CN113771548B - 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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- CN113771548B CN113771548B CN202111124863.6A CN202111124863A CN113771548B CN 113771548 B CN113771548 B CN 113771548B CN 202111124863 A CN202111124863 A CN 202111124863A CN 113771548 B CN113771548 B CN 113771548B
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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
The invention discloses a variable-diameter driving wheel based on a paper folding process and a method thereof. The invention fully utilizes the characteristics of paper folding technology to realize the function of wheel diameter change, and when an automobile runs on a flat road, the automobile can adopt a wheel shape with small diameter, thus better operation stability and smoothness can be obtained, the dynamic performance can be effectively improved, and the automobile has faster response speed and smaller energy consumption. When the vehicle runs into off-road conditions, namely complex and uneven road conditions, the vehicle can adopt a large-diameter wheel shape, so that better off-road performance can be obtained, and the passing performance of the vehicle is improved. The wheel can complete the control of the variable diameter through one linear hydraulic drive, so that the control of the variable diameter is stable and accurate, and the wheel can meet the high-load requirement in the whole by matching with the support frame and the tightening spring. In practical application, 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 changing mechanical structures, and is different from the traditional mode of providing degrees of freedom, and can realize various different form changes, changeable patterns and novel forms. At present, the main form of the wheel is a fixed structure and a fixed shape, and once the wheel is manufactured, the shape and the size of the wheel are fixed and cannot be changed, but the wheel is applicable to wheels with different diameters on different road conditions, and the wheel has low center of gravity of small wheel diameter, rapid acceleration and better performance on a flat road surface, and has better passing performance on a large wheel diameter under the condition of larger fluctuation of the road surface. The diameter of the fixed wheels limits the applicability of a vehicle or robot. Therefore, the driving wheel with variable diameter has higher practical application value.
In some related patents of the current variable-diameter driving wheels, the realization of the variable-diameter driving wheels is mainly realized through a plurality of connecting rod mechanisms or telescopic springs, the invention provides a novel realization method, the wheels with the variable diameters are designed in a paper folding-like manner, the processing and assembly methods are simple, the adjustment of the diameters of the wheels can be controlled only through a linear hydraulic system, and the whole driving wheels can bear higher load.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for realizing a wheel with a variable diameter based on a paper folding process, so that the wheel diameter can be freely changed between a maximum diameter and a 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 folding wheels, a supporting frame, a tire pad 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; each side of the metal layer is formed by a plurality of metal components which are circumferentially arranged around the wheel; each metal assembly comprises a central tread portion and two side spoke portions, wherein the tread portion is positioned on a direct bearing surface of the tire, which is contacted with the ground, and the spoke portions are positioned on two side surfaces of the tire and extend from edges of the tread portion to the vicinity of the wheel axle; the adjacent metal assemblies are closely spliced, a tensioning spring is connected between tread parts of any two adjacent metal assemblies, one end, close to a wheel shaft, of a spoke part of each side of each metal assembly 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 and is respectively connected with the metal cover plates at two sides and is used for applying axial driving force to the folding wheel through the metal cover plates at two sides; in each metal assembly, the tread part and the spoke part are composed of a plurality of discrete metal plates, so that when the metal cover plates at two sides are driven by the driving system to change the distance, the metal assemblies fold the wheel width and the wheel diameter of the wheel through the relatively moving cover plates of the inner metal plates;
the supporting frame is positioned in the folding wheel, and forms a limiting mechanism for limiting the distance between the metal cover plates at two sides to continuously shrink when the distance between the metal cover plates at two sides is minimum and the diameter of the wheel is maximum;
the tire pads are mounted to the tread portion and spoke portion surfaces of each metal component of the folded wheel for improving the cushioning and grip capabilities of the folded wheel.
Preferably, in the folding wheel, the metal layer on each side has 12 metal components.
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 basic outline of the surface of the first metal plate is rectangular, the center of the metal plate is provided with a bolt hole for installing the spring, and the end part of the spring is installed 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 basic outline of the surface of the second metal plate is isosceles trapezoid, and the upper bottom edge is close to the short side of the first metal plate and parallel to the short side of the first metal plate; 2 third metal plates are symmetrically distributed on two sides of the rectangular long side of the first metal plate, the basic outline of the surface of each third metal plate is isosceles trapezoid, the upper bottom edge of each third metal plate is close to the long side of the first metal plate and parallel to the long side of the first metal plate, and mounting holes for mounting tire pads are formed in each third metal plate; a fourth metal plate is arranged between each group of adjacent second metal plates and third metal plates, the basic outline of the surface of the fourth metal plate is triangular, two sides are respectively parallel to the trapezoid hypotenuse of the adjacent second metal plates and the trapezoid hypotenuse of the adjacent third metal plates, and the straight line of the other side passes through the vertex which is nearer to the lower bottom edge of the adjacent second metal plates and the vertex which is nearer to the lower bottom edge of the third metal plates.
Further, each side of the spoke portion is composed of 7 metal plates, including 1 fifth metal plate, 2 sixth metal plates, 2 seventh metal plates, 1 eighth metal plate and 1 ninth metal plate; the surface basic outline of the fifth metal plate is an isosceles trapezoid, the upper bottom edge is close to and parallel to the lower bottom edge of the nearest third metal plate of the tread part, and the perpendicular bisector of the upper bottom edge is coplanar with the perpendicular 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 basic outline of the seventh metal plate is triangular, the longest side is close to and parallel to an isosceles trapezoid hypotenuse of the fifth metal plate, the angle of the triangular inner angle corresponding to the longest side is larger 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 and parallel to the shortest side of the seventh metal plate, a second side opposite to the first side is collinear with the lower bottom edge of the nearest second metal plate in 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, and the straight line of the remaining fourth side passes through the upper bottom edge of the fifth metal plate to be close to the vertex; the basic outline of the surface of the eighth metal plate is an isosceles trapezoid, and the lower bottom edge of the surface of the eighth metal plate is close to and parallel with the edge of the surface of the sixth metal plate, which is far away from the tread part; the adjacent two tread parts are respectively adjacent and close to each other by a second metal plate, wherein the close side is the lower bottom side of an 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 close second metal plates; the basic outline of the surface of the ninth metal plate 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, 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, and a bolt hole for connecting and fixing the inner ring is formed in the ninth metal plate.
Further, the support frames are provided with a plurality of groups; each metal component corresponds a set of support frame respectively, and a set of support frame includes first support frame and second support frame, and first support frame is fixed in on the fifth metal sheet of one side, and the second support frame is fixed in on the fifth metal sheet, and when the metal apron interval in both sides is minimum and the wheel diameter is the biggest, first support frame supports to lean on the second support frame one-way restriction both sides metal apron further reduces the interval.
Preferably, the material of the flexible supporting layer is PET.
Preferably, the material of the supporting 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 hollowed-out pattern.
Preferably, the aluminum 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 spring gauges within the folded wheel are identical.
Preferably, the tyre pads are provided with a plurality of groups, each metal component facing the outer side of the wheel is provided with a group of tyre pads, the group of tyre pads comprises four tyre pads, two tyre pads respectively cover 2 second metal plates in the metal components, a third tyre pad continuously covers a third metal plate and a fifth metal plate on one side, and a fourth tyre pad continuously covers the third metal plate and the fifth metal plate on the other side; preferably, the tire pad is made of polyurethane material.
In a second aspect, the present invention also provides a method for manufacturing the variable diameter driving wheel, comprising the steps of:
s1, cutting and processing a flexible supporting material and a metal plate respectively to form a 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, installing an inner ring on each side of the wheel, connecting and fixing one ends of all spoke parts on the side, close to the wheel shaft, into a whole through the inner ring, so that the whole wheel has one axial degree of freedom, the diameter of the wheel is reduced when the inner ring distances on two sides are pulled apart, the whole wheel width is increased, and the diameter of the wheel is increased when the inner ring distances on two sides are reduced, and the whole wheel width is reduced;
s4, respectively installing a group of supporting frames on each metal component in the wheel with the inner ring fixed, simultaneously connecting a tensioning spring between tread parts of any two adjacent metal components, wherein the spring is in a stretching 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 mounting a group of tire pads on each metal component facing the outer side of the wheel;
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 inner rings on the sides where the cover plates are located, and two ends of the driving system are connected to the cover plates, so that the distance between the cover plates on two sides is adjusted by the driving system.
Compared with the prior art, the invention has the following effects and benefits:
1. the invention fully utilizes the characteristics of paper folding technology to realize the function of wheel diameter change, and when an automobile runs on a flat road, the automobile can adopt a wheel shape with small diameter, thus better operation stability and smoothness can be obtained, the dynamic performance can be effectively improved, and the automobile has faster response speed and smaller energy consumption. When the vehicle runs into off-road conditions, namely complex and uneven road conditions, the vehicle can adopt a large-diameter wheel shape, so that better off-road performance can be obtained, and the passing performance of the vehicle is improved.
2. The wheel is controlled by a linear hydraulic drive, so that the diameter variation is controlled stably and accurately, and the wheel can meet the high load requirement by matching with the supporting frame and the tightening spring.
Drawings
FIG. 1 is an expanded view of a three-layer composite structure of the present invention prior to folding of a wheel;
FIG. 2 is an exterior view of the folded wheel of the present invention;
FIG. 3 is an enlarged view of a portion of an expanded view of the wheel of the present invention
FIG. 4 is a schematic view of the mounting of the support frame of the present invention;
FIG. 5 is a part view of a first support bracket of the set of internal support brackets of the present invention;
FIG. 6 is a part view of a second support bracket of the set of internal support brackets of the present invention;
FIG. 7 is a schematic view of the assembled body of the present invention with the largest wheel diameter after folding;
FIG. 8 is a schematic view of the assembly of the present invention with a minimum wheel diameter after folding;
FIG. 9 is a detail view of the tire pad of the present invention;
fig. 10 is a schematic view of the installation of the spring of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
In the description of the present invention, it will 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 with intervening elements 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 should be understood that the terms "first," "second" (abbreviated as "nth") are used solely for distinguishing between description purposes and do not denote or imply a relative importance or implying a definite quantity of technical features as indicated. Thus, a feature defining an "nth" may explicitly or implicitly include at least one such feature.
In a preferred embodiment of the present invention, a variable diameter drive wheel based on a paper folding process is provided, the main structure of which comprises folding wheels, a support frame, a tire pad and a drive system. The specific structure and implementation form of each component in this embodiment will be described below.
The foldable 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 to form a desired shape. In this embodiment, the three-layer composite structure is shown in fig. 1 in the unfolded state. In the three-layer composite structure, the middle layer is a flexible supporting layer, metal layers are respectively fixed on the flexible supporting layer towards the outer side and the inner side of the wheel, and the inner metal layer and the outer metal layer are symmetrically arranged by taking the middle layer as the center. The folded wheel formed by folding the three-layer composite structure according to the paper folding process is shown in fig. 2, and the whole wheel is in a round wheel form. The metal layers on each side of the flexible support layer are each formed by a plurality of metal components circumferentially arranged around the wheel, in this embodiment 24 metal components are provided in total, and each metal layer on each side has 12 metal components. Each metal assembly includes a central tread portion and two side spoke portions, the tread portion being located on a direct bearing surface of the tire in contact with the ground, the spoke portions being located on two side surfaces of the tire, and the spoke portions extending from edges of the tread portion to the vicinity of the axle but spaced from the axle to facilitate installation of subsequent drive systems, inner rings, etc. Among all the metal components, adjacent metal components are sequentially pressed close to each other, and a tensioning spring is connected between tread parts of any two adjacent metal components, 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 assemblies are integrally connected and fixed by an inner ring 11 at one end near the wheel shaft. And as shown in fig. 4, the outer side surface of each side of the tire is also provided with a metal cover plate 12 fixedly connected with the inner ring at the side.
The driving system is used for driving the diameter of the folding wheel to change, so that the driving system is arranged inside the folding wheel and is respectively connected with the metal cover plates 12 at two sides for applying axial driving force to the folding wheel through the metal cover plates 12 at two sides. In the present invention, the variation in the wheel diameter of the folded wheel is achieved by deformation of the tread portion and the spoke portion in the metal assembly. In each metal component, the tread part and the spoke part are 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 at two sides can ensure the relatively stable form of the whole three-layer composite structure and have a certain degree of deformation freedom under the action of the flexible supporting layer. Therefore, when the distance between the metal cover plates at the two sides is changed under the drive of the drive system, the metal assembly folds the wheel width and the wheel diameter of the wheel through the relatively moving cover plates of the inner metal plates.
In the above technical solution, the steps of changing the diameter of the wheel are as follows: 1) The diameter is changed according to the requirement, and a control signal is generated by an external control system to control the driving system; 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-locking, so that the whole wheel is stable in structure when the diameter does not need to be changed.
In addition, in order to fold the wheel width and the wheel diameter are not infinitely variable, it is necessary to meet a certain range of variation, and this function needs to be controlled by the above-mentioned support frame. The support frame is located inside the folding wheel, and when the metal cover plate interval on two sides is minimum and the wheel diameter is maximum, the support frame constitutes the stop gear that the metal cover plate interval on two sides is restricted and is continued to reduce.
In addition, the folding wheel itself is made of flexible materials and metals, and the buffer capacity and the ground grabbing capacity of the folding wheel are improved by matching with a tire pad in practical use. The tire pads are mounted to the tread portion and spoke portion surfaces of each metal component of the folded wheel.
The particular arrangement of the discrete metal plates in the tread portion and spoke portion may vary, and in this embodiment a design is provided.
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 at the most central position, the basic outline of the surface of the first metal plate 2 is rectangular, the center of the metal plate is provided with a bolt hole for installing the spring, 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 the short side of the first metal plate 2 and parallel to the short side. 2 third metal plates 4 are symmetrically distributed on two sides of the rectangular long side of the first metal plate 2, the basic outline of the surface of the third metal plate 4 is isosceles trapezoid, the upper bottom edge of the third metal plate 4 is close to and parallel to the long side of the first metal plate 2, and mounting holes for mounting tire pads are formed in the third metal plate 4. 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 sides are respectively parallel to the trapezoid hypotenuse of the adjacent second metal plates 3 and the trapezoid hypotenuse of the adjacent third metal plates 4, and the straight line of the other side passes through the lower bottom edge nearer vertex of the adjacent second metal plates 3 and the lower bottom edge nearer vertex of the third metal plates 4.
Also, referring to fig. 3, the spoke portion of each side is composed 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 surface basic outline of the fifth metal plate 6 is an isosceles trapezoid, the length of the upper bottom edge is slightly smaller than that of the lower bottom edge of the third metal plate 4 of the tread part, the high length on the bottom surface of the fifth metal plate 6 is obviously larger than that of the upper 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 and parallel to the lower bottom edge of the nearest third metal plate 4 of the tread part, the perpendicular bisector of the upper bottom edge in the folded state is coplanar with the perpendicular bisector of the central metal plate 2 of the tread part, and the perpendicular bisector of the upper bottom edge in the unfolded state is collinear with the perpendicular bisector of the central metal plate 2 of the tread part. The seventh metal plate 8 and the sixth metal plate 7 are symmetrically distributed on two sides of the fifth metal plate 6, the surface basic outline of the seventh metal plate 8 is triangular, wherein the longest side is close to and parallel to an isosceles trapezoid hypotenuse of the fifth metal plate 6, the length is slightly shorter than the hypotenuse, the angle of the internal angle of the triangle corresponding to the longest side is greater than 100 degrees, and the shortest side is one side close to the tread part. The surface of the sixth metal plate 7 is a planar quadrangle, wherein a first side is close to and parallel to the shortest side of the seventh metal plate 8, a second side opposite to the first side is collinear with the lower bottom edge of the nearest second metal plate 3 in the tread portion, a third side far from the tread portion of 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 upper bottom edge of the fifth metal plate 6 to be closer to the vertex. The surface of the eighth metal plate 9 has a basic outline of an isosceles trapezoid, and the lower bottom edge is close to and parallel with the edge of the surface of the sixth metal plate 7 away from the tread portion. The two adjacent tread parts are respectively adjacent and close to each other by the second metal plates 3, wherein the close side is the lower bottom side of the isosceles trapezoid on the surface of the second metal plates 3, and the symmetry axis of the isosceles trapezoid on the surface of the eighth metal plate 9 is the symmetry axis of the two close second metal plates 3. 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 10 is close to and parallel to the lower bottom edge of the fifth metal plate 6, the lower bottom edge perpendicular bisector is coincident with the lower bottom edge perpendicular bisector of the fifth metal plate 6, the trapezoid height of the surface of the ninth metal plate 10 is far smaller than the trapezoid height of the surface of the fifth metal plate 6, and the ninth metal plate 10 is provided with a bolt hole for connecting and fixing an inner ring.
In the present invention, the basic profile refers to the overall profile of the whole plate, in which certain deviations are allowed. For example, the first metal plate 2 may be hollowed out according to needs, but four vertex connecting lines thereof are isosceles trapezoids; the second metal plate 3 can be hollowed out according to the requirement, but the triangular shape of the connecting line of the three vertexes of the second metal plate needs to meet the requirement. The method comprises the steps of carrying out a first treatment on the surface of the The fifth metal plate 6 can be hollowed out according to the requirement, but the quadrilateral shape of the connecting line of the four vertexes of the fifth metal plate needs to meet the requirement; the seventh metal plate 8 can be hollowed out according to the requirement, but the shape of the triangle with the three vertexes is required to meet the requirement; the sixth metal plate 7 can be hollowed out according to the requirement, but the quadrilateral shape of the four vertex connecting lines of the sixth metal plate needs to meet the requirement; the eighth metal plate 9 can be hollowed out according to the requirement, but the quadrilateral shape of the four vertex connection lines of the eighth metal plate needs to meet the requirement.
In the unfolded state, the surface profile of the middle flexible supporting layer is mainly rectangular, two long sides are collinear with the lower bottom edge of the trapezoid on the surface of the fifth metal plate 6, and meanwhile, the PET folding parts with corresponding shapes are also covered at the corresponding positions of each ninth metal plate 10 on the two long sides, and the two sides of the rectangle are cut according to the need, but all aluminum plate positions are required to be covered.
In addition, the form of the support frame is not limited, and the support frame can only play a relative limiting function. In this embodiment, a specific implementation form of the support frame is provided. As shown in fig. 4, the supporting frames have 12 groups, each metal component corresponds to a group of supporting frames, and a group of supporting frames comprises a first supporting frame and a second supporting frame, which are shown in fig. 5 and 6 respectively. The first support frame is fixed on the fifth metal plate 6 on one side, the second support frame is fixed on the fifth metal plate 6, and when the distance between the metal cover plates on two sides is minimum and the diameter of the wheel is maximum, the first support frame just abuts against the second support frame, so that the distance between the metal cover plates on two sides is further reduced by unidirectional limitation. During installation, 12 pairs of 3D printed support frames can be installed under the condition that the diameter of the wheel is minimum, and the tail ends of each pair of support frames are tangent when the diameter of the wheel is maximum, so that the wheels are limited to continue to deform.
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. In the present embodiment, as shown in fig. 7 and 8, there are 12 sets of tire pads 13, one set of tire pads 13 is provided on each metal member facing the outside of the wheel, and one set of tire pads 13 includes four pieces, wherein two pieces of tire pads cover 2 pieces of the second metal plates 3 in the metal member, respectively, a third piece of tire pad covers the third metal plate 4 and the fifth metal plate 6 on one side in succession, and a fourth piece of tire pad covers the third metal plate 4 and the fifth metal plate 6 on the other side in succession. The third and fourth tire pads are constructed as shown in fig. 9, and are of a bent structure so as to be continuously coated on the third and fifth metal plates 4 and 6, thereby improving the integrity of the bent deformed position. The polyurethane tire pad mainly plays a role of buffering, reduces vibration generated by collision of wheels and the ground to the vehicle body, ensures that the vehicle body runs stably, ensures that the polyurethane has good buffering capacity, simultaneously ensures that the wheels have higher ground grabbing force, has a friction coefficient of about 0.8 with the cement ground, and has better performance effect on the coarser ground. The whole tire pad is molded by a mold, the shape and the size of the tire pad are determined by a 3D printing mold, and the proper mold can be selected and designed according to practical conditions to process the tire pad, so that the whole tire pad can be adjusted more conveniently. The processed tyre cushion is connected with the whole wheel framework through bolts.
In addition, as shown in fig. 10, 12 springs 14 may be installed between centers of adjacent first metal plates 2 using 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 identical in gauge.
The driving system in the invention preferably adopts a linear hydraulic driver, and the aluminum alloy cover plate is 12-sided and weight is reduced by hollowing. The linear hydraulic drive is connected to the aluminum alloy cover plates on both sides, which is equivalent to providing an internal drive for the wheel in the axial direction, which drive is used to control the variation of the wheel width and thus the wheel diameter. The hydraulic driving is adopted instead of pneumatic or electric driving, and the main reason is that the hydraulic driving has better rigidity, ensures the stability of the wheels during running, and simultaneously has higher hydraulic driving precision and quicker response.
The variable diameter drive wheel may be manufactured by the following steps:
s1, cutting and processing the flexible supporting material and the metal plate respectively to form a 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 wheel folding portion made of PET material and the plate of 6061 aluminum material of the corresponding shape can be finished by laser processing. Each pair of metal components may be folded into one-twelfth of a wheel, corresponding to one spoke.
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 using rivets.
In this embodiment, all 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 PET are riveted together with rivets.
S3, folding the riveted metal plate and the flexible supporting layer into a wheel, installing an inner ring on each side of the wheel, connecting and fixing one ends of all spoke parts on the side, close to the wheel shaft, of the inner ring into a whole, enabling the whole wheel to have one axial degree of freedom, reducing the diameter of the wheel when the inner rings on two sides are separated, increasing the whole wheel width, and reducing the diameter of the wheel when the inner rings on two sides are separated.
In this embodiment, the PET portion can be properly cut as needed to meet the folding requirement during the folding process, but the degree of freedom of the whole wheel cannot be affected. When the nylon inner ring is fixed with the nylon inner ring, the nylon inner ring is slightly screwed by adopting bolts and nuts, and after the nylon inner ring is installed, the nylon inner ring is contracted to the condition that the diameter of the nylon inner ring is minimum, so that the nylon inner ring is convenient for installing a supporting frame and tightening a spring subsequently. Twelve spokes are shared after the riveted PET and aluminum plate are partially folded into wheels, and then the nylon inner ring can be 3D printed for fixing. At this time, the shape of the entire wheel is substantially determined, and the entire wheel has one degree of freedom.
S4, respectively installing a group of supporting frames on each metal component in the wheel with the inner ring fixed, simultaneously connecting a tensioning spring between tread parts of any two adjacent metal components, wherein the spring is in a stretching 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 frame inside the wheel is 3D printed out and mounted in the wheel already fixed on the inner ring, for a total of 12 pairs of support frames. Meanwhile, in order to ensure the rigidity of the wheel under a fixed diameter and the shape stability of the wheel, a tightening spring is arranged between the centers of each spoke, and 12 springs are arranged in total.
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.
In this embodiment, after the general assembly of the wheel is completed, the tire pads are machined and installed, and the tire pads are made of conventional polyurethane materials and are divided into 24 pieces, and are respectively installed on the 12 pairs of spokes. The tire pad is processed by adopting a mold pouring molding technology, and a corresponding mold is firstly manufactured, specifically, the mold appearance is printed by 3D printing according to a design drawing, and the mold comprises bolts which are required to be installed in the tire pad. After the tire pad is manufactured, one of the tire pads is mounted on the corresponding trapezoidal aluminum plate through a bolt.
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 inner rings on the sides where the cover plates are located, and two ends of the driving system are connected to the cover plates, so that the distance between the cover plates on two sides is adjusted by the driving system.
In this embodiment, the last 6061 aluminum alloy cover plate is installed with a linear hydraulic drive system, 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, in the above drawings, a simplified drawing and a special method in the present embodiment are adopted, and the following description is given:
in this embodiment, as shown in fig. 1, the unfolded view of the wheel before folding is 12 folding portions with the same shape, 23 aluminum plates are respectively arranged on the front and back sides of each portion, most of the space left between the two aluminum plates is a crease, each aluminum plate is hollowed out to a certain extent, the hollowed-out portions are triangular, and the influence on the bearing capacity of the whole wheel is small, so that the weight of the wheel is reduced. The overall length of the overall unfolded view is about 1200mm. The actual unfolded view can be cut out from part of the places according to the folding condition so as to better reduce the stress of part of the folding, but the position layout of the whole folded view cannot be changed.
Fig. 2 is an external view of the maximum diameter of the folded wheel, and the tire pad and other parts covered on the outer surface are not installed on the figure, so that the folding condition of the whole part is convenient to observe, the folding condition of the part is complex, and the omitting drawing method is adopted, so that the actual folding result is not influenced.
Figure 7 is a three-view of the complete assembly in the maximum diameter position of the folded wheel, with a top view in section. Wherein no linear hydraulic drive is added in the three views as well as the appearance. In this state, the diameter of the wheel is about 720mm. At this time, the two spokes included an angle of approximately 0 ° with the vertical plane, the tire pad thickness was 12mm, and both ends of each of the inner shrink springs were fixed by one bolt and two nuts, and the installation position thereof was seen in the sectional view. At the maximum wheel diameter, the extension of the internal spring is the maximum, and at the same time, the internal brackets are in a tangent state. The internal two supports directly play a role in improving the rigidity of the whole structure, and particularly when the wheels bear radial loads, the internal support frame can effectively prevent the whole wheel structure from being disturbed and collapsed, so that the stability of the structure is improved.
Figure 8 is a three-view of the complete assembly with the wheels in their smallest diameter position after folding, with the top view shown in section. Wherein no linear hydraulic drive is added in the three views as well as the appearance. In this state, the diameter of the wheel is about 500mm. At this point, the two spokes form an angle of about 27 degrees with the horizontal. The polyurethane of the tire cushion deforms accordingly with the deformation of the wheel, in which state the internal support has little effect, the axial load is mainly applied to the linear hydraulic drive, and the radial load is mainly applied to the linear hydraulic system and the tightening spring.
Fig. 5 and 6 are three views of two internal brackets. The two bracket side holes are mounting holes and are arranged on spokes on two sides of the wheel, and the tail ends are in the maximum state according to the wheel diameter of the wheel. Fig. 9 is a three view of the tire pad, which is selected in a state where the diameter of the wheel is the smallest, because the tire pad is different in shape in different states of the wheel.
In the invention, the specific materials of each component are not limited, so long as the corresponding functions can be realized and the service life is relatively long. In this embodiment, the tire pad may be fabricated from conventional polyurethane materials. The flexible supporting layer can be made of PET material, the supporting frame can be made of ABS material, the cover plate can be made of aluminum alloy cover plate, and the inner ring can be made of nylon inner ring. In addition, the metal plate can adopt aluminum plate, can set up the fretwork pattern on the aluminum plate, and aluminum plate accessible rivet anchor is on the PET layer, and aluminum plate thickness is 2mm. In addition, all the aluminum plate shape descriptions are not considered in the case of rounding or chamfering, and in the actual process, the aluminum plate can be rounded or chamfered to a certain extent. In addition, the processing technology of each component can be sequentially adjusted, for example, the folding part of the main body is processed by PET laser, the plate on the riveting is processed by 6061 aluminum laser, the rivet is a self-plugging rivet with the diameter of 2.4mm and the length of 10mm, the inner ring is printed by nylon 3D, the inner supporting frame is also printed by nylon 3D, the tire pad is manufactured by adopting a mold for molding, the main material is polyurethane, the outer cover plate is processed by 6061 aluminum milling, and the spring purchase standard piece is made of spring steel.
It should be understood that the above-described examples of the present invention are provided for clarity of illustration only and are not intended to limit the present invention to the particular embodiments thereof. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. that comes within the spirit and principles of the present invention are intended to be included in the scope of the present claims.
Claims (8)
1. The variable-diameter driving wheel based on the paper folding process is characterized by comprising a folding wheel, a supporting frame, a tire pad 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; each side of the metal layer is formed by a plurality of metal components which are circumferentially arranged around the wheel; each metal assembly comprises a central tread portion and two side spoke portions, wherein the tread portion is positioned on a direct bearing surface of the tire, which is contacted with the ground, and the spoke portions are positioned on two side surfaces of the tire and extend from edges of the tread portion to the vicinity of the wheel axle; the adjacent metal assemblies are closely spliced, a tensioning spring is connected between tread parts of any two adjacent metal assemblies, one end, close to a wheel shaft, of a spoke part of each side of each metal assembly 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 and is respectively connected with the metal cover plates at two sides and is used for applying axial driving force to the folding wheel through the metal cover plates at two sides; in each metal assembly, the tread part and the spoke part are composed of a plurality of discrete metal plates, so that when the metal cover plates at two sides are driven by the driving system to change the distance, the metal assemblies fold the wheel width and the wheel diameter of the wheel through the relatively moving cover plates of the inner metal plates;
the supporting frame is positioned in the folding wheel, and forms a limiting mechanism for limiting the distance between the metal cover plates at two sides to continuously shrink when the distance between the metal cover plates at two sides is minimum and the diameter of the wheel is maximum;
the tire pad is arranged on the surfaces of the tread part and the spoke part of each metal component of the folding wheel and is used for improving the buffering capacity and the ground grabbing capacity of the folding wheel;
the tread part consists of 9 metal plates and comprises 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 basic outline of the first metal plate (2) is rectangular, a bolt hole for installing the spring is formed 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 side is close to the short side of the first metal plate (2) and parallel to the short side; 2 third metal plates (4) are symmetrically distributed on two sides of the rectangular long side of the first metal plate (2), the basic outline of the surface of the third metal plate (4) is isosceles trapezoid, the upper bottom side is close to and parallel to the long side of the first metal plate (2), and mounting holes for mounting tire pads are formed in the third metal plate (4); a fourth metal plate (5) is arranged between each group of adjacent second metal plates (3) and third metal plates (4), the surface basic outline of the fourth metal plate (5) is triangular, two sides are respectively parallel to the trapezoid hypotenuse of the adjacent second metal plates (3) and the trapezoid hypotenuse of the adjacent third metal plates (4), and the straight line of the other side passes through the lower bottom edge nearer vertex of the adjacent second metal plates (3) and the lower bottom edge nearer vertex of the third metal plates (4);
each side of the spoke part consists of 7 metal plates, and comprises 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 surface of the fifth metal plate (6) is basically isosceles trapezoid, the upper bottom edge is close to and parallel to the lower bottom edge of the nearest third metal plate (4) of the tread part, and the vertical bisector of the upper bottom edge is coplanar with the vertical bisector of the central metal plate of the tread part; a seventh metal plate (8) and a sixth metal plate (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 one isosceles trapezoid hypotenuse of the fifth metal plate (6), the angle of the triangular inner angle corresponding to the longest side is larger than 100 degrees, and the shortest side is one 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 and parallel to the shortest side of the seventh metal plate (8), a second side opposite to the first side is collinear with the lower bottom edge of the nearest second metal plate (3) in 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 of the remaining fourth side passes through the upper bottom edge of the fifth metal plate (6) to be close to the vertex; the surface of the eighth metal plate (9) is basically in the shape of an isosceles trapezoid, and the lower bottom edge is close to and parallel with the edge of the surface of the sixth metal plate (7) away from the tread part; the two adjacent tread parts are respectively adjacent and close to each other by a second metal plate (3), wherein the close side is the lower bottom side of an isosceles trapezoid on the surface of the second metal plate (3), and the symmetry axis of the isosceles trapezoid on the surface of an eighth metal plate (9) is the symmetry axis of the two adjacent second metal plates (3); 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 is overlapped with the vertical bisector of the lower bottom edge of the fifth metal plate (6), and the ninth metal plate (10) is provided with a bolt hole for connecting and fixing the inner ring.
2. The variable diameter drive wheel based on a paper folding process according to claim 1, wherein the metal layer on each side of the folding wheel has 12 metal components.
3. The variable diameter drive wheel based on the paper folding process according to claim 1, wherein the support frame has a plurality of groups; each metal component corresponds a set of support frame respectively, and a set of support frame includes first support frame and second support frame, and first support frame is fixed in on one side fifth metal sheet (6), and the second support frame is fixed in on fifth metal sheet (6), and when the metal apron interval in both sides is minimum and the wheel diameter is the biggest, first support frame supports to lean on one-way restriction both sides metal apron further reduces the interval on the second support frame.
4. The variable diameter drive wheel based on a paper folding process according to claim 1, wherein the material of the flexible support layer is PET; the material of the supporting frame is ABS; the cover plate is an aluminum alloy cover plate; the inner ring is a nylon inner ring.
5. The variable diameter drive wheel based on a paper folding process according to claim 1, wherein the metal plate is an aluminum plate; the aluminum plate is provided with hollowed-out patterns; the aluminum plate is anchored on the flexible supporting layer through rivets; the aluminum plate is provided with a chamfer.
6. The variable diameter drive wheel based on a paper folding process according to claim 1, wherein the drive system employs a linear hydraulic drive system; all spring specifications in the folded wheel are identical.
7. The variable diameter drive wheel based on the paper folding process according to claim 1, wherein the tire pads have a plurality of groups, a group of tire pads is provided on each metal component facing the outside of the wheel, and the group of tire pads includes four tire pads, wherein two tire pads cover 2 second metal plates (3) in the metal components, respectively, a third tire pad covers a third metal plate (4) and a fifth metal plate (6) on one side in succession, and a fourth tire pad covers a third metal plate (4) and a fifth metal plate (6) on the other side in succession; the tire pad is made of polyurethane materials.
8. A method of manufacturing the variable diameter drive wheel according to claim 3, comprising the steps of:
s1, cutting and processing a flexible supporting material and a metal plate respectively to form a 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, installing an inner ring on each side of the wheel, connecting and fixing one ends of all spoke parts on the side, close to the wheel shaft, into a whole through the inner ring, so that the whole wheel has one axial degree of freedom, the diameter of the wheel is reduced when the inner ring distances on two sides are pulled apart, the whole wheel width is increased, and the diameter of the wheel is increased when the inner ring distances on two sides are reduced, and the whole wheel width is reduced;
s4, respectively installing a group of supporting frames on each metal component in the wheel with the inner ring fixed, simultaneously connecting a tensioning spring between tread parts of any two adjacent metal components, wherein the spring is in a stretching 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 mounting a group of tire pads on each metal component facing the outer side of the wheel;
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 inner rings on the sides where the cover plates are located, and two ends of the driving system are connected to the cover plates, so that the distance between the cover plates on two sides is adjusted by the driving system.
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| CN202111124863.6A CN113771548B (en) | 2021-09-25 | 2021-09-25 | Variable-diameter driving wheel based on paper folding process and method thereof |
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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. |
| GB190517029A (en) * | 1905-08-22 | 1906-02-08 | Wilhelm Krische | Improvements relating to Tyres for the Wheels of Road Vehicles and of Railway Vehicles. |
| JPH11348503A (en) * | 1998-06-11 | 1999-12-21 | Ohtsu Tire & Rubber Co Ltd :The | Wheel type traveling device, and wheel |
| CN110091661A (en) * | 2019-05-08 | 2019-08-06 | 费曼科技(青岛)有限公司 | A kind of flexible vehicle wheel of U-shaped metallic elastic supporter |
| WO2020222229A1 (en) * | 2019-04-28 | 2020-11-05 | Sternberg Saadya | Resizable double-fan origami wheel |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101522796B1 (en) * | 2013-12-17 | 2015-05-27 | 서울대학교산학협력단 | Variable-diameter wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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. |
| GB190517029A (en) * | 1905-08-22 | 1906-02-08 | Wilhelm Krische | Improvements relating to Tyres for the Wheels of Road Vehicles and of Railway Vehicles. |
| JPH11348503A (en) * | 1998-06-11 | 1999-12-21 | Ohtsu Tire & Rubber Co Ltd :The | Wheel type traveling device, and wheel |
| WO2020222229A1 (en) * | 2019-04-28 | 2020-11-05 | Sternberg Saadya | Resizable double-fan origami wheel |
| CN110091661A (en) * | 2019-05-08 | 2019-08-06 | 费曼科技(青岛)有限公司 | A kind of flexible vehicle wheel of U-shaped metallic elastic supporter |
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