Foldable Wheel Structure for Variable-Diameter Robot Mobility
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Solution Overview
Problem
Traditional wheels with fixed shapes and sizes struggle to adapt to varying road conditions, compromising the mobility of robots in complex environments.
Innovation Solution
A foldable wheel design featuring a hub, foldable unit cells, spoke plates, a collar, an elastic connecting member, and a driving structure, allowing the wheel to change diameter by folding and unfolding unit cells.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional fixed-size wheel is used, then the structure is simple and reliable, but the robot cannot adapt to different road conditions
Solution Approach 1:
The wheel is divided into multiple independent unit cells that can be folded and unfolded. Each unit cell includes a flexible support layer, elastic cover plates, and spoke plates that connect to the hub. This segmentation allows the wheel to change its overall diameter by folding or unfolding individual cells, enabling adaptation to different road conditions while maintaining a relatively simple modular structure
Solution Approach 2:
The wheel transitions from a static fixed-diameter structure to a dynamic variable-diameter structure through the folding and unfolding mechanism. The unit cells can be dynamically adjusted based on terrain requirements, allowing the robot to optimize its wheel diameter for different conditions such as rugged roads or low gaps
2Strength
If a larger wheel diameter is used, then the climbing ability and passing performance improve, but the overall center of gravity increases
Solution Approach 1:
The wheel diameter is made dynamically adjustable rather than fixed. When climbing ability is needed, the unit cells unfold to increase diameter; when navigating low gaps or minimizing center of gravity is needed, the cells fold to reduce diameter. This dynamic adjustment allows the robot to optimize performance for specific tasks without permanently increasing weight or center of gravity
3Adaptability or versatility
If the wheel diameter is changed to adapt to different conditions, then the obstacle crossing ability improves, but the structural complexity increases
Solution Approach 1:
The complex variable-diameter function is achieved through simple modular unit cells that can be independently folded and unfolded. Each cell contains basic components (flexible support layer, elastic cover plates, spoke plates) that work together to enable diameter change without requiring complex mechanisms
Solution Approach 2:
The flexible support layer and elastic cover plates provide the necessary flexibility for folding and unfolding while maintaining structural integrity. These flexible components allow the unit cells to change configuration smoothly, enabling diameter adjustment without complex mechanical joints or fastening mechanisms
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The foldable wheel enhances the robot's ability to cross obstacles and navigate diverse terrain by adjusting its diameter for improved mobility and adaptability.
Implementation Method 1
an elastic connecting member, one end of which is connected to the spoke plates and the other end of which is connected to the collar
Implementation Method 2
a plurality of spoke plates with elasticity, where each spoke plate is positioned between two adjacent unit cells
Data Source
AI summary
A foldable wheel and a robot, where the foldable wheel includes a hub, a plurality of foldable unit cells, a plurality of spoke plates, a collar, an elastic connecting member and a driving structure. Where the foldable unit cell is connected with the spoke plate, and the spoke plate is between two adjacent unit cells, the spoke plate is connected with an outer peripheral surface of the hub, two ends of the hub are rotationally connected with the collar, and the elastic connecting member connects the collar and the spoke plate. The driving system drives the collar to rotate relative to the hub and pulls the spoke plate through the elastic connecting member to realize the folding and unfolding of the unit cell, so that the wheel is changeable in diameter.