CN110605936B - Single-degree-of-freedom deformation wheel - Google Patents
Single-degree-of-freedom deformation wheel Download PDFInfo
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- CN110605936B CN110605936B CN201910984647.5A CN201910984647A CN110605936B CN 110605936 B CN110605936 B CN 110605936B CN 201910984647 A CN201910984647 A CN 201910984647A CN 110605936 B CN110605936 B CN 110605936B
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- folding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/70—Adaptation for
- B60B2900/721—Use under adverse external conditions
Abstract
The utility model provides a single degree of freedom warp wheel, concretely relates to single driven, realizes the expansion and the restraint to warping the wheel through the distance between the adjustment upper and lower platform to make the wheel obtain different wheel footpaths and with the area of contact on ground and then obtain the flexible wheel of stronger environmental suitability. Based on a closed chain mechanism, the folding mechanism comprises a lower bottom surface (1), a first wheel surface (2), a first folding surface (3), a second folding surface (4), a second wheel surface (5), a third folding surface (6), a fourth folding surface (7), a third wheel surface (8), a fifth folding surface (9), a sixth folding surface (10), a fourth wheel surface (11), a seventh folding surface (12), an eighth folding surface (13), a fifth wheel surface (14), a ninth folding surface (15), a tenth folding surface (16), a sixth wheel surface (17), an eleventh folding surface (18), a twelfth folding surface (19), a first supporting rod (20), a second supporting rod (21), a third supporting rod (22) and an upper top surface (23).
Description
Technical Field
The invention relates to a single-degree-of-freedom deformable wheel, in particular to a single-drive deformable wheel which is unfolded and contracted by adjusting the distance between an upper platform and a lower platform, so that the wheel can obtain different wheel diameters and contact areas with the ground, and further has stronger environmental adaptability.
Background
The single-degree-of-freedom deformation wheel is based on a single-degree-of-freedom closed chain mechanism which is constructed by connecting three branched chains of a 3-RRR parallel mechanism through revolute pairs to form a closed loop, and the mechanism is formed by connecting 30 revolute pairs.
Disclosure of Invention
The technical problems to be solved by the invention are as follows:
the size of the common wheel is fixed, which means that the common wheel cannot have corresponding environmental adaptability and obstacle crossing performance when encountering environmental changes, and the deformation wheel can have stronger environmental adaptability and obstacle crossing capability by changing the wheel diameter of the deformation wheel and the contact area to the ground.
The technical scheme of the invention is as follows:
a single degree of freedom deformation wheel is characterized in that: based on a closed chain mechanism, the folding mechanism consists of a lower bottom surface, a first wheel surface, a first folding surface, a second wheel surface, a third folding surface, a fourth folding surface, a third wheel surface, a fifth folding surface, a sixth folding surface, a fourth wheel surface, a seventh folding surface, an eighth folding surface, a fifth wheel surface, a ninth folding surface, a tenth folding surface, a sixth wheel surface, an eleventh folding surface, a twelfth folding surface, a first supporting rod, a second supporting rod, a third supporting rod and an upper top surface;
the lower bottom surface is a regular hexagon, grooves and hole sites which are matched with hinges are arranged on each edge of one surface of the lower bottom surface, namely a first hinge installation site 1-a, a second hinge installation site 1-b, a third hinge installation site 1-c, a fourth hinge installation site 1-d, a fifth hinge installation site 1-e, a sixth hinge installation site 1-f, rotating shafts of the six hinges are respectively parallel to six edges of the hexagon, and a first through hole 1-g is arranged in the center of the lower bottom surface; be equipped with three hinge installation departments on the first tread: the hinge comprises a first hinge installation part 2-a, a second hinge installation part 2-b and a third hinge installation part 2-c, wherein rotating shafts of the first hinge installation part 2-a and the second hinge installation part 2-b are parallel to each other and are vertical to a rotating shaft of the third hinge installation part 2-c; two coaxial through holes are arranged on the first wheel surface: the axes of the first through hole 2-d and the second through hole 2-e are parallel to the axis of the rotating shaft at the third hinge mounting position 2-c; the shape and the size of the second wheel surface, the third wheel surface, the fourth wheel surface, the fifth wheel surface and the sixth wheel surface are completely the same as those of the first wheel surface; the outer side of the first wheel surface is a cambered surface, and can form a cylindrical surface with the outer sides of the second wheel surface, the third wheel surface, the fourth wheel surface, the fifth wheel surface and the sixth wheel surface when the deformation wheel is contracted; the two opposite surfaces of the first folding surface are respectively provided with two hinge installation positions: a rotating shaft included angle between the first hinge installation part 3-a and the second hinge installation part 3-b is 30 degrees; the second folded surface is mirror symmetry with first folded surface and is equipped with two hinge installation departments on it: a first hinge mounting part 4-a and a second hinge mounting part 4-b; the third folding surface, the fifth folding surface, the seventh folding surface, the ninth folding surface and the eleventh folding surface are completely the same as the first folding surface in shape and size; the shape and the size of the fourth folding surface, the sixth folding surface, the eighth folding surface, the tenth folding surface, the twelfth folding surface and the second folding surface are completely the same; the both ends of first bracing piece are equipped with two through-holes that the axis is parallel to each other: the first through hole 20-a and the second through hole 20-b, and the second support bar, the third support bar and the first support bar are completely the same in shape and size; go up top surface edge and be equipped with six through-holes: the deformation wheel comprises a first through hole 23-a, a second through hole 23-b, a third through hole 23-c, a fourth through hole 23-d, a fifth through hole 23-e and a sixth through hole 23-f, wherein the first through hole 23-a and the second through hole 23-b are coaxial, the third through hole 23-c and the fourth through hole 23-d are coaxial, the fifth through hole 23-e and the sixth through hole 23-f are coaxial, included angles among the three axes are all 60 degrees, a seventh through hole 23-g is arranged in the center of the upper top surface, and the axis of the seventh through hole is kept collinear with the axis of the first through hole 1-g of the lower bottom surface in the processes of contracting and expanding of the deformation wheel;
the connection mode of the parts forming the mechanism is as follows:
fixing a first hinge mounting position 2-a of the first wheel surface and a first folding surface first hinge mounting position 3-a by using a hinge, and fixing a second hinge mounting position 2-b of the first wheel surface and a first hinge mounting position 19-a of the twelfth folding surface by using a hinge; fixing a first hinge mounting position 5-a of the second wheel surface and a first hinge mounting position 4-a of the second folding surface by using a hinge, and fixing a second hinge mounting position 5-b of the second wheel surface and a first hinge mounting position 6-a of the third folding surface by using a hinge; fixing a first hinge mounting position 8-a of the third wheel surface and a first hinge mounting position 7-a of the fourth folding surface by using a hinge, and fixing a second hinge mounting position 8-b of the third wheel surface and a first hinge mounting position 9-a of the fifth folding surface by using a hinge; fixing a first hinge mounting position 11-a of the fourth wheel surface and a first hinge mounting position 10-a of the sixth folding surface by using a hinge, and fixing a second hinge mounting position 11-b of the fourth wheel surface and a first hinge mounting position 12-a of the seventh folding surface by using a hinge; fixing a first hinge mounting position 14-a of the fifth wheel surface and a first hinge mounting position 13-a of the eighth folding surface by using a hinge, and fixing a second hinge mounting position 14-b of the fifth wheel surface and a first hinge mounting position 19-a of the twelfth folding surface by using a hinge; fixing a first hinge mounting position 17-a of the sixth wheel surface and a first hinge mounting position 16-a of the tenth folding surface by using a hinge, and fixing a second hinge mounting position 17-b of the sixth wheel surface and a first hinge mounting position 18-a of the eleventh folding surface by using a hinge;
fixing a third hinge mounting position 2-c of the first wheel surface and a first hinge mounting position 1-a of the lower bottom surface by using a hinge, fixing a third hinge mounting position 5-c of the second wheel surface and a second hinge mounting position 1-b of the lower bottom surface by using a hinge, fixing a third hinge mounting position 8-c of the third wheel surface and a third hinge mounting position 1-c of the lower bottom surface by using a hinge, fixing a third hinge mounting position 11-c of the fourth wheel surface and a fourth hinge mounting position 1-d of the lower bottom surface by using a hinge, fixing a third hinge mounting position 14-c of the fifth wheel surface and a fifth hinge mounting position 1-e of the lower bottom surface by using a hinge, and fixing a third hinge mounting position 17-c of the sixth wheel surface and a sixth hinge mounting position 1-f of the lower bottom surface by using a hinge;
fixing a second hinge mounting position 3-b of the first folding surface and a second hinge mounting position 4-b of the second folding surface by using a hinge, fixing a second hinge mounting position 6-b of the third folding surface and a second hinge mounting position 7-b of the fourth folding surface by using a hinge, fixing a second hinge mounting position 9-b of the fifth folding surface and a second hinge mounting position 10-b of the sixth folding surface by using a hinge, fixing a second hinge mounting position 12-b of the seventh folding surface and a second hinge mounting position 13-b of the eighth folding surface by using a hinge, fixing a second hinge mounting position 15-b of the ninth folding surface and a second hinge mounting position 16-b of the tenth folding surface by using a hinge, and fixing a second hinge mounting position 18-b of the eleventh folding surface and a second hinge mounting position 19-b of the twelfth surface by using a hinge;
the screws sequentially pass through the first through holes 2-d of the first wheel surface, the first through holes 20-a of the first supporting rods and the second through holes 2-e of the first wheel surface and are axially fixed through nuts; the screws sequentially pass through the first through holes 8-d of the third wheel surface, the first through holes 21-a of the second supporting rod and the second through holes 8-e of the third wheel surface and are axially fixed through nuts; the screws sequentially pass through the first through hole 14-d of the fifth wheel surface, the first through hole 22-a of the third supporting rod and the second through hole 14-e of the fifth wheel surface and are axially fixed through nuts;
the screws sequentially pass through the first through hole 23-a of the upper top surface, the second through hole 20-b of the first supporting rod and the second through hole 23-b of the upper top surface and are axially fixed through nuts; the screws sequentially pass through the third through hole 23-c of the upper top surface, the second through hole 21-b of the second supporting rod and the fourth through hole 23-d of the upper top surface and are axially fixed through nuts; the screw is sequentially passed through the fifth through hole 23-e of the upper top surface, the second through hole 22-b of the third support bar, and the sixth through hole 23-f of the upper top surface and is axially fixed by the nut.
The invention has the beneficial effects that:
the invention can make up the defects of poor environmental adaptability, poor obstacle crossing capability and the like of the common wheel.
Drawings
FIG. 1 is a schematic diagram of the assembly of a single degree of freedom deformable wheel
FIG. 2 is a schematic view of the bottom of the chamber
FIG. 3 is a first wheel surface schematic view
FIG. 4 is a schematic view of a first folded plane
FIG. 5 is a schematic view of the first support bar
FIG. 6 is a schematic top view
FIG. 7 is a schematic view of the assembly of the folding surface and the tread
FIG. 8 is a schematic view of the assembly of the tread and the bottom
FIG. 9 is a schematic view of the wheel tread assembly
FIG. 10 is a schematic view of the assembly of the support rod with the upper top tread
FIG. 11 is a schematic diagram of a modification process
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The single-degree-of-freedom deformation wheel is based on a closed chain mechanism and comprises a lower bottom surface (1), a first wheel surface (2), a first folding surface (3), a second folding surface (4), a second wheel surface (5), a third folding surface (6), a fourth folding surface (7), a third wheel surface (8), a fifth folding surface (9), a sixth folding surface (10), a fourth wheel surface (11), a seventh folding surface (12), an eighth folding surface (13), a fifth wheel surface (14), a ninth folding surface (15), a tenth folding surface (16), a sixth wheel surface (17), an eleventh folding surface (18), a twelfth folding surface (19), a first supporting rod (20), a second supporting rod (21), a third supporting rod (22) and an upper top surface (23), as shown in FIG. 1;
as shown in fig. 2, the lower bottom surface (1) is a regular hexagon, grooves and hole sites which are matched with hinges are arranged at each edge of one surface of the lower bottom surface, and are respectively a first hinge installation site (1-a), a second hinge installation site (1-b), a third hinge installation site (1-c), a fourth hinge installation site (1-d), a fifth hinge installation site (1-e), a sixth hinge installation site (1-f), rotating shafts of six hinges are respectively parallel to six edges of the hexagon, and a first through hole (1-g) is arranged at the center of the lower bottom surface (1);
as shown in fig. 3, the first tread (2) is provided with three hinge installation positions: the hinge comprises a first hinge mounting part (2-a), a second hinge mounting part (2-b) and a third hinge mounting part (2-c), wherein rotating shafts of the first hinge mounting part (2-a) and the second hinge mounting part (2-b) are parallel to each other and are perpendicular to a rotating shaft of the third hinge mounting part (2-c); two coaxial through holes are arranged on the first wheel surface (2): the axes of the first through hole (2-d) and the second through hole (2-e) are parallel to the axis of the rotating shaft of the third hinge mounting part (2-c); the shape and the size of the second wheel surface (5), the third wheel surface (8), the fourth wheel surface (11), the fifth wheel surface (14) and the sixth wheel surface (17) are completely the same as those of the first wheel surface (2);
as shown in fig. 4, two opposite surfaces of the first folding surface (3) are respectively provided with two hinge installation positions: a rotating shaft included angle between the first hinge mounting position (3-a) and the second hinge mounting position (3-b) is 30 degrees; the second folding surface (4) and the first folding surface (3) are in mirror symmetry, and two hinge installation positions are arranged on the second folding surface: a first hinge mounting part (4-a) and a second hinge mounting part (4-b); the third folding surface (6), the fifth folding surface (9), the seventh folding surface (12), the ninth folding surface (15) and the eleventh folding surface (18) are completely the same as the first folding surface (3) in shape and size; the shape and the size of the fourth folding surface (7), the sixth folding surface (10), the eighth folding surface (13), the tenth folding surface (16), the twelfth folding surface (19) and the second folding surface (4) are completely the same;
as shown in fig. 5, two ends of the first support rod (20) are provided with two through holes with axes parallel to each other: the shapes and sizes of the first through hole (20-a) and the second through hole (20-b), the second supporting rod (21), the third supporting rod (22) and the first supporting rod (20) are completely the same;
as shown in fig. 6, six through holes are provided at the edge of the upper top surface (23): the structure comprises a first through hole (23-a), a second through hole (23-b), a third through hole (23-c), a fourth through hole (23-d), a fifth through hole (23-e) and a sixth through hole (23-f), wherein the first through hole (23-a) and the second through hole (23-b) are coaxial, the third through hole (23-c) and the fourth through hole (23-d) are coaxial, the fifth through hole (23-e) and the sixth through hole (23-f) are coaxial, included angles among the three axial lines are 60 degrees, and a seventh through hole (23-g) is arranged at the center of the upper top surface (23);
as shown in fig. 7, a first hinge mounting part (2-a) of the first wheel surface (2) and a first hinge mounting part (3-a) of the first folding surface (3) are fixed by hinges, a second hinge mounting part (2-b) of the first wheel surface (2) and a first hinge mounting part (19-a) of the twelfth folding surface (19) are fixed by hinges, and the assembly mode between the rest wheel surfaces and the folding surfaces is the same as the process;
as shown in fig. 8, the third hinge mounting part (2-c) of the first tread (2) and the first hinge mounting part (1-a) of the lower bottom surface (1) are fixed by hinges, and the assembly mode of the rest treads and the bottom surface is the same as the process;
as shown in fig. 9, the second hinge mounting part (3-b) of the first folding surface (3) and the second hinge mounting part (4-b) of the second folding surface (4) are fixed by hinges, and the assembly mode of the folding surfaces between the other wheel surfaces is the same as the process;
as shown in fig. 10, a screw is sequentially inserted through the first through hole (2-d) of the first tread (2), the first through hole (20-a) of the first support rod (20), the second through hole (2-e) of the first tread (2) and axially fixed by a nut; the screws sequentially pass through the first through hole (23-a) of the upper top surface (23), the second through hole (20-b) of the first supporting rod (20), the second through hole (23-b) of the upper top surface (23) and are axially fixed through nuts, and the assembly mode of the rest supporting rods, the wheel surface and the upper top surface is the same as the process;
the specific use method comprises the following steps:
as shown in fig. 11(a), the deforming wheel is in a fully expanded state, and is driven by a linear motor, so that the distance between the upper top surface and the lower bottom surface is reduced, the intermediate position state of fig. 11(b) is reached, and when the distance between the upper top surface and the lower bottom surface is minimum, the deforming wheel is in a fully contracted state, as shown in fig. 11 (c).
Claims (1)
1. A single degree of freedom deformation wheel is characterized in that: based on a closed chain mechanism, the folding mechanism consists of a lower bottom surface (1), a first wheel surface (2), a first folding surface (3), a second folding surface (4), a second wheel surface (5), a third folding surface (6), a fourth folding surface (7), a third wheel surface (8), a fifth folding surface (9), a sixth folding surface (10), a fourth wheel surface (11), a seventh folding surface (12), an eighth folding surface (13), a fifth wheel surface (14), a ninth folding surface (15), a tenth folding surface (16), a sixth wheel surface (17), an eleventh folding surface (18), a twelfth folding surface (19), a first supporting rod (20), a second supporting rod (21), a third supporting rod (22) and an upper top surface (23);
the lower bottom surface (1) is a regular hexagon, grooves and hole sites which are matched with hinges are arranged at each edge of one surface of the lower bottom surface, and are respectively a first hinge installation part (1-a), a second hinge installation part (1-b), a third hinge installation part (1-c), a fourth hinge installation part (1-d), a fifth hinge installation part (1-e), a sixth hinge installation part (1-f), rotating shafts of six hinges are respectively parallel to six edges of the hexagon, and a first through hole (1-g) is arranged at the center of the lower bottom surface (1); be equipped with three hinge installation departments on first tread (2): the hinge comprises a first hinge mounting part (2-a), a second hinge mounting part (2-b) and a third hinge mounting part (2-c), wherein rotating shafts of the first hinge mounting part (2-a) and the second hinge mounting part (2-b) are parallel to each other and are perpendicular to a rotating shaft of the third hinge mounting part (2-c); two coaxial through holes are arranged on the first wheel surface (2): the axes of the first through hole (2-d) and the second through hole (2-e) are parallel to the axis of the rotating shaft of the third hinge mounting part (2-c); the shape and the size of the second wheel surface (5), the third wheel surface (8), the fourth wheel surface (11), the fifth wheel surface (14) and the sixth wheel surface (17) are completely the same as those of the first wheel surface (2); the outer side of the first wheel surface (2) is a cambered surface, and can form a cylindrical surface with the outer sides of the second wheel surface (5), the third wheel surface (8), the fourth wheel surface (11), the fifth wheel surface (14) and the sixth wheel surface (17) when the deformation wheel is contracted; the two opposite surfaces of the first folding surface (3) are respectively provided with two hinge installation positions: a rotating shaft included angle between the first hinge mounting position (3-a) and the second hinge mounting position (3-b) is 30 degrees; the second folding surface (4) and the first folding surface (3) are in mirror symmetry, and two hinge installation positions are arranged on the second folding surface: a first hinge mounting part (4-a) and a second hinge mounting part (4-b); the third folding surface (6), the fifth folding surface (9), the seventh folding surface (12), the ninth folding surface (15) and the eleventh folding surface (18) are completely the same as the first folding surface (3) in shape and size; the shape and the size of the fourth folding surface (7), the sixth folding surface (10), the eighth folding surface (13), the tenth folding surface (16), the twelfth folding surface (19) and the second folding surface (4) are completely the same; two through holes with mutually parallel axes are arranged at two ends of the first supporting rod (20): the shapes and sizes of the first through hole (20-a) and the second through hole (20-b), the second supporting rod (21), the third supporting rod (22) and the first supporting rod (20) are completely the same; go up top surface (23) edge and be equipped with six through-holes: the deformation wheel comprises a first through hole (23-a), a second through hole (23-b), a third through hole (23-c), a fourth through hole (23-d), a fifth through hole (23-e) and a sixth through hole (23-f), wherein the first through hole (23-a) and the second through hole (23-b) are coaxial, the third through hole (23-c) and the fourth through hole (23-d) are coaxial, the fifth through hole (23-e) and the sixth through hole (23-f) are coaxial, included angles among the three axial lines are 60 degrees, a seventh through hole (23-g) is arranged at the center of the upper top surface (23), and the axial line of the seventh through hole keeps collinear with the axial line of the first through hole (1-g) of the lower bottom surface (1) in the processes of contracting and expanding the deformation wheel;
fixing a first hinge mounting position (2-a) of the first wheel surface (2) and a first hinge mounting position (3-a) of the first folding surface (3) by using a hinge, and fixing a second hinge mounting position (2-b) of the first wheel surface (2) and a first hinge mounting position (19-a) of the twelfth folding surface (19) by using a hinge; fixing a first hinge mounting position (5-a) of the second wheel surface (5) and a first hinge mounting position (4-a) of the second folding surface (4) by using a hinge, and fixing a second hinge mounting position (5-b) of the second wheel surface (5) and a first hinge mounting position (6-a) of the third folding surface (6) by using a hinge; fixing a first hinge mounting position (8-a) of the third wheel surface (8) and a first hinge mounting position (7-a) of the fourth folding surface (7) by using a hinge, and fixing a second hinge mounting position (8-b) of the third wheel surface (8) and a first hinge mounting position (9-a) of the fifth folding surface (9) by using a hinge; fixing a first hinge mounting position (11-a) of the fourth wheel surface (11) and a first hinge mounting position (10-a) of the sixth folding surface (10) by using a hinge, and fixing a second hinge mounting position (11-b) of the fourth wheel surface (11) and a first hinge mounting position (12-a) of the seventh folding surface (12) by using a hinge; fixing a first hinge mounting position (14-a) of the fifth wheel surface (14) and a first hinge mounting position (13-a) of the eighth folding surface (13) by using a hinge, and fixing a second hinge mounting position (14-b) of the fifth wheel surface (14) and a first hinge mounting position (19-a) of the twelfth folding surface (19) by using a hinge; fixing a first hinge mounting position (17-a) of the sixth wheel surface (17) and a first hinge mounting position (16-a) of the tenth folding surface (16) by using a hinge, and fixing a second hinge mounting position (17-b) of the sixth wheel surface (17) and a first hinge mounting position (18-a) of the eleventh folding surface (18) by using a hinge;
a third hinge mounting part (2-c) of the first wheel surface (2) and a first hinge mounting part (1-a) of the lower bottom surface (1) are fixed by a hinge, a third hinge mounting part (5-c) of the second wheel surface (5) and a second hinge mounting part (1-b) of the lower bottom surface (1) are fixed by a hinge, a third hinge mounting part (8-c) of the third wheel surface (8) and a third hinge mounting part (1-c) of the lower bottom surface (1) are fixed by a hinge, a third hinge mounting part (11-c) of the fourth wheel surface (11) and a fourth hinge mounting part (1-d) of the lower bottom surface (1) are fixed by a hinge, a third hinge mounting part (14-c) of the fifth wheel surface (14) and a fifth hinge mounting part (1-e) of the lower bottom surface (1) are fixed by a hinge, and a sixth hinge mounting part (17-c) of the sixth wheel surface (17) and a sixth hinge mounting part (1-c) of the lower bottom surface (1) are fixed by a hinge The leaf mounting positions (1-f) are fixed by hinges;
a second hinge mounting part (3-b) of the first folding surface (3) and a second hinge mounting part (4-b) of the second folding surface (4) are fixed by hinges, a second hinge mounting part (6-b) of the third folding surface (6) and a second hinge mounting part (7-b) of the fourth folding surface (7) are fixed by hinges, a second hinge mounting part (9-b) of the fifth folding surface (9) and a second hinge mounting part (10-b) of the sixth folding surface (10) are fixed by hinges, a second hinge mounting part (12-b) of the seventh folding surface (12) and a second hinge mounting part (13-b) of the eighth folding surface (13) are fixed by hinges, a second hinge mounting part (15-b) of the ninth folding surface (15) and a second hinge mounting part (16-b) of the tenth folding surface (16) are fixed by hinges, fixing a second hinge mounting part (18-b) of the eleventh folding surface (18) and a second hinge mounting part (19-b) of the twelfth folding surface (19) by using a hinge;
a screw penetrates through a first through hole (2-d) of the first wheel surface (2), a first through hole (20-a) of the first supporting rod (20) and a second through hole (2-e) of the first wheel surface (2) in sequence and is axially fixed through a nut; the screws sequentially pass through the first through hole (8-d) of the third wheel surface (8), the first through hole (21-a) of the second supporting rod (21) and the second through hole (8-e) of the third wheel surface (8) and are axially fixed through nuts; the screws sequentially penetrate through the first through hole (14-d) of the fifth wheel surface (14), the first through hole (22-a) of the third supporting rod (22) and the second through hole (14-e) of the fifth wheel surface (14) and are axially fixed through nuts;
the screws sequentially pass through the first through hole (23-a) of the upper top surface (23), the second through hole (20-b) of the first supporting rod (20), and the second through hole (23-b) of the upper top surface (23) and are axially fixed through nuts; the screw penetrates through the third through hole (23-c) of the upper top surface (23), the second through hole (21-b) of the second supporting rod (21) and the fourth through hole (23-d) of the upper top surface (23) in sequence and is axially fixed through a nut; the screw is sequentially passed through a fifth through hole (23-e) of the upper top surface (23), a second through hole (22-b) of the third support bar (22), a sixth through hole (23-f) of the upper top surface (23) and axially fixed by a nut.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910984647.5A CN110605936B (en) | 2019-10-16 | 2019-10-16 | Single-degree-of-freedom deformation wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910984647.5A CN110605936B (en) | 2019-10-16 | 2019-10-16 | Single-degree-of-freedom deformation wheel |
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| CN110605936A CN110605936A (en) | 2019-12-24 |
| CN110605936B true CN110605936B (en) | 2020-11-06 |
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| CN201910984647.5A Active CN110605936B (en) | 2019-10-16 | 2019-10-16 | Single-degree-of-freedom deformation wheel |
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| CN111216491B (en) * | 2020-02-28 | 2021-07-09 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| CN111546826B (en) * | 2020-04-24 | 2021-08-27 | 北京交通大学 | Single degree of freedom deformation wheel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175797A (en) * | 2014-08-28 | 2014-12-03 | 北京航空航天大学 | Deformable wheel mechanism |
| KR20180089938A (en) * | 2017-02-01 | 2018-08-10 | 한국기술교육대학교 산학협력단 | The variable wheel |
| KR20180002605U (en) * | 2017-02-22 | 2018-08-30 | 백민재 | Deformable wheel |
| CN108790591A (en) * | 2018-05-04 | 2018-11-13 | 北京交通大学 | A kind of deformable wheeled robot |
| CN109677206A (en) * | 2019-01-16 | 2019-04-26 | 杭州电子科技大学 | Not only can top bar but also can level land traveling multipurpose tyre and its application method |
| WO2019145901A1 (en) * | 2018-01-26 | 2019-08-01 | Andrea Belli | Wheel with movable elements |
-
2019
- 2019-10-16 CN CN201910984647.5A patent/CN110605936B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175797A (en) * | 2014-08-28 | 2014-12-03 | 北京航空航天大学 | Deformable wheel mechanism |
| KR20180089938A (en) * | 2017-02-01 | 2018-08-10 | 한국기술교육대학교 산학협력단 | The variable wheel |
| KR20180002605U (en) * | 2017-02-22 | 2018-08-30 | 백민재 | Deformable wheel |
| WO2019145901A1 (en) * | 2018-01-26 | 2019-08-01 | Andrea Belli | Wheel with movable elements |
| CN108790591A (en) * | 2018-05-04 | 2018-11-13 | 北京交通大学 | A kind of deformable wheeled robot |
| CN109677206A (en) * | 2019-01-16 | 2019-04-26 | 杭州电子科技大学 | Not only can top bar but also can level land traveling multipurpose tyre and its application method |
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| CN110605936A (en) | 2019-12-24 |
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