CN106427389B

CN106427389B - High-trafficability spiral wheel and use method thereof

Info

Publication number: CN106427389B
Application number: CN201611027431.2A
Authority: CN
Inventors: 信毅
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-22
Filing date: 2016-11-22
Publication date: 2024-04-12
Anticipated expiration: 2036-11-22
Also published as: CN106427389A

Abstract

A high-trafficability spiral wheel and a use method thereof belong to the field of transportation and solve the problem that the existing various wheels can not cross obstacles; the invention comprises at least one three-dimensional screw body and a connecting body which rigidly connects the three-dimensional screw body with the axis of the three-dimensional screw body, and the three-dimensional screw body rotates around the axis when in use; the traditional understanding that the wheel outer ring is a closed circle is broken through, and the concept of an open spiral is innovatively introduced; when in use, the three-dimensional screw body rotates around the axle center, and the whole wheel is displaced; if the front end of the wheel meets a higher or lower obstacle, the front end of the wheel generates an inclination angle, the clockwise three-dimensional screw body rotates clockwise around the axis or the anticlockwise three-dimensional screw body rotates anticlockwise around the axis, the screw at the front end contacts with the top of the obstacle, the screw at the rear end sequentially arrives until the whole wheel completely overturns the top of the obstacle, and the reverse rotation can be stably returned; the device has the advantages of simple structure, easy manufacture, flexible maneuvering and stable obstacle crossing.

Description

High-trafficability spiral wheel and use method thereof

Technical Field

The invention relates to a wheel, in particular to a spiral wheel with high passing performance and a using method thereof.

Background

The existing wheels only have good performance of rolling on flat ground, and cannot span when encountering stepped obstacles, such as climbing stairs or going down stairs, and have poor trafficability. Although the star wheel can climb stairs, the star wheel can collide with the ground, and can only move forward or backward and cannot move transversely, so the crawler belt is also the same. This places a significant limitation on the functionality of many devices that use wheels or tracks.

Disclosure of Invention

In order to solve the problems, the invention provides the high-trafficability spiral wheel which is simple in structure, easy to manufacture, flexible in maneuvering and stable in obstacle crossing. The invention breaks through the traditional understanding that the wheel outer ring is a closed circle, and innovatively introduces the concept of an open spiral.

The high-trafficability spiral wheel comprises a three-dimensional spiral body or more than two same three-dimensional spiral bodies which are in the same direction and equidistant from each other, and a connecting body which rigidly connects the three-dimensional spiral bodies with the axle center of the three-dimensional spiral bodies.

When the high-trafficability spiral wheel is used, the three-dimensional spiral body rotates around the axis, and the whole wheel is displaced; if the front end of the wheel generates an inclination angle when meeting a higher or lower obstacle, the clockwise three-dimensional screw body rotates clockwise around the axis or the anticlockwise three-dimensional screw body rotates anticlockwise around the axis, the screw at the front end contacts with the top of the obstacle, the screws at the rear end sequentially arrive until the whole wheel completely climbs over the top of the obstacle, and the reverse rotation can be smoothly returned.

Further, the radius of the three-dimensional spiral body gradually becomes smaller from one end to the other end along the axial direction, and the outer contour of the spiral body forms a continuous, smooth curve or straight line of the asymptotic axis. Therefore, when the vehicle runs and encounters an obstacle, the wheels do not need to be inclined, but the spiral at the smaller part of the front ends of the wheels firstly contacts the top of the obstacle, and the spiral at the rear ends sequentially arrives, so that the capability of the wheels to cross the obstacle is improved, and the vehicle is more convenient.

Further, the three-dimensional screw body is positioned at the screw at the large end, and the rotation angle of the equal-diameter screw forms at least a complete circle. Thus, when the wheel rolls in the horizontal direction, the distance between the axle center and the ground is constant, so that the smoothness and stability of the running of the wheel are improved.

Further, the spiral radius of the large end of the three-dimensional spiral body is reduced towards both ends along the direction in which the spiral radius is reduced in the axial direction. Thus, the front end and the rear end of the wheel are provided with the parts with smaller front ends, and when climbing or descending, the two ends can play a role and can be matched with each other, particularly the front end and the rear end of the wheel are matched with a bracket system, a frame and the like of the wheel, so that the elevation angle can be greatly increased. For example, when the wheels run in steep low-lying places (when going down stairs), the wheels are evenly released from the rear parts, when the vehicle body leans forward, the front parts of the wheels can be contacted with the ground in advance and matched with the rear parts of the wheels, and the wheels stably fall to the bottom, so that the functions of climbing stairs, going down stairs and the like of the wheels to cross obstacles are easily realized.

Further, a plurality of mutually parallel sub-shafts and sub-wheels are arranged on the outer contour of the three-dimensional spiral body, the sub-wheels can freely rotate around the sub-shafts, and gaps are kept between the adjacent sub-wheels; the axial direction of the sub-shaft positioned at the end part forms an included angle of not 90 degrees with the cross section of the three-dimensional screw body, and the axial directions of the other sub-shafts and the tangential direction of the corresponding screw form included angles of not 90 degrees with the cross section of the three-dimensional screw body and the tangential plane of the cross section. The design can convert sliding friction into rolling friction, so that energy consumption is reduced, and ground scratch is avoided; secondly, the three-dimensional spiral body is better simulated, and the operation process is smoother and more stable; and the sub wheels can be prevented from rolling in unexpected directions, so that the main wheels are prevented from slipping off the main wheels when the main wheels pass through the obstacle. When the axle center and the advancing direction are limited at a certain included angle, the main wheel rotates, the sub-wheel rotates under the action of static friction force between the main wheel and the contact surface, and partial steering force of the main wheel is converted to the normal force of the sub-wheel, so that forward power is finally generated.

Further, the sub wheels at the two ends are hemispherical; the other sub-wheels are in the shape of a drum in the middle and are combined with hemispheres at two sides. The design of the drum-shaped and hemispherical sub-wheel is used for better simulating the section of spiral line passing through the position where the sub-wheel is located, so that the stability of the wheel climbing over an obstacle is improved. Because the space at the end is smaller, the space is simplified to be hemispherical to the two ends, when a steep convex obstacle is encountered in the advancing process, the part which is firstly contacted with the top of the obstacle is often the end part of the sub-wheel, and the hemispherical design can reduce the pressure of the sub-wheel to the ground.

Further, the semi-spherical sub-wheels on the middle drum shape and the two sides are split, and are divided into different components along the direction of the sub-axis. The split structure can increase the firmness of the spokes, the sub-shafts and the sub-wheels, but can also be made into a whole or two parts which are equally divided from the middle while maintaining the complete shape of the spoke, the sub-shaft and the sub-wheels as much as possible in a narrow part.

Further, all the components of the split sub-wheel are coaxial or not coaxial. The coaxial structure is simple, the assembly is easy, the disadvantage is that the sub-wheel is too big, the section radius of the two ends and the middle part has a larger gap, and the linear velocity gap is too big when the angular velocity is the same. When the two parts are not coaxial, the middle part can be thinned to ensure that the radius of the section of the two parts is close to two ends, and the defect of complex structure and complicated assembly is overcome.

Furthermore, the high-trafficability spiral wheel further comprises a fixed shaft, the shaft center is a hub with a central hole, the fixed shaft penetrates through the central hole of the hub, and the hub can freely rotate around the fixed shaft. The main shaft is fixed on the frame support system and is rotated by the motor to drive the hub, so that the abrasion of the motor bearing is reduced and the service life of the motor bearing is prolonged.

Further, the hub is divided into a plurality of sections along the axial direction, and correspondingly, the three-dimensional screw body is also divided into a plurality of sections along with the sections, and the sections are rigidly connected. Thereby greatly simplifying the installation process.

Further, the connector is a plurality of solid surfaces or a plurality of spokes from the three-dimensional screw body to the axle center.

Furthermore, the high-trafficability spiral wheel is internally provided with an electric motor drive or a fixed shaft and is additionally provided with a driven wheel which is connected with an external motor through a chain or a belt for driving.

Further, the three-dimensional spirals on the same spiral wheel are all clockwise or all anticlockwise.

The invention also provides a use method of the high-trafficability spiral wheel, which comprises the following steps: the clockwise three-dimensional screw rotates clockwise around the axis or the anticlockwise three-dimensional screw rotates anticlockwise around the axis, and the high-pass spiral wheel forwards passes over a higher or lower obstacle; the reverse rotation then passes back over the obstacle.

Further, the high-trafficability spiral wheel is singly used or used in combination with each other in an included angle formed by the clockwise three-dimensional spiral body and the anticlockwise three-dimensional spiral body. When used singly, the invention has the function of crossing obstacles by combining with other wheels outside the invention, and the other wheels have the functions of supporting the vehicle body and guiding. When used in combination, the wheels generate different normal forces under the cooperative rolling of the sub-wheels depending on the rotation direction and speed of the respective three-dimensional screw bodies, and the forces are finally combined to generate a resultant force vector in any required direction, thereby ensuring free movement in the direction of the final resultant force vector without changing the direction of the wheels.

The high-trafficability spiral wheel can be used on a robot platform, an electric wheelchair, a toy, a transmission speed changing device and the like.

Drawings

FIG. 1 is a perspective view of a first embodiment of a high-pass helical wheel according to the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a side view of FIG. 2;

FIG. 4 is a view of the parts of the main wheel of FIG. 1;

FIG. 5 is an exploded view of FIG. 4;

FIG. 6 is an axial position view of neutron wheel B of FIG. 5;

FIG. 7 is an axial position of the neutron wheel A of FIG. 5 in the hub plane;

FIG. 8 is an axial position of the neutron wheel A of FIG. 5 in a cut-out of the hub;

FIG. 9 is a schematic view of a hub with a different number of spokes;

FIG. 10 is a view showing the state of the spiral wheel of FIG. 1 in different climbing grades;

FIG. 11 is a schematic view of the structure of the helical wheel set of FIG. 1;

FIG. 12 is a state diagram of the helical wheel of FIG. 1 in use on a support platform;

FIG. 13 is a schematic view of a structure for driving the spiral wheel shown in FIG. 1 by using an internal motor;

FIG. 14 is a schematic view of the helical wheel of FIG. 1 as a driven wheel;

FIG. 15 is a perspective view of a second embodiment of a high-pass helical wheel according to the present invention;

FIG. 16 is a perspective view of a third embodiment of a high-pass helical wheel according to the present invention;

fig. 17 is a perspective view showing a structure of a fourth embodiment of the high-pass helical wheel according to the present invention.

The figure illustrates the following numbers:

1-a fixed shaft; 2-a main wheel; 3-wheel hubs; 4-spokes; 5-sub-axis; 6-sub wheel A; 7-sub wheel B; 8-the axial direction of the sub wheel B; 9-hub plane direction; 10-axial direction of the sub-wheel A; 11-tangential direction of the hub; 12-an electric motor; 13-driven wheel; 14-axis; 15-a fixed disk; 16-three-dimensional screw; 17-an obstacle; 18-plane; 19-curved surface.

Detailed Description

The high-pass helical wheel of the present invention is described in further detail below with reference to fig. 17 of the accompanying drawings.

Embodiment one.

As shown in fig. 1 to 3, the high-pass spiral wheel according to the present embodiment includes a fixed shaft 1 and a main wheel 2, wherein the fixed shaft 1 passes through the center of the main wheel 2 and can freely rotate around the fixed shaft 2.

As shown in fig. 4 and 5, the main wheel 2 comprises several hubs 3 and spokes 4. As shown in fig. 5, the periphery of the hub 3 is radially provided with two symmetrical spokes 4 along the hub 3; the spokes 4 on each hub 3 may also be one or more, and are symmetrically distributed, as shown in fig. 9.

As shown in fig. 4, the spokes 4 on the hub 3 are arranged in an order of decreasing diameter from the middle to the ends in the axial direction, and the hubs 3 are rigidly connected to each other. As shown in fig. 5, the top end of the spoke 4 is provided with a sub-shaft 5, a sub-wheel A6 and a sub-wheel B7, gaps are kept between adjacent sub-wheels, and the sub-wheels A and B can freely rotate around the sub-shaft 5; the sub wheels B7 on the hubs 3 at the two ends are hemispherical; the shape of the sub wheel A6 on the rest wheel hubs 3 is a combination of a middle drum shape and hemispheres at two sides.

As shown in fig. 1 to 3, the edge profiles of all the sub-wheels a and B after being arranged are continuous to form a spiral shape with a constant diameter in the middle and a taper shape from the middle to both ends.

As shown in fig. 6, the axial direction 8 of the sub-wheel B and the hub plane direction 9 keep an included angle, and are not perpendicular to each other.

As shown in fig. 7, in the plane of the hub 3 and the spokes 4, an included angle of not 90 degrees is kept between the axial direction 10 of the sub-wheel a and the tangential direction 11 of the hub; as shown in fig. 8, in the tangential plane to the plane of the hub 3 and spokes 4, an angle other than 90 degrees is maintained between the axial direction 10 of the sub-wheel a and the tangential direction 11 of the hub.

The main wheel 2 rotates along the fixed shaft 1, and the clockwise three-dimensional screw rotates clockwise around the axis or the anticlockwise three-dimensional screw rotates anticlockwise around the axis. When the fixed shaft 1 and the advancing direction are limited at a certain included angle, the sub-wheel A and the sub-wheel B rotate under the action of static friction force between the sub-wheel A and the sub-wheel B and the contact surface. As shown in fig. 10, when the obstacle is encountered in the forward direction, the sub wheels of the smaller part of the front end of the main wheel contact the top of the obstacle first, and then the sub wheels sequentially arrive until the whole wheel climbs the top of the obstacle smoothly. Conversely, when encountering steep depressions, such as going down stairs, the rear parts of the wheels uniformly release the wheels, and when the vehicle body leans forward, the front parts of the wheels contact the ground in advance and are matched with the rear parts of the wheels so as to stably descend to the bottom; the reverse rotation then passes back over the higher or lower obstacle.

The high-trafficability spiral wheel can be used singly, and the combined use effect is better. As shown in FIG. 11, two clockwise main wheels and two counterclockwise main wheels are combined with each other at an angle of 45 degrees with respect to the advancing direction to form a rhombus shape arranged in a clockwise-counterclockwise-clockwise-counterclockwise manner, so that lateral movement, arbitrary direction movement and fixed point rotation can be realized.

The high-throughput spiral wheel of this embodiment, coupled with the bracket system and the support plane, can be used with wheels, as shown in fig. 12. In addition, the device can be used on electric wheelchairs, robot platforms and the like.

As shown in fig. 13, the high-pass spiral wheel in the embodiment is internally provided with a motor 12 for driving; or the driven wheel 13 is additionally arranged on the fixed shaft and is connected with an external motor for driving through a chain or a belt, and the driven wheel can be used on a transmission gearbox device.

Embodiment two.

As shown in fig. 15, the high-trafficability spiral wheel in this embodiment includes two identical three-dimensional spiral bodies 16 with a certain pitch and a fixed disk 15, the three-dimensional spiral bodies 16 are ribbon-shaped spirals, the fixed disk 15 is fixedly connected with one ends of the two three-dimensional spiral bodies 16, and the center of the fixed disk 15 is provided with an axle center 14 of the three-dimensional spiral body 16.

When the high-pass spiral wheel is used, an external power source is connected to the axle center 14, and a rotating force is applied to the axle center 14, so that two three-dimensional spiral bodies 16 rotate along the spiral direction, the wheel moves forwards, when encountering an obstacle 17, the wheel tilts upwards, the spiral at the front end contacts the top of the obstacle, and the spiral at the rear end sequentially reaches the top of the obstacle until the whole wheel climbs the top of the obstacle steadily.

Embodiment three.

As shown in fig. 16, the high-pass spiral wheel in this embodiment includes an axle center 14 and two identical three-dimensional spiral bodies 16 directly wound on the axle center 14, wherein the axle center is a central axis penetrating through the three-dimensional spiral bodies 16, and the three-dimensional spiral bodies 16 are solid spirals, i.e. an integral connecting surface is arranged from the outer contour of the three-dimensional spiral bodies to the axle center 14. The three-dimensional screw 16 is a conical screw with a radius that decreases gradually, and the outer contour surface of the screw is a plane 18.

When the high-pass spiral wheel is used, an external power source is connected to the axle center 14, and a rotating force is applied to the axle center 14, so that two three-dimensional spiral bodies 16 rotate along the spiral direction, and the wheel moves forwards.

Example four.

As shown in fig. 17, the high-passing spiral wheel in this embodiment is different from the third embodiment in that the outer contour surface of the three-dimensional spiral body 16 is a curved surface 19, so as to improve the stability during the running process of the wheel. The rest is the same as the embodiment, and is not described in detail herein.

Similar technical solutions can be derived from the solution presented above in connection with the figures and examples. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention, however, without departing from the technical solution of the present invention, still fall within the scope of the technical solution of the present invention.

Claims

1. A high-pass helical wheel, characterized in that: comprises a three-dimensional screw body or more than two identical, equidirectional and equidistant three-dimensional screw bodies and a connecting body for rigidly connecting the three-dimensional screw bodies with the axle center thereof; the three-dimensional spiral body is characterized in that a plurality of sub-shafts and sub-wheels are arranged on the outer contour of the three-dimensional spiral body, the sub-wheels can freely rotate around the sub-shafts, and gaps are kept between adjacent sub-wheels; the other sub-shaft axes excluding the end sub-shaft and the tangential direction of the corresponding spiral form an included angle of not 90 degrees with the tangential plane of the cross section of the three-dimensional spiral body.

2. The high-pass helical wheel of claim 1, wherein: the spiral radius of the three-dimensional spiral body gradually decreases from one end to the other end, and the outer contour of the spiral body forms a continuous smooth curve or straight line of an asymptotic axis.

3. The high-pass helical wheel of claim 2, wherein: the three-dimensional screw body is positioned at the screw at the large end, and the rotation angle of the constant-diameter screw forms at least one complete circle.

4. A high-pass helical wheel according to claim 3, wherein: the spiral radius of the large end of the three-dimensional spiral body is reduced towards both ends along the axial direction of the three-dimensional spiral body.

5. The high-pass helical wheel of claim 4, wherein: the edge profiles of all the sub-wheels are continuous to form a cylindrical shape with the same diameter in the middle and a spiral shape with the conical shape from the middle to the two ends, and the sub-shaft axial direction at the end part and the cross section of the three-dimensional spiral body form an included angle of not 90 degrees.

6. The high-pass helical wheel of any of claims 1-5, wherein: the sub wheels at the two ends are hemispherical; the other sub-wheels are in the shape of a drum in the middle and are combined with hemispheres at two sides.

7. The high-pass helical wheel of claim 6, wherein: the semi-spherical sub-wheels on the middle drum shape and the two sides are split, and are divided into different components along the direction of the sub-shaft.

8. The high-pass helical wheel of claim 7, wherein: the components of the split sub-wheel are coaxial or not coaxial.

9. The high-pass helical wheel of any of claims 1-5, wherein: the high-trafficability spiral wheel also comprises a fixed shaft, wherein the shaft center is a hub with a central hole, the fixed shaft penetrates through the central hole of the hub, and the hub can freely rotate around the fixed shaft.

10. The high-pass helical wheel of claim 9, wherein: the hub is divided into a plurality of sections along the axial direction, and correspondingly, the three-dimensional screw body is also divided into a plurality of sections along with the sections, and the sections are rigidly connected.

11. The high-pass helical wheel of claim 1 or 2 or 3 or 4 or 5 or 7 or 8 or 10, wherein: the connecting body is a plurality of solid surfaces or a plurality of spokes from the three-dimensional screw body to the axle center.

12. The high-pass helical wheel of claim 9, wherein: the connecting body is a plurality of solid surfaces or a plurality of spokes from the three-dimensional screw body to the axle center.

13. The high-pass helical wheel of claim 1 or 2 or 3 or 4 or 5 or 7 or 8 or 10 or 12, wherein: the high-trafficability spiral wheel is internally provided with an electric motor drive or a fixed shaft and is additionally provided with a driven wheel which is connected with an external motor through a chain or a belt for driving.

14. The high-pass helical wheel of claim 9, wherein: the high-trafficability spiral wheel is internally provided with an electric motor drive or a fixed shaft and is additionally provided with a driven wheel which is connected with an external motor through a chain or a belt for driving.

15. The high-pass helical wheel of claim 11, wherein: the high-trafficability spiral wheel is internally provided with an electric motor drive or a fixed shaft and is additionally provided with a driven wheel which is connected with an external motor through a chain or a belt for driving.

16. The high-pass helical wheel of claim 1 or 2 or 3 or 4 or 5 or 7 or 8 or 10 or 12 or 14 or 15, wherein: the three-dimensional spirals on the same spiral wheel are all clockwise or all anticlockwise.

17. The high-pass helical wheel of claim 9, wherein: the three-dimensional spirals on the same spiral wheel are all clockwise or all anticlockwise.

18. The high-pass helical wheel of claim 11, wherein: the three-dimensional spirals on the same spiral wheel are all clockwise or all anticlockwise.

19. The high-pass helical wheel of claim 13, wherein: the three-dimensional spirals on the same spiral wheel are all clockwise or all anticlockwise.

20. A method of using the high-pass helical wheel of claim 16, wherein: the clockwise three-dimensional screw rotates clockwise around the axis or the anticlockwise three-dimensional screw rotates anticlockwise around the axis, and the high-pass spiral wheel forwards passes over a higher or lower obstacle; the reverse rotation then passes back over the obstacle.

21. A method of using the high-pass helical wheel of claim 17 or 18 or 19 or 20, characterized by: the clockwise three-dimensional screw rotates clockwise around the axis or the anticlockwise three-dimensional screw rotates anticlockwise around the axis, and the high-pass spiral wheel forwards passes over a higher or lower obstacle; the reverse rotation then passes back over the obstacle.

22. The method of using a high-pass helical wheel according to claim 20, wherein: the high-trafficability spiral wheels are singly used or used in combination with each other in an included angle formed by the clockwise three-dimensional spiral bodies and the anticlockwise three-dimensional spiral bodies.

23. The method of using a high-pass helical wheel according to claim 21, wherein: the high-trafficability spiral wheels are singly used or used in combination with each other in an included angle formed by the clockwise three-dimensional spiral bodies and the anticlockwise three-dimensional spiral bodies.