CN114750540A - Non-inflatable electric wheel with adjustable wheel radius - Google Patents
Non-inflatable electric wheel with adjustable wheel radius Download PDFInfo
- Publication number
- CN114750540A CN114750540A CN202210241581.2A CN202210241581A CN114750540A CN 114750540 A CN114750540 A CN 114750540A CN 202210241581 A CN202210241581 A CN 202210241581A CN 114750540 A CN114750540 A CN 114750540A
- Authority
- CN
- China
- Prior art keywords
- wheel
- control motor
- shafts
- units
- software
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/02—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims
- B60B9/06—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using springs resiliently mounted bicycle rims in helical form
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a non-inflatable electric wheel with an adjustable wheel radius, which comprises a wheel hub, a plurality of flexible wheels surrounding the outer side of the wheel hub, a control motor and a supporting structure, wherein the flexible wheels comprise a plurality of flexible wheel units, the control motor comprises a double shaft, the control motor is arranged in the wheel hub, the double shafts of the control motor respectively extend outwards from two ends of the wheel hub, the double shafts of the control motor are respectively provided with threads, the double shafts of the control motor are respectively sleeved with a shaft sleeve, the double shafts rotate to drive the shaft sleeves to move along the shafts, the supporting structure comprises a plurality of supporting units, the flexible wheel units are connected with the shaft sleeves through the supporting units, and the control motor drives the double shafts to rotate, so that the shaft sleeves on the double shafts are driven to move along the shafts, and the flexible wheel units are driven to be close to or far away from the wheel hub. The axial displacement of the shaft sleeve is controlled by a control motor, so that the tension or contraction of the flexible wheel units is driven, and the radius change of the wheels drives the height change of the automobile chassis.
Description
Technical Field
The invention relates to an electric wheel, in particular to a non-inflatable electric wheel with an adjustable wheel radius.
Background
At present, rigid wheels are generally adopted by unmanned celestial vehicles, and metal elastic wheels are generally adopted by manned celestial vehicles. The rigid wheel has simple structure, good bearing performance, and the application is the widest and the most mature. The elastic wheel can elastically deform when loaded, and vibration and impact can be reduced. The road condition on the surface of the planet is more complicated due to the severe environment of the surface of the planet of the outer planet, and a road surface which is difficult to pass can be met in the process of exploring the planet by using the planet vehicle. The range of the common planet vehicle for changing the height of the chassis is limited, the obstacle crossing capability of the vehicle is insufficient, and the passing performance of the vehicle on the surface of a planet with small friction is not good.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above disadvantages, the present invention provides a non-pneumatic electric wheel with adjustable wheel radius for changing the height of a vehicle chassis.
The technical scheme is as follows: the invention provides a non-inflatable electric wheel with an adjustable wheel radius, which comprises a wheel hub, a flexible wheel surrounding the outer side of the wheel hub, a control motor and a supporting structure, wherein the flexible wheel comprises a plurality of circular arc-shaped flexible wheel units, the control motor comprises double shafts, the control motor is arranged in the wheel hub, the double shafts of the control motor respectively extend outwards from two ends of the wheel hub, threads are arranged on the double shafts of the control motor, shaft sleeves are sleeved on the double shafts of the control motor, the double shafts rotate to drive the shaft sleeves to move along the shaft, the supporting structure comprises a plurality of supporting units, the flexible wheel units are connected with the shaft sleeves through the supporting units, and the control motor drives the double shafts to rotate, so that the shaft sleeves on the double shafts are driven to move along the shaft, and the flexible wheel units are driven to be close to or far away from the wheel hub.
Furthermore, the supporting unit includes support, head rod and second connecting rod, support one end fixed connection is in the inboard of the software unit of software, and the support other end is articulated with head rod and second connecting rod, the biax of control motor is first pivot and second pivot, and head rod one end is articulated with the support, and the other end is articulated with the epaxial axle sleeve of first pivot, second connecting rod one end is articulated with the support, and the other end is articulated with the epaxial axle sleeve of second pivot.
Furthermore, the control motor drives the first rotating shaft and the second rotating shaft to rotate in the same direction at the same time, and the thread directions of the first rotating shaft and the second rotating shaft are opposite.
Furthermore, the control motor drives the first rotating shaft and the second rotating shaft to rotate reversely at the same time, and the thread directions of the first rotating shaft and the second rotating shaft are the same.
Further, a plurality of springs are arranged between the inner side of the software cell and the outer side of the hub, one end of each spring is fixedly connected with the inner side of the software cell, and the other end of each spring is fixedly connected with the outer side of the hub.
Furthermore, the plurality of software units are connected through flexible materials with elasticity. The outer sides of the wheel units are provided with anti-skidding threads.
Furthermore, the device further comprises a rotating motor arranged in the wheel hub, the rotating motor drives the software wheels to roll, a stator of the rotating motor is fixedly connected with a stator of the control motor, and a rotor of the rotating motor is fixedly connected with the wheel hub.
Further, when a plurality of software units are close to the hub to software minimum radius states, the plurality of software units form a complete circular structure in an end-to-end connection mode, and when the plurality of software units are far away from the software from the minimum radius states, gaps are formed between two adjacent software units.
Has the beneficial effects that: compared with the prior art, the invention has the remarkable advantages that the axial displacement of the shaft sleeve is controlled by the control motor, so that the extension or contraction of the flexible wheel units is driven, and the radius change of the wheels drives the height change of the automobile chassis. In addition, the invention adopts a buffering and damping structure consisting of the wheels and the springs to replace the buffering and damping design of the pneumatic tire, and adopts the motor set to ensure that not only the wheels rotate but also the shaft sleeve moves along the axial direction. The height of the automobile chassis is actively changed by changing the radius of the wheels, so that the automobile chassis can be applied to vehicles in special working conditions, such as a planet vehicle, a desert vehicle, an agricultural vehicle and the like, and has wide application prospect.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an extendable unit of an electrically powered wheel of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the invention in which electrical wheel units are retracted;
FIG. 3 is a schematic structural diagram of the motor assembly of the present invention;
FIG. 4 is a schematic structural view of a stent of the present invention;
FIG. 5 is a schematic view of the first/second connecting rod of the present invention;
FIG. 6 is a schematic structural view of the bushing of the present invention;
FIG. 7 is a graph comparing the change in radius as the unit of the motorized wheel of the present invention expands and contracts;
FIG. 8 is a schematic diagram of the flexible material connections between the units of the electric wheel of the present invention.
Detailed Description
As shown in fig. 1 and 2, the non-pneumatic electric wheel with an adjustable wheel radius in the present embodiment includes a wheel hub 5, a flexible wheel surrounding the wheel hub 5, a control motor, and a support structure, where the flexible wheel includes a plurality of flexible wheel units 1, and the support structure includes a plurality of support units. Set up a plurality of springs 2 between 1 inboard of the unit of the wheel and the 5 outside of wheel hub, the wheel unit 1 of the wheel is connected to wheel hub 5 through spring 2, 2 one end of spring and 1 inboard fixed connection of the unit of the wheel, the 2 other ends of spring and 5 outside fixed connection of wheel hub, 2 circumference of spring distribute between wheel and wheel hub 5.
The motor group 8 is integrally installed inside the wheel hub 5, and as shown in fig. 3, the motor group 8 includes a rotating motor and a control motor. The control motor is a double-shaft motor, the double shafts are a first rotating shaft 71 and a second rotating shaft 72 respectively, the first rotating shaft 71 and the second rotating shaft 72 extend outwards from two ends of the hub 5 respectively and are perpendicular to the end face of the hub 5, the first rotating shaft 71 and the second rotating shaft 72 are both provided with threads, and when the control motor drives the first rotating shaft 71 and the second rotating shaft 72 to rotate in the same direction, the thread directions of the first rotating shaft and the second rotating shaft are opposite; when the control motor drives the first rotating shaft 71 and the second rotating shaft 72 to rotate in opposite directions at the same time, the thread directions of the first rotating shaft and the second rotating shaft are the same. All the cover is equipped with axle sleeve 6 on first pivot 71 and the second pivot 72, as shown in fig. 6, axle sleeve 6 sets up and pivot screw-thread fit's internal thread, the biax rotates and drives axle sleeve 6 and remove along the axle, bearing structure includes a plurality of supporting element, unit 1 is connected with axle sleeve 6 through supporting element in the software, control motor drive biax is rotatory, thereby the epaxial axle sleeve 6 of drive biax removes along the axle, drive software wheel unit 1 is close to or keeps away from wheel hub 5. When a plurality of software wheel units 1 are close to a hub to states of minimum radius of the software wheel, the software wheel units are connected end to form a complete circular structure, and when the software wheel units are far away from the software wheel from the states of the minimum radius, gaps are formed between two adjacent software wheel units.
The control motor is installed inside the rotating motor, a stator 11 of the control motor is fixedly connected with a stator 10 of the rotating motor, a rotor 12 of the control motor is installed on the shaft 7, a rotor 9 of the rotating motor is arranged on the outermost side of the motor set 8 and is fixedly connected with the inside of the wheel hub 5, and the rotating motor can enable wheels to roll.
The supporting unit comprises a support 3, a first connecting rod 41 and a second connecting rod 42, the support 3 is structurally shown in the figure, 4, the first connecting rod 41 and the second connecting rod 42 are structurally shown in the figure 5, one end of the support 3 is fixedly connected to the inner side of the wheel unit 1, the other end of the support 3 is hinged to the first connecting rod 41 and the second connecting rod 42, one end of the first connecting rod 41 is hinged to the support 3, the other end of the first connecting rod is hinged to a shaft sleeve on a first rotating shaft, one end of the second connecting rod 42 is hinged to the support 3, and the other end of the second connecting rod is hinged to a shaft sleeve on a second rotating shaft.
Connecting holes for connection are formed in the outer sides of the inner ring of the wheel 1 and the shaft sleeve 6. The number of connecting holes in the inner ring of the wheel 1 and the outer side of the shaft sleeve 6 is consistent with that of the support 3. The inner side of the wheel 1 and the outer side of the hub 5 are welded together through a spring 2. In this embodiment 6 springs are included. Anti-skid lines are arranged on the outer sides of the wheel units 1.
The wheels 1 comprise elastic rubber or metal materials, and flexible materials can be adopted for connection among the wheel units 1 as shown in fig. 8, when the radius of the wheel is increased, the wheel is stretched and deformed, and when the radius of the wheel is decreased, the wheel is contracted, so that contact neps of the wheel and the ground can be effectively increased. As shown in fig. 7, the structure in this embodiment can significantly change the radius of the wheel, and thus raise the chassis height of the vehicle by Δ h.
Claims (9)
1. A non-inflatable electric wheel with an adjustable wheel radius is characterized by comprising a wheel hub (5), an agile wheel surrounding the outer side of the wheel hub (5), a control motor and a supporting structure, the software wheels comprise a plurality of arc-shaped software wheel units (1), the control motor comprises double shafts and is arranged in a wheel hub (5), and the double shafts of the control motor respectively extend outwards from the two ends of the wheel hub (5), the double shafts of the control motor are respectively provided with threads, the double shafts of the control motor are respectively sleeved with a shaft sleeve (6), the double shafts rotate to drive the shaft sleeves (6) to move along the shafts, the supporting structure comprises a plurality of supporting units, the software wheel units (1) are connected with the shaft sleeve through the supporting units, the control motor drives the double shafts to rotate, therefore, the shaft sleeves (6) on the double shafts are driven to move along the shafts, and the software wheel units (1) are driven to be close to or far away from the hubs (5).
2. The non-pneumatic electric wheel according to claim 1, wherein the supporting unit comprises a support (3), a first connecting rod (41) and a second connecting rod (42), one end of the support (3) is fixedly connected to the inner side of the wheel unit (1), the other end of the support (3) is hinged to the first connecting rod (41) and the second connecting rod (42), two shafts of the control motor are a first rotating shaft and a second rotating shaft, one end of the first connecting rod (41) is hinged to the support (3), the other end of the first connecting rod is hinged to a shaft sleeve on the first rotating shaft, one end of the second connecting rod (42) is hinged to the support (3), and the other end of the second connecting rod is hinged to a shaft sleeve on the second rotating shaft.
3. A non-pneumatic motorized wheel as set forth in claim 2, wherein the control motor drives the first and second shafts simultaneously in the same direction, the first and second shafts having opposite threads.
4. A non-pneumatic motorized wheel as set forth in claim 2, wherein the control motor drives the first and second shafts in opposite directions simultaneously, the first and second shafts having threads of the same direction.
5. The non-inflatable electric wheel according to claim 1, wherein a plurality of springs (2) are arranged between the inner side of the wheel unit (1) and the outer side of the wheel hub (5), one end of each spring (2) is fixedly connected with the inner side of the wheel unit (1), and the other end of each spring (2) is fixedly connected with the outer side of the wheel hub (5).
6. A non-pneumatic electric wheel as claimed in claim 1, wherein the plurality of wheel units (1) are connected by a flexible material having flexibility.
7. A non-pneumatic electric vehicle wheel according to claim 1, wherein the outer side of the unit (1) is provided with anti-slip threads.
8. The non-pneumatic electric vehicle wheel according to claim 1, further comprising a rotating motor disposed in the hub (5), wherein the rotating motor drives the wheel to roll, a stator of the rotating motor is fixedly connected to a stator of the control motor, and a rotor of the rotating motor is fixedly connected to the hub (5).
9. The non-pneumatic electric wheel according to any one of claims 1-8, wherein when the plurality of software units are close to the hub to a state of minimum radius of the software, the plurality of software units are connected end to form a complete circular structure, and when the plurality of software units are moved away from the software from the state of minimum radius, gaps are formed between every two software units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241581.2A CN114750540A (en) | 2022-03-11 | 2022-03-11 | Non-inflatable electric wheel with adjustable wheel radius |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241581.2A CN114750540A (en) | 2022-03-11 | 2022-03-11 | Non-inflatable electric wheel with adjustable wheel radius |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750540A true CN114750540A (en) | 2022-07-15 |
Family
ID=82328252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210241581.2A Pending CN114750540A (en) | 2022-03-11 | 2022-03-11 | Non-inflatable electric wheel with adjustable wheel radius |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114750540A (en) |
-
2022
- 2022-03-11 CN CN202210241581.2A patent/CN114750540A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111634154A (en) | Wheel with variable diameter and variable wheel surface shape | |
| CN112793679B (en) | Full-deformation wheel device capable of being switched into track structure | |
| CN110576702B (en) | Adjustable wheel and vehicle with same | |
| CN110173607A (en) | A kind of multi-joint omnidirectional moving pipe robot | |
| CN111391573A (en) | Paper folding type wheel with variable width | |
| CN114750540A (en) | Non-inflatable electric wheel with adjustable wheel radius | |
| CN112248715B (en) | Self-adaptive Mecanum wheel and automatic guide vehicle | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| US5361443A (en) | Elastic coupling for a car wash rotary wheel assembly | |
| US10766300B2 (en) | Expandable and retractable wheel assembly | |
| CN207140680U (en) | Tyre generating set | |
| GB2059887A (en) | Wheels for vehicles | |
| CN114537036B (en) | Non-inflatable electric wheel with adjustable chassis height | |
| CN116518203A (en) | Pipeline maintenance robot | |
| KR102429696B1 (en) | A mobile robot wheel device capable of driving rough terrain and overcoming obstacles, and a mobile robot including the same | |
| CN211106735U (en) | Deformable wheel | |
| CN212685098U (en) | Wheel with variable diameter and variable wheel surface shape | |
| CN113195277B (en) | Buffer device for vehicle and method for controlling posture of vehicle body | |
| CN112172407B (en) | Mechanical elastic wheel with variable cross section and variable rigidity | |
| CN210257822U (en) | Deformable multi-group wheels suitable for running on complex road surface | |
| CN220639403U (en) | Wheel assembly capable of surmounting obstacle | |
| CN217074581U (en) | Robot chassis and robot | |
| CN212098261U (en) | Paper folding type wheel with variable width | |
| CN216911434U (en) | Walking limiting mechanism and photovoltaic cleaning robot | |
| CN118061702A (en) | Variable diameter driving wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |