Elastic sheet folding widening type rigid planet wheel

Abstract

The utility model provides an elastic piece folding widening type rigid planet wheel, and belongs to the technical field of planet vehicles. According to the structure, a fixing ring is fixedly connected to the inner wall of a cylindrical wheel body, a first outer mounting hole is formed in the fixing ring, a supporting disc is located in the cylindrical wheel body, a first inner mounting hole is formed in the supporting disc, an elastic piece comprises an outer arc-shaped arm and an inner arc-shaped arm which are connected end to end, a second outer mounting hole is formed in the outer arc-shaped arm, and a second outer mounting hole is formed in the inner arc-shaped arm. Second inner mounting holes are formed in the inner arc-shaped arms, the second outer mounting holes and the first outer mounting holes are oppositely combined and fixed through bolts, and the second inner mounting holes and the first inner mounting holes are oppositely combined and fixed through bolts. A buffering and damping mechanism based on the broken line type elastic pieces is constructed between the driving shaft and the wheel body, and meanwhile, the wide cylindrical wheel body is adopted to be in contact with the ground, so that the stability of the planet vehicle is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of planetary rovers, and particularly relates to a rigid planetary wheel with a shrapnel folding and width-variable structure. Background Technique

[0002] Inspection and exploration is an important way to deeply carry out scientific exploration activities on extraterrestrial celestial bodies. Its greatest feature is that in the inspection area of extraterrestrial celestial bodies, scientific targets can be selectively explored, which is conducive to improving the exploration efficiency and expanding the exploration results. The inspection and exploration method can be carried out independently or combined with other methods such as sampling and return to give full play to the combined advantages of different exploration methods and maximize the exploration results. In the inspection and exploration mission, the detector is also called a planetary rover.

[0003] Different from conventional unmanned operation vehicles, the driving environment of planetary rovers is more severe, the conditions are extremely complex, and the error correction means are very limited. Once an overturning phenomenon occurs, there is often no possibility of recovery. Therefore, the stability of planetary rovers is the most important technical requirement in the design stage. To adapt to the complex states inside the aircraft during the launch stage and the landing stage, currently, all planetary rovers use rigid wheels. However, the shock absorption performance of rigid wheels is poor. Coupled with the rough surface of lunar soil and low gravity, this is not conducive to ensuring the stability of the vehicle body. Summary of the Invention

[0004] The technical problem to be solved by the utility model is: how to design a planetary rover wheel with better shock absorption performance and adaptable to rough ground surfaces.

[0005] To achieve the above technical objectives, the utility model adopts the following technical solutions:

[0006] A rigid planetary wheel with a shrapnel folding and width-variable structure, comprising a cylindrical wheel body, a first convex rib portion, a second convex rib portion, a straight convex rib, a through hole, a folded convex rib, a fixing ring, a first outer mounting hole, a support disc, a first inner mounting hole, a shrapnel, an outer arc-shaped arm, an inner arc-shaped arm, a second outer mounting hole, and a second inner mounting hole. Among them, a number of first convex rib portions and a number of second convex rib portions are provided on the outer wall of the cylindrical wheel body, and the number of first convex rib portions and the number of second convex rib portions are arranged at intervals. The first convex rib portion includes a number of parallel straight convex ribs, and through holes are provided between adjacent straight convex ribs. The second convex rib portion includes a number of parallel folded convex ribs. A fixing ring is fixedly connected to the inner wall of the cylindrical wheel body, and a first outer mounting hole is provided on the fixing ring. The support disc is located inside the cylindrical wheel body, and a first inner mounting hole is provided on the support disc. The shrapnel includes an outer arc-shaped arm and an inner arc-shaped arm connected end to end. A second outer mounting hole is provided on the outer arc-shaped arm, and a second inner mounting hole is provided on the inner arc-shaped arm. The second outer mounting hole is aligned with the first outer mounting hole and fixed by a bolt, and the second inner mounting hole is aligned with the first inner mounting hole and fixed by a bolt.

[0007] Preferably, the cylindrical wheel body is in the shape of a stepped cylinder, with the diameter of the middle part of the cylindrical wheel body being larger than that of its two ends.

[0008] Preferably, the plane where the outer arc-shaped arm is located is perpendicular to the plane where the inner arc-shaped arm is located.

[0009] Preferably, the plane where the outer arc-shaped arm is located coincides with the plane where the fixing ring is located, and the outer arc-shaped arm only contacts the fixing ring at its end points.

[0010] Preferably, a protective plate is provided at the outer end of the cylindrical wheel body, and the protective plate does not contact the elastic piece.

[0011] Preferably, the support disk includes a disk and a mounting sleeve located in the middle of the disk, and a plurality of rib plates are provided between the mounting sleeve and the disk.

[0012] In the above technical solutions, the cylindrical wheel body is the basic outer contour part of the wheel. The first convex rib part and the second convex rib part are arranged at intervals on the outer wall of the cylindrical wheel body to increase the acting force between the cylindrical wheel body and the ground. It is similar to the pattern on the tire surface but has a larger outward convex amplitude and is suitable for contacting surfaces such as sand or gravel. The straight convex rib and the broken-line convex rib are respectively components of the first convex rib part and the second convex rib part, and the through holes can appropriately reduce the weight of the wheel. The fixing ring, the first outer mounting hole, and the second outer mounting hole are used to mount the elastic piece from the outer edge, and the support disk, the first inner mounting hole, and the second inner mounting hole are used to mount the elastic piece from the inner edge. The elastic piece is held between the support disk and the fixing ring. Since the support disk is connected to the main shaft and the fixing ring is connected to the cylindrical wheel body, the elastic piece can play a shock-absorbing and buffering role between the main shaft and the cylindrical wheel body by using the elasticity formed by its outer arc-shaped arm and inner arc-shaped arm. At the same time, the wide cylindrical wheel body has a large contact area with the ground, thereby improving the stability.

[0013] The present invention provides a rigid spherical wheel with an elastic piece that folds and widens. This technical solution constructs a buffer and shock-absorbing mechanism based on a broken-line elastic piece between the drive shaft and the wheel body, and at the same time uses a wide cylindrical wheel body to contact the ground, which is beneficial to improving the stability of the spherical vehicle. Using the present invention to construct a large-span wheel assembly can effectively ensure the stability of the vehicle body and has significant technical advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a perspective view of the whole of the present invention observed from one perspective;

[0015] Figure 2 is a perspective view of the whole of the present invention observed from another perspective;

[0016] Figure 3 is a perspective view of the cylindrical wheel body;

[0017] Figure 4 is a perspective view of the mounting disk;

[0018] Figure 5 is a three-dimensional view of the fixed ring;

[0019] Figure 6 is a three-dimensional view of the elastic piece;

[0020] Figure 7 is a use state diagram of the present utility model;

[0021] In the figure:

[0022] 1, cylindrical wheel body 2, first convex rib portion 3, second convex rib portion 4, straight convex rib

[0023] 5, through hole 6, broken line convex rib 7, fixed ring 8, first outer mounting hole

[0024] 9, support disk 10, first inner mounting hole 11, elastic piece 12, outer arc arm

[0025] 13, inner arc arm 14, second outer mounting hole 15, second inner mounting hole. Specific embodiments

[0026] The specific embodiments of the present utility model will be described in detail below. In order to avoid excessive unnecessary details, well-known structures or functions will not be described in detail in the following embodiments. Approximating language used in the following embodiments can be used for quantitative expression, indicating that a certain change in quantity is allowed without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following embodiments have the same meaning as commonly understood by those skilled in the art to which the present utility model belongs.

[0027] Embodiment 1

[0028] A rigid planet wheel with elastic piece folding and width variation, as Figures 1 to 7As shown in the figure, it includes a cylindrical wheel body 1, a first convex rib portion 2, a second convex rib portion 3, a straight convex rib 4, a through hole 5, a folded convex rib 6, a fixing ring 7, a first outer mounting hole 8, a support disc 9, a first inner mounting hole 10, a spring piece 11, an outer arc-shaped arm 12, an inner arc-shaped arm 13, a second outer mounting hole 14, and a second inner mounting hole 15. Among them, several first convex rib portions 2 and several second convex rib portions 3 are provided on the outer wall of the cylindrical wheel body 1, and the several first convex rib portions 2 and the several second convex rib portions 3 are arranged at intervals. The first convex rib portion 2 includes several parallel straight convex ribs 4, and through holes 5 are provided between adjacent straight convex ribs 4. The second convex rib portion 3 includes several parallel folded convex ribs 6. A fixing ring 7 is fixedly connected to the inner wall of the cylindrical wheel body 1, and a first outer mounting hole 8 is provided on the fixing ring 7. The support disc 9 is located inside the cylindrical wheel body 1, and a first inner mounting hole 10 is provided on the support disc 9. The spring piece 11 includes an outer arc-shaped arm 12 and an inner arc-shaped arm 13 connected end to end. A second outer mounting hole 14 is provided on the outer arc-shaped arm 12, and a second inner mounting hole 15 is provided on the inner arc-shaped arm 13. The second outer mounting hole 14 is aligned with the first outer mounting hole 8 and fixed by a bolt, and the second inner mounting hole 15 is aligned with the first inner mounting hole 10 and fixed by a bolt.

[0029] In the above technical solution, the cylindrical wheel body 1 is the basic external contour part of the wheel. The first convex rib portion 2 and the second convex rib portion 3 are arranged at intervals on the outer wall of the cylindrical wheel body 1 to increase the acting force between the cylindrical wheel body 1 and the ground. It is similar to the pattern on the tire surface but has a greater outward convexity and is suitable for contact with surfaces such as sand or gravel. The straight convex rib 4 and the folded convex rib 6 are respectively components of the first convex rib portion 2 and the second convex rib portion 3, and the through hole 5 can appropriately reduce the weight of the wheel. The fixing ring 7, the first outer mounting hole 8, and the second outer mounting hole 14 are used to install the spring piece 11 from the outer edge, and the support disc 9, the first inner mounting hole 10, and the second inner mounting hole 15 are used to install the spring piece 11 from the inner edge. The spring piece 11 is held between the support disc 9 and the fixing ring 7. Since the support disc 9 is connected to the main shaft and the fixing ring 7 is connected to the cylindrical wheel body 1, the spring piece 11 can play a shock-absorbing and buffering role between the main shaft and the cylindrical wheel body 1 by using the elasticity formed by its outer arc-shaped arm 12 and inner arc-shaped arm 13. At the same time, the wide cylindrical wheel body 1 has a large contact area with the ground, thereby improving the stability.

[0030] Embodiment 2

[0031] A spring piece folding and widening type rigid planet wheel, as Figures 1 to 7As shown in the figure, it includes a cylindrical wheel body 1, a first convex rib portion 2, a second convex rib portion 3, a straight convex rib 4, a through hole 5, a folded convex rib 6, a fixing ring 7, a first outer mounting hole 8, a support disk 9, a first inner mounting hole 10, a spring piece 11, an outer arc-shaped arm 12, an inner arc-shaped arm 13, a second outer mounting hole 14, and a second inner mounting hole 15. Among them, several first convex rib portions 2 and several second convex rib portions 3 are provided on the outer wall of the cylindrical wheel body 1, and the several first convex rib portions 2 and the several second convex rib portions 3 are arranged at intervals. The first convex rib portion 2 includes several parallel straight convex ribs 4, and through holes 5 are provided between adjacent straight convex ribs 4. The second convex rib portion 3 includes several parallel folded convex ribs 6. A fixing ring 7 is fixedly connected to the inner wall of the cylindrical wheel body 1, and a first outer mounting hole 8 is provided on the fixing ring 7. The support disk 9 is located inside the cylindrical wheel body 1, and a first inner mounting hole 10 is provided on the support disk 9. The spring piece 11 includes an outer arc-shaped arm 12 and an inner arc-shaped arm 13 connected end to end. A second outer mounting hole 14 is provided on the outer arc-shaped arm 12, and a second inner mounting hole 15 is provided on the inner arc-shaped arm 13. The second outer mounting hole 14 is aligned with the first outer mounting hole 8 and fixed by bolts. The second inner mounting hole 15 is aligned with the first inner mounting hole 10 and fixed by bolts. Among them, the cylindrical wheel body 1 is in the shape of a variable-diameter cylinder, and the diameter of the middle part of the cylindrical wheel body 1 is larger than the diameters of its two ends. The plane where the outer arc-shaped arm 12 is located is perpendicular to the plane where the inner arc-shaped arm 13 is located. The plane where the outer arc-shaped arm 12 is located coincides with the plane where the fixing ring 7 is located, and the outer arc-shaped arm 12 only contacts the fixing ring 7 at its end points. A protection plate is provided at the outer end of the cylindrical wheel body 1, and the protection plate does not contact the spring piece 11. The support disk 9 includes a disk and a mounting sleeve located in the middle of the disk, and several rib plates are provided between the mounting sleeve and the disk.

[0032] The embodiments of the present invention have been described in detail above, but the content described is only the preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the scope of the application of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flexible rigid planetary wheel with foldable springs, characterized in that: The invention comprises a cylindrical wheel body (1), a first convex rib portion (2), a second convex rib portion (3), a straight convex rib (4), a through hole (5), a folded convex rib (6), a fixing ring (7), a first outer mounting hole (8), a supporting plate (9), a first inner mounting hole (10), a spring sheet (11), an outer arc-shaped arm (12), an inner arc-shaped arm (13), a second outer mounting hole (14), and a second inner mounting hole (15), wherein a plurality of first convex rib portions (2) and a plurality of second convex rib portions (3) are arranged on the outer wall of the cylindrical wheel body (1), the plurality of first convex rib portions (2) and the plurality of second convex rib portions (3) are arranged at intervals from each other, the first convex rib portion (2) comprises a plurality of straight convex ribs (4) parallel to each other, and a through hole (5) is arranged between adjacent straight convex ribs (4) The second convex ridge portion (3) comprises a plurality of mutually parallel fold line ridges (6); a fixing ring (7) is fixedly connected to the inner wall of the cylindrical wheel body (1); a first outer mounting hole (8) is provided on the fixing ring (7); a support plate (9) is located inside the cylindrical wheel body (1); a first inner mounting hole (10) is provided on the support plate (9); the spring piece (11) comprises an outer arc-shaped arm (12) and an inner arc-shaped arm (13) connected end to end; a second outer mounting hole (14) is provided on the outer arc-shaped arm (12); a second inner mounting hole (15) is provided on the inner arc-shaped arm (13); the second outer mounting hole (14) is aligned with the first outer mounting hole (8) and fixed by bolts; and the second inner mounting hole (15) is aligned with the first inner mounting hole (10) and fixed by bolts.

2. The foldable widening rigid planetary wheel according to claim 1, characterized in that: The cylindrical wheel body (1) is in the shape of a variable diameter cylinder, and the diameter of the middle portion of the cylindrical wheel body (1) is greater than the diameters of the two ends thereof.

3. The elastic sheet folding width-changing rigid planetary wheel according to claim 1, characterized in that: The plane where the outer arc-shaped arm (12) is located and the plane where the inner arc-shaped arm (13) is located are perpendicular to each other.

4. The elastic sheet folding width-changing rigid planetary wheel according to claim 3, characterized in that: The plane where the outer arc-shaped arm (12) is located coincides with the plane where the fixing ring (7) is located, and the outer arc-shaped arm (12) contacts the fixing ring (7) only at its end point.

5. The elastic sheet folding width-changing rigid planetary wheel according to claim 1, characterized in that: A protection plate is provided at the outer end of the cylindrical wheel body (1), and the protection plate does not contact the spring sheet (11).

6. The elastic sheet folding width-changing rigid planetary wheel according to claim 1, characterized in that: The support plate (9) comprises a circular plate and a mounting sleeve located in the middle of the circular plate, and a plurality of ribs are arranged between the mounting sleeve and the circular plate.

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