CN101875284B - Deformable wheel device - Google Patents
Deformable wheel device Download PDFInfo
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- CN101875284B CN101875284B CN 200910249947 CN200910249947A CN101875284B CN 101875284 B CN101875284 B CN 101875284B CN 200910249947 CN200910249947 CN 200910249947 CN 200910249947 A CN200910249947 A CN 200910249947A CN 101875284 B CN101875284 B CN 101875284B
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- wheel
- deformable
- distortion
- rim
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Abstract
The invention discloses a deformable wheel device, in particular to a deformable wheel which is used for a light vehicle and can adapt to different pavements. The deformable wheel comprises a deformable rim and a driving shaft, wherein an inner gear ring is arranged on the inner surface of the deformable rim; a driving wheel and a guide wheel are meshed on the inner gear ring; the driving wheel and the guide wheel are symmetrically arranged at two sides of the vertical line of the center of a circle of the deformable rim; a spacing wheel A and a spacing wheel B are respectively installed at the opposite parts of the driving wheel and the guide wheel on the outer surface of the deformable rim; the centers of the spacing wheel A and the driving wheel are positioned on the same line; and thecenters of the spacing wheel B and the guide wheel are positioned on the same line. When a vehicle is loaded, the deformable wheel of the invention deforms into a similar ellipse from a circle, thereby changing the ground contact area, reducing the unit pressure and improving the trafficability of the vehicle; and the greater the load is, the larger the deformation is, and the larger the ground contact area is. When the vehicle runs on a hard pavement, an adjusting device can be used for keeping the wheel similar to a circle, thereby improving the running speed.
Description
Technical field
The invention belongs to a kind of vehicle to run device, be specifically related to a kind of deformable wheel that adapts to different road surfaces of light-duty vehicle.
Background technology
At present people study at most, use also the most widely traveling gear wheeled, crawler type, the sufficient formula traveling gear of leg.
It is fast that wheel type traveling mechanism has the speed of travel, turn to advantages such as flexible, adopted by most of vehicle, modern automobile nearly all adopts wheeled construction, wheel adopts air-inflation tyre to contact with ground, suffered impact when air-inflation tyre and suspension relax running car jointly, and guarantee between wheel and road surface good tack is arranged, frictional property, but because the area of contact on wheel and ground is less, when automobile travels at soft surface, skid and depression easily, comformability and crossing ability greatly reduce, even if some automobile has been installed the tire pressure control system, change the area of contact on wheel and ground by regulating air pressure, its change amount is also quite limited, and system complex, cost is higher.
Compare with wheel type traveling mechanism, crawler type walking mechanism has advantages such as grounding pressure is little, and cross-country mobility is good, but its mechanism's complexity, quality is big, and energy consumption was higher when the high-speed motion process was particularly turned, the crawler belt road pavement has certain destructive effect in addition, only uses at some purpose-built vehicle.
Though leg foot formula traveling gear is fit to any in esse landform, its kinematic velocity is lower, structure and control system complexity.
At present, the vehicle that is used for soft surface adopts low-voltage vacuum typing wheel more, and the essence that adopts low spacing wheel is to increase the wheel ground contact area, but the change amount is little, in addition, some vehicle structure can be realized the change of wheel profile in the prior art, reaches the purpose that changes ground contact area.For example CN1958375A discloses a kind of crawler type automatic deformation wheels for multiple highway conditions, and this mechanism utilizes the Driven by Hydraulic Cylinder cam sleeve, though the deformation wheel outline is changed, the system architecture complexity, cost is higher.
Summary of the invention
For solving deformed wheel complex structure in the prior art, the cost height, maintenance difficult, the problem that field of application is little, the invention provides a kind of simple in structure, easy to adjust, be applicable to the deformable wheel of hard road and soft surface, concrete scheme is as follows: a kind of deformable wheel device, comprise the distortion wheel rim, axle drive shaft, it is characterized in that, described distortion wheel rim adopts elastomeric material to make, distortion wheel rim inside face has internally toothed annulus, be engaged with drive wheel and track adjusting wheel on the internally toothed annulus, drive wheel and track adjusting wheel are arranged symmetrically in distortion perpendicular line both sides, the wheel rim center of circle, opposite position in distortion wheel rim outside face drive wheel and track adjusting wheel is separately installed with position-limited wheel A, position-limited wheel B, described position-limited wheel A and drive wheel center conllinear, position-limited wheel B and track adjusting wheel center conllinear, described drive wheel is connected with the axle drive shaft of vehicle, position-limited wheel A, position-limited wheel B is connected with car body by pivot shaft with track adjusting wheel.
Another optimal way of the present invention: in the middle of described position-limited wheel A, the position-limited wheel B axis of rolling is arranged, there is catch at the two ends of the axis of rolling.
Another optimal way of the present invention: the angle in the relative deformation wheel rim axle center, position between drive wheel and the track adjusting wheel is in contact with one another to 180 ° from drive wheel and track adjusting wheel.
Another optimal way of the present invention: described angle is preferably 120 °.
Another optimal way of the present invention: described internally toothed annulus one side has adjusting ring, control apparatus is installed in the adjusting ring, control apparatus comprises the pole of installing on center shaft, the center shaft circumference, pole comprises fixed end, adjusting cylinder and the contact jaw that connects successively, contact jaw contacts with adjusting ring, and fixed end is fixed on the center shaft.
Another optimal way of the present invention: described contact jaw top is equipped with pad, and spacers is in adjusting ring, and described center shaft together moves with the distortion wheel rim.
Another optimal way of the present invention: be hinged between described contact jaw and the pad, described pad is arc.
Another optimal way of the present invention: described contact jaw is smooth side, contact jaw and adjusting ring moving contact, and described center shaft is fixed on the car body and does not together rotate with the distortion wheel rim.
Another optimal way of the present invention: described adjusting cylinder is hydraulic actuating cylinder, cylinder or liquid gas mixed cylinder.
The present invention is applicable to a kind of light-duty vehicle of underload, bears a heavy burden generally at several kilograms to several thousand kilograms the situation that the thickness of wheel can apparent load, increase or reduce, to guarantee that the wheel distortion is within a controlled range, when system's stand under load, deformation wheel deforms, and becomes approximate ellipsoidal by circle, thereby changes ground contact area, reduce unit pressure, improve the carrying capacity of vehicle, and stand under load is more big, is out of shape more big, ground contact area is more big, and the unit pressure recruitment is little or constant substantially.This programme is fully in conjunction with wheeled and advantage crawler type walking mechanism, existing must have good carrying capacity again by moving velocity, not only speed that can be certain by soft surface such as seabeach, desert, snowfield, grassland etc., also can be travelled with higher speed on the hard pavement smoothly.In addition, deformation wheel has elasticity preferably, is equivalent to the elastic element in the suspension, and drive wheel, track adjusting wheel and position-limited wheel are equivalent to the director element in the suspension, so system itself has the effect of suspension, vehicle need not to add in addition suspension.In the time of on the hard pavement, utilize control apparatus to make wheel keep approximate round, to improve moving velocity, in the time of on soft surface, make it keep sub-elliptical, to increase ground contact area, increased the safety of travelling.Position-limited wheel A, the position-limited wheel B of this programme block wheel, guarantee the driven of drive wheel, adopt the walking manner of gear engagement, have guaranteed under any circumstance the integraty of power transmission.
Description of drawings
Fig. 1 deformation wheel structural representation of the present invention;
The A-A cutaway view of Fig. 2 Fig. 1 deformation wheel of the present invention
Fig. 3 deformation wheel deformation state of the present invention scheme drawing
Fig. 4 control apparatus scheme drawing of the present invention
The specific embodiment
As Fig. 1,2, shown in 3, the deformation wheel of this programme is by distortion wheel rim 1, drive wheel 2, position-limited wheel A3, track adjusting wheel 4, position-limited wheel B5 and control apparatus are formed, distortion wheel rim 1 outside face is the same with common wheel, the friction line is arranged, but does not inflate this distortion wheel rim inside, but employing solid construction, inside face at distortion wheel rim 1 has internally toothed annulus 7, utilization is installed in the drive wheel 2 and track adjusting wheel 4 on the car body, mode with engagement, advance from distortion wheel rim 1 internal drive distortion wheel rim, drive wheel 2 is connected with the axle drive shaft 6 of vehicle, for guaranteeing the control to the distortion wheel rim, at drive wheel and track adjusting wheel place corresponding position-limited wheel A3 is installed, position-limited wheel B5, the centre of position-limited wheel A and position-limited wheel B is the axis of rolling 8, at the two ends of the axis of rolling 8 catch 9 is installed, during installation with position-limited wheel A, position-limited wheel B is stuck on the distortion wheel rim outside face, position-limited wheel A, the catch 9 at the position-limited wheel B axis of rolling 8 two ends is stuck in the both sides of distortion wheel rim 1, thereby guarantee that the distortion wheel rim in the process of moving can stressed disengaging and the integraty of power transmission, and the mode of operation of track adjusting wheel 4 and position-limited wheel B5 is identical with position-limited wheel A3 mode of operation with drive wheel 2, just the motion of track adjusting wheel 4 is driven by drive wheel 2, the width of drive wheel and track adjusting wheel generally internally toothed annulus 7 width with distortion wheel rim inside is identical, also can be greater than or less than the width of internally toothed annulus, to adapt to different vehicle needs, and position-limited wheel A, the width of position-limited wheel B then needs the width greater than vehicle, and good convenient card is at distortion wheel rim outside face.
Vertical line both sides, wheel rim 1 center of circle are out of shape in being distributed in of drive wheel 2 and track adjusting wheel 4 symmetries, angle between drive wheel and the track adjusting wheel can change within the specific limits, drive wheel is different with angle between the track adjusting wheel, shape under the identical load after the distortion of distortion wheel rim is also different, the maxim of angle is 180 °, minimum value should be decided according to the scantling of structure of system, angle minimum when drive wheel just contacts with track adjusting wheel.
As shown in Figure 4, the deformation wheel of this programme also comprises control apparatus, can better adapt to the road surface situation, one side of the distortion wheel rim internally toothed annulus 7 of band control apparatus has adjusting ring, control apparatus comprises center shaft 14, be fixed on the pole on the center shaft, pole comprises the fixed end 12 that connects successively, regulate cylinder 10 and contact jaw 11, fixed end 12 is fixed on the center shaft 14, contact jaw 11 contacts with the adjusting ring of distortion wheel rim 1, pole evenly is fixed on the circumference of center shaft 14, and the situation of the number apparent load of pole and deciding can be installed pole more when load is big, can be connected the open following dual mode of this programme between contact jaw 11 and the adjusting ring in different ways:
(1) contact jaw and adjusting ring are fixed: the end points of contact jaw 11 is installed the pad 13 of an arc at this moment, and wherein fixed form is articulated manner between fixed end and center shaft, contact jaw and the pad, and center shaft is along with pole and distortion wheel rim are synchronized with the movement.
(2) contact jaw is not fixed with adjusting ring: this moment, contact jaw 11 surface was round slip surface, and contact jaw and adjusting ring are moving contact, this moment fixed end with center shaft for captiveing joint, center shaft is fixed on and does not rotate on the car body, relatively rotates but be out of shape wheel rim.
More than in two each modes, fixed end 12, contact jaw 11 length of pole are identical, regulate the midway location that cylinder 10 is positioned at pole, the elongation shortening of regulating cylinder can make the length of pole change, when the adjusting cylinder is elongated to predetermined value, the length of all poles is identical, and be out of shape wheel rim and can keep a near round shape this moment, when the suitable vehicle of this situation travels in the hard pavement.
The motion of regulating cylinder is the different dynamic mode work adopted by vehicle, as pneumatic mode, the mode of surging or liquid gas hybrid mode, there is the passage of supplied gas or flow of liquid pole inside between the fixed end of pole and the adjusting cylinder, the opening of passage one end and the gas liquid outlet on the center shaft are connected, deliver to the adjusting cylinder interior by the gas/liquid of supplying on the car through center shaft, pole passage, flexiblely make corresponding control to what regulate cylinder, final body is out of shape on the deformation extent of wheel rim now.This regulative mode can be decided on the situation on road surface, in the time of on the hard pavement, utilize gas/liquid to make and regulate the cylinder elongation, and the length of each pole is consistent, the distortion wheel rim remains approximate round under the support of pole, can accelerate the speed of carrying out of vehicle greatly.In the time of on soft surface, make the adjusting cylinder be in free movement state, the distortion wheel rim deforms in the effect of load, regulating cylinder can be corresponding flexible along with the distortion of distortion wheel rim, be specially: when pole forwarded the stressed position of distortion wheel rim to, the distortion wheel rim can be given thrust of fixed end, and then fixed end promotes to regulate the cylinder contraction, guaranteed the distortion wheel rim under the situation of distortion, regulating mechanism can not influence the normal deformation of distortion wheel rim.Be out of shape wheel rim become approximate ellipsoidal this moment under the effect of load, increased the area of contact with ground, thereby vehicle can not be absorbed in the road surface and pass through fast.
Drive wheel is driven by the axle drive shaft 6 on the car, the rotation of drive wheel drives the internally toothed annulus of engagement, thereby driving the distortion wheel rim advances, track adjusting wheel, position-limited wheel A, position-limited wheel B are connected with car body by pivot shaft, and the center conllinear of position-limited wheel A and drive wheel, position-limited wheel B and track adjusting wheel and two lines are arranged symmetrically in the perpendicular line both sides, the center of circle of distortion wheel rim.Position-limited wheel A, position-limited wheel B and track adjusting wheel are all taked adjustable, can take following dual mode: (1), adjusting pivot shaft make position-limited wheel A3, position-limited wheel B5 relative deformation wheel rim 1 center of circle produce radial motion, leave the distortion wheel rim, drive wheel 2 and track adjusting wheel 4 are not moved, and can realize changing the purpose of distortion wheel rim this moment.
(2), the angle between adjustment drive wheel and the track adjusting wheel: regulate pivot shaft and make position-limited wheel A3, position-limited wheel B5 relative deformation wheel rim 1 center of circle produce radial motion, leave the distortion wheel rim, this moment, drive wheel 2 was not moved, pivot shaft makes track adjusting wheel 4 move in a circle with the center of circle of distortion wheel rim simultaneously, angle between track adjusting wheel and the drive wheel is changed, this moment position-limited wheel A, position-limited wheel B center conllinear of maintenance and drive wheel, track adjusting wheel also.
The distortion wheel rim of this programme adopts elastomeric material to make, as rubber, metallic elastic composite material etc., under the lighter situation of vehicle overall weight, generally adopt elastomeric material to manufacture the distortion wheel rim, under the bigger situation of vehicle overall weight, generally adopt the metallic elastic composite material.When distortion wheel rim selection, by vehicle and the actual conditions used, also need to consider elastic strength, the thickness of rubber, metallic elastic material, the factors such as composition of material.
Claims (9)
1. deformable wheel device, comprise distortion wheel rim (1), axle drive shaft (6), it is characterized in that, described distortion wheel rim adopts elastomeric material to make, distortion wheel rim inside face has internally toothed annulus (7), be engaged with drive wheel (2) and track adjusting wheel (4) on the internally toothed annulus, drive wheel and track adjusting wheel are arranged symmetrically in distortion perpendicular line both sides, the wheel rim center of circle, opposite position in distortion wheel rim outside face drive wheel and track adjusting wheel is separately installed with position-limited wheel A (3), position-limited wheel B (5), described position-limited wheel A and drive wheel center conllinear, position-limited wheel B and track adjusting wheel center conllinear, described drive wheel is connected position-limited wheel A with the axle drive shaft (6) of vehicle, position-limited wheel B is connected with car body by pivot shaft with track adjusting wheel.
2. a kind of deformable wheel device as claimed in claim 1 is characterized in that, in the middle of described position-limited wheel A (3), the position-limited wheel B (5) axis of rolling (8) is arranged, and there is catch (9) at the two ends of movable axis.
3. a kind of deformable wheel device as claimed in claim 2 is characterized in that, the angle in the relative deformation wheel rim axle center, position between drive wheel (2) and the track adjusting wheel (4) is in contact with one another to 180 ° from drive wheel and track adjusting wheel.
4. a kind of deformable wheel device as claimed in claim 3 is characterized in that, described angle is preferably 120 °.
5. a kind of deformable wheel device as claimed in claim 4, it is characterized in that, described internally toothed annulus (7) one sides have adjusting ring, control apparatus is installed in the adjusting ring, control apparatus comprises the pole of installing on center shaft (14), the center shaft circumference, pole comprises fixed end (12), adjusting cylinder (10) and the contact jaw (11) that connects successively, and contact jaw (11) contacts with adjusting ring, and fixed end (12) is fixed on the center shaft (14).
6. a kind of deformable wheel device as claimed in claim 5 is characterized in that, described contact jaw (11) top is equipped with pad (13), and pad (13) is fixed in the adjusting ring, and described center shaft (14) together moves with distortion wheel rim (1).
7. a kind of deformable wheel device as claimed in claim 6 is characterized in that, is hinged between described contact jaw (11) and the pad (13), and described pad (13) is arc.
8. a kind of deformable wheel device as claimed in claim 5 is characterized in that, described contact jaw (11) is smooth side, contact jaw and adjusting ring moving contact, and described center shaft (14) is fixed on the car body and does not together rotate with distortion wheel rim (1).
9. a kind of deformable wheel device as claimed in claim 8 or 9 is characterized in that described adjusting cylinder (10) is hydraulic actuating cylinder, cylinder or liquid gas mixed cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910249947 CN101875284B (en) | 2009-12-07 | 2009-12-07 | Deformable wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910249947 CN101875284B (en) | 2009-12-07 | 2009-12-07 | Deformable wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101875284A CN101875284A (en) | 2010-11-03 |
| CN101875284B true CN101875284B (en) | 2013-08-21 |
Family
ID=43018006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910249947 Expired - Fee Related CN101875284B (en) | 2009-12-07 | 2009-12-07 | Deformable wheel device |
Country Status (1)
| Country | Link |
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| CN (1) | CN101875284B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT107388B (en) * | 2014-01-06 | 2021-01-29 | José Lopes Oliveira Jacinto | ELLIPTICAL WHEEL WITH LEVELED AXLE |
| CN106585268A (en) * | 2016-11-03 | 2017-04-26 | 杭州否科技有限公司 | Vehicle wheel and vehicle using same |
| CN106627837B (en) * | 2016-11-30 | 2018-08-31 | 中国人民解放军国防科学技术大学 | wheeled mobile robot |
| GB201621681D0 (en) * | 2016-12-20 | 2017-02-01 | Airbus Defence & Space Ltd | Wheel assembly |
| CN111483844A (en) * | 2020-04-27 | 2020-08-04 | 海盐海马五金有限公司 | Automatic coil stock discharging tray |
| CN112664807B (en) * | 2020-12-17 | 2021-09-14 | 昆明理工大学 | Residual explosive observation device after tunnel excavation blasting and use method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5492390A (en) * | 1994-04-20 | 1996-02-20 | Nudvuck Enterprises | Variable shaped wheel |
| JP2007145044A (en) * | 2005-11-24 | 2007-06-14 | Daiwarashi Co Ltd | Caster |
-
2009
- 2009-12-07 CN CN 200910249947 patent/CN101875284B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5492390A (en) * | 1994-04-20 | 1996-02-20 | Nudvuck Enterprises | Variable shaped wheel |
| JP2007145044A (en) * | 2005-11-24 | 2007-06-14 | Daiwarashi Co Ltd | Caster |
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| Publication number | Publication date |
|---|---|
| CN101875284A (en) | 2010-11-03 |
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Granted publication date: 20130821 Termination date: 20181207 |