CN113771548A - Variable-diameter driving wheel based on paper folding process and method thereof - Google Patents
Variable-diameter driving wheel based on paper folding process and method thereof Download PDFInfo
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- CN113771548A CN113771548A CN202111124863.6A CN202111124863A CN113771548A CN 113771548 A CN113771548 A CN 113771548A CN 202111124863 A CN202111124863 A CN 202111124863A CN 113771548 A CN113771548 A CN 113771548A
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- 229910052751 metal Inorganic materials 0.000 claims description 334
- 239000002184 metal Substances 0.000 claims description 334
- 229910052782 aluminium Inorganic materials 0.000 claims description 25
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 25
- 239000000463 material Substances 0.000 claims description 21
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- 238000012545 processing Methods 0.000 claims description 10
- 229920002635 polyurethane Polymers 0.000 claims description 8
- 239000004814 polyurethane Substances 0.000 claims description 8
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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Abstract
本发明公开了一种基于折纸工艺的可变直径驱动轮及其方法。本发明充分利用折纸工艺的特点实现车轮变径的功能，当汽车在平坦的公路上行驶时，可采用直径小的车轮形态，这样能获得更好的操作稳定性和平顺性，能有效提高动力性能，有更快的响应速度和更小的能耗。当遇到越野路况时，即路况复杂凹凸不平，可采用直径大的车轮形态，这样能获得更好的越野性能，提高车辆的通过性能。本发明的车轮可通过一个线性液压驱动完成变径的控制，使变径的控制稳定而精确，配合支撑架以及收紧弹簧，使得车轮整体能够满足高负载要求。实际应用中，该轮可满足不同路面状况对轮径的要求。
The invention discloses a variable-diameter driving wheel based on origami technology and a method thereof. The invention makes full use of the characteristics of the origami process to realize the function of changing the diameter of the wheel. When the car is running on a flat road, the wheel shape with a small diameter can be adopted, so that better operation stability and smoothness can be obtained, and the power can be effectively improved. performance, with faster responsiveness and less power consumption. When encountering off-road road conditions, that is, the road conditions are complex and uneven, a wheel shape with a large diameter can be used, which can obtain better off-road performance and improve the passing performance of the vehicle. The wheel of the present invention can control the diameter change through a linear hydraulic drive, so that the control of the diameter change is stable and precise, and with the support frame and the tightening spring, the wheel as a whole can meet the high load requirements. In practical applications, the wheel can meet the requirements of different road conditions on the wheel diameter.
Description
Technical Field
The invention relates to the technical field of wheels with adjustable wheel diameters, in particular to a variable-diameter driving wheel based on a paper folding process and a manufacturing method thereof.
Background
The paper folding process is a technology capable of flexibly converting a mechanical structure, is different from a traditional mode of providing freedom degree, can realize various different form conversion, and is variable in pattern and novel in form. At present, the main form of the wheel is a fixed structure and a shape, once manufactured, the shape and the size of the wheel are fixed and cannot be changed, but the wheel is suitable for wheels with different diameters under different road conditions, the gravity center of a small wheel diameter is low on a flat road surface, the acceleration is fast, the performance is better, and the passing performance of a large wheel diameter is better under the condition that the road surface undulates greatly. The size of the diameter of the fixed wheels limits the applicability of a vehicle or robot. Therefore, the variable diameter driving wheel has high practical application value.
In some prior patents related to the variable-diameter driving wheel, the variable-diameter driving wheel is mainly realized through some link mechanisms or telescopic springs, the invention provides a new realization method, the variable-diameter wheel is designed in a mode similar to paper folding, the processing and assembly method is simple, the adjustment of the wheel diameter can be controlled only through a linear hydraulic system, and the whole driving wheel can bear higher load.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method for realizing a wheel with a variable diameter based on a paper folding process, so that the diameter of the wheel can be freely changed between the maximum diameter and the minimum diameter under a linear hydraulic driver.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
a variable-diameter driving wheel based on a paper folding process comprises a folding wheel, a supporting frame, a tire cushion and a driving system;
the folding wheel is formed by folding a three-layer composite structure according to a paper folding process; in the three-layer composite structure, the middle layer is a flexible supporting layer, and metal layers are symmetrically fixed on the flexible supporting layer towards the outer side and the inner side of the wheel respectively; the metal layer on each side is formed by circumferentially arranging a plurality of metal components around the wheel; each metal component comprises a central tread part and two side spoke parts, wherein the tread part is positioned on a direct stress surface of the tire, which is in contact with the ground, and the spoke parts are positioned on two side surfaces of the tire and extend from the edge of the tread part to the vicinity of a wheel axle; adjacent metal assemblies are closely spliced, a tensioning spring is connected between the tread parts of any two adjacent metal assemblies, one end of each spoke part of each side of each metal assembly, which is close to the wheel axle, is connected and fixed into a whole by an inner ring, and a metal cover plate connected and fixed with the inner ring of the side of each side is also arranged on the outer side surface of the tire;
the driving system is arranged in the folding wheel, is respectively connected with the metal cover plates on the two sides, and is used for applying axial driving force to the folding wheel through the metal cover plates on the two sides; in each metal component, the tread part and the spoke part are both composed of a plurality of discrete metal plates, so that when the spacing of the metal cover plates on two sides is changed under the driving of the driving system, the metal components cover the wheel width and the wheel diameter of the folding wheel through the relative movement of the inner metal plates;
the support frame is positioned in the folding wheel, and when the space between the metal cover plates on the two sides is minimum and the diameter of the wheel is maximum, the support frame forms a limiting mechanism for limiting the space between the metal cover plates on the two sides to be continuously reduced;
the tire pad is mounted on the surface of the tread portion and the spoke portion of each metal component of the folded wheel, and is used for improving the buffering capacity and the ground gripping capacity of the folded wheel.
Preferably, the folding wheel has 12 metal components in the metal layer on each side.
Preferably, the tread portion is composed of 9 metal plates, including 1 first metal plate, 2 second metal plates, 2 third metal plates, and 4 fourth metal plates; the first metal plate is arranged at the most central position, the surface of the first metal plate is basically rectangular in outline, a bolt hole for mounting the spring is formed in the center of the metal plate, and the end part of the spring is mounted on the bolt hole in the center of the first metal plate through a bolt; two sides of the short side of the rectangle are symmetrically distributed with 2 second metal plates, the surface basic outline of each second metal plate is an isosceles trapezoid, and the upper bottom edge of each second metal plate is close to and parallel to the short side of the first metal plate; the two sides of the long side of the rectangle of the first metal plate are symmetrically distributed with 2 third metal plates, the surface of each third metal plate is in an isosceles trapezoid shape, the upper bottom edge of each third metal plate is close to and parallel to the long side of the first metal plate, and each third metal plate is provided with a mounting hole for mounting a tire pad; and a fourth metal plate is arranged between each group of adjacent second metal plates and each group of adjacent third metal plates, the basic outline of the surface of each fourth metal plate is triangular, two edges of each fourth metal plate are respectively parallel to the trapezoidal oblique edge of the adjacent second metal plate and the trapezoidal oblique edge of the adjacent third metal plate, and the straight line of the other edge passes through the vertex close to the lower bottom edge of the adjacent second metal plate and the vertex close to the lower bottom edge of the third metal plate.
Further, the spoke parts on each side are composed of 7 metal plates, and the 7 metal plates comprise 1 fifth metal plate, 2 sixth metal plates, 2 seventh metal plates, 1 eighth metal plate and 1 ninth metal plate; the basic outline of the surface of the fifth metal plate is in an isosceles trapezoid shape, the upper bottom edge of the fifth metal plate is close to the lower bottom edge of the third metal plate closest to the tread part and is parallel to the lower bottom edge of the third metal plate, and the vertical bisector of the upper bottom edge of the fifth metal plate is coplanar with the vertical bisector of the central metal plate of the tread part; a seventh metal plate and a sixth metal plate are symmetrically distributed on two sides of the fifth metal plate, the surface of the seventh metal plate is in a triangle shape, wherein the longest side is close to and parallel with one isosceles trapezoid inclined side of the fifth metal plate, the inner angle of the triangle corresponding to the longest side is more than 100 degrees, and the shortest side is one side close to the tread part; the surface of the sixth metal plate is a plane quadrangle, wherein a first side is close to the shortest side of the seventh metal plate and is parallel to the shortest side, a second side opposite to the first side is collinear with the lower bottom edge of the second metal plate closest to the tread part, the third sides of the other two sides far away from the tread part are parallel to the upper bottom edge of the fifth metal plate, and the straight line where the rest fourth sides are located passes through the vertex close to the upper bottom edge of the fifth metal plate; the basic outline of the surface of the eighth metal plate is an isosceles trapezoid, and the lower bottom edge of the basic outline is close to and parallel to the edge of the surface of the sixth metal plate, which is far away from the tread part; two adjacent tread parts are respectively provided with a second metal plate which are adjacent, wherein the adjacent side is the lower bottom edge of the isosceles trapezoid on the surface of the second metal plate, and the symmetry axis of the isosceles trapezoid on the surface of the eighth metal plate is the symmetry axis of the two adjacent second metal plates; the basic outline of the surface of the ninth metal plate is in an isosceles trapezoid shape, the lower bottom edge of the ninth metal plate is close to and parallel to the lower bottom edge of the fifth metal plate, the vertical bisector of the lower bottom edge of the ninth metal plate is superposed with the vertical bisector of the lower bottom edge of the fifth metal plate, and the ninth metal plate is provided with a bolt hole for connecting and fixing the inner ring.
Furthermore, the support frame has a plurality of groups; every metal component corresponds a set of support frame respectively, and a set of support frame includes first support frame and second support frame, and on first support frame was fixed in the fifth metal sheet of one side, the second support frame was fixed in on the fifth metal sheet, and when the both sides metal covering board interval was minimum and wheel diameter was the biggest, first support frame leaned on and further dwindled the interval in the one-way restriction both sides metal covering board on the second support frame.
Preferably, the material of the flexible support layer is PET.
Preferably, the material of the support frame is ABS
Preferably, the cover plate is an aluminum alloy cover plate.
Preferably, the metal plate is an aluminum plate.
Preferably, the inner ring is a nylon inner ring
Preferably, the aluminum plate is provided with a hollow pattern.
Preferably, the aluminium plate is anchored to the flexible support layer by rivets.
Preferably, the aluminum plate is provided with a chamfer.
Preferably, the drive system is a linear hydraulic drive system.
Preferably, all springs in the folding wheel are of identical gauge.
Preferably, the tire pads are provided with a plurality of groups, each metal component facing the outer side of the wheel is provided with a group of tire pads, each group of tire pads comprises four pieces, two pieces of tire pads respectively cover 2 second metal plates in the metal components, a third piece of tire pad continuously covers a third metal plate and a fifth metal plate on one side, and a fourth piece of tire pad continuously covers a third metal plate and a fifth metal plate on the other side; preferably, the tire cushion is made of polyurethane material.
In a second aspect, the present invention further provides a method for manufacturing the above-mentioned variable diameter driving wheel, which comprises the following steps:
s1, respectively cutting and processing the flexible supporting material and the metal plate to form the flexible supporting layer and two metal layers, wherein each metal layer comprises a plurality of metal components, and each metal component comprises 23 aluminum plates;
s2, placing all the metal plates at corresponding positions of the flexible supporting layer, and riveting the metal plates and the flexible supporting layer together by rivets;
s3, folding the riveted metal plate and the flexible supporting layer into a wheel, then installing an inner ring at each side of the wheel, connecting and fixing one ends of all spoke parts close to a wheel axle into a whole through the inner rings, so that the whole wheel has one axial degree of freedom, the diameter of the wheel is reduced and the whole wheel width is increased when the distances between the inner rings at two sides are pulled apart, and the diameter of the wheel is increased and the whole wheel width is reduced when the distances between the inner rings at two sides are reduced;
s4, respectively installing a group of supporting frames on each metal component in the wheel with the fixed inner ring, and simultaneously connecting a tensioned spring between the tread parts of any two adjacent metal components, wherein the spring is in a stretched state when the wheel diameter is minimum, and the elongation of the spring is maximum when the wheel diameter is maximum;
s5, cutting and processing a plurality of groups of tire pads, and respectively installing a group of tire pads on each metal component facing the outer side of the wheel;
and S6, finally, installing a driving system of the wheel and cover plates on two sides of the wheel, wherein the cover plates are fixed with the inner ring on the side where the cover plates are located, and two ends of the driving system are connected onto the cover plates, so that the driving system can adjust the distance between the cover plates on the two sides.
Compared with the prior art, the invention has the advantages that:
1. the invention fully utilizes the characteristics of the paper folding process to realize the function of diameter changing of the wheel, and when an automobile runs on a flat road, the shape of the wheel with small diameter can be adopted, thus better operation stability and smoothness can be obtained, the power performance can be effectively improved, and the invention has faster response speed and smaller energy consumption. When the vehicle meets the off-road conditions, namely the road conditions are complex and uneven, the vehicle can adopt the wheel form with large diameter, thus obtaining better off-road performance and improving the passing performance of the vehicle.
2. The wheel completes the control of the variable diameter through a linear hydraulic drive, so that the control of the variable diameter is stable and accurate, and the wheel can integrally meet the high load requirement by matching with a support frame and a tightening spring.
Drawings
FIG. 1 is an expanded view of a wheel fold front three layer composite structure of the present invention;
FIG. 2 is an exterior view of the folded rear wheel of the present invention;
FIG. 3 is an enlarged view of a portion of the unfolded view of the wheel of the present invention before folding
FIG. 4 is a schematic view of the support bracket of the present invention;
FIG. 5 is a detail view of a first support bracket of a set of internal support brackets of the present invention;
FIG. 6 is a detail view of a second support bracket of a set of internal support brackets according to the present invention;
FIG. 7 is a schematic view of the assembly of the present invention when the wheel diameter is maximum after folding;
FIG. 8 is a schematic view of the assembly of the present invention after folding with a minimum wheel diameter;
FIG. 9 is a detail view of a tire pad of the present invention;
fig. 10 is a schematic view of the installation of the spring in the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The technical characteristics in the embodiments of the present invention can be combined correspondingly without mutual conflict.
In the description of the present invention, it should be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element, i.e., intervening elements may be present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
In the description of the present invention, it is to be understood that the terms "first", "second" (broadly, "nth") are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "nth" may explicitly or implicitly include at least one such feature.
In a preferred embodiment of the invention, a variable-diameter driving wheel based on a paper folding process is provided, and the main structure of the variable-diameter driving wheel comprises a folding wheel, a supporting frame, a tire cushion and a driving system. The following describes specific structures and implementations of the components in this embodiment.
The folding wheel is a main body part of the variable-diameter driving wheel, and is formed by folding a three-layer composite structure according to a paper folding process. The paper folding process is a process of folding a flexible layered material into a desired shape. In this embodiment, the three-layer composite structure is shown in fig. 1 in an unfolded state. In the three-layer composite structure, the middle layer is a flexible supporting layer, metal layers are fixed on the flexible supporting layer towards the outer side and the inner side of the wheel respectively, and the inner metal layer and the outer metal layer are symmetrically arranged by taking the middle layer as a center. The folding wheel formed by folding the three-layer composite structure according to the paper folding process is shown in fig. 2, and the whole folding wheel is in a round wheel form. The metal layers on each side of the flexible supporting layer are formed by a plurality of metal components which are circumferentially arranged around the wheel, in the embodiment, 24 metal components are arranged in total, and the metal layers on each side are respectively provided with 12 metal components. Each metal component comprises a central tread part and two side spoke parts, wherein the tread part is positioned on a direct stress surface of the tire, which is in contact with the ground, the spoke parts are positioned on two side surfaces of the tire, and the spoke parts extend from the edge of the tread part to the vicinity of a wheel axle and are kept at a certain distance from the wheel axle so as to facilitate the installation of a subsequent driving system, an inner ring and the like. In all metal assemblies, adjacent metal assemblies are sequentially abutted and spliced, a tensioning spring is connected between the tread parts of any two adjacent metal assemblies, and the spring has the function of ensuring the rigidity of the wheel under a fixed diameter, so that the wheel has certain shape stability. As shown in FIG. 2, the spoke portions on each side of all the metal members are integrally connected by an inner ring 11 at the end near the wheel axle. And as shown in fig. 4, a metal cover plate 12 connected and fixed with the inner ring on the side is also arranged on the outer side surface of the tire on each side.
The driving system is used for driving the diameter of the folding wheel to change, and therefore the driving system is arranged inside the folding wheel and is respectively connected with the metal cover plates 12 on the two sides for applying axial driving force to the folding wheel through the metal cover plates 12 on the two sides. In the present invention, the change of the wheel diameter of the folded wheel is achieved by deformation of the tread portion and the spoke portion in the metal member. In each metal component, the tread part and the spoke part are both composed of a plurality of discrete metal plates, and the middle layer in the three-layer composite structure is a continuous flexible supporting layer, so that the discrete metal plates on two sides can ensure that the form of the whole three-layer composite structure is relatively stable, and can have a certain degree of deformation freedom under the action of the flexible supporting layer. Therefore, when the metal cover plates on the two sides are driven by the driving system to change the spacing, the metal components cover the wheel width and the wheel diameter of the folding wheel through the relative movement of the inner metal plates.
In the above technical solution, the step of changing the diameter of the wheel is as follows: 1) generating a control signal to control the driving system through an external control system according to the diameter size changed as required; 2) the driving system changes the diameter of the whole wheel by changing the linear distance between the two metal cover plates; 3) the driving system is self-locked, and the stability of the whole wheel is ensured when the diameter is not required to be changed.
In addition, in order to fold the wheel, the wheel width and the wheel diameter are not infinitely changed, and a certain change range is required to be met, and the function is required to be controlled by the support frame. The support frame is positioned in the folding wheel, and when the space between the metal cover plates on the two sides is minimum and the diameter of the wheel is maximum, the support frame forms a limiting mechanism for limiting the space between the metal cover plates on the two sides to be continuously reduced.
In addition, the folding wheel is made of flexible materials and metal, and the cushion capacity and the ground holding capacity of the folding wheel are improved by matching with a tire cushion in practical use. The tire pad is mounted to the tread portion and spoke portion surfaces of each metal component of the folded wheel.
The specific arrangement of the discrete metal plates in the tread portion and the spoke portion may be various, and a design form is provided in the present embodiment.
As shown in fig. 3, the tread portion is composed of 9 metal plates, including 1 first metal plate 2, 2 second metal plates 3, 2 third metal plates 4, and 4 fourth metal plates 5. The first metal plate 2 is arranged at the most central position, the surface of the first metal plate 2 is basically rectangular in outline, a bolt hole for installing the spring is arranged in the center of the metal plate, and the end part of the spring is installed on the bolt hole in the center of the first metal plate 2 through a bolt. Two sides of the short side of the rectangle are symmetrically distributed with 2 second metal plates 3, the basic outline of the surface of the second metal plate 3 is isosceles trapezoid, and the upper bottom edge is close to and parallel to the short side of the first metal plate 2. Two sides of the long side of the rectangle of the first metal plate 2 are symmetrically distributed with 2 third metal plates 4, the basic outline of the surface of each third metal plate 4 is an isosceles trapezoid, the upper bottom edge of each third metal plate is close to and parallel to the long side of the first metal plate 2, and the third metal plates 4 are provided with mounting holes for mounting tire pads. A fourth metal plate 5 is arranged between each group of adjacent second metal plates 3 and third metal plates 4, the basic outline of the surface of the fourth metal plate 5 is triangular, two edges are respectively parallel to the trapezoidal inclined edge of the adjacent second metal plate 3 and the trapezoidal inclined edge of the adjacent third metal plate 4, and the straight line of the other edge passes through the vertex near the lower bottom edge of the adjacent second metal plate 3 and the vertex near the lower bottom edge of the third metal plate 4.
Similarly, referring to fig. 3, the spoke portions on each side are made up of 7 metal plates, including 1 fifth metal plate 6, 2 sixth metal plates 7, 2 seventh metal plates 8, 1 eighth metal plate 9, and 1 ninth metal plate 10. The basic outline of the surface of the fifth metal plate 6 is an isosceles trapezoid, the length of the upper bottom edge of the fifth metal plate is slightly smaller than the lower bottom edge of the third metal plate 4 of the tread part, the height length of the bottom surface of the fifth metal plate 6 is obviously larger than the height of the bottom edge of the third metal plate 4 of the tread part, the upper bottom edge of the fifth metal plate 6 is close to the lower bottom edge of the third metal plate 4 closest to the tread part and is parallel to the lower bottom edge of the third metal plate 4, the vertical bisector of the upper bottom edge in the folded state is coplanar with the vertical bisector of the central metal plate 2 of the tread part, and the vertical bisector of the upper bottom edge in the unfolded state is collinear with the vertical bisector of the central metal plate 2 of the tread part. Seventh metal plates 8 and sixth metal plates 7 are symmetrically distributed on two sides of the fifth metal plate 6, the basic outline of the surface of the seventh metal plate 8 is triangular, wherein the longest side is close to and parallel to the inclined side of an isosceles trapezoid of the fifth metal plate 6, the length of the longest side is slightly shorter than the inclined side, the inner angle of the triangle corresponding to the longest side is larger than 100 degrees, and the shortest side is a side close to the tread part. The surface of the sixth metal plate 7 is a plane quadrangle, wherein a first side is close to the shortest side of the seventh metal plate 8 and is parallel to the shortest side, a second side opposite to the first side is collinear with the lower bottom edge of the second metal plate 3 closest to the tread part, a third side far away from the tread part in the other two sides is parallel to the upper bottom edge of the fifth metal plate 6, and the straight line where the remaining fourth side is located passes through the vertex close to the upper bottom edge of the fifth metal plate 6. The basic outline of the surface of the eighth metal plate 9 is an isosceles trapezoid, and the lower bottom edge of the basic outline is close to and parallel to the edge of the surface of the sixth metal plate 7 far away from the tread part. Two adjacent tread parts respectively have a second metal sheet 3 adjacent to be close to, and wherein the limit of closing to is the lower base of second metal sheet 3 surface isosceles trapezoid, and the symmetry axis of eighth metal sheet 9 surface isosceles trapezoid is the symmetry axis of two second metal sheets 3 that close to. The basic outline of the surface of the ninth metal plate 10 is an isosceles trapezoid, the lower bottom edge of the ninth metal plate is close to and parallel to the lower bottom edge of the fifth metal plate 6, the vertical bisector of the lower bottom edge of the ninth metal plate coincides with the vertical bisector of the lower bottom edge of the fifth metal plate 6, the height of the trapezoid on the surface of the ninth metal plate 10 is far smaller than that of the trapezoid on the surface of the fifth metal plate 6, and a bolt hole for connecting and fixing an inner ring is formed in the ninth metal plate 10.
In the present invention, the basic contour refers to the entire contour of the entire board, and a certain deviation is allowed in the contour. For example, the first metal plate 2 may be hollowed out as required, but the connection line of the four vertexes is an isosceles trapezoid; the second metal plate 3 can be hollowed out as required, but the shape of the triangle connecting the three vertices should satisfy the above requirement. (ii) a The fifth metal plate 6 can be hollowed out as required, but the shape of the quadrilateral with the four connecting points meets the requirement; the seventh metal plate 8 can be hollowed out as required, but the shape of the triangle connecting the three vertexes of the seventh metal plate needs to meet the requirement; the sixth metal plate 7 can be hollowed out as required, but the shape of the quadrilateral with four connecting points meets the requirement; the eighth metal plate 9 may be hollowed out as required, but the shape of the quadrilateral with four vertices connected should meet the above requirement.
In the unfolded state, the surface profile of the middle flexible supporting layer is mainly a rectangle, two long edges are collinear with the lower bottom edge of the trapezoid on the surface of the fifth metal plate 6, meanwhile, a PET folding part with a corresponding shape is covered at the corresponding position of each ninth metal plate 10 on the two long edges, and the two edges of the rectangle can be cut down as required, but all aluminum plate positions must be covered.
In addition, the form of the support frame is not limited as long as the support frame can play a relative limiting function. In this embodiment, a specific implementation form of the supporting frame is provided. As shown in fig. 4, the support frames have 12 sets, each metal component corresponds to one set of support frame, and one set of support frame includes a first support frame and a second support frame, as shown in fig. 5 and 6. On first support frame was fixed in the fifth metal board 6 of one side, the second support frame was fixed in on the fifth metal board 6, when both sides metal covering board interval was minimum and wheel diameter was the biggest, first support frame just leaned on the second support frame to the interval is further reduced to one-way restriction both sides metal covering board. When the wheel diameter is the minimum, 12 pairs of 3D printed supports can be well installed, and each pair of supports is in a tangent state at the tail end when the wheel diameter is the maximum, so that the wheel is limited from being deformed continuously.
In addition, the specific arrangement form of the tire pad is not limited, and the tire pad can play a role in buffering and grabbing the ground. In the present embodiment, as shown in fig. 7 and 8, there are 12 sets of the tire pads 13, one set of the tire pads 13 is provided on each metal component facing the outer side of the wheel, and the one set of the tire pads 13 includes four, where two tire pads respectively cover 2 second metal plates 3 of the metal components, a third tire pad continuously covers the third metal plate 4 and the fifth metal plate 6 on one side, and a fourth tire pad continuously covers the third metal plate 4 and the fifth metal plate 6 on the other side. The third and fourth pads are constructed as shown in fig. 9 and are of a bent configuration to continuously overlie the third and fifth metal plates 4, 6 to improve the integrity of the bent position. The polyurethane tire cushion mainly has the effects of buffering, reducing the vibration generated on a vehicle body due to the collision of wheels and the ground, ensuring the stable running of the vehicle body, and the polyurethane has good buffering capacity, can ensure higher ground grabbing force of the wheels, has a friction coefficient with the cement ground of about 0.8 and has better performance on rougher ground. The whole tyre pad is formed and processed by a mould, the shape and the size are determined by a 3D printing mould, and the mould which is suitable for being designed can be selected according to actual conditions to process the tyre pad, so that the whole tyre pad can be adjusted more conveniently. The processed tyre pad is connected with the whole wheel framework through a bolt.
In addition, as shown in fig. 10, 12 springs 14 may be installed between the centers of the adjacent first metal plates 2 by means of bolts and nuts, and the unstretched length may be selected according to specific needs. To ensure consistent tension, all 12 springs 14 in the folded wheel must be of identical gauge.
The driving system of the invention preferably adopts a linear hydraulic driver, and the aluminum alloy cover plate is 12-sided and is lightened by hollowing. The linear hydraulic actuator is connected to the aluminum alloy cover plates on both sides, and is equivalent to providing an internal drive for the wheel in the axial direction, and the drive is used for controlling the change of the wheel width and the wheel diameter. The hydraulic drive is adopted instead of pneumatic or electric drive, and the main reason is that the hydraulic drive has better rigidity, the stability of the wheels during operation is ensured, and meanwhile, the hydraulic drive has higher precision and quicker response.
The variable-diameter driving wheel can be manufactured and processed according to the following manufacturing method, and the manufacturing method comprises the following steps:
and S1, respectively cutting the flexible supporting material and the metal plate to form the flexible supporting layer and two metal layers, wherein each metal layer comprises a plurality of metal components, and each metal component comprises 23 aluminum plates.
In this embodiment, the folded part of the wheel made of PET material and the corresponding shaped 6061 aluminum material plate can be processed by laser processing as required. Each pair of metal components can finally be folded into one twelfth of a wheel, corresponding to a spoke.
And S2, placing all the metal plates at corresponding positions of the flexible supporting layer, and riveting the metal plates and the flexible supporting layer together by rivets.
In this embodiment, all the aluminum plates can be placed at corresponding positions on the folded portion of the wheel made of PET material, and the aluminum plates and the folded portion of the wheel are riveted together by rivets.
S3, folding the riveted metal plate and the flexible supporting layer into a wheel, then installing an inner ring at each side of the wheel, connecting and fixing one ends of all spoke parts close to the wheel axle into a whole through the inner rings, so that the whole wheel has one axial degree of freedom, the diameter of the wheel is reduced and the whole wheel width is increased when the distances between the inner rings at two sides are pulled apart, and the diameter of the wheel is increased and the whole wheel width is reduced when the distances between the inner rings at two sides are reduced.
In the embodiment, the PET part can be properly cut as required in the process of folding the wheel so as to meet the folding requirement, but the degree of freedom of the whole wheel cannot be influenced. When the nylon inner ring is fixed with the nylon inner ring, the nylon inner ring is firstly screwed down by bolts and nuts, and after the nylon inner ring is installed, the wheel is contracted to the condition that the diameter of the wheel is minimum, so that the subsequent installation of the support frame and the tightening of the spring are facilitated. The riveted PET and aluminum plate parts are folded into twelve spokes after the wheels are folded, and then the 3D printing nylon inner ring can be used for fixing. At this time, the shape of the entire wheel is substantially determined, and the entire wheel has one degree of freedom.
And S4, respectively installing a group of supporting frames on each metal component in the wheel with the fixed inner ring, and simultaneously connecting a tensioned spring between the tread parts of any two adjacent metal components, wherein the spring is in a stretched state when the wheel diameter is minimum, and the elongation of the spring is maximum when the wheel diameter is maximum.
In this embodiment, the support frames inside the wheel are 3D printed and installed in the wheel already fixed on the inner ring, and there are 12 pairs of support frames in total. Meanwhile, in order to ensure the rigidity of the wheel under a fixed diameter and ensure the shape stability of the wheel, 12 springs in total are installed between the centers of all the spokes.
And S5, cutting and processing a plurality of groups of tire pads, and respectively installing one group of tire pads on each metal component facing the outer side of the wheel.
In this embodiment, after the wheel is assembled, the tire pads are processed and mounted, and the tire pads are made of conventional polyurethane material, and are also divided into 24 tire pads, which are respectively mounted on 12 pairs of spokes. The tire cushion is processed by adopting a mold pouring forming technology, and a corresponding mold is firstly manufactured, and the specific method is that the appearance of the mold, including a bolt which needs to be installed in the tire cushion, is printed out by 3D according to a design drawing. After the tire pads are manufactured, the tire pads are installed on the corresponding trapezoidal aluminum plates through bolts.
And S6, finally, installing a driving system of the wheel and cover plates on two sides of the wheel, wherein the cover plates are fixed with the inner ring on the side where the cover plates are located, and two ends of the driving system are connected onto the cover plates, so that the driving system can adjust the distance between the cover plates on the two sides.
In this embodiment, the last 6061 aluminum alloy cover plate and the linear hydraulic drive system are installed, and the hydraulic linear drive is connected with an external control device, so as to control the change of the wheel diameter of the wheel.
In addition, it should be noted that the drawings partially employ simplified drawings and specific approaches in the present embodiment, and the following descriptions are provided:
in this embodiment, the unfolded view of the wheel before being folded is shown in fig. 1, there are 12 folded parts with the same shape, each front and back surface of each part has 23 aluminum plates, most of the empty space between two aluminum plates is the place of the fold, each aluminum plate has a certain degree of hollowing, the hollow part is triangular, the influence on the bearing capacity of the whole wheel is little, and the wheel is used for reducing the weight of the wheel. The overall length of the entire developed view is about 1200 mm. The actual unfolded drawing can be cut at partial positions according to the folding condition so as to better reduce the stress of partial bending, but the position layout of the whole folded drawing cannot be changed.
Fig. 2 is an appearance diagram of the maximum diameter of the folded wheel, wherein the tire pads and other parts covering the outer surface are not arranged on the appearance diagram, so that the folding condition of the whole part can be observed conveniently, the folding condition of part is complex, and the actual folding result is not influenced by adopting an omitted drawing method.
Figure 7 is a three-dimensional view of the completed assembly with the wheels at maximum diameter after folding, and with a top view in cross-section. The linear hydraulic actuator is not added in the three views and the appearance diagram. In this state, the diameter of the wheel is about 720 mm. At this time, the angle between the two spokes and the vertical plane is approximately 0 degrees, the thickness of the tire pad is 12mm, and both ends of each internal contraction spring are fixed through a bolt and two nuts, and the installation position of the internal contraction spring can be seen from a cross section. In the wheel diameter maximum state, the spring elongation of the inner part is maximum, and meanwhile, the inner two supports are in a tangent state at the moment. The two supports in inside direct action improve overall structure rigidity, especially when the wheel bears radial load, inside support frame can effectively prevent whole wheel structure from being disturbed the ulceration, improves the stability of structure.
Figure 8 is a three-dimensional view of the completed assembly with the wheels at their smallest diameter after folding, and a cross-sectional view taken from a top view. The linear hydraulic actuator is not added in the three views and the appearance diagram. In this state, the diameter of the wheel is about 500 mm. At this point, the two spokes are angled approximately 27 degrees from the horizontal. The polyurethane of the tyre pad can generate corresponding deformation along with the deformation of the wheel, and in the state, the inner support has little effect, the axial load is mainly exerted on the linear hydraulic actuator, and the radial load is mainly exerted on the linear hydraulic system and the tightening spring.
Fig. 5 and 6 are three views of two internal stents. The side holes of the two brackets are mounting holes, the mounting holes are mounted on spokes on two sides of the wheel, and the tail ends of the mounting holes are in the maximum state according to the wheel diameter of the wheel. Fig. 9 is a three-view of the tire pad, taken from the minimum wheel diameter condition, as the tire pad is shaped differently in different wheel conditions.
In the invention, the specific material of each component is not limited as long as the corresponding function can be realized and the service life is longer. In this embodiment, the tire pads may be fabricated from conventional polyurethane materials. The flexible supporting layer can be made of PET materials, the supporting frame can be made of ABS materials, the cover plate can be made of aluminum alloy cover plates, and the inner ring can be made of nylon inner rings. In addition, the metal sheet can adopt aluminum plate, can open on the aluminum plate and establish the fretwork pattern, and aluminum plate accessible rivet anchoring is on the PET layer, and aluminum plate thickness all is 2 mm. In addition, all the aluminum plate shape descriptions are the conditions that rounding or chamfering is not considered, and in the actual process, the aluminum plate can be rounded or chamfered to a certain degree. In addition, the processing technology of each component can also be adjusted in sequence, for example, the folding part of the main body is made by PET laser processing, the riveted plate is made by 6061 aluminum laser processing, the rivet is a blind rivet with the diameter of 2.4mm and the length of 10mm, the inner ring is made by nylon 3D printing, the inner support frame is made by nylon 3D printing, the tire cushion is made by mold forming, the main material is polyurethane, the outer cover plate is made by 6061 aluminum milling processing, and the spring is a standard component, and the material is generally spring steel.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
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| CN202111124863.6A CN113771548B (en) | 2021-09-25 | 2021-09-25 | A variable-diameter driving wheel and its method based on origami technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802506A (en) * | 2022-03-30 | 2022-07-29 | 江西理工大学 | Paper folding robot with deformable wheels |
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| GB190402109A (en) * | 1904-01-28 | 1904-11-10 | Mann S Patent Steam Cart And W | An Improved Construction of Wheel for Traction Engines, Road Locomotives and the like. |
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