CN202782474U - Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism - Google Patents
Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism Download PDFInfo
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- CN202782474U CN202782474U CN 201220460616 CN201220460616U CN202782474U CN 202782474 U CN202782474 U CN 202782474U CN 201220460616 CN201220460616 CN 201220460616 CN 201220460616 U CN201220460616 U CN 201220460616U CN 202782474 U CN202782474 U CN 202782474U
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- wheel
- ball
- push rod
- hub
- rim
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Abstract
The utility model provides a ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism. According to the ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism, a ball limiting device is adopted and used for switching the movement of a hub between axial direction and peripheral direction, namely when a regular moving type hub moves in the axial direction, an axial pushing rod hinged with the hub moves along the plane, and then a radial pushing rod which is fixedly connected to an inclined rim block is driven to move along the radial direction, and thus the radial dimension of a wheel can be adjusted; and when the regular moving type hub rotates along the peripheral direction, the hub, a wheel shaft, a spoke and the rim of the ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism form an integrated wheel structure, and the wheels are in a locking state and can be driven to rotate in order to run. According to the ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism, the radial dimensions of the wheels can be effectively adjusted based on different terrain conditions, the shortcoming that the conventional barrier crossing probe vehicle is poor in adaptability to the unstructured terrain can be overcome, and the adaptability of the wheels to the terrain can be effectively improved.
Description
Technical field
The utility model relates to a kind of mechanism of improving the car load obstacle performance by regulating the wheel radial dimension, relates to particularly the limit-type repeatable folding and unfolding locking wheel mechanism of a kind of ball.
Background technology
Complex-terrain moves probe vehicles and is widely used in the fields such as celestial body detecting, military surveillance and calamity danger search and rescue, running environment mostly be greatly complexity, the destructuring landform.For satisfying mobile probe vehicles high maneuverability, strong environment sensing and rapid-action performance requriements, wheel is as the execution unit of probe vehicles mobile system, and its configuration and size have considerable influence to driving, obstacle detouring, the destructuring landform comformability of probe vehicles.Though moving wheel that probe vehicles adopts, present complex-terrain possessed stronger driveability and certain obstacle climbing ability, all relatively poor for changeable complex-terrain adaptive capacity.
The utility model content
In order to solve the above-mentioned problems in the prior art, improve complex-terrain and move probe vehicles to the comformability of destructuring environment, need to design the wheel mechanism that can regulate according to different terrain the wheel radial dimension for it.The utility model provides a kind of ball limit-type repeatable folding and unfolding locking wheel mechanism, can change according to the actual landform situation radial dimension of wheel, and then improve complex-terrain and move probe vehicles to the adaptive capacity of destructuring landform.
The limit-type repeatable folding and unfolding locking wheel mechanism of described ball, formed by wheel rim, spoke, wheel hub, wheel shaft, described wheel rim comprises wheel rim skewback and inner rim, described spoke parts comprise axial push rod and radial push rod, described wheel hub comprises sequential movements formula wheel hub, described wheel shaft comprises main shaft, described axial push rod one end is hinged on the described sequential movements formula wheel hub, the other end is hinged with corresponding radial push rod, and the other end of described radial push rod passes chute and the described wheel rim skewback of inner rim and fixes.
Further, described main shaft and sequential movements formula wheel hub inboard are threaded connection.
Further, described wheel hub also comprises guiding ball and wheel carrier fixed cover, and described sequential movements formula wheel hub is installed in the wheel carrier fixed cover by described guiding ball.
Further, on the described sequential movements formula wheel hub groove structure is arranged, described groove structure comprises wheel hub slideway rearward recess, axial slideway and wheel hub slideway forward recess, has hemispherical groove on the described wheel carrier fixed cover, under the wheel mechanism deployed condition, described guiding ball is positioned at wheel hub slideway forward recess, in the wheel mechanism telescopic process, described guiding ball the first half is positioned at the hemispherical groove of described wheel carrier fixed cover, and its latter half is arranged in the described axial slideway of described sequential movements formula wheel hub.
Further, described wheel rim also comprises the wheel rim gear piece that is positioned on the described wheel rim skewback outside.
Further, described wheel shaft comprises the axle head position-arresting disk, is used for limiting the axial motion of described sequential movements formula wheel hub.
Further, the radical of described axial push rod and radial push rod is the six roots of sensation.
Further, described wheel rim skewback is six, is fixed in respectively on the corresponding radial push rod.
Further, under the wheel mechanism deployed condition, described axial push rod and wheel rim push rod generate straight line, under the wheel mechanism folded state, the angle of described axial push rod and wheel rim push rod is acute angle.
The beneficial effects of the utility model are: 1, the limit-type repeatable folding and unfolding locking wheel mechanism of ball can be realized larger folding exhibition ratio; 2, the folding and expanding of wheel, travel to drive and only use a motor, compact conformation takes full advantage of the space of wheel body; 3, wheel locking mechanism is simple, can guarantee that wheel repeatedly rolls over the redundant fiduciary level of exhibition; 4, the wheel rim skewback has guaranteed the uninterrupted contact on wheel and ground, can reduce body oscillating, and the wheel rim gear piece can increase the adhesion value on wheel ground, strengthens its obstacle performance.5, be widely used, except can use in the fields such as celestial body detecting vehicle, military surveillance and calamity danger search and rescue, also can be used as other complex-terrain situation movement detector.
Description of drawings
Fig. 1 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball of the present utility model sketch;
Fig. 2 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball package assembly scheme drawing;
Fig. 3 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball decomposition texture scheme drawing;
Fig. 4 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball deployed condition scheme drawing;
Fig. 5 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball folded state scheme drawing;
Fig. 6 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball sequential movements formula wheel hub cutaway view;
Fig. 7 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball wheel hub slideway forward recess cutaway view;
Fig. 8 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball wheel hub slideway rearward recess cutaway view;
Fig. 9 is the limit-type repeatable folding and unfolding locking wheel mechanism of ball wheel carrier fixed cover cutaway view.
Each Reference numeral implication among Fig. 1-9: 1, wheel rim skewback; 2, wheel rim gear piece; 3, radial push rod; 4, inner rim; 5, axial push rod; 6, axle head position-arresting disk; 7, sequential movements formula wheel hub; 8, wheel hub slideway forward recess; 9, axial slideway; 10, wheel hub slideway rearward recess; 11, guiding ball; 12, wheel carrier fixed cover; 13, main shaft; 14, hemispherical groove.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Principle of work of the present utility model is: use the limit-type repeatable folding and unfolding locking mechanism of ball, realize the conversion of the axial and circumferential motion of sequential movements formula wheel hub by the ball device for limiting.When sequential movements formula wheel hub moved vertically, the axial push rod hinged with it done plane motion, and then drove the radial push rod be fixed on the wheel rim and radially move, thereby regulated the radial dimension of wheel; When sequential movements formula wheel hub edge rotates in a circumferential direction, wheel hub, wheel shaft, spoke, being integrally formed of wheel rim car wheel structure, wheel is in the integral locking state, can drive vehicle wheel rotation to realize its driving functions by motor.
As Figure 1-3, the limit-type repeatable folding and unfolding locking wheel mechanism of ball of the present utility model is comprised of wheel rim, wheel hub, spoke, wheel shaft four parts.Wherein wheel rim comprises wheel rim skewback 1, wheel rim gear piece 2, inner rim 4; Spoke comprises axial push rod 5, radial push rod 3; Wheel hub comprises sequential movements formula wheel hub 7, guiding ball 11, wheel carrier fixed cover 12; Wheel shaft comprises main shaft 13, axle head position-arresting disk 6.Wherein, described sequential movements formula wheel hub 7 is installed in the wheel carrier fixed cover 12 by guiding ball 11, and its inboard and main shaft 13 is connected by screw thread pair; One end of the axial push rod 5 that the six roots of sensation is radially uniform is hinged on the sequential movements formula wheel hub 7, and the other end is hinged with corresponding six roots of sensation radial push rod 3; Radial push rod 3 is assemblied in the chute of inner rim 4, consists of sliding pair with inner rim 4; Inner rim 4 links to each other with main shaft 13 and consists of revolute; Six wheel rim skewbacks 1 that radially distribute are fixed in respectively on the corresponding radial push rod 3; 2 of wheel rim gear pieces are attached to wheel rim skewback 1 outside.
The specific implementation process is as follows: motor-driven main shaft 13 is along clockwise rotating, driving sequential movements formula wheel hub 7 rotates, be in guiding ball 11 in the wheel hub slideway rearward recess 10 under the centrifugal inertia force effect along the groove upward movement, its the first half is squeezed in the hemispherical groove 14 of wheel carrier fixed cover 12, the latter half of ball 11 of leading this moment then is positioned at the axial slideway 9 of sequential movements formula wheel hub 7, realizes the restriction to sequential movements formula wheel hub 7 axial rotation; Main shaft 13 is rotated further, and 7 of sequential movements formula wheel hubs are motion vertically, and the axial push rod 5 hinged with it done plane motion, and then the radial push rod 3 that is fixed on the wheel rim skewback 1 radially move, makes the increase of wheel radial dimension; When sequential movements formula wheel hub 7 moves to when contacting with axle head position-arresting disk 6 vertically, 11 on ball of guiding falls in the wheel hub slideway forward recess 8, axially push rod 5 is launched into straight line with radial push rod 3, and perpendicular to main shaft 13, this moment, radial push rod 3 formed the mechanism dead points with axial push rod 5, screw thread self-locking between main shaft 13 and the sequential movements formula wheel hub 7 is finally realized the reliable redundant locking of wheel mechanism simultaneously, and wheel is finished it by folding into the process of launching locking.Motor works on, and integrated expansion vehicle wheel rotation is realized its driving functions.
Otherwise, because wheel hub forward recess 8 is opposite with the opening direction of wheel hub rearward recess 10, so during main shaft 13 left-hand revolution, guiding ball 11 the first half are pushed in the hemispherical groove 14 of wheel carrier fixed cover 12, its latter half then can be got back in the axial slideway 9 of sequential movements formula wheel hub 7 again.When sequential movements formula wheel hub 7 moved vertically, the axial push rod 5 hinged with it done plane motion, and then drove the radial push rod 3 be fixed on the wheel rim skewback 1 and radially move, and the wheel radial dimension is reduced; When the end face of sequential movements formula wheel hub 7 contacts with wheel carrier fixed cover 12, guiding ball 11 is got back in the rearward recess 10 of wheel hub slideway again, by reliable redundant locking that the screw thread self-locking between sequential movements formula wheel hub 7 and the main shaft 13 is realized wheel, wheel is finished it by the process that is deployed into foldable locking.Motor works on, and integrated folding wheel is realized its driving functions.
The limit-type repeatable folding and unfolding locking wheel mechanism of ball of the present utility model has preferably manoevreability, can cross than high obstacle under the deployed condition, when running into than soft surface, the gear piece that slit between the wheel rim skewback and wheel rim adhere to outward can increase high-wheeled tractive force, improves the whole obstacle performance of wheel; Can reduce the car body height of center of mass in that folded state is next, can in the pipeline of height-limited system and tunnel, travel, strengthen complex-terrain and moved probe vehicles to the comformability of destructuring landform.
Shown in the above and the figure only is preferred implementation of the present utility model.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from principle of the present utility model, can also make some modification and improvement, these also should be considered as belonging to protection domain of the present utility model.
Claims (9)
1. limit-type repeatable folding and unfolding locking wheel mechanism of ball, by wheel rim, spoke, wheel hub, wheel shaft forms, it is characterized in that: described wheel rim comprises wheel rim skewback (1) and inner rim (4), described spoke parts comprise axial push rod (5) and radial push rod (3), described wheel hub comprises sequential movements formula wheel hub (7), described wheel shaft comprises main shaft (13), described axial push rod (5) one ends are hinged on the described sequential movements formula wheel hub (7), the other end is hinged with corresponding radial push rod (3), and it is fixing that the other end of described radial push rod (3) passes chute and the described wheel rim skewback (1) of inner rim (4).
2. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: described main shaft (13) and sequential movements formula wheel hub (7) inboard are threaded connection.
3. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: described wheel hub also comprises guiding ball (11) and wheel carrier fixed cover (12), and described sequential movements formula wheel hub (7) is installed in wheel carrier fixed cover (12) by described guiding ball (11).
4. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 3, it is characterized in that: on the described sequential movements formula wheel hub (7) the groove structure is arranged, described groove structure comprises wheel hub slideway rearward recess (10), axial slideway (9) and wheel hub slideway forward recess (8), has hemispherical groove (14) on the described wheel carrier fixed cover (12), under the wheel mechanism deployed condition, described guiding ball (11) is positioned at wheel hub slideway forward recess (8), in the wheel mechanism telescopic process, described guiding ball (11) the first half is positioned at the hemispherical groove (14) of described wheel carrier fixed cover (12), and its latter half is arranged in the described axial slideway (9) of described sequential movements formula wheel hub (7).
5. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: described wheel rim also comprises the wheel rim gear piece (2) that is positioned on described wheel rim skewback (1) outside.
6. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: described wheel shaft comprises axle head position-arresting disk (6).
7. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: the radical of described axial push rod (5) and radial push rod (3) is the six roots of sensation.
8. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 7, it is characterized in that: described wheel rim skewback (1) is six, is fixed in respectively on the corresponding radial push rod (3).
9. the limit-type repeatable folding and unfolding locking wheel mechanism of ball as claimed in claim 1, it is characterized in that: under the wheel mechanism deployed condition, described axial push rod (5) and wheel rim push rod (3) generate straight line, under the wheel mechanism folded state, the angle of described axial push rod (5) and wheel rim push rod (3) is acute angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220460616 CN202782474U (en) | 2012-09-11 | 2012-09-11 | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220460616 CN202782474U (en) | 2012-09-11 | 2012-09-11 | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202782474U true CN202782474U (en) | 2013-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220460616 Expired - Fee Related CN202782474U (en) | 2012-09-11 | 2012-09-11 | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism |
Country Status (1)
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| CN (1) | CN202782474U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825973A (en) * | 2012-09-11 | 2012-12-19 | 浙江理工大学 | Ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism |
| CN104385844A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Variable-eccentric-distance obstacle-crossing wheel with swing rod |
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
-
2012
- 2012-09-11 CN CN 201220460616 patent/CN202782474U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825973A (en) * | 2012-09-11 | 2012-12-19 | 浙江理工大学 | Ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism |
| CN102825973B (en) * | 2012-09-11 | 2014-11-26 | 浙江理工大学 | Ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism |
| CN104385844A (en) * | 2014-12-12 | 2015-03-04 | 西南大学 | Variable-eccentric-distance obstacle-crossing wheel with swing rod |
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| CN111216491B (en) * | 2020-02-28 | 2021-07-09 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Hu Ming Inventor after: Sun Baolong Inventor after: Chen Wenhua Inventor after: Qian Ping Inventor after: Liu Dongxu Inventor before: Hu Ming Inventor before: Sun Baolong Inventor before: Chen Wenhua Inventor before: Qian Ping Inventor before: Liu Xudong |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: HU MING SUN BAOLONG CHEN WENHUA QIAN PING LIU XUDONG TO: HU MING SUN BAOLONG CHEN WENHUA QIAN PING LIU DONGXU |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20130911 |