CN201362133Y - Vehicle wheel with continuously-variable diameter - Google Patents
Vehicle wheel with continuously-variable diameter Download PDFInfo
- Publication number
- CN201362133Y CN201362133Y CNU2009200841904U CN200920084190U CN201362133Y CN 201362133 Y CN201362133 Y CN 201362133Y CN U2009200841904 U CNU2009200841904 U CN U2009200841904U CN 200920084190 U CN200920084190 U CN 200920084190U CN 201362133 Y CN201362133 Y CN 201362133Y
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- Prior art keywords
- wheel hub
- expansion link
- wheel
- continuous variable
- rod
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Abstract
The utility model discloses a vehicle wheel with continuously-variable diameter, which is provided with a wheel hub, and is characterized in that telescopic rods are mounted in the spokes of the wheel hub, the spokes are in slide connection with the telescopic rods in radial line-oriented manner, the telescopic rods extend out of the periphery of wheel hub to a certain distance; a power device in drive connection with the telescopic rods is mounted in the center of the wheel hub; telescopic rod set roller wheels are mounted on the outer ends of the telescopic rods; the diameter of the vehicle wheel is continuously variable so that the obstacle climbing capability of vehicle equipped with the vehicle wheel is improved to adapt to special ground surface; the vehicle wheel with continuously-variable diameter is particularly applicable to robotic explorers.
Description
(1) technical field:
The utility model relates to mechanical running mechanism, is a kind of diameter continuous variable wheel.
(2) background technology:
Wheeled car travels on the road surface of relatively flat, have steadily, at a high speed, the characteristic of maneuverability.Usually the diameter of its wheel is fixed, and for travelling of complex-terrain, the walking performance of fixed diameter wheel reduces greatly, and obstacle climbing ability is poor.The research to the variable-diameter wheel has been launched in countries in the world for this reason, but great majority still are in the scientific experimentation stage.From disclosed technology, present variable-diameter car wheel structure complexity, the manufacturing cost height, unfailing performance is not high, it is promoted the use of be restricted.
(3) summary of the invention:
The purpose of this utility model will solve now disclosed variable-diameter car wheel structure complexity exactly, and the problem that manufacturing cost height, reliability are not high provides a kind of compact conformation, walking failure-free diameter continuous variable wheel.
Concrete scheme of the present utility model is: diameter continuous variable wheel, have wheel hub, and it is characterized in that: in each bar spoke of wheel hub expansion link is housed, expansion link and spoke adopt radial alignment guiding sliding block joint, and expansion link stretches out wheel hub outer rim certain distance; Engine installation is installed in the center of wheel hub drives each expansion link of connection; At the outer end of each expansion link connection shrinking connecting-rod group formula roller.
Expansion link described in the utility model is screw rod and rifled pipe formula structure, at the screw rod tail end miniature gears is housed; The described engine installation that is installed in the wheel hub center includes motor, contrite gear, and this contrite gear is connected with the pinion drive that is contained in the screw rod tail end.
The group of shrinking connecting-rod described in the utility model formula roller is formed annular arrangement by many groups cross link, and the point of crossing place of every group of cross link is corresponding to connect expansion link, and two two ends correspondences of two adjacent groups cross link are hinged.
Be shaped for convenient, the connecting rod in the utility model in the described cross link group of shrinking connecting-rod group formula roller adopts elastic steel sheet to make.
On the elastic steel sheet connecting rod of shrinking connecting-rod group formula roller cross link group, rubber cushion blocks is installed in the utility model.
The utility model compact conformation has effectively been controlled manufacturing cost, dependable performance, and it is taken turns the footpath variation and is easy to control, and has continuity and particularity; Adopt this wheel can improve obstacle climbing ability and stationarity that vehicle is walked on complex road surface.
(4) description of drawings:
Fig. 1 is the utility model overall structure master cutaway view;
Fig. 2 is the utility model central hub side partial cross-sectional partly;
Fig. 3 is that shrinking connecting-rod group formula roller launches scheme drawing.
Among the figure: 1-stepper motor, 2-contrite gear, 3-miniature gears, 4-bearing, 5-screw rod, 6-threaded line pipe, 7-wheel hub, 8-spoke, 9-pivot pin, 10-rubber cushion blocks, 11-elastic steel sheet connecting rod, 12-annular shaft bearing, 13-end cap.
(5) specific embodiment:
Referring to Fig. 1, Fig. 2, the utlity model has wheel hub 7, wheel hub 7 is provided with eight spokes 8, on every spoke 8, adorn expansion link, this expansion link is made of screw rod 5 and rifled pipe 6 cooperations, and this rifled pipe 6 adopts the sliding connections (as straight line boss and chute guide frame) of radial alignment guiding with spoke 8, in order to guarantee the stable operation of screw rod 5, be provided with annular shaft bearing 12 on wheel hub 7, corresponding every screw rod 5 is equipped with eight bearings, 4 each screw rod 5 of supporting on the annular shaft bearing 12.Tail end at every screw rod 5 is equipped with miniature gears 3.And in the center of wheel hub 7 stepper motor 1 is installed, on the axle of motor 1 contrite gear 2 is housed, the miniature gears 3 of contrite gear 2 each screw rod 5 tail end of transmission simultaneously.The outer rim that rifled pipe 6 equal lengths of described eight expansion links stretch out wheel hub 7, and shrinking connecting-rod group formula roller of common supporting connection, the structure of this roller is referring to Fig. 1,3, and it forms annular arrangement by eight groups of cross link; Every group of cross link formed by 11 cross connections of two block length bar elastic steel sheets, the corresponding head end that connects a rifled pipe 6 in its point of crossing place; And two two ends of two adjacent groups cross link group adopt pivot pin 9 hinged.Last two rubber cushion blocks 10 are installed on the every elastic steel sheet 11 of cross link, and are installed additional end cap 13 in the left side of wheel hub 7 and promptly constitute the utility model.
Principle of work of the present utility model is: control motor 1 starts, by contrite gear 2, eight miniature gearss 3, rotate eight screw rods 5, eight 5 of screw rods drive eight rifled pipes 6 respectively and carry out fore and aft motion (being reducing), and eight rifled pipes 6 drive flexible cross link group formula roller and realize reducing simultaneously.
Claims (5)
1. diameter continuous variable wheel has wheel hub, it is characterized in that: in each bar spoke of wheel hub expansion link is housed, expansion link and spoke adopt radial alignment guiding sliding block joint, and expansion link stretches out wheel hub outer rim certain distance; Engine installation is installed in the center of wheel hub drives each expansion link of connection; At the outer end of each expansion link connection shrinking connecting-rod group formula roller.
2. diameter continuous variable wheel according to claim 1 is characterized in that: described expansion link is screw rod and rifled pipe formula structure, at the tail end of screw rod miniature gears is housed; The described engine installation that is installed in the wheel hub center includes motor, contrite gear, and this contrite gear is connected with the pinion drive that is contained in the screw rod tail end.
3. diameter continuous variable wheel according to claim 1, it is characterized in that: described shrinking connecting-rod group formula roller is formed annular arrangement by many groups cross link, the point of crossing place of every group of cross link is corresponding to connect expansion link, and two two ends correspondences of two adjacent groups cross link are hinged.
4. diameter continuous variable wheel according to claim 3 is characterized in that: the connecting rod in the described cross link group adopts elastic steel sheet to make.
5. diameter continuous variable wheel according to claim 4 is characterized in that: on the elastic steel sheet connecting rod of shrinking connecting-rod group formula roller cross link group, rubber cushion blocks is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200841904U CN201362133Y (en) | 2009-03-16 | 2009-03-16 | Vehicle wheel with continuously-variable diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200841904U CN201362133Y (en) | 2009-03-16 | 2009-03-16 | Vehicle wheel with continuously-variable diameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201362133Y true CN201362133Y (en) | 2009-12-16 |
Family
ID=41472793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009200841904U Expired - Fee Related CN201362133Y (en) | 2009-03-16 | 2009-03-16 | Vehicle wheel with continuously-variable diameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201362133Y (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275463A (en) * | 2011-06-22 | 2011-12-14 | 姜茂林 | Variable-size wheel |
| CN103264382A (en) * | 2013-05-02 | 2013-08-28 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
| CN104667542A (en) * | 2013-10-18 | 2015-06-03 | 鹦鹉股份有限公司 | Variable-track Rolling Toy |
| CN104802589A (en) * | 2015-05-15 | 2015-07-29 | 黄炳全 | Foldable and retractable bicycle wheel |
| CN105128595A (en) * | 2015-08-13 | 2015-12-09 | 孟红琳 | Rapid switched-type anti-skidding device for car tire |
| CN105150763A (en) * | 2015-09-22 | 2015-12-16 | 北京理工大学 | Multi-angle wheel for ground robot |
| CN105620188A (en) * | 2016-03-29 | 2016-06-01 | 邹立新 | Cross-country vehicle wheel |
| CN105644266A (en) * | 2015-12-10 | 2016-06-08 | 柳州市京阳节能科技研发有限公司 | Multifunctional hydraulic wheel axle |
| CN105667204A (en) * | 2014-12-05 | 2016-06-15 | 通用汽车环球科技运作有限责任公司 | Hybrid electric ground mobility system |
| CN105711329A (en) * | 2016-01-25 | 2016-06-29 | 上海交通大学 | Transformable wheel based on cam pair |
| CN105774390A (en) * | 2016-03-16 | 2016-07-20 | 魏逸安 | Rotary and movable radial screw type tire road holding force adjustment device |
| CN105882312A (en) * | 2016-01-31 | 2016-08-24 | 李钦源 | Agricultural tractor with adjustable wheels |
| CN105946449A (en) * | 2016-04-29 | 2016-09-21 | 桂林电子科技大学 | Wheel type mechanism of which radius can be adjusted |
| CN105946447A (en) * | 2016-05-10 | 2016-09-21 | 秦广泉 | Vehicle wheel device and agricultural machine using vehicle wheel device |
| CN106891667A (en) * | 2017-02-04 | 2017-06-27 | 胡建令 | A kind of town road exploration vehicle |
| CN106915204A (en) * | 2017-01-23 | 2017-07-04 | 南京邮电大学 | The pneumatic software road wheel that a kind of deformable not rounded is rolled |
| CN107738541A (en) * | 2017-10-11 | 2018-02-27 | 黄房富 | Strengthen wheel hub |
| CN108349302A (en) * | 2015-09-18 | 2018-07-31 | 美观与实用公司 | Diameter-variable wheel |
| CN108621679A (en) * | 2018-05-14 | 2018-10-09 | 朱敏 | It is a kind of to pass through change wheel of the wheel rail by road dental calculus |
| CN108715200A (en) * | 2018-05-29 | 2018-10-30 | 边英卓 | Balance car with variable-diameter wheel body and the balance car control module |
| US10525766B2 (en) | 2017-09-22 | 2020-01-07 | Keir P. Daniels | Wheel with adjustable radius and tread firmness |
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| CN111516431A (en) * | 2019-08-22 | 2020-08-11 | 沈敏 | Self-adaptive centrifugal wheel shaft |
| WO2022088068A1 (en) * | 2020-10-30 | 2022-05-05 | 哈尔滨工业大学（深圳） | Wheel and wheeled robot with same |
-
2009
- 2009-03-16 CN CNU2009200841904U patent/CN201362133Y/en not_active Expired - Fee Related
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275463A (en) * | 2011-06-22 | 2011-12-14 | 姜茂林 | Variable-size wheel |
| CN103264382B (en) * | 2013-05-02 | 2015-05-20 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN103264382A (en) * | 2013-05-02 | 2013-08-28 | 浙江理工大学 | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels |
| CN104667542A (en) * | 2013-10-18 | 2015-06-03 | 鹦鹉股份有限公司 | Variable-track Rolling Toy |
| CN105667204A (en) * | 2014-12-05 | 2016-06-15 | 通用汽车环球科技运作有限责任公司 | Hybrid electric ground mobility system |
| CN104385845A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Gear and rack variable eccentricity obstacle crossing wheel |
| CN104802589A (en) * | 2015-05-15 | 2015-07-29 | 黄炳全 | Foldable and retractable bicycle wheel |
| CN104802589B (en) * | 2015-05-15 | 2017-03-01 | 枣庄海晟电动车科技有限公司 | Foldable telescopic cycle wheel |
| CN105128595A (en) * | 2015-08-13 | 2015-12-09 | 孟红琳 | Rapid switched-type anti-skidding device for car tire |
| CN108349302A (en) * | 2015-09-18 | 2018-07-31 | 美观与实用公司 | Diameter-variable wheel |
| CN105150763A (en) * | 2015-09-22 | 2015-12-16 | 北京理工大学 | Multi-angle wheel for ground robot |
| CN105150763B (en) * | 2015-09-22 | 2017-10-24 | 北京理工大学 | A kind of many horn rings for ground robot |
| CN105644266A (en) * | 2015-12-10 | 2016-06-08 | 柳州市京阳节能科技研发有限公司 | Multifunctional hydraulic wheel axle |
| CN105711329A (en) * | 2016-01-25 | 2016-06-29 | 上海交通大学 | Transformable wheel based on cam pair |
| CN105711329B (en) * | 2016-01-25 | 2018-04-10 | 上海交通大学 | Based on the secondary deformable wheel of cam |
| CN105882312A (en) * | 2016-01-31 | 2016-08-24 | 李钦源 | Agricultural tractor with adjustable wheels |
| CN105882312B (en) * | 2016-01-31 | 2017-12-19 | 李钦源 | A kind of farm tractor of adustable wheel |
| CN105774390A (en) * | 2016-03-16 | 2016-07-20 | 魏逸安 | Rotary and movable radial screw type tire road holding force adjustment device |
| CN105620188A (en) * | 2016-03-29 | 2016-06-01 | 邹立新 | Cross-country vehicle wheel |
| CN105946449B (en) * | 2016-04-29 | 2018-11-23 | 桂林电子科技大学 | The adjustable ratcheting mechanism of radius |
| CN105946449A (en) * | 2016-04-29 | 2016-09-21 | 桂林电子科技大学 | Wheel type mechanism of which radius can be adjusted |
| CN105946447A (en) * | 2016-05-10 | 2016-09-21 | 秦广泉 | Vehicle wheel device and agricultural machine using vehicle wheel device |
| CN106915204A (en) * | 2017-01-23 | 2017-07-04 | 南京邮电大学 | The pneumatic software road wheel that a kind of deformable not rounded is rolled |
| CN106915204B (en) * | 2017-01-23 | 2018-11-27 | 南京邮电大学 | A kind of pneumatic software traveling wheel of deformable non-circular rolling |
| CN106891667A (en) * | 2017-02-04 | 2017-06-27 | 胡建令 | A kind of town road exploration vehicle |
| US10525766B2 (en) | 2017-09-22 | 2020-01-07 | Keir P. Daniels | Wheel with adjustable radius and tread firmness |
| CN107738541A (en) * | 2017-10-11 | 2018-02-27 | 黄房富 | Strengthen wheel hub |
| CN108621679A (en) * | 2018-05-14 | 2018-10-09 | 朱敏 | It is a kind of to pass through change wheel of the wheel rail by road dental calculus |
| CN108715200A (en) * | 2018-05-29 | 2018-10-30 | 边英卓 | Balance car with variable-diameter wheel body and the balance car control module |
| CN111516431A (en) * | 2019-08-22 | 2020-08-11 | 沈敏 | Self-adaptive centrifugal wheel shaft |
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| WO2022088068A1 (en) * | 2020-10-30 | 2022-05-05 | 哈尔滨工业大学（深圳） | Wheel and wheeled robot with same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091216 Termination date: 20110316 |