阅读说明：本技术 一种可变直径及可变轮面形态的车轮 (Wheel with variable diameter and variable wheel surface shape ) 是由 栾亨宣 李�浩 曲皇屹 翁丽媛 陈阳 于 2020-07-06 设计创作，主要内容包括：本发明公开了一种可变直径及可变轮面形态的车轮,包括轮毂部件、车轮支撑部件和柔性轮面。轮毂部件包括外侧轮毂和内侧轮毂,外侧轮毂和内侧轮毂通过伸缩轴连接。车轮支撑部件包括可折叠轮辐,多组可折叠轮辐沿内、外侧轮毂的圆周方向均匀布置。柔性轮面包括位于中间区域的外凸四边形柔性面以及位于外凸四边形柔性面四周的内凹三角形柔性面。本发明通过伸缩轴运动可实现车轮在最大直径和最小直径两种工作状态之间的切换,能够显著提升其越过地面障碍的能力或使其可以顺利通过低矮障碍空间,整体上提高了越障的灵活性。本发明结构简单,能够灵活调节车轮直径,稳定性更高,应用前景广阔。(The invention discloses a wheel with variable diameter and variable wheel surface shape, which comprises a hub part, a wheel supporting part and a flexible wheel surface. The hub part comprises an outer hub and an inner hub, and the outer hub and the inner hub are connected through a telescopic shaft. The wheel support component comprises foldable spokes, and a plurality of groups of the foldable spokes are uniformly arranged along the circumferential direction of the inner side wheel hub and the outer side wheel hub. The flexible wheel surface comprises an outer convex quadrilateral flexible surface positioned in the middle area and inner concave triangular flexible surfaces positioned at the periphery of the outer convex quadrilateral flexible surface. The invention can realize the switching between the maximum diameter and the minimum diameter of the wheel through the movement of the telescopic shaft, can obviously improve the capability of the wheel to cross ground obstacles or ensure that the wheel can smoothly pass through a low obstacle space, and integrally improves the flexibility of obstacle crossing. The invention has simple structure, can flexibly adjust the diameter of the wheel, has higher stability and wide application prospect.)

1. A wheel with variable diameter and variable wheel surface form is characterized by comprising a hub part, a wheel supporting part and a flexible wheel surface, wherein,

the hub part comprises an outer hub and an inner hub, one opposite sides of the outer hub and the inner hub are connected through a telescopic shaft, and the outer hub and the inner hub are driven by the telescopic shaft to move close to or away from each other;

the wheel supporting component comprises foldable spokes, a plurality of groups of the foldable spokes are uniformly arranged in the circumferential direction of the outer side wheel hub and the inner side wheel hub, and the outer side wheel hub and the inner side wheel hub are connected through the foldable spokes;

the foldable spoke comprises two L-shaped radial plates and two connecting radial plates, one ends of the two connecting radial plates are hinged through a hinge shaft, one ends of the L-shaped radial plates are hinged with the corresponding ends, far away from the hinge shaft, of the connecting radial plates, and the other ends of the L-shaped radial plates are hinged with the corresponding outer side hubs or the corresponding inner side hubs respectively;

the flexible wheel surface is arranged between two adjacent foldable spokes and comprises an outer convex quadrilateral flexible surface positioned in the middle area and inner concave triangular flexible surfaces positioned at the periphery of the outer convex quadrilateral flexible surface, wherein,

the outer convex quadrilateral flexible surface is folded along the diagonal direction thereof towards the direction close to the telescopic shaft, four sides of the outer convex quadrilateral flexible surface are respectively connected with the inner concave triangular flexible surface in a folding manner, the four inner concave triangular flexible surfaces are respectively folded towards the outer convex quadrilateral flexible surface in a folding manner, and the adjacent sides of the inner concave triangular flexible surface and the outer convex quadrilateral flexible surface are respectively fixedly connected with the foldable spoke.

2. The variable diameter and variable wheel face geometry wheel of claim 1 wherein the edges of said convex quadrilateral compliant surface and said concave triangular compliant surface are provided with hard folds.

3. The wheel with the variable diameter and the variable wheel surface shape as claimed in claim 1, wherein the convex quadrilateral flexible surface and the concave triangular flexible surface are of a three-layer composite structure, and respectively comprise an inner polyester substrate, a middle fabric layer and an outer polyester substrate from inside to outside, and are formed by pressing through a hot pressing process.

4. A variable diameter and variable wheel face configuration wheel as claimed in claim 1, wherein said telescoping shaft has a plurality of circumferentially uniformly spaced brackets, said brackets corresponding in number to said foldable spokes, and wherein the hinged ends of two of said connecting spokes are located on said brackets when said telescoping shaft is at its maximum travel.

5. The wheel with the variable diameter and the variable wheel surface shape according to claim 1, wherein the telescopic shaft is an electric telescopic shaft, the electric telescopic shaft comprises a sleeve and a telescopic rod, the sleeve is connected with the inner side wheel hub through a bearing, the telescopic rod is inserted in the sleeve and can move telescopically along the sleeve, and one end, far away from the sleeve, of the telescopic rod is connected with the outer side wheel hub through a bearing.

6. The wheel of claim 1, wherein the inner wall of the sleeve is formed with four rectangular grooves, the rectangular grooves are disposed along the length direction of the sleeve, the four rectangular grooves are uniformly disposed on the sleeve along the circumference direction, the outer surface of the telescopic rod is integrally formed with four rectangular strips used in cooperation with the rectangular grooves, and the telescopic rod is connected to the sleeve in an insertion manner through cooperation between the rectangular strips and the rectangular grooves.

7. A variable diameter and variable wheel face configuration wheel according to claim 1, wherein said carrier is located on an outer wall of said sleeve, and said carrier is fixedly attached to said sleeve.

8. The wheel with the variable diameter and the variable wheel surface shape as claimed in claim 1, wherein a plurality of grooves are uniformly distributed in the circumferential direction of the outer hub and the inner hub, each groove is provided with one outer hinge, and the L-shaped spoke plate is hinged with the outer hub or the inner hub through the outer hinge.

9. A variable diameter and variable wheel face configuration wheel as claimed in claim 1, wherein said L-shaped web includes a long link and a short link, said long link being welded to said short link, said short link being hingedly connected to a corresponding one of said outboard hub or said inboard hub via said outboard hinge.

Technical Field

The invention relates to the technical field of mechanical engineering, in particular to a wheel with variable diameter and variable wheel surface form.

Background

In the fields of military affairs, disaster rescue, epidemic prevention and the like, special small unmanned vehicles or robots are often required to replace human beings to complete a plurality of tasks, such as detection work in dangerous environments or object transportation in environments difficult to enter, and the like, which puts high requirements on the complex terrain passing capacity of the special small unmanned vehicles or robots. However, the conventional wheel hub structure has a limitation in obstacle crossing, for example, although a large-diameter tire can well cross over a ground obstacle, an unmanned vehicle cannot pass through a low space, and even some wheels are designed to be very complicated for meeting obstacle crossing requirements. Scientific problems in paper folding have wide application value in real life, the paper folding structure is stable without support, and the paper folding structure has the advantages of high space utilization rate, light weight and the like. Therefore, it is necessary to develop a variable-diameter wheel based on a paper folding structure to solve these problems.

Through the search of the prior art, chinese patent document No. CN105711329A, publication No. 2016.06.29, discloses a variable-diameter wheel based on a cam pair, which includes a hub, a cam, an outer rim and a cam pair corresponding to the outer rim. When the outer wheel rim of the deformable wheel is stretched to reach the outermost point, the connecting rod and the cam just run to the dead angle position, so that the load born by the vehicle is greatly improved. The vehicle trafficability in different environments is improved by the expansion and the retraction of the outer rim: when the obstacle is crossed, the environmental adaptability can be improved; when in sand, the sand can be recovered to the original state so as not to be sunk into the sand; when the ground is flat, the initial shape can be maintained to ensure smooth and high-speed running. However, the mechanical structure of the patent is complex, three connecting rods of the patent are used as main stress rods after deformation, the requirement on the strength is high, and in addition, the deformation of the device only changes the radial dimension of the wheel, so that the deformation degree is not large, and the obstacle crossing capability is limited. Simultaneously, when the operating condition of certain angle was opened to three foreign steamer reason of this wheel structure, its rim outside was open state, and the clearance between the three foreign steamer reason also causes jolting easily to the wheel walking, and inevitable simultaneously causes impurity such as ground stone to get into inside the wheel, and clearance between the three foreign steamer reason causes the card with the ground arch easily and dunes and influences the normal function of marcing.

Disclosure of Invention

In order to overcome the above problems, the present invention provides a wheel with a variable diameter and a variable tread configuration.

In order to achieve the purpose, the invention provides the following technical scheme:

a wheel with variable diameter and variable wheel surface form comprises a hub part, a wheel supporting part and a flexible wheel surface, wherein,

the hub part comprises an outer hub and an inner hub, one opposite sides of the outer hub and the inner hub are connected through a telescopic shaft, and the outer hub and the inner hub are driven by the telescopic shaft to move close to or away from each other;

the wheel supporting component comprises foldable spokes, a plurality of groups of the foldable spokes are uniformly arranged in the circumferential direction of the outer side wheel hub and the inner side wheel hub, and the outer side wheel hub and the inner side wheel hub are connected through the foldable spokes;

the foldable spoke comprises two L-shaped radial plates and two connecting radial plates, one ends of the two connecting radial plates are hinged through a hinge shaft, one ends of the L-shaped radial plates are hinged with the corresponding ends, far away from the hinge shaft, of the connecting radial plates, and the other ends of the L-shaped radial plates are hinged with the corresponding outer side hubs or the corresponding inner side hubs respectively;

the flexible wheel surface is arranged between two adjacent foldable spokes and comprises an outer convex quadrilateral flexible surface positioned in the middle area and inner concave triangular flexible surfaces positioned at the periphery of the outer convex quadrilateral flexible surface, wherein,

the outer convex quadrilateral flexible surface is folded along the diagonal direction thereof towards the direction close to the telescopic shaft, four sides of the outer convex quadrilateral flexible surface are respectively connected with the inner concave triangular flexible surface in a folding manner, the four inner concave triangular flexible surfaces are respectively folded towards the outer convex quadrilateral flexible surface in a folding manner, and the adjacent sides of the inner concave triangular flexible surface and the outer convex quadrilateral flexible surface are respectively fixedly connected with the foldable spoke.

Furthermore, hard creases are arranged on the edges of the outer convex quadrilateral flexible surface and the inner concave triangular flexible surface.

Furthermore, the outer convex quadrilateral flexible surface and the inner concave triangular flexible surface are of a three-layer composite structure and sequentially comprise an inner polyester substrate, a middle fabric layer and an outer polyester substrate from inside to outside, and the outer convex quadrilateral flexible surface and the inner concave triangular flexible surface are formed by pressing through a hot pressing process.

Further, the surface of telescopic shaft is evenly laid a plurality of brackets along the circumferencial direction, the quantity of bracket with the quantity of collapsible spoke is unanimous, works as telescopic shaft is in two when the biggest stroke the hinged end of connecting the radials is located on the bracket.

Furthermore, the telescopic shaft is an electric telescopic shaft, the electric telescopic shaft comprises a sleeve and a telescopic rod, the sleeve is connected with the inner side wheel hub through a bearing, the telescopic rod is inserted into the sleeve and can move along the sleeve in a telescopic mode, and one end, far away from the sleeve, of the telescopic rod is connected with the outer side wheel hub through a bearing.

Further, four rectangular channels have been seted up to telescopic inner wall, the rectangular channel is followed telescopic length direction sets up, and four the rectangular channel is in evenly set up along the circumferencial direction on the sleeve, the surface integrated into one piece of telescopic link have four with the rectangular strip of rectangular channel cooperation use, the telescopic link passes through rectangular strip with the cooperation of rectangular channel with sleeve plug connection.

Further, the bracket is located on the outer wall of the sleeve, and the bracket and the sleeve are fixedly connected.

Further, the circumferencial direction evenly distributed of outside wheel hub with inboard wheel hub has a plurality of recesses, every all be provided with one in the recess outer hinge, the L type radials passes through outer hinge with outside wheel hub or inboard wheel hub hinged joint.

Further, L type radials includes long connecting rod and short connecting rod, long connecting rod with short connecting rod welded connection, the short connecting rod passes through outer hinge with correspond outside wheel hub or inboard wheel hub is articulated to be connected.

Compared with the prior art, the invention has the following beneficial effects:

1. the wheel with the variable diameter and the variable wheel surface form realizes the change of the axial size and the radial size of the wheel through the extension and the contraction of the telescopic shaft. Through the telescopic motion of telescopic shaft, change the relative position between inboard wheel hub and the outside wheel hub, reach the purpose that changes the wheel axial size. The relative movement of the inner hub and the outer hub can drive the foldable spoke to deform, so that the radial size of the wheel is changed, and the switching of the wheel between the maximum diameter working state and the minimum diameter working state is realized. When the relative distance between the inner side hub and the outer side hub reaches the minimum, the radius of the wheel is the maximum, and the capability of crossing ground obstacles can be obviously improved; when the relative distance between the inner side wheel hub and the outer side wheel hub reaches the maximum, the radius of the wheel is the minimum, so that the wheel can smoothly pass through a short obstacle space, and the obstacle crossing flexibility is integrally improved.

2. According to the wheel with the variable diameter and the variable wheel surface shape, the flexible wheel surface is arranged between the two adjacent foldable spokes, so that the running stability of the wheel can be improved, and the wheel can rotate more smoothly. The flexible wheel surface makes up the gap between two adjacent foldable spokes, avoids sundries such as silt from being brought into the wheel hub in the advancing process, and improves the reliability of the wheel. Meanwhile, the flexible wheel surface has certain toughness, so that the collision between the gap between the two foldable spokes and the road surface can be well buffered, and the edges of the foldable spokes are protected. The good toughness of the flexible wheel surface can also play a role in elastic buffer of the advancing process of the wheel.

Drawings

FIG. 1 is a schematic structural view of a wheel with a variable diameter and a variable tread configuration according to the present invention;

FIG. 2 is a schematic structural view of another variable diameter and variable wheel surface configuration wheel of the present invention;

FIG. 3 is a schematic view of the internal structure of a variable diameter and variable tread configuration wheel according to the present invention;

FIG. 4 is a schematic view of a variable diameter and variable tread configuration wheel according to the present invention in a minimum diameter configuration;

FIG. 5 is a schematic view of a wheel with a variable diameter and a variable tread configuration according to the present invention in a maximum diameter state;

FIG. 6 is an enlarged view of a portion of FIG. 1;

FIG. 7 is a schematic structural diagram of a flexible tread of a variable diameter and variable tread configuration wheel according to the present invention;

FIG. 8 is a schematic view of the folding direction of the flexible tread of the wheel with variable diameter and variable tread configuration according to the present invention;

FIG. 9 is a schematic structural diagram of a flexible tread of a variable diameter and variable tread configuration wheel according to the present invention in a folded configuration;

fig. 10 is a cross-sectional view of a telescopic shaft of a wheel with a variable diameter and a variable tread form according to the present invention.

In the figure, 1-outside hub, 2-inside hub, 3-foldable spokes, 301-L-shaped web, 3011-long link, 3012-short link, 302-connecting web, 303-articulated shaft, 4-telescopic shaft, 401-sleeve, 402-telescopic rod, 5-groove, 6-outer hinge, 7-flexible wheel face, 701-outer convex quadrilateral flexible face, 702-inner concave triangular flexible face, 8-bracket, 9-rectangular groove, 10-rectangular strip, and 11-fixed ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.