Reducing wheel structure based on cylindrical cam

Abstract

The invention discloses a variable-diameter wheel structure based on a cylindrical cam, and relates to the technical field of variable-diameter wheel design. The sliding way support is provided with a plurality of sliding ways, guide rollers are arranged at the bottoms of reducing rods matched in the sliding ways, the cam support is composed of a center block and an annular frame, a plurality of cylindrical cams with spiral guide grooves are rotationally installed between the center block and the annular frame, driven bevel gears are fixed to the bottoms of the cylindrical cams, and the driving bevel gear is meshed with the driven bevel gears. A driving bevel gear is adjusted through a steering engine, a wheel center shaft and a slide way support are coaxially fixed and sleeved with a cam support and the driving bevel gear, a guide roller stretches into a corresponding spiral guide groove, a rack carries the tail end of the wheel center shaft, the wheel center shaft is driven through a motor, and a first tire body and a second tire body are alternately fixed to the top end of a variable-diameter rod. The wheel can be locked at any position within an allowable range through the steering engine, the wheel circumference adopts two tire body forms which are staggered in the shape of the Chinese character'wang 'and the shape of the Chinese character'H', the outer contours are closer before and after reducing, and the stability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of variable diameter wheel design, in particular to a variable diameter wheel structure based on a cylindrical cam. Background Art

[0002] Wheel adaptability and maneuverability are key factors influencing vehicle performance. For example, at high speeds, larger wheels provide greater stability and improved obstacle handling. At low speeds or on rough roads, smaller wheels improve flexibility and maneuverability. However, traditional wheel designs often utilize a fixed radial size, making them unable to adapt to driving conditions or the external environment.

[0003] In light of this, industry insiders have proposed the design concept of a variable-diameter wheel, which achieves size changes by varying the wheel's diameter to accommodate the needs of different site environments. However, currently proposed variable-diameter wheel structures generally only have two wheel configurations: extended and retracted. They lack the ability to lock at any position during the diameter change process, and the wheel's outer contour configuration differs significantly before and after diameter change, which is detrimental to the wheel's stability before and after diameter change. Therefore, a variable-diameter wheel structure that can maintain a stable configuration at any position according to different working conditions, while also maintaining a closer outer contour configuration before and after diameter change, is urgently needed. This is of great significance for improving the stability of the variable-diameter wheel structure. Summary of the Invention

[0004] In order to solve the shortcomings of the background technology, the present invention provides a variable diameter wheel structure based on a cylindrical cam, which can lock the wheel body at any position within the allowable range of diameter change through a servo, and the tire body of the wheel circumference adopts two tire body forms of a K-shaped and an I-shaped tire body arranged alternately. The outer contours of the wheel circumference are closer before and after the diameter change, thereby improving stability.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical solutions: a cylindrical cam-based variable diameter wheel structure, comprising a carcass, a variable diameter mechanism, a driving mechanism, a wheel center shaft, and a frame;

[0006] The diameter-changing mechanism includes a slideway bracket and a plurality of diameter-changing rods. The slideway bracket is composed of a plurality of slideways arranged along the radial direction of the wheel body. The plurality of slideways are evenly arranged along the circumference of the wheel body and are made into one body. The plurality of diameter-changing rods are matched with the plurality of slideways and have guide rollers arranged vertically at the bottom.

[0007] The driving mechanism includes a cam bracket, a driving bevel gear, a plurality of driven bevel gears and a plurality of cylindrical cams. The cam bracket consists of a coaxially arranged center block and an annular frame. The plurality of cylindrical cams are evenly arranged and radially rotatably mounted between the two parts of the cam bracket. The sidewalls of the cylindrical cams are formed with spiral guide grooves. The bottom of the cylindrical cams is coaxially fixed with the driven bevel gears. The driving bevel gear is meshed with the plurality of driven bevel gears, and the back end surface of the driving bevel gear is coaxially provided with an adjusted gear.

[0008] The wheel center axis is coaxially fixed to the slide bracket, the center block of the cam bracket is mounted on the wheel center axis by setting an axis hole and an active bevel gear, and the guide rollers of the multiple diameter reducing rods are respectively extended into the spiral guide grooves of the corresponding cylindrical cams;

[0009] The frame is rotatably mounted on the end of the wheel center shaft through a bearing, a driven large gear is coaxially fixed in the middle of the wheel center shaft, a steering gear is fixedly mounted vertically on the positive end face edge of the driven large gear, an adjusting gear is provided at the output end of the steering gear and is meshed with the adjusted gear, a motor is fixedly mounted on the side of the frame, a driving pinion is provided at the output end of the motor and is meshed with the driven large gear;

[0010] The carcass is divided into a first carcass and a second carcass. Both the first carcass and the second carcass are arc-shaped structures, and their projections are respectively in the shape of a W and an I. The top ends of multiple reducing rods alternately fix the first carcass and the second carcass, and every two adjacent first carcasses and the second carcass can be staggered and fitted together.

[0011] Furthermore, both ends of the spiral guide groove of the cylindrical cam are respectively provided with horizontal positioning sections.

[0012] Furthermore, a roller sleeve is rotatably provided on the outside of the guide roller of the variable diameter rod.

[0013] Furthermore, the outer surfaces of the first carcass and the second carcass are both provided with anti-slip patterns.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention controls the synchronous rotation of multiple driven bevel gears through the active bevel gear, and then enables multiple cylindrical cams to realize radial displacement control of the diameter-changing rod by using the spiral guide groove processed on the side wall during the rotation process, so as to realize the diameter-changing action of the wheel body, and the active bevel gear adjusts the angle through the servo. The setting of the servo can lock the wheel body at any position within the allowable range of diameter change, ensuring that the torque is sufficient to support the radial force of the entire wheel body. In addition, the carcass of the wheel circumference adopts two carcass forms of staggered W-shaped and I-shaped arrangements. In the fully contracted state, the outer contour of the carcass is combined into a whole circle. In the fully extended state, the two carcass forms can be compensated so that the outer contour of the carcass is still approximately circular, thereby realizing that the wheel circumference is closer before and after the diameter change, and reducing the shaking problem of the wheel body in the expanded state. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall extended state of the variable diameter wheel structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall contraction state of the variable diameter wheel structure of the present invention;

[0017] Figure 3 This is a first angle assembly structure diagram of the driving mechanism of the present invention;

[0018] Figure 4 This is a second angle assembly structure diagram of the drive mechanism of the present invention, in which the cylindrical cam is omitted;

[0019] Figure 5 This is a schematic diagram of the main outline of the variable diameter wheel structure of the present invention in the overall extended state;

[0020] Figure 6 This is a schematic diagram of the main outline of the variable diameter wheel structure of the present invention in the overall retracted state;

[0021] Figure 7 It is an assembly structure diagram of the diameter-changing mechanism in the present invention.

[0022] In the figure: 1. First carcass; 2. Cylindrical cam; 3. Second carcass; 4. Slide bracket; 5. Cam bracket; 6. Reducer; 7. Servo; 8. Bearing; 9. Wheel center shaft; 10. Frame; 11. Motor; 12. Adjusting gear; 13. Driven large gear; 14. Base; 15. Driving small gear; 16. Active bevel gear; 17. Driven bevel gear; 18. Adjusted gear. DETAILED DESCRIPTION

[0023] The technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] like Figures 1 to 7 As shown, a variable diameter wheel structure based on a cylindrical cam includes a first carcass 1, a cylindrical cam 2, a second carcass 3, a slide bracket 4, a cam bracket 5, a variable diameter rod 6, a servo 7, a bearing 8, a wheel center shaft 9, a frame 10, a motor 11, an adjusting gear 12, a driven large gear 13, a base 14, a driving pinion 15, an active bevel gear 16, a driven bevel gear 17 and an adjusted gear 18.

[0025] Combine Figure 7As shown, the slide bracket 4 and the plurality of reducing rods 6 constitute a reducing mechanism for realizing radial extension and contraction of the wheel body. Among them, the slide bracket 4 includes a plurality of integrally formed slides, each slide is arranged along the radial direction of the wheel body, and the plurality of slides are evenly arranged along the circumference of the wheel body. Taking eight slides as an example, the slide bracket 4 is in a M-shaped configuration as a whole. The plurality of reducing rods 6 slide in cooperation with the plurality of slides one by one, and can be displaced along the slides in the radial direction of the wheel body. A guide roller is vertically arranged at the bottom of each reducing rod 6 to cooperate with the driving mechanism to realize the displacement control of the reducing rod 6. In order to reduce the friction during the movement of the guide roller, a roller sleeve can be rotatably arranged on the outside of the guide roller, which helps to improve the smoothness of the wheel body diameter changing process;

[0026] Combine Figure 3 As shown, the cam bracket 5, the active bevel gear 16, the multiple driven bevel gears 17 and the multiple cylindrical cams 2 constitute a driving mechanism for controlling the extension and contraction of the multiple diameter-changing rods 6 on the slide bracket 4. Among them, the cam bracket 5 is composed of two parts, a coaxially arranged center block and an annular frame, for loading the multiple cylindrical cams 2. The multiple cylindrical cams 2 are evenly arranged and rotatably mounted between the two parts of the cam bracket 5. Each cylindrical cam 2 is also arranged along the radial direction of the wheel body, and each cylindrical cam 2 has a spiral guide groove on its side wall. The spiral guide groove cooperates with the guide roller to drive the diameter-changing rod 6 to move radially during rotation. In order to ensure the stability of the diameter-changing rod 6 when it is extended to the maximum and contracted to the minimum (corresponding to the maximum and minimum modes of the wheel body diameter change), horizontal positioning sections can be provided at both ends of the spiral guide groove of the cylindrical cam 2, so that the guide roller can slide into the horizontal positioning section to maintain the maximum and minimum modes of the wheel body diameter change. A driven bevel gear 17 is coaxially fixed to the bottom of each cylindrical cam 2, and the active bevel gear 16 is arranged along the axial direction of the wheel body and can be engaged with multiple driven bevel gears 17 at the same time. Therefore, during the rotation of the active bevel gear 16, all cylindrical cams 2 can be driven to rotate simultaneously through multiple driven bevel gears 17, thereby realizing the synchronous extension and retraction action of all reducing rods 6.

[0027] Combine Figures 1 and 2As shown, the reducing mechanism and the drive mechanism are assembled via the wheel center shaft 9, which is coaxially fixed to the slide bracket 4. Since the guide rollers and the spiral guide grooves must mate, the wheel center shaft 9 and the guide rollers should naturally be located on the same side of the slide bracket 4. The cam bracket 5's center block is mounted on the wheel center shaft 9 through a shaft hole and the active bevel gear 16 is inserted through its own center hole, placing the drive mechanism and the reducing mechanism adjacent to each other. During assembly, the guide rollers of the multiple reducing rods 6 are inserted into the spiral guide grooves of the corresponding cylindrical cam 2. When the wheel rotates, the wheel center shaft 9 drives the slide bracket 4 to rotate. Since the guide rollers of the multiple reducing rods 6 on the slide bracket 4 extend into the spiral guide grooves of the cylindrical cam 2, they can synchronously drive the cam bracket 5 to rotate accordingly. However, given the potential instability of the cylindrical cam 2, which is also a rotating structure, the cam bracket 5 is preferably fixed to the wheel center shaft 9.

[0028] Combine Figure 1 、 Figures 3 and 4 As shown, the end of the wheel center shaft 9 is rotatably mounted on the frame 10 via a bearing 8. A driven gear 13 is coaxially fixed to the middle of the wheel center shaft 9. The driven gear 13 is vertically fixed to the positive end edge of the driven gear 13. During rotation, the driven gear 13 carries the steering gear 7 around the wheel center shaft 9. The output end of the steering gear 7 is provided with an adjustment gear 12, which is meshed with an adjusted gear 18. The adjusted gear 18 is coaxially arranged on the back end face of the active bevel gear 16. Therefore, the rotation angle of the active bevel gear 16 can be adjusted by the steering gear 7, thereby limiting the rotation position of the cylindrical cam 2, so that the wheel body can be locked at any position within the variable diameter range. The motor 11 is fixedly mounted on the side of the frame 10 via a base 14. The output end of the motor 11 is provided with a driving pinion 15, which is meshed with the driven gear 13, so that the motor 11 controls the rotation of the wheel center shaft 9.

[0029] Combine Figures 5 to 7 As shown, the carcass is divided into a first carcass 1 and a second carcass 3. Both the first carcass 1 and the second carcass 3 are arc-shaped structures and their projections are respectively in the shape of a W and an I. The outer surfaces of the first carcass 1 and the second carcass 3 are both provided with anti-slip grooves. The first carcass 1 and the second carcass 3 are alternately fixed at the top of multiple reducers 6, and every two adjacent first carcasses 1 and second carcasses 3 can be staggered and fitted together, so that when the wheel body is in a fully contracted state, the outer contour of the carcass is combined into a whole circle. When in a fully extended state, the first carcass 1 and the second carcass 3 complement each other's gap to make the outer contour close to a circle, thereby improving driving stability.

[0030] Taking the actual object made by the inventor as an example, the number of cylindrical cams 2 and reducing rods 6 is eight. When they are fully extended, the roundness of the outer contour is 204.4mm / 211.7mm=0.966, which is a quasi-circular shape, which can reduce the vibration of the wheel during driving and improve the stability of the driving process. The transmission ratio of the active bevel gear 16 and the driven bevel gear 17 is 10:3. Assume that the rotation angle change of the active bevel gear 16 is Δθ. Since the ratio of their angular velocities ω1:ω2=3:10, the angle change of the driven bevel gear 17 is (10 / 3)Δθ. Since the cylindrical cam 2 and the driven bevel gear 17 are relatively stationary, their angle changes remain consistent, and the linear velocities of the active bevel gear 16 and the driven bevel gear 17 remain consistent. The reference radius of the driven bevel gear 17 is r=12.7mm, so the rotation arc length of the driven bevel gear 17 is Δl=10 / 3rΔθ. If the horizontal positioning section of the spiral guide groove of the cylindrical cam 2 is ignored and the slope of the spiral guide groove is k, then the radial change and the wheel radius change ΔR=(10 / 3)rkΔθ.

[0031] It will be apparent 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 invention can be implemented in other configurations without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations coming within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0032] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A variable diameter wheel structure based on a cylindrical cam, characterized in that: It includes a carcass, a diameter-changing mechanism, a driving mechanism, a wheel central shaft (9), and a frame (10); The diameter-changing mechanism includes a slideway support (4) and multiple diameter-changing rods (6). The slideway support (4) consists of multiple slideways arranged radially along the wheel body. The multiple slideways are evenly arranged circumferentially along the wheel body and are made into one body. The multiple diameter-changing rods (6) are correspondingly matched with the multiple slideways, and guide rollers are arranged vertically at the bottoms; The driving mechanism includes a cam support (5), a driving bevel gear (16), multiple driven bevel gears (17), and multiple cylindrical cams (2). The cam support (5) consists of two parts, a central block and an annular frame arranged coaxially. The multiple cylindrical cams (2) are evenly arranged and are rotatably installed radially between the two parts of the cam support (5). A spiral guide groove is made on the side wall of the cylindrical cam (2). A driven bevel gear (17) is coaxially fixed at the bottom of the cylindrical cam (2). The driving bevel gear (16) is meshed with the multiple driven bevel gears (17), and an adjustable gear (18) is coaxially integrally arranged on the back side end face of the driving bevel gear (16); The wheel central shaft (9) is coaxially fixed with the slideway support (4). The central block of the cam support (5) and the driving bevel gear (16) are jointly sleeved on the wheel central shaft (9) by setting a shaft hole, and the guide rollers of the multiple diameter-changing rods (6) respectively extend into the spiral guide grooves of the corresponding cylindrical cams (2); The frame (10) rotatably carries the end of the wheel central shaft (9) through a bearing (8). A driven large gear (13) is coaxially fixed in the middle of the wheel central shaft (9). A steering gear (7) is vertically fixed on the edge of the positive end face of the driven large gear (13). An adjusting gear (12) is arranged at the output end of the steering gear (7) and is meshed with the adjustable gear (18). A motor (11) is fixedly installed on the side of the frame (10). A driving small gear (15) is arranged at the output end of the motor (11) and is meshed with the driven large gear (13); The carcass is divided into a first carcass (1) and a second carcass (3). Both the first carcass (1) and the second carcass (3) are arc surface structures, and their projections are in the shape of a king character and an I character respectively. The tops of the multiple diameter-changing rods (6) are alternately fixed with the first carcass (1) and the second carcass (3), and every two adjacent first carcasses (1) and second carcasses (3) can be inserted and matched staggeredly; 2. The cylindrical cam-based variable diameter wheel structure according to claim 1, characterized in that: Horizontal positioning sections are respectively made at both ends of the spiral guide groove of the cylindrical cam (2); 3. The cylindrical cam-based variable diameter wheel structure according to claim 1, characterized in that: A roller sleeve is rotatably arranged outside the guide roller of the diameter-changing rod (6); 4. The cylindrical cam-based variable diameter wheel structure according to claim 1, characterized in that: Anti-slip patterns are made on the outer surfaces of both the first carcass (1) and the second carcass (3).

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