Variable-diameter wheel with distribution compliant mechanism

Abstract

The invention discloses a variable diameter wheel with a distribution compliant mechanism, which comprises a left hub and a right hub: two groups of flat springs, one group is a plurality of first flat springs which are uniformly distributed around the circumference of the left hub, the other group is a plurality of second flat springs which are uniformly distributed around the circumference of the right hub, the first flat springs and the second flat springs are respectively arranged on the left hub and the right hub, and the first flat springs and the second flat springs are respectively arranged on the left hub and the right hub. The width directions of the first flat spring and the second flat spring are parallel to the axial direction of the variable-diameter wheel; the wheel foot blocks are arranged in the circumferential direction of the wheel body; wherein each caster block is fixedly connected with a first flat spring and a second flat spring, the first flat spring and the second flat spring are symmetrically arranged based on the center line of the caster block, and the first flat spring and the second flat spring are relatively bent. Through relative rotation of the left hub and the right hub, the two sets of leaf springs are bent and deformed to achieve wheel diameter change. The variable-diameter wheel can walk on various complex terrains such as highways, deserts, gobi, farmlands, the surfaces of the moon or the Mars and the like in all terrains, and is a non-pneumatic tire with high trafficability.

Description

Technical Field

[0001] The invention relates to the technical field of variable diameter wheels, in particular to a variable diameter wheel with a distributed compliance mechanism. Background Art

[0002] There are abundant resources in complex terrains such as deserts, Gobi, farmlands, the moon or the surface of Mars, which are in urgent need of human exploration, development and utilization. Wheels with variable diameters that can meet the requirements of all-area driving in these complex environments have received attention and research and development.

[0003] The variable diameter mechanism is the research and development focus of the variable diameter wheel. At present, most variable diameter mechanisms are rigid mechanisms, which have the disadvantages of heavy weight, need for sealing and lubrication, and loss of elasticity. The compliant mechanism achieves movement through the deformation of flexible components, overcomes the disadvantages of the rigid mechanism, and has a vibration reduction effect. In the past, the variable diameter mechanism adopted a centralized compliant variable diameter mechanism. For example, the invention patent application with publication number CN101503044A discloses a hydraulic-mechanical variable diameter wheel frame suitable for variable diameter wheels. However, this type of mechanism usually replaces the rigid mechanism hinge with a flexible hinge, which limits its configuration range, and the variable diameter range and load-bearing capacity are restricted by the flexible hinge. For this reason, the invention patent application with publication number CN114103546B discloses a variable diameter wheel with elastic spokes to improve the variable diameter range and load-bearing capacity. Its principle is similar to the continuous deformation of a "tape measure". However, since the hub outside the variable diameter mechanism in the patent is used as the "fulcrum" for the deformation of the elastic spokes, the design space is limited and the wear of the elastic spokes at the "fulcrum" is increased. Summary of the invention

[0004] The object of the present invention is to provide a variable diameter wheel with a distributed compliance mechanism to solve the problems existing in the prior art.

[0005] The object of the present invention is achieved in this way: a variable diameter wheel with a distributed compliance mechanism, comprising:

[0006] The left wheel hub and the right wheel hub are wheel-shaped structures and are set as the central parts of the variable diameter wheel:

[0007] Two groups of leaf springs, one group is a plurality of first leaf springs uniformly distributed around the circumference of the left wheel hub, and the other group is a plurality of second leaf springs uniformly distributed around the circumference of the right wheel hub, the number of the first leaf springs is equal to the number of the second leaf springs, the first leaf springs and the second leaf springs are respectively installed on the left wheel hub and the right wheel hub, and the width directions of the first leaf springs and the second leaf springs are both parallel to the axial direction of the variable diameter wheel;

[0008] A plurality of caster blocks arranged along the circumference of the wheel body;

[0009] Wherein, for each wheel caster block, a first leaf spring and a second leaf spring are fixedly connected, the first leaf spring and the second leaf spring are symmetrically arranged based on the center line of the wheel caster block, and the first leaf spring and the second leaf spring are relatively bent.

[0010] Furthermore, the left wheel hub and the right wheel hub are coaxially arranged, and the left wheel hub and the right wheel hub can be rotatably arranged relative to each other.

[0011] Furthermore, the left wheel hub and the right wheel hub have the same outer diameter.

[0012] Furthermore, one end of the first leaf spring / second leaf spring is tangentially fixedly connected to the left wheel hub / right wheel hub, the first leaf spring / second leaf spring is relatively movably fitted on the bottom of the front caster block, and the other end of the first leaf spring / second leaf spring is fixedly connected to the rear caster block.

[0013] Furthermore, a web is embedded in the inner surface of each caster block; a support frame fixedly connected to the web is provided for each first leaf spring / second leaf spring, the support frame is hinged with at least one pin shaft, the pin shaft is in rolling contact with the inner surface of the first leaf spring / second leaf spring, and the axis of the pin shaft is parallel to the axial direction of the variable diameter wheel.

[0014] Furthermore, each first leaf spring / second leaf spring is configured with a plurality of fasteners, and one end of the first leaf spring / second leaf spring is fixedly connected to the web of the rear caster block through the fasteners.

[0015] Further, the fasteners of each first leaf spring / second leaf spring are arranged along the spring width direction.

[0016] The beneficial effects of the present invention are:

[0017] 1. The variable diameter wheel of the present invention has the characteristics of elastic wheels in the load-bearing deformation in the unfolded state, so that multiple wheel feet are in contact with the soft road surface, which helps to increase the driving force of the variable diameter wheel on the soft road surface, and the increase in diameter can also improve the obstacle crossing ability; it can be retracted to a round wheel and can move quickly; the change in wheel diameter also has the function of posture adjustment. Therefore, it can effectively travel on various complex roads, is a high-passability non-pneumatic tire, and has very broad application prospects in deep space exploration, agriculture, military and other fields.

[0018] 2. The movement of the new distributed flexible variable diameter mechanism of the present invention is to produce symmetrical bending deformation through two sets of leaf springs, driving the caster block to achieve radial contraction or expansion, that is, the wheel diameter changes. The mechanism removes the "fulcrum" structure of the outer hub of the conventional variable diameter wheel, so it has more elastic space, and only relies on the symmetrical deformation of the two sets of leaf springs to achieve movement, which is wear-free, has good flexibility and reduces stress.

[0019] 3. In the new distributed flexible variable diameter mechanism of the present invention, the support pin of the caster block plays a deformation guiding role, and is also the key to forming the outer ring closed ring structure and the overall load-bearing structure, which allows more leaf springs to participate in the load-bearing. The integral spoke configuration can further improve the load-bearing capacity of the variable diameter wheel through the joint load-bearing of multiple leaf springs, which can effectively solve the contradiction between the large deformation requirements of the variable diameter process, the flexibility of the mechanism and the load-bearing capacity of the variable diameter wheel, making the structure compact and playing a vibration reduction role. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a schematic diagram of the fixed connection relationship between a single caster block and a leaf spring.

[0022] Figure 3 It is a schematic diagram of the variable diameter state of the present invention.

[0023] Figure 4 This is a detailed diagram of the connection of a single set of leaf springs.

[0024] Explanation of the reference numerals: 1 - left wheel hub; 2 - right wheel hub; 3 - first leaf spring; 4 - second leaf spring; 5 - wheel caster; 6 - belly plate; 7 - support frame; 8 - pin shaft; 9 - fastener. DETAILED DESCRIPTION

[0025] The following will be combined with the attached embodiment of the present invention Figure 1-4 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0026] like Figure 1-3 As shown, a variable diameter wheel with a distributed compliance mechanism is proposed, wherein a left hub 1 and a right hub 2 are arranged at the center, the left hub 1 and the right hub 2 are coaxially arranged and have the same outer diameter, the left hub 1 and the right hub 2 can be coaxially rotatable relative to each other, the left hub 1 and the right hub 2 are wheel-shaped structures and are set as the central components of the variable diameter wheel.

[0027] The variable diameter wheel also includes:

[0028] Two groups of leaf springs, one group is a plurality of first leaf springs 3 uniformly distributed circumferentially around the left wheel hub 1, and the other group is a plurality of second leaf springs 4 uniformly distributed circumferentially around the right wheel hub 2, the number of the first leaf springs 3 is equal to the number of the second leaf springs 4, the thickness of the first leaf springs 3 and the second leaf springs 4 is much smaller than their length and width, the first leaf springs 3 and the second leaf springs 4 are respectively installed on the left wheel hub 1 and the right wheel hub 2, and the width directions of the first leaf springs 3 and the second leaf springs 4 are both parallel to the axial direction of the variable diameter wheel;

[0029] There are a plurality of caster blocks 5 arranged along the circumference of the wheel body, and the total number of leaf springs (the first leaf spring 3 and the second leaf spring 4 ) is twice that of the caster blocks 5 .

[0030] Among them, each caster block 5 is fixedly connected to two different groups of first leaf springs 3 and second leaf springs 4. The first leaf spring 3 and the second leaf spring 4 are symmetrically arranged based on the center line of the caster block 5. The first leaf spring 3 and the second leaf spring 4 are relatively bent, presenting a "()" type bending shape.

[0031] The variable diameter wheel can achieve all-terrain travel on a variety of complex terrains such as roads, deserts, Gobi, farmlands, the surface of the moon or Mars, and is a high-passability non-pneumatic tire.

[0032] Each first leaf spring 3 / second leaf spring 4 is tangentially connected to two casters 5, one end of the first leaf spring 3 / second leaf spring 4 is tangentially fixedly connected to the left wheel hub 1 / right wheel hub 2, the first leaf spring 3 / second leaf spring 4 is relatively movably fitted on the bottom of the front caster 5, and the other end of the first leaf spring 3 / second leaf spring 4 is fixedly connected to the rear caster 5.

[0033] like Figure 4 As shown, the inner surface of each caster block 5 is inlaid with a web 6; for each first leaf spring 3 / second leaf spring 4, a support frame 7 fixedly connected to the web 6 is configured, and the support frame 7 is hinged with at least one pin 8, the pin 8 is in rolling contact with the inner surface of the first leaf spring 3 / second leaf spring 4, and the axis of the pin 8 is parallel to the axial direction of the variable diameter wheel.

[0034] In order to ensure the connection strength, each first leaf spring 3 / second leaf spring 4 is equipped with a plurality of fasteners 9, and one end of the first leaf spring 3 / second leaf spring 4 is fixedly connected to the web 6 of the rear caster block 5 through the fasteners 9. Moreover, the fasteners 9 of each first leaf spring 3 / second leaf spring 4 are arranged along the spring width direction.

[0035] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention; in the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate connecting component, and the specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0036] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A variable diameter wheel with a distributed compliance mechanism, characterized in that: include: The left wheel hub (1) and the right wheel hub (2) are wheel-shaped structures and are set as the central components of the variable diameter wheel: Two groups of leaf springs, one group is a plurality of first leaf springs (3) uniformly distributed around the circumference of the left wheel hub (1), and the other group is a plurality of second leaf springs (4) uniformly distributed around the circumference of the right wheel hub (2), the number of the first leaf springs (3) is equal to the number of the second leaf springs (4), the first leaf springs (3) and the second leaf springs (4) are respectively mounted on the left wheel hub (1) and the right wheel hub (2), and the width directions of the first leaf springs (3) and the second leaf springs (4) are both parallel to the axial direction of the variable diameter wheel; A plurality of wheel casters (5) arranged along the circumference of the wheel body; Wherein, for each caster block (5), a first leaf spring (3) and a second leaf spring (4) are fixedly connected, the first leaf spring (3) and the second leaf spring (4) are symmetrically arranged based on the center line of the caster block (5), and the first leaf spring (3) and the second leaf spring (4) are relatively bent.

2. A variable diameter wheel with a distributed compliance mechanism according to claim 1, characterized in that: The left wheel hub (1) and the right wheel hub (2) are coaxially arranged, and the left wheel hub (1) and the right wheel hub (2) can be relatively rotatable.

3. A variable diameter wheel with a distributed compliance mechanism according to claim 2, characterized in that: The left wheel hub (1) and the right wheel hub (2) have the same outer diameter.

4. A variable diameter wheel with a distributed compliance mechanism according to claim 2, characterized in that: One end of the first leaf spring (3) / second leaf spring (4) is fixedly connected to the left wheel hub (1) / right wheel hub (2) along the tangential direction, the first leaf spring (3) / second leaf spring (4) is relatively movably fitted on the bottom of the front wheel caster (5), and the other end of the first leaf spring (3) / second leaf spring (4) is fixedly connected to the rear wheel caster (5).

5. The variable diameter wheel with distributed compliance mechanism according to claim 1, characterized in that: The inner surface of each wheel caster (5) is inlaid with a web (6); for each first leaf spring (3) / second leaf spring (4), a support frame (7) fixedly connected to the web (6) is provided, and the support frame (7) is hinged with at least one pin (8), the pin (8) is in rolling contact with the inner surface of the first leaf spring (3) / second leaf spring (4), and the axis of the pin (8) is parallel to the axial direction of the variable diameter wheel.

6. The variable diameter wheel with distributed compliance mechanism according to claim 4, characterized in that: Each first leaf spring (3) / second leaf spring (4) is provided with a plurality of fasteners (9), and one end of the first leaf spring (3) / second leaf spring (4) is fixedly connected to the web (6) of the rear caster block (5) through the fastener (9).

7. A variable diameter wheel with a distributed compliance mechanism according to claim 6, characterized in that: The fasteners (9) of each first leaf spring (3) / second leaf spring (4) are arranged along the spring width direction.

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