CN110920318B - Variable diameter wheel and agricultural vehicle chassis - Google Patents

Variable diameter wheel and agricultural vehicle chassis Download PDF

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Publication number
CN110920318B
CN110920318B CN201911300328.4A CN201911300328A CN110920318B CN 110920318 B CN110920318 B CN 110920318B CN 201911300328 A CN201911300328 A CN 201911300328A CN 110920318 B CN110920318 B CN 110920318B
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gear
wheel
sliding
hole
disc
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CN110920318A (en
Inventor
钟劲峰
孙志全
黄绵煌
杨洲
李君�
付函
林枫
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South China Agricultural University
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South China Agricultural University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • 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
    • B60B2900/10—Reduction of
    • B60B2900/111—Weight

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Agricultural Machines (AREA)
  • Gear Transmission (AREA)

Abstract

The invention discloses a variable-diameter wheel and an agricultural vehicle chassis, wherein the wheel comprises a wheel disc, a wheel shaft, a stepping motor, a gear assembly, a plurality of sliding mechanisms, a mounting disc and a plurality of arc tires, the stepping motor drives the wheel disc to rotate through the gear assembly, the sliding mechanisms are fixed on the mounting disc along the radial line of the wheel shaft, a first through hole is formed in the center of the wheel disc, the wheel shaft penetrates through the first through hole and then is fixedly connected with the mounting disc, a plurality of strip-shaped grooves are formed in the wheel disc, the strip-shaped grooves, the sliding mechanisms and the arc tires are in one-to-one correspondence, each strip-shaped groove forms a certain included angle with the corresponding sliding mechanism and is in sliding connection with the first end of the corresponding sliding mechanism, and the second end of each sliding mechanism is fixedly connected with the. The wheel can realize the adjustment of the diameter, so that the chassis of the vehicle is in a balanced state, and can better adapt to inclined terrains such as hills and mountains.

Description

Variable diameter wheel and agricultural vehicle chassis
Technical Field
The invention relates to a wheel, in particular to a variable-diameter wheel and an agricultural vehicle chassis, and belongs to the technical field of agricultural machinery.
Background
Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and treatment process of agricultural and animal products. Agricultural machinery includes agricultural power machinery, farmland construction machinery, soil farming machinery, planting and fertilizing machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, animal husbandry machinery, agricultural transportation machinery and the like.
Most of automatic leveling mechanisms on the conventional small agricultural vehicle chassis use a hydraulic system, and when the small agricultural vehicle chassis inclines, a hydraulic push rod pushes the chassis to rotate around a fulcrum, so that the chassis is kept horizontal, but the automatic leveling mechanism is large in size and heavy in weight.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a variable-diameter wheel, which can realize the adjustment of the diameter, so that a vehicle chassis is in a balanced state and can better adapt to inclined terrains such as hills and mountains.
Another object of the present invention is to provide an agricultural vehicle chassis incorporating the variable diameter wheels described above.
The purpose of the invention can be achieved by adopting the following technical scheme:
the utility model provides a variable diameter wheel, includes rim plate, shaft, step motor, gear assembly, a plurality of slide mechanism and a plurality of arc tire, step motor passes through the gear assembly and drives the rim plate and rotate, a plurality of slide mechanism fix on the mounting disc along the radial line of shaft, the center of rim plate is equipped with first through-hole, set up copper sheathing self-lubricating bearing between first through-hole and the shaft, the shaft passes behind the first through-hole and mounting disc fixed connection, be equipped with a plurality of bar grooves on the rim plate, bar groove, slide mechanism and arc tire are the one-to-one, and every bar groove is certain contained angle with the slide mechanism who corresponds to slide mechanism's the first end sliding connection who corresponds, every slide mechanism's second end and the arc tire fixed connection who corresponds.
Furthermore, every slide mechanism includes slide bar and slide rail, the slide rail is fixed on the mounting disc, slide bar and slide rail sliding connection, the first end of slide bar is through round pin and the bar groove sliding connection who corresponds, the second end of slide bar and the arc tire fixed connection who corresponds.
Furthermore, the first end of slide bar is equipped with the second through-hole, closely cooperate in the round pin inserts the second through-hole to the card is in the bar groove that corresponds, and can slide in the bar groove that corresponds.
Furthermore, the gear assembly comprises a first gear and a second gear which are meshed with each other, a third through hole is formed in the center of the second gear, the diameter of the third through hole is larger than that of the wheel shaft, the wheel shaft penetrates through the third through hole and the first through hole in sequence and then is fixedly connected with the mounting disc, the second gear is fixed on the wheel disc, and the stepping motor drives the first gear to rotate to drive the second gear to rotate the wheel disc.
Furthermore, a threaded hole is formed in the wheel disc, a fourth through hole is formed in the second gear, and the second gear is fixed to the wheel disc by penetrating through the fourth through hole through a screw to be matched with the threaded hole.
Further, the first gear is arranged on the inner side of the outer circle of the wheel disc, the second gear is concentric with the wheel disc, and the size of the first gear is smaller than that of the second gear.
Furthermore, the stepping motor is mounted on a flange plate of the worm and gear speed reducer, an output shaft of the stepping motor is concentrically connected with an input shaft of the worm and gear speed reducer, and the first gear is mounted on the output shaft of the worm and gear speed reducer.
Furthermore, the worm gear speed reducer is installed on a fixed seat, and the fixed seat is fixedly connected with the wheel shaft.
The other purpose of the invention can be achieved by adopting the following technical scheme:
an agricultural vehicle chassis comprises two wheels with variable diameters, wherein wheel shafts of the two wheels with variable diameters are connected, and the axle centers of the wheel shafts of the two wheels with variable diameters are overlapped.
Further, the agricultural vehicle chassis further comprises a control circuit, and the control circuit is respectively connected with the stepping motors of the two wheels with variable diameters.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the wheel disc is driven to rotate through the gear assembly by the stepping motor, the wheel disc is provided with the plurality of strip-shaped grooves, each strip-shaped groove is inclined to the corresponding sliding mechanism, when the wheel disc rotates, the corresponding sliding mechanism slides through the strip-shaped groove, so that the corresponding arc-shaped tire extends outwards or contracts inwards, the diameter of the wheel is adjusted, the function of leveling the chassis of the vehicle is realized on the basis of meeting the requirement of small farming, the size is small, and the weight is greatly reduced; in addition, a stepping motor is adopted for driving, so that accurate positioning can be realized, and the accuracy is higher.
2. The gear assembly comprises a first gear and a second gear which are meshed with each other, the stepping motor drives the first gear to rotate to drive the second gear to rotate the wheel disc, the first gear is arranged on the inner side of the excircle of the wheel disc, the second gear is concentric with the wheel disc, and the size of the first gear is smaller than that of the second gear, so that the gear assembly can be prevented from influencing the movement of the wheel, and the second gear can drive the wheel disc to rotate better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a variable-diameter wheel according to embodiment 1 of the present invention.
Fig. 2 is a schematic front view of a variable-diameter wheel according to embodiment 1 of the present invention.
Fig. 3 is a side view schematically showing the structure of a variable diameter wheel according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram of a turntable according to embodiment 1 of the present invention.
Fig. 5 is a schematic front view of the relationship between the wheel and gear assembly according to embodiment 1 of the present invention.
Fig. 6 is a side view schematic diagram of the relationship between the wheel and gear assembly of embodiment 1 of the present invention.
Fig. 7 is a schematic structural view of the second gear fixed to the turntable according to embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of the connection of the sliding mechanism with the arc-shaped tire and the strip-shaped groove in embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of the connection of the sliding mechanism with the mounting plate and the arc tire in embodiment 1 of the present invention.
FIG. 10 is a schematic view showing the structure of the connection between the slide bar and the tire in example 1 of the present invention.
Fig. 11 is a schematic perspective view of a slide rail according to embodiment 1 of the present invention.
Fig. 12 is a schematic front view of a slide rail according to embodiment 1 of the present invention.
Fig. 13 is a schematic top view of a slide rail according to embodiment 1 of the present invention.
Fig. 14 is a schematic perspective view of an agricultural vehicle chassis according to embodiment 2 of the present invention.
Fig. 15 is a front view structural schematic diagram of an agricultural vehicle chassis according to embodiment 2 of the present invention.
Fig. 16 is a left side view structural schematic diagram of an agricultural vehicle chassis according to embodiment 2 of the present invention.
Fig. 17 is a schematic top view of an agricultural vehicle chassis according to embodiment 2 of the present invention.
Fig. 18 is a flow chart of an agricultural vehicle chassis leveling method of embodiment 2 of the present invention.
Wherein, 1-wheel disc, 101-first through hole, 102-threaded hole, 103-strip groove, 2-wheel shaft, 3-stepping motor, 4-gear component, 401-first gear, 402-second gear, 4021-third through hole, 4022-fourth through hole, 5-sliding mechanism, 501-sliding bar, 5011-second through hole, 502-sliding rail, 5021-sliding groove, 503-pin, 6-arc tire, 7-worm gear reducer, 8-fixed seat, 9-mounting disc, 10-frame, 11-first wheel, 12-second wheel, 13-walking driving mechanism, 1301-walking driving motor, 1302-walking driving chain, 13021-first chain wheel, 13022-second chain wheel and 13023-chain, 1303-differential.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example 1:
as shown in fig. 1 to 3, the present embodiment provides a variable diameter wheel including a wheel disc 1, an axle 2, a stepping motor 2, a gear assembly 3, six sliding mechanisms 4, and six arc tires 5, wherein the axle 2 is a splined wheel disc.
As shown in fig. 4 to 7, a first through hole 101 is formed in the center of the wheel disc 1, a copper bush self-lubricating bearing is arranged between the first through hole 101 and the wheel shaft 2, the gear assembly 4 includes a first gear 401 and a second gear 402 which are engaged with each other, a third through hole 4021 is formed in the center of the second gear 402, the diameter of the first through hole 101 and the diameter of the third through hole 4021 are both greater than the diameter of the wheel shaft 2, the wheel shaft 2 sequentially passes through the third through hole 4021 and the first through hole 101, the second gear 402 is fixed on the wheel disc 1, the stepping motor 3 can adopt a 57 two-phase stepping motor, after the stepping motor 3 rotates, the first gear 401 is driven to rotate, because the first gear 401 is engaged with the second gear 402, the rotation of the first gear 401 can drive the second gear 402 to rotate, and at this time, the wheel disc 1 can rotate along with the rotation of the.
In order to fix the second gear 402 on the wheel disc 1, the wheel disc 1 of the present embodiment is provided with two threaded holes 102 arranged oppositely, the second gear 402 is provided with two fourth through holes 4022 arranged oppositely, the positions of the threaded holes 102 and the fourth through holes 4022 correspond, and the second gear 402 is fixed on the wheel disc 1 by passing screws through the fourth through holes 4022 to be matched with the threaded holes 102; it will be appreciated that the number of threaded holes 102 and fourth through holes 4022 may also be three, four or more in order to better secure the second gear 302 to the wheel disc 1.
Further, the first gear 401 of this embodiment sets up the inboard at the rim plate excircle, and second gear 402 is concentric with rim plate 1, and the size of first gear 401 is less than the size of second gear 402, and first gear 401 is the pinion promptly, and second gear 402 is the gear wheel, through these designs, not only can avoid gear assembly 4 to influence the motion of wheel, can make second gear 402 drive rim plate 1 better and rotate moreover.
In order to transmit the power of the stepping motor 3 and reduce the rotation speed of the stepping motor 3, in the embodiment, the stepping motor 3 is mounted on a flange of a worm gear reducer 7, an output shaft of the stepping motor 3 is concentrically connected with an input shaft of the worm gear reducer 7, a first gear 401 is mounted on the output shaft of the worm gear reducer 7, and the worm gear reducer 7 adopts a worm gear reducer with a transmission ratio of (1: 10).
In order to install the stepping motor 3 and the worm gear reducer 7, the worm gear reducer 7 is installed on the fixing seat 8 in the embodiment, the fixing seat 8 is fixedly connected with the wheel shaft 2, specifically, the fixing seat 8 is provided with a key slot hole, and the key slot hole is connected with the rotating shaft 2 in a key mode, so that the worm gear reducer 7 and the stepping motor 3 can rotate along with the rotation of the wheel shaft 2.
As shown in fig. 8 to 13, six sliding mechanisms 5 are fixed on the mounting disc 9 along the radial line of the wheel shaft 2, the wheel shaft 2 passes through the third through hole 4021 and the first through hole 101 in sequence and then is fixedly connected with the mounting disc 9, specifically, the wheel shaft 2 is connected with the center of the mounting disc 9 by a key, and after the wheel shaft 2 rotates, the mounting disc 9 is driven to rotate, so that the wheels move; be equipped with six bar grooves 103 on rim plate 1, bar groove 103, slide mechanism 5 and arc tire 6 are the one-to-one, and every bar groove 103 is certain contained angle with slide mechanism 5 that corresponds to with the first end sliding connection of slide mechanism 5 that corresponds, the second end of every slide mechanism 5 and the 5 fixed connection of arc tire that correspond.
Further, each sliding mechanism 5 comprises a sliding rod 501 and a sliding rail 502, the sliding rail 502 is fixed on the mounting plate 9, and since there are six sliding rails 502, the mounting plate 9 of the present embodiment preferably adopts a hexagonal structure, and each side is fixed with one sliding rail 502; the sliding rod 501 is slidably connected to the sliding rail 502, a first end of the sliding rod 501 serves as a first end of the sliding mechanism 5 and is slidably connected to the corresponding strip-shaped groove 103 through a pin 503, and a second end of the sliding rod 501 serves as a second end of the sliding mechanism 5 and is fixedly connected to the corresponding arc-shaped tire 6.
In order to enable the first end of the sliding rod 501 to be slidably connected with the corresponding strip-shaped groove 103 through the pin 503, the first end of the sliding rod 501 is provided with a second through hole 5011, the pin 503 is inserted into the second through hole 5011 to be tightly matched and clamped in the corresponding strip-shaped groove 103, when the wheel disc 1 rotates, the pin 503 is subjected to forces F1 and F2 in two directions through the action of the strip-shaped groove 103 on the pin 503, the resultant force is along the direction of the strip-shaped groove 103, the pin 503 moves in the strip-shaped groove 103 to drive the sliding rod 501 to slide, the sliding rod 501 is in clearance fit with the sliding rail 502 to enable the sliding rod 501 to slide in the sliding groove 5021 of the sliding rail 502, and therefore the corresponding arc-shaped tire 5 extends outwards or contracts inwards to adjust the diameter of the.
The wheel of the embodiment can also realize a self-locking function by utilizing the worm gear and worm reducer 7, when the helix lead angle of the worm is smaller than the equivalent friction angle between meshing teeth of the worm and worm gear, the self-locking occurs in the transmission, and the worm gear cannot drive the worm, namely the self-locking function, so that the diameter of the wheel is not changed due to automatic rotation caused by gravity even if the power is cut off after the diameter of the wheel is changed; the series of movements can realize the accurate change of the wheel diameter by rotating the stepping motor 3 by a certain angle and driving the wheel disc 1 by the gear assembly 4, thereby achieving the leveling purpose.
Example 2:
as shown in fig. 14 to 17, the present embodiment provides an agricultural vehicle chassis, which may be an orchard transporter or the like, including a frame 10, first wheels 11, second wheels 12, and a travel drive mechanism 13; the first wheel 11 is one, and the first wheel 11 is arranged at the front part of the frame 8 and used as a front wheel; the number of the second wheels 12 is two, each second wheel 10 adopts the variable-diameter wheel of the embodiment 1, the two second wheels 12 are arranged at the rear part of the frame 10 in a bilateral symmetry manner and are used as rear wheels, the wheel shafts of the two second wheels 12 are connected, and the axle centers of the two second wheels 12 are overlapped; the traveling drive mechanism 13 is disposed on the frame 10 and is used for driving the second wheel 12 to move.
Further, the walking drive mechanism 13 includes a walking drive motor 1301, a walking drive chain 1302 and a differential 1303, the walking drive motor 1301 drives the axle of the second wheel 12 to rotate through the walking drive chain 1302 and the differential 1303, so as to move the second wheel 12; the wheel shafts of the two second wheels 12 are connected through a differential 1303 and can rotate synchronously or at different speeds; specifically, the traveling drive chain 1302 includes a first sprocket 13021, a second sprocket 13022 and a chain 13023, the first sprocket 13021 is mounted on an output shaft of the traveling drive motor 1301 and is connected with the second sprocket 13022 through the chain 13023, the second sprocket 13022 is mounted on a differential 1303, and serves as a power input source of the differential 1303, after the traveling drive motor 1301 rotates, the first sprocket 13021 is driven to rotate, the second sprocket 13022 is driven to rotate through the chain 13023 to drive a wheel shaft to rotate, and the mounting disc 9 is further driven to rotate, so that the second wheel 12 moves.
In order to realize the walking of the agricultural vehicle and the control of the diameter change of the second wheel 12, the agricultural vehicle chassis of the embodiment further comprises a control circuit, the control circuit can adopt an STM32 series single chip microcomputer, the single chip microcomputer is respectively connected with the walking drive motor 1301 and the stepping motor of the second wheel 12, the ground condition is detected by matching with the use of sensors such as a gyroscope and the like, and the diameter of the second wheel is adjusted through the control of the control circuit, so that the agricultural vehicle chassis is in a balanced state.
The step angle of the stepping motor in this embodiment is 1.8, operation is performed when the detected pitch angle is not zero, and if the pitch angle is larger than zero, the stepping motor rotates forwards; if the pitch angle is smaller than zero, the stepping motor rotates reversely, and the basic calculation formula is as follows:
Step＝L*tanθ/1.8
where Step is the number of excitation signals applied to the stepping motor, L is the distance between the two second wheels, and θ is the pitch angle.
In order to meet the leveling requirement of the agricultural vehicle chassis on a complex road section, the embodiment provides a leveling method of the agricultural vehicle chassis, which comprises the following steps as shown in fig. 18:
and S1, when the work is started, resetting the wheel disc, resetting gyroscope data, and moving the stepping motor to the middle point position of the screw rod.
And S2, detecting the pitch angle in real time by using a gyroscope.
And S3, when the detected pitch angle is not zero, performing operation.
And S4, enabling the stepping motor to rotate forwards or backwards according to the operation result, leveling the chassis and restoring the gyroscope data to zero.
In conclusion, the wheel disc is driven to rotate through the gear assembly by the stepping motor, the wheel disc is provided with the plurality of strip-shaped grooves, each strip-shaped groove is inclined to the corresponding sliding mechanism, when the wheel disc rotates, the corresponding sliding mechanism slides through the strip-shaped grooves, so that the corresponding arc-shaped tire extends outwards or contracts inwards, the diameter of the wheel is adjusted, the function of leveling the chassis of the vehicle is realized on the basis of meeting the requirement of small farming, the size is small, and the weight is greatly reduced; in addition, a stepping motor is adopted for driving, so that accurate positioning can be realized, and the accuracy is higher.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.

Claims (5)

1. A variable-diameter wheel is characterized by comprising a wheel disc, a wheel shaft, a stepping motor, a gear assembly, a plurality of sliding mechanisms and a plurality of arc-shaped tires, wherein the stepping motor drives the wheel disc to rotate through the gear assembly, the sliding mechanisms are fixed on an installation disc along the radial line of the wheel shaft, a first through hole is formed in the center of the wheel disc, the wheel shaft penetrates through the first through hole and then is fixedly connected with the installation disc, a plurality of strip-shaped grooves are formed in the wheel disc, the strip-shaped grooves, the sliding mechanisms and the arc-shaped tires are in one-to-one correspondence, each strip-shaped groove forms a certain included angle with the corresponding sliding mechanism and is in sliding connection with the first end of the corresponding sliding mechanism, and the second end of each sliding mechanism is fixedly connected with;
each sliding mechanism comprises a sliding rod and a sliding rail, the sliding rail is fixed on the mounting disc and is in sliding connection with the sliding rail, the first end of the sliding rod is in sliding connection with the corresponding strip-shaped groove through a pin, and the second end of the sliding rod is fixedly connected with the corresponding arc-shaped tire; when the wheel disc rotates, the pin is forced in two directions under the action of the strip-shaped groove on the pin, the resultant force is along the direction of the strip-shaped groove, the pin moves in the strip-shaped groove to drive the sliding rod to slide, the sliding rod is in clearance fit with the sliding rail, and the sliding rod slides in the sliding groove of the sliding rail, so that the corresponding arc-shaped tire extends outwards or contracts inwards to adjust the diameter of the wheel;
the gear assembly comprises a first gear and a second gear which are meshed with each other, a third through hole is formed in the center of the second gear, the diameter of the third through hole is larger than that of a wheel shaft, the wheel shaft sequentially penetrates through the third through hole and the first through hole and then is fixedly connected with the mounting disc, the second gear is fixed on the wheel disc, and the stepping motor drives the first gear to rotate to drive the second gear to rotate the wheel disc; the first gear is arranged on the inner side of the excircle of the wheel disc, the second gear is concentric with the wheel disc, and the size of the first gear is smaller than that of the second gear; the stepping motor is arranged on a flange plate of the worm and gear speed reducer, an output shaft of the stepping motor is concentrically connected with an input shaft of the worm and gear speed reducer, and the first gear is arranged on an output shaft of the worm and gear speed reducer; the worm gear speed reducer is installed on a fixed seat, and the fixed seat is fixedly connected with the wheel shaft.
2. The variable-diameter wheel according to claim 1, wherein the first end of the sliding rod is provided with a second through hole, and the pin is inserted into the second through hole to be tightly matched, clamped in the corresponding strip-shaped groove and capable of sliding in the corresponding strip-shaped groove.
3. The variable diameter wheel of claim 1, wherein the wheel disc is provided with a threaded hole, the second gear is provided with a fourth through hole, and the second gear is fixed on the wheel disc by a screw passing through the fourth through hole to be matched with the threaded hole.
4. An agricultural vehicle chassis comprising two variable diameter wheels according to any one of claims 1 to 3, the axles of the two variable diameter wheels being connected to each other and the axle centres of the two variable diameter wheels being coincident.
5. The agricultural vehicle chassis of claim 4, further comprising control circuitry connected to the stepper motors of the two variable diameter wheels, respectively.
CN201911300328.4A 2019-12-17 2019-12-17 Variable diameter wheel and agricultural vehicle chassis Active CN110920318B (en)

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CN110920318B true CN110920318B (en) 2021-05-28

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CN111928984A (en) * 2020-05-29 2020-11-13 廊坊研领科技有限公司 Plum blossom contact tensioning pressure measurement ware
CN112644219A (en) * 2020-12-29 2021-04-13 封鸿涛 External anti-skidding device of getting rid of poverty of vehicle wheel hub
CN114470581B (en) * 2022-02-18 2022-09-20 复旦大学 Fire-fighting robot based on variable-diameter wheels and control method thereof

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BE792544A (en) * 1971-12-20 1973-03-30 Diaz Gomez Teodosio ANTI-SLIP ON SNOW AND ICE, APPLICABLE TO DEVEHICULATED WHEELS
CN103950352B (en) * 2014-04-14 2015-12-23 浙江理工大学 A kind of radial direction repeats folding exhibition wheel mechanism
CN204249714U (en) * 2014-11-13 2015-04-08 同济大学 Lead screw Self-locking type vehicle wheel diameter changeable mechanism
CN107200075B (en) * 2017-06-07 2019-05-07 宋天钰 A kind of mobile barrier-surpassing robot of the change wheel footpath of separable wheel rim

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