Foldable deformation wheel

Abstract

The invention belongs to the technical field of vehicles, and discloses a foldable deformation wheel which comprises a center shaft (1), a center shaft support (2), an arc-shaped wheel petal group, a driving disc (4), a motion transmission rod (6), a wheel petal supporting rod (7) and a driving motor (11). The middle shaft support (2) is of a rotational symmetry structure and is provided with a plurality of radial extending ends; the middle shaft (1) is arranged in the center of the middle shaft support (2); the two driving motors (11) are symmetrically installed at the two ends of the middle shaft (1) and located on the two sides of the middle shaft support (2) respectively. Driving discs (4) are arranged on the inner sides of the two driving motors (11); the two driving discs (4) are arranged on the middle shaft (1) in a sleeving manner; and the driving motors (11) are used for driving the corresponding driving discs (4) to rotate. Switching between two different structural forms can be achieved, and on the premise that it is guaranteed that a robot or a vehicle has the rapid moving characteristic in the structured terrain, the passing capacity in the unstructured terrain is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and particularly relates to a foldable and deformable wheel. Background Art

[0002] In order for an obstacle-crossing vehicle or an obstacle-crossing robot to work in a variety of complex environments, it is necessary to improve the obstacle-crossing ability.

[0003] Currently, the related research on improving the obstacle-crossing ability can generally be divided into two categories: one is to redesign the structure of the rim, and improve the obstacle-crossing ability by increasing the notches on the rim; the other is to redesign the structure of the entire wheel, and make the rim part deform through mechanism design, thereby enhancing the obstacle-crossing ability of the wheel. The first design idea can enhance the obstacle-crossing ability of the robot without increasing the size of the wheel, and the obstacle can be crossed when the rim notch at the end of the spoke is higher than the obstacle. The second design idea can ensure the movement efficiency of the robot during the non-obstacle-crossing process. During the process of the wheel petals expanding outwards, the envelope volume of the wheel increases, and the obstacle can also be crossed when the end of the wheel petal is higher than the obstacle.

[0004] The method of increasing the notches on the rim to improve the obstacle-crossing ability will destroy the continuity of the original wheel structure. Since the wheel is not in continuous contact with the moving surface, its movement efficiency is reduced, and there will be a bumping phenomenon during the movement process, and its movement ability in structured terrain decreases. The design method of the deformable wheel retains the overall shape of the wheel and can move smoothly in structured terrain, but it increases the structural complexity of the wheel. At the same time, when the wheel petals extend outwards, the overall envelope size of the wheel increases, and in some low or height-limited environments, its obstacle-crossing ability cannot be well demonstrated. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to improve the obstacle-crossing ability while retaining the overall shape of the wheel and having a simple structure.

[0006] To solve the above technical problem, the specific technical solution of the present invention is as follows:

[0007] A foldable and deformable wheel, comprising a central shaft 1, a central shaft support 2, an arc-shaped wheel petal group, a driving disc 4, a motion transmission rod 6, a wheel petal support rod 7, and a driving motor 11;

[0008] The central shaft support 2 is a rotationally symmetric structure and is provided with a plurality of radially extending ends; the central shaft 1 is arranged at the center of the central shaft support 2; two driving motors 11 are symmetrically installed at both ends of the central shaft 1 and are respectively located on both sides of the central shaft support 2;

[0009] A driving disk 4 is disposed on the inner side of each of the two driving motors 11; the two driving disks 4 are sleeved on the central axis 1; the driving motor 11 is used to drive the corresponding driving disk 4 to rotate; the driving disk 4 is also a rotationally symmetrical structure, and is provided with the same number of radially extending ends as the central axis support 2; when the deformation wheel is fully expanded, there is a phase difference between the two driving disks 4;

[0010] A group of arc-shaped wheel petals is arranged between each adjacent radially extending end on the central axis support 2, and each group of arc-shaped wheel petals includes at least two arc-shaped wheel petals 3, one end of the two arc-shaped wheel petals 3 is respectively hinged to the two adjacent radially extending ends on the central axis support 2, and the other ends of the two arc-shaped wheel petals 3 are each provided with an arc-shaped groove, and the wheel petal support rod 7 is penetrated and arranged in the arc-shaped grooves of the two; the two ends of the wheel petal support rod 7 are respectively hinged to one end of the two motion transmission rods 6, and the other end of the motion transmission rod 6 is hinged to the corresponding radially extending end on the driving disk 4 on the same side.

[0011] Preferably, the central axis support 2 is provided with three radially extending ends.

[0012] Preferably, each group of arc-shaped wheel petals includes three arc-shaped wheel petals, two of which are arranged in parallel.

[0013] Preferably, another arc-shaped wheel petal is arranged between the two parallel arc-shaped wheel petals.

[0014] Preferably, adjustment pads are provided between the arc-shaped wheel petals, and the adjustment pads are sleeved on the wheel petal support rods 7 to prevent friction caused by contact between adjacent arc-shaped wheel petals.

[0015] Preferably, an adjustment pad is provided between the arc-shaped wheel petal and the motion transmission rod 6 , and the adjustment pad is sleeved on the wheel petal support rod 7 to prevent the arc-shaped wheel petal and the motion transmission rod 6 from contacting and generating friction.

[0016] Preferably, a shaft sleeve is provided between the central shaft support 2 and the driving disc 4, and the shaft sleeve is sleeved on the central shaft.

[0017] Among them, when fully expanded, all the arc-shaped petals form a complete circle.

[0018] The present invention also provides a vehicle using the foldable and deformable wheel.

[0019] The present invention also provides a robot using the foldable and deformable wheels.

[0020] The present invention has the following advantages: It can achieve the switching between two different structural forms, ensuring that the robot or vehicle enhances its passing ability in unstructured terrain while possessing the characteristics of fast movement in structured terrain. The structure of the deformable wheel is simplified, achieving the effect that a single wheel can complete the switching of the structural form and related movement actions only through two driving motors. At the same time, after the structural form is switched, its overall external dimensions are the same as or similar to the original dimensions, ensuring its ability to move in an environment with height constraints. It can be applied to related fields such as field terrain survey, post-disaster emergency rescue, and covert approach reconnaissance. Brief Description of the Drawings

[0021] Figure 1 It is a three-dimensional schematic diagram of a robot in the fully deployed mode of the wheeled structure.

[0022] Figure 2 It is a three-dimensional schematic diagram of a robot in the fully folded mode of the wheeled structure.

[0023] Figure 3 It is a three-dimensional schematic diagram of the foldable deformable wheel of the present invention.

[0024] Figure 4 It is an exploded three-dimensional view of the foldable deformable wheel of the present invention.

[0025] Figure 5 It is a three-dimensional schematic diagram of the central axis.

[0026] Figure 6 It is a three-dimensional schematic diagram of the central axis support.

[0027] Figure 7 It is a three-dimensional schematic diagram of the arc-shaped wheel lobe.

[0028] Figure 8 It is a three-dimensional schematic diagram of the drive disk.

[0029] Figure 9 It is a three-dimensional schematic diagram of the motor mounting flange.

[0030] Figure 10 It is a three-dimensional schematic diagram of the motion transmission rod.

[0031] Figure 11 It is a three-dimensional schematic diagram of the wheel lobe support rod.

[0032] Figure 12 It is a three-dimensional schematic diagram of the upper body plate.

[0033] Figure 13 It is a three-dimensional schematic diagram of the lower body plate.

[0034] Figure 14 It is a three-dimensional schematic diagram of the side body plate.

[0035] Figure 15 It is a schematic diagram showing the process of structural form conversion of a foldable and deformable wheel structure.

[0036] In the figure: 1 - central axis, 2 - central axis support, 3 - arc-shaped wheel flap, 4 - drive disc, 5 - motor mounting flange, 6 - motion transmission rod, 7 - wheel flap support rod, 8 - upper body plate, 9 - lower body plate, 10 - side body plate, 11 - drive motor, 12 - bushing, 13 - first adjustment pad, 14 - second adjustment pad, 15 - battery, 16 - handle, 17 - interactive screen, 18 - power supply switch. Specific implementation mode

[0037] In order to better understand the purpose, structure and function of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] As Figure 1 and Figure 2 shown, this embodiment is a new type of foldable and deformable wheel mobile robot, which includes an upper body plate 8, a lower body plate 9, four side body plates 10, a battery 15, a pair of handles 16, an interactive screen 17, a power supply switch 18, and four foldable and deformable wheels. As Figure 3 and Figure 4 shown, the foldable and deformable wheel includes a central axis 1, a central axis support 2, nine arc-shaped wheel flaps 3, two drive discs 4, two motor mounting flanges 5, six motion transmission rods 6, three wheel flap support rods 7, two bushings 12, six first adjustment pads 13, and six second adjustment pads 14. The central axis 1 is located at the geometric center of the foldable and deformable wheel and is in the central hole position of the central axis support 2. The arc-shaped wheel flap 3 is provided with a round hole and an arc-shaped groove. One end of the round hole is coaxially installed with the round hole opened on the outside of the central axis support 2. On one side of the arc-shaped groove of the three arc-shaped wheel flaps 3, they are connected in series through the wheel flap support rod 7. First adjustment pads 13 are installed between the arc-shaped wheel flaps 3 to ensure that the arc-shaped wheel flaps 3 do not deflect towards the inside of the deformable wheel (to avoid contact and friction between adjacent arc-shaped wheel flaps 3). The two bushings 12 are located on both sides of the central axis support 2, are coaxially placed with the central axis 1, and are closely attached to the central axis support 2. The drive disc 4 is provided with a countersunk hole at the center position. The central axis 1 is connected to the drive disc 4 by screws, and at the same time, the screws and the bushings 12 jointly limit the possibility of the drive disc 4 moving axially along the central axis. The outside of the drive disc 4 is provided with holes and is connected to the motion transmission rod 6 by mother-daughter rivets. The other end of the motion transmission rod 6 is coaxially installed with the wheel flap support rod 7, and the distance is ensured by the second adjustment pad 14 in the middle and is fixed by screws on the outside (both ends of the motion transmission rod 6 are hinged to the wheel flap support rod 7 and the drive disc 4 respectively). The motor mounting flange 5 is aligned with the mounting hole positions on the drive motor 11 and is installed by screws. At the same time, the motor mounting flange 5 is fixedly connected to the drive disc 4 by means of bolt connection.

[0039] As Figure 15As shown in the figure, during the process of structural form switching, two drive motors 11 located on both sides of the deformable wheel output equal and opposite speeds. At this time, the drive motors 11 drive the drive disc 4 to rotate through the motor mounting flange 5. The drive disc 4 drives the motion transmission rod 6 to move, thereby pushing the lobe support rod 7 to move along the radial direction of the deformable wheel. Under the action of the lobe support rod 7, the arc-shaped lobe 3 rotates around its fixed hole on the central axis support 2, and finally the unfolding and folding actions of the deformable wheel are realized.

[0040] The novel collapsible deformable wheel mobile robot includes components such as a fuselage and collapsible deformable wheels. The fuselage is located at the center of the whole robot, and its function is to provide support for the collapsible deformable wheels and limit the installation position, and together with the four collapsible deformable wheels, it constitutes a novel collapsible deformable wheel mobile robot; the collapsible deformable wheels are located in the four directions of the front left, rear left, front right, and rear right of the robot, and their function is to realize the movement actions of the robot, and at the same time, they can realize the switching between different structural forms of the deformable wheels and the movement of the robot under different motion gaits.

[0041] The fuselage part includes an upper fuselage plate, a lower fuselage plate, side fuselage plates, corner codes, a handle, a battery, a controller, an interactive screen, and a power supply switch. The upper fuselage plate, the lower fuselage plate, and the side fuselage plates form the frame outer shape structure of the fuselage, and are connected and fixed through corner codes. The handle is installed above the upper fuselage plate to facilitate the operator to carry the robot. The battery is used to provide power support for all electrical equipment of the robot. The robot motion control and control signal output are completed by the controller. The operator can read the content information of the controller through the interactive screen and provide information input for the robot. A groove is opened at the middle position of the side fuselage plate, and its function is to perform initial positioning during the installation process of the fuselage and prevent relative rotation between the upper fuselage plate, the lower fuselage plate, and the side fuselage plates; the lower fuselage plate is used to install and fix the controller and the battery; the upper fuselage plate is used to install the handle, the interactive screen, and the power supply switch; the side fuselage plates, the upper fuselage plate, and the lower fuselage plate are connected through copper columns and corner codes and fixed with inner hexagon screws; the side fuselage plates are used for the installation and fixation between the collapsible deformable wheels and the fuselage.

[0042] The foldable and deformable wheel part includes a central shaft, a central shaft support, arc-shaped wheel petals, a bushing, a driving disc, a motion transmission rod, a wheel petal support rod, a motor mounting flange, and a driving motor. The central shaft is located at the center of the foldable and deformable wheel, used to ensure that the two driving motors are installed face to face, and to ensure that the axes of the two motor shafts coincide during the movement; a cylindrical through hole is opened in the center of the central shaft support for passing the central shaft, and the central shaft support has three outer extending ends for supporting the whole deformable wheel; the arc-shaped wheel petals are evenly distributed around the central shaft and are fixed to the central shaft support by bolts and cylindrical nuts; an arc-shaped groove is opened on the arc-shaped wheel petals, and there are three arc-shaped wheel petals between two adjacent outer extending ends of the central shaft support, which are connected by passing the wheel petal support rod through the arc-shaped groove of the arc-shaped wheel petals and are connected by bolts, and the distance limitation between the arc-shaped grooves is realized by the bushing; a counterbore is opened in the middle of the driving disc, and the central shaft is inserted into the counterbore of the driving disc and fixed to the driving disc by bolts. At the same time, a bushing is installed between the central shaft support and the driving disc to prevent the driving disc from moving axially along the central shaft; counterbores are opened on both sides of the motor mounting flange, one side is used for the connection between the motor mounting flange and the driving motor, and the other side is used for the connection between the motor mounting flange and the driving disc; the driving disc has three outer extending ends, and the motion transmission rod is connected to the outer extending ends of the driving disc and the wheel petal support rod by bolts; the driving motor drives the driving disc to move through the motor mounting flange, and drives the wheel petal support rod to move through the motion transmission rod, and finally realizes the motion control of the arc-shaped wheel petals, so as to realize the unfolding and folding actions of the foldable and deformable wheel and realize the switching of the structural form of the foldable and deformable wheel. By the central shaft, the output axes of the two driving motors are ensured to coincide, and the central shaft support realizes the support for the remaining parts of the deformable wheel. The arc-shaped wheel petals are evenly distributed on the outer edge of the deformable wheel. The output of the driving motor drives the driving disc to rotate, and is transmitted to the wheel petal support rod by the motion transmission rod through the link mechanism, and further drives the arc-shaped wheel petals to complete unfolding and folding, realizing the switching of the structural form of the foldable and deformable wheel.

[0043] During the movement, the two driving motors can realize the folding and unfolding of the deformable wheel through differential motion output. When the two driving motors ensure the same speed output relative to the ground, the deformable wheel realizes the rotary motion around the central shaft. Since each deformable wheel can realize an independent rotary motion, by controlling the speed output of each deformable wheel, the forward, backward, and variable-radius turning actions of the robot can be realized. When the output speeds of the deformable wheels on the left and right sides of the robot are equal and opposite, the robot can realize the rotary motion around its own center..

[0044] This embodiment has the following advantages compared with the prior art:

[0045] 1. Compared with the structure of conventional wheeled mobile robots, a novel foldable and deformable wheel mobile robot designed by the present invention can expand and fold the wheeled structure form by generating a phase difference through a driving motor, so that the whole robot has more motion possibilities, improves the adaptability of the robot to all terrains, and realizes motion in more complex terrain environments.

[0046] 2. Compared with non-integral rim type wheeled mobile robots, a novel foldable and deformable wheel mobile robot designed by the present invention can switch to an integral rim structure form in a structured terrain environment, thereby realizing the continuity of the motion trajectory, and the motion smoothness and motion efficiency of the robot are higher.

[0047] 3. The structure of the drive system is simple. For a novel foldable and deformable wheel mobile robot designed by the present invention, each single deformable wheel structure is driven by only two driving motors, which reduces the control difficulty of the robot. By performing differential drive on the single deformable wheel to generate a phase difference, the switching of the wheeled structure can be realized. At the same time, by controlling different deformable wheels at different motion speeds, various motion forms such as the forward movement, backward movement, and variable turning radius turning of the robot can be realized. The whole robot has a total of eight driving motors, and the design difficulty of the overall control system of the robot is relatively low.

[0048] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, for those skilled in the art, without departing from the principle of the present invention, several modifications and improvements can still be made, and these should also be regarded as falling within the protection scope of the present invention.

Claims

1. A collapsible and deformable wheel, characterized in that, It includes a central axis (1), a central axis support (2), an arc-shaped vane group, a drive disc (4), a motion transmission rod (6), a vane support rod (7), and a drive motor (11). The central axis support (2) is a rotationally symmetric structure and is provided with a number of radially extending ends; the central axis (1) is arranged at the center of the central axis support (2); two drive motors (11) are symmetrically installed at both ends of the central axis (1) and are respectively located on both sides of the central axis support (2). Drive discs (4) are arranged on the inner sides of both drive motors (11); both drive discs (4) are sleeved on the central axis (1); the drive motor (11) is used to drive the corresponding drive disc (4) to rotate; the drive disc (4) is also a rotationally symmetric structure and is provided with the same number of radially extending ends as the central axis support (2); when the deformable wheel is in a fully unfolded state, there is a phase difference between the two drive discs (4). A set of arc-shaped vane groups is arranged between every two adjacent radially extending ends on the central axis support (2). Each set of arc-shaped vane groups includes at least two arc-shaped vanes (3). One end of each of the two arc-shaped vanes (3) is respectively hinged to two adjacent radially extending ends on the central axis support (2). Arc-shaped grooves are provided at the other ends of the two arc-shaped vanes (3). The vane support rod (7) is disposed through the arc-shaped grooves of both of them; both ends of the vane support rod (7) are respectively hinged to one end of two motion transmission rods (6), and the other ends of the motion transmission rods (6) are hinged to the corresponding radially extending ends on the drive disc (4) on the same side.

2. The collapsible and deformable wheel according to claim 1, wherein The central axis support (2) is provided with three radially extending ends.

3. The collapsible and deformable wheel according to claim 1, wherein, Each set of arc-shaped vane groups includes three arc-shaped vanes, and two of the arc-shaped vanes are arranged side by side.

4. The collapsible deformable wheel according to claim 3, characterized in that, The other arc-shaped vane is arranged between the two side-by-side arc-shaped vanes.

5. The collapsible and deformable wheel according to claim 4, wherein Adjusting pads are arranged between the arc-shaped vanes. The adjusting pads are sleeved on the vane support rod (7) to prevent friction caused by contact between adjacent arc-shaped vanes.

6. The collapsible and deformable wheel according to claim 4, wherein Adjusting pads are arranged between the arc-shaped vanes and the motion transmission rod (6). The adjusting pads are sleeved on the vane support rod (7) to prevent friction caused by contact between the arc-shaped vanes and the motion transmission rod (6).

7. The collapsible deformable wheel according to claim 1, wherein A shaft sleeve is arranged between the central axis support (2) and the drive disc (4). The shaft sleeve is sleeved on the central axis.

8. The collapsible deformable wheel according to claim 1, wherein When in a fully unfolded state, all the arc-shaped vane groups enclose a complete circle.

9. A vehicle applying the collapsible deformable wheel according to any one of claims 1-8.

10. A robot applying the collapsible deformable wheel according to any one of claims 1-8.

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