CN114802506A - Paper folding robot with deformable wheels - Google Patents
Paper folding robot with deformable wheels Download PDFInfo
- Publication number
- CN114802506A CN114802506A CN202210332632.2A CN202210332632A CN114802506A CN 114802506 A CN114802506 A CN 114802506A CN 202210332632 A CN202210332632 A CN 202210332632A CN 114802506 A CN114802506 A CN 114802506A
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- Prior art keywords
- paper folding
- wheel
- driving
- kresling
- vehicle body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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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
- B60B19/04—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group expansible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a paper folding robot with deformable wheels, wherein a mounting cavity is formed in a vehicle body; the number of the axial telescopic driving wheels is multiple, and the axial telescopic driving wheels are respectively arranged on two sides of the vehicle body; the axial telescopic driving wheel is rotationally connected with the vehicle body; the control part comprises a driving system and a control system which are arranged in the mounting cavity; the driving system is used for realizing axial extension and rotation control of the axial extension driving wheel, and the control system is electrically connected with the driving system. Compared with the traditional wheel, the wheel provided by the invention is more suitable for rough and uneven road surface movement such as sand, wet land and the like. On uneven road surfaces such as sand or wet lands, the wheel can change the depth of the crease on the external structure of the wheel through axial expansion, similarly deepens the tire pattern of the traditional wheel, increases the grip of the wheel, and effectively avoids the slip phenomenon of the wheel on the sand or wet lands.
Description
Technical Field
The invention relates to the technical field of paper folding robots, in particular to a paper folding robot with deformable wheels.
Background
At present, the excavator is easy to get into a muddy river channel in the process of excavating the river channel for environmental improvement, so that the problem that agricultural machinery slips in the muddy rice field and the problem that vehicles slip in sand are caused. The traditional tire is easy to slip in mud, but the crawler-type wheel has the problems of low speed, heavy weight and the like. With the increasingly wide application of paper folding structures in the engineering field, the characteristics of rigid paper folding and the folding and unfolding processes thereof are applied to the design of engineering structures, and various robots are designed.
Therefore, the problem that how to solve the problem of tire slip when the traveling crane moves on rough ground such as sand and marshland is urgently needed to be solved by the technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a paper folding robot with deformable wheels, which can axially change the width of a tire during the movement process, and aims to solve the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a deformable wheel paper folding robot comprising:
a vehicle body; a mounting cavity is formed inside the vehicle body;
an axial telescopic driving wheel; the number of the axial telescopic driving wheels is multiple, and the axial telescopic driving wheels are respectively arranged on two sides of the vehicle body; the axial telescopic driving wheel is rotationally connected with the vehicle body;
a control unit; the control part comprises a driving system and a control system which are arranged in the mounting cavity; the driving system is used for realizing axial stretching and rotation control of the axial stretching driving wheel, and the control system is electrically connected with the driving system.
Through the technical scheme, the wheel capable of axially stretching is provided, and compared with the traditional wheel, the wheel is more suitable for rough and uneven road surface movement such as sand, wet land and the like. On uneven road surfaces such as sand or wet lands, the wheel can change the depth of the crease on the external structure of the wheel through axial expansion, similarly deepens the tire pattern of the traditional wheel, increases the grip of the wheel, and effectively avoids the slip phenomenon of the wheel on the sand or wet lands.
Preferably, in the paper folding robot with deformable wheels, the axial telescopic driving wheel comprises a Kresling paper folding telescopic cylinder and a spring; one end of the Kresling paper folding telescopic cylinder is rotatably connected with the vehicle body through a connector; the spring is coaxially arranged on the inner side of the Kresling paper folding telescopic cylinder, and two ends of the spring are abutted to inner walls of two ends of the Kresling paper folding telescopic cylinder.
The beneficial effects of adopting the above technical scheme are: the wheel capable of being axially stretched and changed is made by utilizing the stretching performance of the kresling paper folding structure, and the depth of the folding groove can be changed by controlling the stretching of the kresling paper folding structure, so that the robot has strong ground holding force in sand or marshland and does not slip.
Preferably, in the paper folding robot with a deformable wheel, the Kresling paper folding telescopic cylinder can be completely unfolded under the elastic support of the spring.
The beneficial effects of adopting the above technical scheme are: the spring is supported in the Kresling paper folding telescopic cylinder, so that the maximum expansion area of the Kresling paper folding telescopic cylinder is met.
Preferably, in the paper folding robot with the deformable wheels, the driving system comprises a hollow rotating shaft, a driving motor, a transmission gear pair, a winding motor and a rope winding; one end of the hollow rotating shaft is fixed with the connector and is arranged in the mounting cavity, and the connector is provided with a through hole corresponding to the axle center cavity of the hollow rotating shaft; the driving motor is fixed in the installation cavity; the transmission gear pair is connected between a power output shaft of the driving motor and the outer side wall of the hollow rotating shaft; the winding motor is fixed in the installation cavity, and a power output end of the winding motor is provided with a winding head which corresponds to one end of the hollow rotating shaft, which is far away from the connector; and one end of the winding rope is fixed on the winding head and penetrates through the shaft center cavity of the hollow rotating shaft and the through hole of the connector to enter the Kresling paper folding telescopic cylinder, and the other end of the winding rope is fixedly connected with the inner wall of the end head of the connector, wherein the outer wall of the end head is far away from the Kresling paper folding telescopic cylinder.
The beneficial effects of adopting the above technical scheme are: can satisfy driving motor and rolling motor's erection joint simultaneously through setting up hollow rotating shaft, carry out the stay cord and put the rope action through rolling motor's corotation reversal, make the flexible section of thick bamboo of Kresling paper folding realize the axial is flexible.
Preferably, in the paper folding robot with deformable wheels, the control system includes a first controller electrically connected to the driving motor, and a second controller electrically connected to the winding motor.
The beneficial effects of adopting the above technical scheme are: first controller and second controller can be controlled the rotation and the flexible of the flexible section of thick bamboo of Kresling paper folding respectively, and control is simple, and the effect is better.
Preferably, in the paper folding robot with deformable wheels, the control unit further includes a battery for supplying power.
The beneficial effects of adopting the above technical scheme are: the battery can provide power for the operation of the whole robot.
Preferably, in the paper folding robot with deformable wheels, the transmission gear pair includes two gears engaged with each other, and the two gears are respectively and fixedly connected with the power output shaft of the driving motor and the outer side wall of the hollow rotating shaft.
The beneficial effects of adopting the above technical scheme are: the transmission gear pair generally adopts the cooperation of the reduction gear pair, so that the driving effect is more stable.
Preferably, in the paper folding robot with a deformable wheel, the Kresling paper folding telescopic cylinder is made of polylactic acid materials, and folding marks are connected through flexible hinges.
The beneficial effects of adopting the above technical scheme are: the polylactic acid material can meet the requirements of structural strength and flexibility performance at the same time.
Preferably, at the paper folding robot of above-mentioned flexible wheel, the automobile body is the cuboid structure, just the quantity of the flexible drive wheel of axial is 4.
The beneficial effects of adopting the above technical scheme are: the overall arrangement of the whole robot is more reasonable, and the number of the driving systems is 4 sets, so that the independent driving control of the Kresling paper folding telescopic cylinder is realized.
Preferably, in the paper folding robot with deformable wheels, the vehicle body is made of polylactic acid material.
The beneficial effects of adopting the above technical scheme are: the polylactic acid material can meet the requirements of structural strength and flexibility performance at the same time.
Through the technical scheme, compared with the prior art, the invention discloses the paper folding robot with the deformable wheels, and the paper folding robot has the following beneficial effects:
1. compared with the traditional wheels, the wheels are more suitable for rough and uneven road surface movement such as sand, wet land and the like. On uneven road surfaces such as sand or wet lands, the wheel can change the depth of the crease on the external structure of the wheel through axial expansion, similarly deepens the tire pattern of the traditional wheel, increases the grip of the wheel, and effectively avoids the slip phenomenon of the wheel on the sand or wet lands.
2. The invention is based on the axial change of the wheel with the kresling paper folding structure, and the axial expansion of the wheel is controlled by the combination of the spring and the rope. The spring is supported in the wheel of the kresling structure, the axial extension of the wheel is achieved, the retracting rope achieves the axial contraction of the wheel through the pulling force in the wheel, and the control system controls the forward rotation and reverse rotation of the retracting motor to pull the rope to control the axial expansion and contraction change of the wheel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of an external structure of a paper folding robot with deformable wheels provided by the invention;
FIG. 2 is a schematic diagram of the internal structure of a paper folding robot with deformable wheels provided by the invention;
FIG. 3 is a schematic view of the axially telescoping drive wheel of the present invention in an extended condition;
fig. 4 is a schematic diagram of the contracted state of the axial telescopic driving wheel provided by the invention.
Wherein:
1-a vehicle body;
11-a mounting cavity;
2-axial telescopic driving wheel;
21-Kresling paper folding telescopic cylinder; 22-a spring; 23-a connector;
3-a control section;
31-a drive system; 311-hollow rotating shaft; 312 — a drive motor; 313-a transmission gear pair; 314-a winding motor; 315-retracting the rope; 316-a winding head; 32-a control system; 321-a first controller;
322-a second controller; 33-battery.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, an embodiment of the invention discloses a paper folding robot with deformable wheels, which includes:
a vehicle body 1; a mounting cavity 11 is formed inside the vehicle body 1;
an axial telescopic driving wheel 2; the number of the axial telescopic driving wheels 2 is multiple, and the axial telescopic driving wheels are respectively arranged on two sides of the vehicle body 1; the axial telescopic driving wheel 2 is rotationally connected with the vehicle body 1;
a control unit 3; the control part 3 comprises a driving system 31 and a control system 32 which are arranged in the installation cavity 11; the driving system 31 is used for realizing axial extension and rotation control of the axial extension driving wheel 2, and the control system 32 is electrically connected with the driving system 31.
In order to further optimize the technical scheme, the axial telescopic driving wheel 2 comprises a Kresling paper folding telescopic cylinder 21 and a spring 22; one end of a Kresling paper folding telescopic cylinder 21 is rotatably connected with the vehicle body 1 through a connector 23; the spring 22 is coaxially arranged inside the Kresling paper folding telescopic cylinder 21, and two ends of the spring are abutted to inner walls of two ends of the Kresling paper folding telescopic cylinder 21.
In order to further optimize the above technical solution, the Kresling origami cylinder 21 can be fully deployed under the elastic support of the spring 22.
In order to further optimize the above technical solution, the driving system 31 includes a hollow rotating shaft 311, a driving motor 312, a transmission gear pair 313, a winding motor 314 and a pull rope 315; one end of the hollow rotating shaft 311 is fixed with the connector 23 and is arranged inside the mounting cavity 11, and the connector 23 is provided with a through hole corresponding to the axle center cavity of the hollow rotating shaft 311; the driving motor 312 is fixed inside the installation cavity 11; the transmission gear pair 313 is connected between the power output shaft of the driving motor 312 and the outer side wall of the hollow rotating shaft 311; the winding motor 314 is fixed inside the mounting cavity 11, and the power output end of the winding motor is provided with a winding head 316, and the winding head 316 corresponds to one end of the hollow rotating shaft 311 far away from the connecting head 23; one end of the take-up cord 315 is fixed to the take-up head 316, and passes through the hollow cavity of the hollow shaft 311 and the through hole of the connector 23 to enter the Kresling paper folding telescopic cylinder 21, and the other end is fixedly connected to the inner wall of the end of the Kresling paper folding telescopic cylinder 21 far away from the connector 23.
In order to further optimize the above technical solution, the control system 32 includes a first controller 321 electrically connected to the driving motor 312, and a second controller 322 electrically connected to the winding motor 314.
In order to further optimize the above technical solution, the control part 3 further includes a battery 33 for supplying electric power.
In order to further optimize the above technical solution, the transmission gear pair 313 includes two gears engaged with each other, and the two gears are respectively and fixedly connected with the power output shaft of the driving motor 312 and the outer side wall of the hollow rotating shaft 311.
In order to further optimize the technical scheme, the Kresling folding telescopic cylinder 21 is made of polylactic acid materials, and folding marks are connected through flexible hinges.
In order to further optimize the technical scheme, the vehicle body 1 is of a cuboid structure, and the number of the axial telescopic driving wheels 2 is 4.
In order to further optimize the above solution, the body 1 is made of polylactic acid material.
The working principle of the invention is as follows:
the axial change of the axial telescopic driving wheel 2 is inspired by a kresling paper folding structure, and the axial change of the axial telescopic driving wheel 2 based on the kresling paper folding structure controls the axial telescopic of the axial telescopic driving wheel 2 through the combination of the spring 22 and the pull rope 315. The spring 22 is supported inside the Kresling paper folding telescopic cylinder 21 to achieve axial extension of the axial telescopic driving wheel 2, and the pull-in rope 315 achieves axial contraction of the axial telescopic driving wheel 2 inside the Kresling paper folding telescopic cylinder 21 through pulling force, as shown in fig. 3 and 4. The control system 32 controls the forward rotation and the reverse rotation of the take-up motor 314, and pulls the take-up cord 315 to control the change in the axial expansion and contraction of the axial expansion and contraction drive wheel 2. The invention can improve the problem that the prior wheel can only change radially but not axially, and solves the problem of axial extension and retraction of the wheel in the moving process.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A paper folding robot with deformable wheels is characterized by comprising:
a vehicle body (1); a mounting cavity (11) is formed inside the vehicle body (1);
an axially telescopic drive wheel (2); the number of the axial telescopic driving wheels (2) is multiple, and the axial telescopic driving wheels are respectively arranged on two sides of the vehicle body (1); the axial telescopic driving wheel (2) is rotationally connected with the vehicle body (1);
a control unit (3); the control part (3) comprises a driving system (31) and a control system (32) which are arranged in the installation cavity (11); the driving system (31) is used for realizing axial stretching and rotation control of the axial stretching driving wheel (2), and the control system (32) is electrically connected with the driving system (31).
2. A deformable-wheel paper folding robot as claimed in claim 1, characterized in that said axially telescopic driving wheel (2) comprises a Kresling paper folding telescopic cylinder (21) and a spring (22); one end of the Kresling paper folding telescopic cylinder (21) is rotatably connected with the vehicle body (1) through a connector (23); the spring (22) is coaxially arranged on the inner side of the Kresling paper folding telescopic cylinder (21), and two ends of the spring are abutted to inner walls of two ends of the Kresling paper folding telescopic cylinder (21).
3. The robot for folding paper with deformable wheels according to claim 1, characterized in that said Kresling telescopic folding cylinder (21) can be fully deployed under the elastic support of said spring (22).
4. The paper folding robot with deformable wheels as claimed in claim 2 or 3, characterized in that the driving system (31) comprises a hollow rotating shaft (311), a driving motor (312), a transmission gear pair (313), a winding motor (314) and a drawing rope (315); one end of the hollow rotating shaft (311) is fixed with the connector (23) and is arranged in the mounting cavity (11), and the connector (23) is provided with a through hole corresponding to an axis cavity of the hollow rotating shaft (311); the driving motor (312) is fixed inside the mounting cavity (11); the transmission gear pair (313) is connected between a power output shaft of the driving motor (312) and the outer side wall of the hollow rotating shaft (311); the winding motor (314) is fixed in the mounting cavity (11), a power output end of the winding motor is provided with a winding head (316), and the winding head (316) corresponds to one end, far away from the connector (23), of the hollow rotating shaft (311); one end of the winding rope (315) is fixed on the winding head (316) and penetrates through the axle center cavity of the hollow rotating shaft (311) and the through hole of the connector (23) to enter the Kresling paper folding telescopic cylinder (21), and the other end of the winding rope is fixedly connected with the inner wall of the end of the Kresling paper folding telescopic cylinder (21) far away from the connector (23).
5. The transformable wheeled paper folding robot of claim 4, wherein the control system (32) includes a first controller (321) electrically connected to the drive motor (312) and a second controller (322) electrically connected to the take-up motor (314).
6. A deformable-wheel paper folding robot as claimed in claim 5, characterized in that said control part (3) further comprises a battery (33) for providing electric power.
7. The paper folding robot with deformable wheels as claimed in claim 4, wherein the transmission gear pair (313) comprises two gears engaged with each other, and the two gears are respectively fixedly connected with the power output shaft of the driving motor (312) and the outer side wall of the hollow rotating shaft (311).
8. The paper folding robot of deformable wheel of claim 4, characterized in that said Kresling paper folding telescopic cylinder (21) is made of polylactic acid material and the folding marks are connected by flexible hinges.
9. The paper folding robot with deformable wheels as claimed in claim 1, wherein the vehicle body (1) is of a rectangular parallelepiped structure, and the number of the axially telescopic driving wheels (2) is 4.
10. The paper folding robot with deformable wheels according to claim 1, characterized in that the vehicle body (1) is made of polylactic acid material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210332632.2A CN114802506B (en) | 2022-03-30 | 2022-03-30 | Paper folding robot with deformable wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210332632.2A CN114802506B (en) | 2022-03-30 | 2022-03-30 | Paper folding robot with deformable wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114802506A true CN114802506A (en) | 2022-07-29 |
| CN114802506B CN114802506B (en) | 2023-05-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210332632.2A Active CN114802506B (en) | 2022-03-30 | 2022-03-30 | Paper folding robot with deformable wheels |
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| Country | Link |
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| CN (1) | CN114802506B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150352896A1 (en) * | 2013-12-17 | 2015-12-10 | Snu R&Db Foundation | Variable-Diameter Wheel |
| CN111332082A (en) * | 2020-03-26 | 2020-06-26 | 江西理工大学 | Robot with amphibious paper folding structure |
| CN111391573A (en) * | 2020-03-27 | 2020-07-10 | 广州大学 | Paper folding type wheel with variable width |
| CN111845193A (en) * | 2020-07-08 | 2020-10-30 | 广州大学 | Large-width deformation ratio wheel type paper folding principle robot |
| CN113636047A (en) * | 2021-08-18 | 2021-11-12 | 江西理工大学 | Crawler-type underwater robot based on paper folding structure and control method thereof |
| FR3109909A1 (en) * | 2020-05-11 | 2021-11-12 | Alexandre Rey | Foldable wheel |
| CN113771548A (en) * | 2021-09-25 | 2021-12-10 | 浙江大学 | Variable-diameter driving wheel based on paper folding process and method thereof |
-
2022
- 2022-03-30 CN CN202210332632.2A patent/CN114802506B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150352896A1 (en) * | 2013-12-17 | 2015-12-10 | Snu R&Db Foundation | Variable-Diameter Wheel |
| CN111332082A (en) * | 2020-03-26 | 2020-06-26 | 江西理工大学 | Robot with amphibious paper folding structure |
| CN111391573A (en) * | 2020-03-27 | 2020-07-10 | 广州大学 | Paper folding type wheel with variable width |
| FR3109909A1 (en) * | 2020-05-11 | 2021-11-12 | Alexandre Rey | Foldable wheel |
| CN111845193A (en) * | 2020-07-08 | 2020-10-30 | 广州大学 | Large-width deformation ratio wheel type paper folding principle robot |
| CN113636047A (en) * | 2021-08-18 | 2021-11-12 | 江西理工大学 | Crawler-type underwater robot based on paper folding structure and control method thereof |
| CN113771548A (en) * | 2021-09-25 | 2021-12-10 | 浙江大学 | Variable-diameter driving wheel based on paper folding process and method thereof |
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| Publication number | Publication date |
|---|---|
| CN114802506B (en) | 2023-05-09 |
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