adjust the tread pattern in time according to different environments and road information, and cannot meet the use requirements of different environments. There are limitations in its use. For this reason, we propose a multi-stage deformable wheel structure. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-stage deformable wheel structure to solve the problem raised in the above background technology that it cannot adjust the tread pattern in time according to different environments and road information, cannot meet the use requirements of different environments, and has limitations in use.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-stage deformable wheel structure, comprising hubs, wherein the hubs are arranged on both sides of a support mechanism, a tread is arranged on the support mechanism, a central axis is arranged in the middle of the support mechanism, and the central axis is connected to a locomotive frame through a driving mechanism. A multi-stage tread assembly with freely changeable shapes is arranged on the outer surface of the tread, wherein the tread assembly comprises a first tread portion and a second tread portion, wherein the first tread portion and the second tread portion are symmetrically arranged on both sides of the tread, wherein the first tread portion comprises a first module, a second module, a third module, a fourth module and a fifth module, wherein the second tread module comprises a sixth module, a seventh module, an eighth module, a ninth module and a tenth module, and wherein a plurality of transmission mechanisms for controlling the independent extension and retraction of the first module, the second module, the third module, the fourth module, the fifth module, the sixth module, the seventh module, the eighth module, the ninth module and the tenth module are also arranged in the support mechanism.

[0006] Preferably, the first module is arranged on one side of the tread, the second module and the third module are located on both sides of the oblique edge of the first module, and the fourth module and the fifth module are located on both sides of the other two oblique edges of the first module.

[0007] Preferably, the tenth module is arranged on the other side of the tread, the sixth module and the seventh module are located on both sides of the oblique edge of the tenth module, and the eighth module and the ninth module are located on both sides of the other two oblique edges of the tenth module.

[0008] Preferably, the driving mechanism comprises a motor housing, the motor housing is arranged on the locomotive bed frame, a driving motor is arranged in the motor housing, and the driving motor is connected to the central shaft and can drive the device to rotate.

[0009] Preferably, a brake disc is also provided on the wheel hub on one side of the motor housing.

[0010] Preferably, the support mechanism includes a support tube, a plurality of support columns are arranged in the support tube, the support columns are connected to the central axis, and a plurality of rack holes are evenly arranged in a ring shape on the outer surface of the support tube, thereby improving the overall strength of the device.

[0011] Preferably, ten groups of the transmission mechanisms are provided, and the ten groups of the transmission mechanisms are used to control the first module, the second module, the third module, the fourth module, the fifth module, the sixth module, the seventh module, the eighth module, the ninth module and the tenth module to perform independent extension and retraction.

[0012] Preferably, the transmission mechanism includes a ring gear, which is rotatably arranged in a support tube, and the ring gear is synchronously driven to rotate by multiple groups of servo components. The servo component includes a servo motor, and the servo motor is arranged in the support tube. The servo motor is connected to a drive shaft, and a drive gear is arranged on the drive shaft. The drive gear is meshed with the ring gear, and the ring gear can be driven to rotate through the transmission of the drive gear.

[0013] Preferably, the ring gear is also meshed with multiple sets of planetary gears, the planetary gears are arranged on a transmission shaft, the transmission shaft is arranged on a support column, the planetary gears are meshed with a first rack, the first rack is movably arranged in a corresponding rack hole, and the first rack is connected to the corresponding first module, second module, third module, fourth module, fifth module, sixth module, seventh module, eighth module, ninth module and tenth module.

[0014] Preferably, the driving gear is meshed with a second rack, the second rack is movably arranged in a corresponding rack hole, and the second rack is connected to the corresponding first module, second module, third module, fourth module, fifth module, sixth module, seventh module, eighth module, ninth module and tenth module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present application can independently control the extension and retraction of the first module, the second module, the third module, the fourth module, the fifth module, the sixth module, the seventh module, the eighth module, the ninth module and the tenth module according to different environments and road conditions, so as to combine them into different tread patterns, so that they can meet the needs of different environments and road conditions, greatly increasing the scope of use of the device, realizing rapid rescue and improving road passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0018] Figure 2 It is a schematic diagram of the structure of the second viewing angle of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the driving mechanism in the present invention;

[0020] Figure 4 It is a structural schematic diagram of the tread component of the present invention;

[0021] Figure 5 for Figure 4 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 6 Schematic diagram of the internal structure of the support mechanism of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the support mechanism in the present invention;

[0024] Figure 8 It is a structural schematic diagram of one set of transmission mechanisms in the present invention;

[0025] Fig. 9 for Figure 8 A schematic diagram of the enlarged structure at B in the middle;

[0026] Fig.10 It is a schematic diagram of the tread pattern combination structure when used in various road conditions in the present invention;

[0027] Fig.11 This is a schematic diagram of the state structure of the present invention in the chain mode;

[0028] In the figure: 1. locomotive frame; 2. tread assembly; 3. wheel hub; 4. tread; 5. brake disc; 6. driving mechanism; 7. transmission mechanism; 8. bracket mechanism; 9. driving motor; 10. motor housing; 11. middle shaft; 21. first module; 22. second module; 23. third module; 24. fourth module; 25. fifth module; 26. sixth module; 27. seventh module; 28. eighth module; 29. ​​ninth module; 30. tenth module; 81. support column; 82. support cylinder; 83. rack hole; 701. ring gear; 702. planetary gear; 703. second rack; 704. transmission shaft; 705. driving gear; 706. servo motor; 707. driving shaft; 708. controller; 709. first rack. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 9The present invention provides a technical solution: a multi-stage deformable wheel structure, including a wheel hub 3, the wheel hub 3 is arranged on both sides of a support mechanism 8, a tread 4 is arranged on the support mechanism 8, a middle shaft 11 is arranged in the middle of the support mechanism 8, the middle shaft 11 is connected to the locomotive frame 1 through a driving mechanism 6, a multi-stage tread assembly 2 with freely changeable shapes is arranged on the outer surface of the tread 4, the tread assembly 2 includes a first tread portion and a second tread portion, the first tread portion and the second tread portion are symmetrically arranged on both sides of the tread 4, the first tread portion includes a first module 21, a second module 22, a third module 23, a fourth module 24 and a fifth module 25, the second tread module The blocks include a sixth module 26, a seventh module 27, an eighth module 28, a ninth module 29 and a tenth module 30. The bracket mechanism 8 is also provided with a plurality of transmission mechanisms 7 for controlling the independent extension and retraction of the first module 21, the second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30. The first module 21 is arranged on one side of the tread 4, the second module 22 and the third module 23 are located on both sides of the hypotenuse of the first module 21, and the fourth module 24 and the fifth module 25 are located on both sides of the other two hypotenuses of the first module 21.

[0031] The tenth module 30 is disposed on the other side of the tread 4 , the sixth module 26 and the seventh module 27 are located on both sides of the oblique edge of the tenth module 30 , and the eighth module 28 and the ninth module 29 are located on both sides of the other two oblique edges of the tenth module 30 .

[0032] The driving mechanism 6 includes a motor housing 10, which is arranged on a locomotive bed frame. A driving motor 9 is arranged in the motor housing 10, and the driving motor 9 is connected to the central axis 11, and can drive the device to rotate. A brake disc 5 is also arranged on the wheel hub 3 on one side of the motor housing 10, which can be connected to the vehicle braking system for braking the device.

[0033] The bracket mechanism 8 includes a support tube 82, in which a plurality of support columns 81 are arranged. The support columns 81 are connected to the central axis 11. A plurality of rack holes 83 are evenly arranged in an annular shape on the outer surface of the support tube 82, thereby improving the overall strength of the device.

[0034] Ten transmission mechanisms 7 are provided, and the ten transmission mechanisms 7 are used to control the first module 21, the second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30 to retract independently.

[0035] The transmission mechanism 7 includes a ring gear 701, which is rotatably arranged in the support tube 82. The ring gear 701 is synchronously driven to rotate by multiple groups of servo components. Specifically, the servo components are provided with six groups, and the servo components include a servo motor 706. The servo motor 706 is arranged in the support tube 82. The servo motor 706 is connected to the drive shaft 707. The drive shaft 707 is provided with a drive gear 705. The drive gear 705 is meshed with the ring gear 701. The transmission of the six groups of drive gears 705 can drive the ring gear 701 to rotate.

[0036] Further, the ring gear 701 is also meshed with a plurality of sets of planetary gears 702. Specifically, the planetary gears 702 are provided with 30 sets. The planetary gears 702 are arranged on the transmission shaft 704, and the transmission shaft 704 is arranged on the support column 81. The planetary gears 702 are meshed with the first rack 709, and the first rack 709 is movably arranged in the corresponding rack hole 83. The first rack 709 is connected with the corresponding first module 21, the second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30. The driving gear 705 is meshed with the second rack 703, and the second rack 703 is movably arranged in the corresponding rack hole 83. The second rack 703 is connected with the corresponding first module 2 1. The second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30 are connected. Through the transmission of the driving gear 705, the ring gear 701 can be controlled to rotate. The rotation of the ring gear 701 can control the synchronous rotation of 30 sets of planetary gears 702, so that the first rack 709 and the second rack 703 can be extended and retracted at the same time, and the first module 21, the second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30 can be controlled to extend and retract accordingly, and then combined into a corresponding tread structure to meet the use of different road conditions.

[0037] Furthermore, a controller 708 is also provided on the ring gear 701 , and the controller 708 is connected to the corresponding servo motor 706 for controlling the servo motor 706 . The controller 708 is also connected to the vehicle-mounted central control system via a wiring harness.

[0038] The specific adjustment method is as follows:

[0039] See also Fig.10(a), when used on a light snowy road, the first module 21 and the tenth module 30 are controlled by the corresponding transmission mechanism 7 to be in an extended state, with the extended state being longer, and the other modules are in a retracted state. The edges and corners of the first module 21 and the tenth module 30 can help the wheels to drive smoothly on a general snowy road. The first module 21 and the tenth module 30 are also designed with multiple patterns, which greatly improves the passability in an ice and snow environment and is suitable for general snowy roads.

[0040] See also Fig.10 (b) When used in off-road mode, the fifth module 25, the first module 21, the second module 22, the ninth module 29, the tenth module 30, and the sixth module 26 are extended through the corresponding transmission mechanism 7, and the third module 23, the fourth module 24, the seventh module 27, and the eighth module 28 are retracted through the corresponding transmission mechanism 7. At this time, the tread 4 has strong off-road capability and good grip. It is beneficial for the rescue vehicle to go off-road on a road with large undulations, or to crawl and pass through a damaged road through the flexible and maneuverable frame.

[0041] See also Fig.10 (c) When used on a dirt road, the fifth module 25, the first module 21, the second module 22, the eighth module 28, the tenth module 30, and the seventh module 27 are in an extended state through the corresponding transmission mechanism 7, and the extended state is relatively short, and the fourth module 24, the third module 23, the ninth module 29, and the sixth module 26 are in a retracted state through the corresponding transmission mechanism 7. At this time, the friction force of the wheel is greater than that of the road mode. It is suitable for dirt roads and gravel roads.

[0042] See also Fig.10 (d), in the highway mode, the fourth module 24, the first module 21, the third module 23, the eighth module 28, the tenth module 30, and the seventh module 27 are in the extended state through the corresponding transmission mechanism 7, and the fifth module 25, the second module 22, the ninth module 29, and the sixth module 26 are in the retracted state. At this time, the friction of the tread 4 is large, the wind resistance is small, which is conducive to the high-speed driving of the car and the noise is small. It is suitable for the car to be used on the smooth road surface of the highway and the high speed, which is conducive to the rescue vehicle to arrive at the rescue site faster.

[0043] See also Fig.10 (e) In the parking mode, the first module 21, the second module 22, the third module 23, the fourth module 24, the fifth module 25, the sixth module 26, the seventh module 27, the eighth module 28, the ninth module 29 and the tenth module 30 are all in a contracted state through the corresponding transmission mechanism 7. This makes the tread 4 flatter and has a larger contact area with the ground. In a parking lot environment, this is beneficial to improving the parking stability and reducing the stress on the internal structure. It is suitable for parking on smooth roads.

[0044] See also Fig.11 , the wheel can also flexibly assemble the chain to realize the chain mode. When installing the chain, after all the modules are retracted, the chain is first wrapped around the two wheels, and then the third module 23, the fourth module 24, the seventh module 27, and the eighth module 28 are raised and inserted into the corresponding slots of the chain to realize the installation. The slot corresponding to the chain is trapezoidal, which is conducive to the insertion of the module. Since the chain has a certain elasticity, when the module is inserted into the slot and continues to drive, the slot will be deformed into a rectangle due to elasticity and tensile force, and the module will be stuck, making it not easy to fall off. When it is about to be separated, it will naturally deform into a trapezoid, making it easy to fall off. In the chain mode, the vehicle's grip and maneuverability are further improved. At this time, the vehicle can pass through muddy roads and severely snowy roads.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by 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 present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-stage deformable wheel structure, comprising a wheel hub (3), characterized in that: The wheel hub (3) is arranged on both sides of a support mechanism (8), a tread (4) is arranged on the support mechanism (8), a central axis (11) is arranged in the middle of the support mechanism (8), and the central axis (11) is connected to the locomotive frame (1) through a driving mechanism (6), and a tread assembly (2) with a multi-stage freely changeable shape is arranged on the outer surface of the tread (4), and the tread assembly (2) includes a first tread portion and a second tread portion, and the first tread portion and the second tread portion are symmetrically arranged on both sides of the tread (4), and the first tread portion includes a first module (21), a second module (22), and a third module (23). 3), a fourth module (24) and a fifth module (25), the second tread module includes a sixth module (26), a seventh module (27), an eighth module (28), a ninth module (29) and a tenth module (30), and the support mechanism (8) is further provided with a plurality of transmission mechanisms (7) for controlling the independent extension and retraction of the first module (21), the second module (22), the third module (23), the fourth module (24), the fifth module (25), the sixth module (26), the seventh module (27), the eighth module (28), the ninth module (29) and the tenth module (30).

2. The multi-stage deformable wheel structure according to claim 1, characterized in that: The first module (21) is arranged on one side of the tread (4), the second module (22) and the third module (23) are located on both sides of the oblique edge of the first module (21), and the fourth module (24) and the fifth module (25) are located on both sides of the other two oblique edges of the first module (21).

3. The multi-stage deformable wheel structure according to claim 1, characterized in that: The tenth module (30) is arranged on the other side of the tread (4), the sixth module (26) and the seventh module (27) are located on both sides of the oblique edge of the tenth module (30), and the eighth module (28) and the ninth module (29) are located on both sides of the other two oblique edges of the tenth module (30).

4. The multi-stage deformable wheel structure according to claim 1, characterized in that: The driving mechanism (6) comprises a motor housing (10), the motor housing (10) being arranged on a locomotive bed frame, a driving motor (9) being arranged inside the motor housing (10), and the driving motor (9) being connected to a central shaft (11).

5. The multi-stage deformable wheel structure according to claim 4, characterized in that: A brake disc (5) is also provided on the wheel hub (3) on one side of the motor housing (10).

6. The multi-stage deformable wheel structure according to claim 1, characterized in that: The support mechanism (8) comprises a support tube (82), a plurality of groups of support columns (81) are arranged in the support tube (82), the support columns (81) are connected to the central axis (11), and a plurality of groups of rack holes (83) are evenly arranged in an annular shape on the outer surface of the support tube (82).

7. The multi-stage deformable wheel structure according to claim 1, characterized in that: The transmission mechanisms (7) are provided in ten groups, and the ten groups of the transmission mechanisms (7) are used to control the first module (21), the second module (22), the third module (23), the fourth module (24), the fifth module (25), the sixth module (26), the seventh module (27), the eighth module (28), the ninth module (29) and the tenth module (30) to independently extend and retract.

8. The multi-stage deformable wheel structure according to claim 7, characterized in that: The transmission mechanism (7) comprises a gear ring (701), wherein the gear ring (701) is rotatably arranged in a support tube (82), and the gear ring (701) is synchronously driven to rotate by a plurality of servo components, wherein the servo components comprise a servo motor (706), wherein the servo motor (706) is arranged in the support tube (82), and wherein the servo motor (706) is connected to a drive shaft (707), wherein a drive gear (705) is arranged on the drive shaft (707), and wherein the drive gear (705) is meshed with the gear ring (701).

9. The multi-stage deformable wheel structure according to claim 8, characterized in that: The ring gear (701) is also meshed with multiple sets of planetary gears (702), the planetary gears (702) are arranged on a transmission shaft (704), the transmission shaft (704) is arranged on a support column (81), the planetary gears (702) are meshed with a first rack (709), the first rack (709) is movably arranged in a corresponding rack hole (83), and the first rack (709) is connected to the corresponding first module (21), second module (22), third module (23), fourth module (24), fifth module (25), sixth module (26), seventh module (27), eighth module (28), ninth module (29) and tenth module (30).

10. The multi-stage deformable wheel structure according to claim 8, characterized in that: The driving gear (705) is meshed with the second rack (703), and the second rack (703) is movably arranged in the corresponding rack hole (83). The second rack (703) is connected with the corresponding first module (21), second module (22), third module (23), fourth module (24), fifth module (25), sixth module (26), seventh module (27), eighth module (28), ninth module (29) and tenth module (30).

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