CN206598673U - A kind of integrated damping and the wheel of radius variable - Google Patents
A kind of integrated damping and the wheel of radius variable Download PDFInfo
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- CN206598673U CN206598673U CN201720364314.9U CN201720364314U CN206598673U CN 206598673 U CN206598673 U CN 206598673U CN 201720364314 U CN201720364314 U CN 201720364314U CN 206598673 U CN206598673 U CN 206598673U
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- wheel
- hub
- radius variable
- integrated damping
- radius
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Abstract
The utility model discloses a kind of integrated damping and the wheel of radius variable, including compound hub, eight springs and eight pieces of tires；Eight active dampers are integrated with described compound hub, eight described active dampers are made up of hydraulic cylinder and piston rod respectively.The utility model sets up an oil pump feed outside wheel, hydraulic efficiency servo-valve is designed in hydraulic cylinder, to realize the active control of radius of wheel by arranging hydraulic circuit in parallel in the hydraulic cylinder being connected with eight pieces of wheel mechanisms；Flexible member and shock absorber are added on every 1/8th wheel mechanism, the unstability that the wheel after wheel reducing is brought is reduced；Full region walking can also be realized, obstacle detouring improves the ride comfort of vehicle and is suitable for the function of different complex road conditions.
Description
Technical field
The utility model is related to a kind of wheel, more particularly to a kind of integrated damping and radius variable wheel.
Background technology
When wheeled vehicle is moved on flat hard surfacing, with simple in construction, the advantage such as movement velocity is fast, but run into
Snagged uneven road surface is that radius variable wheel has obvious advantage relative to traditional wheel.
Radius variable wheel is a kind of adaptation multiple types of floors environment（The hard such as the obstacles such as hill path, ditch and asphalt road, cement road
Road surface）, with cross-country traveling ability, and the multipurpose wheel of the ride comfort of traveling can be improved by itself integrated shock mitigation system.
Radius variable wheel is widely used to military-civil all-terrain vehicle, mobile robot, dune buggy and deep space probing car etc..
Radius variable wheel is variable when in many obstacle road travelings by changing itself wheel footpath suitable for different road surfaces
Radius wheel opens, and becomes no wheel flange wheel, and can pass through the integrated shock mitigation system damping of wheel, it is possible to increase pass through property peace
It is pliable, increase driving force.On good hard surfacing, radius variable, as there is wheel flange wheel, improves wheel into shape is closed up
Travel speed.
Utility model content
The purpose of this utility model：The wheel of a kind of integrated damping and radius variable is provided, by with eight pieces of wheel machines
The hydraulic circuit of the hydraulic cylinder arrangement parallel connection of structure connection, an oil pump feed is set up outside wheel, hydraulic pressure is designed in hydraulic cylinder
Servo valve, to realize the active control of radius of wheel；Flexible member and shock absorber are added on every 1/8th wheel mechanism,
Reduce the unstability that the wheel after wheel reducing is brought；Full region walking can also be realized, obstacle detouring improves the smooth-going of vehicle
Property and be suitable for the functions of different complex road conditions.
To achieve these goals, the technical solution of the utility model is：
A kind of integrated damping and the wheel of radius variable, including compound hub, eight springs and eight pieces of tires；Described answers
Close and be integrated with eight active dampers on wheel hub, eight described active dampers are made up of hydraulic cylinder and piston rod respectively；Institute
Eight hydraulic cylinders stated are evenly distributed on described compound hub；Described compound hub is by main hub, accessory whorl hub and transition
Groove is constituted, and described main hub is fixedly connected by described lead-over groove with described accessory whorl hub, eight described active dampings
Device is respectively separated on described main hub；In the afterbody of described compound hub, described eight springs respectively with institute
The active damper correspondence stated is in parallel, and eight described piston rods are connected through a screw thread with eight pieces of described tires respectively；It is described
Main hub in have a hydraulic circuit, and communicated with eight hydraulic cylinders being arranged on described compound hub；In car wheel structure
The hydraulic circuit of parallel connection is disposed with to eight described hydraulic cylinders, and an oil pump is individually set up in the outside of car wheel structure and is supplied
Oil, and set up a hydraulic cylinder and the board-like connection of servo valve progress in every piece wheel construction afterbody.
Above-mentioned integrated damping and the wheel of radius variable, wherein, the folder between two neighboring described active damper
Angle is 45.
Above-mentioned integrated damping and the wheel of radius variable, wherein, described accessory whorl hub is provided with six mounting holes, wheel
It is connected by six mounting holes with suspension.
Above-mentioned integrated damping and the wheel of radius variable, wherein, described tire is by alloy rim, honeycomb carcass and work
Tyre surface is constituted, described alloy rim and described honeycomb carcass by bonding by Vulcanization, described honeycomb carcass with it is described suitable
With removable tread connection.
Above-mentioned integrated damping and the wheel of radius variable, wherein, described alloy rim is made up of aluminum alloy material.
Above-mentioned integrated damping and the wheel of radius variable, wherein, the face of described honeycomb carcass and described metal wheel
The face of rim by adhesive in sulfidation rubber is Nian Jie with alloy.
Above-mentioned integrated damping and the wheel of radius variable, wherein, described honeycomb carcass is parallel convex provided with four
Edge, described removable tread is provided with four parallel grooves, and four described flanges are embedded in described four by interference fit
In individual groove.
Above-mentioned integrated damping and the wheel of radius variable, wherein, described alloy rim is provided with and described piston
The back-up ring of the connected screwed hole of bar and fixed spring.
Above-mentioned integrated damping and the wheel of radius variable, wherein, the table that the face ring of described removable tread is contacted with ground
Face is provided with decorative pattern.
The utility model is evenly arranged 8 pieces of casters in a circumferential direction, when wheel footpath becomes big, and wheel rim is from continuously being changed into not connecting
Continuous, discontinuous wheel flange wheel rolling resistance under the conditions of soft terrain is small, and tractive force is big, and adhesion property is more preferable；The change of wheel half
Footpath executing agency is hydraulic servomechanism, and hydraulic oil selects magnetic rheological liquid, using the magnetorheological servo valve of bridge architecture, is realized
The electrodeless regulation of car wheel structure, and reaction speed is better than traditional hydraulic servomechanism；Become radius in every 1/8th wheel
Flexible member and shock absorber are added in mechanism, the unstability that the wheel after wheel reducing is brought is reduced；On wheel hub
The peak nest wheel tire of installation honeybee piecemeal, and the wheel structure such as traditional solid tyre or crawler belt, change conventional wheel structure, piecemeal
Honeycomb tyre it is relative go other non-inflatable tyres that there is more preferable damping performance and lighter amount, and will not gas leakage blow out, can
Effectively to improve the security of high vehicle speeds, honeycomb tyre carcass can also reduce wheel mass using polyurethane material；
The variable obstacle climbing ability and stability for improving vehicle of radius of wheel, by changing radius of wheel, adjusts the road clearance of vehicle,
The obstacle climbing ability of vehicle is improved, by the adjustment respectively to four wheels diameter, body gesture can be controlled, climbed
During abrupt slope, prevent vehicle from occurring hypsokinesis, in Turning travel, prevent vehicle from rolling；It is integrated using hydraulic cylinder and damper
Arrangement so that wheel compact overall structure.
Brief description of the drawings
Fig. 1 is the structure chart under the open configuration of the wheel of a kind of integrated damping of the utility model and radius variable.
Fig. 2 is the knot at another visual angle under the open configuration of the wheel of a kind of integrated damping of the utility model and radius variable
Composition.
Fig. 3 is the structure chart under the contraction state of the wheel of a kind of integrated damping of the utility model and radius variable.
Fig. 4 is the wheel hub and the structure of hydraulic shock-absorption component of the wheel of a kind of integrated damping of the utility model and radius variable
Figure.
Fig. 5 is the hub unit and hydraulic shock-absorption component of the wheel of a kind of integrated damping of the utility model and radius variable
Top view.
Fig. 6 is the hub unit and hydraulic shock-absorption component of the wheel of a kind of integrated damping of the utility model and radius variable
Shaft side figure.
Fig. 7 is the structure chart of the tyre and rim connection of the wheel of a kind of integrated damping of the utility model and radius variable.
Fig. 8 is the structure chart of the wheel rim of the wheel of a kind of integrated damping of the utility model and radius variable.
Fig. 9 is the structure chart of the removable tread of the wheel of a kind of integrated damping of the utility model and radius variable.
Figure 10 is the structure chart of the honeycomb tyre carcass of the wheel of a kind of integrated damping of the utility model and radius variable.
Figure 11 is the hydraulic scheme of the wheel of a kind of integrated damping of the utility model and radius variable.
Embodiment
Embodiment of the present utility model is further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1 to accompanying drawing 7, the wheel of a kind of integrated damping and radius variable, including compound hub 100,
Eight springs 210,220,230,240,250,260,270,280 and eight pieces of tires 310,320,330,3340,350,360,
370、380；Eight active dampers are integrated with described compound hub 100, eight described active dampers are respectively by liquid
Cylinder pressure 112,122,132,142,152,162,172,182 and piston rod 113,123,133,143,153,163,173,183 groups
Into；Described eight hydraulic cylinders 112,122,132,142,152,162,172,182 are evenly distributed on described compound hub 100
On；Described compound hub 100 is made up of main hub 101, accessory whorl hub 103 and lead-over groove 102, and described main hub 101 passes through
Described lead-over groove 102 is fixedly connected with described accessory whorl hub 103, and eight described active dampers are respectively separated installed in institute
On the main hub 101 stated；In the afterbody of described compound hub 100, described eight springs 210,220,230,240,250,
260th, 270,280 is corresponding with described active damper in parallel respectively, described eight piston rods 113,123,133,143,
153rd, 163,173,183 are connected with described eight pieces of tires 310,320,330,3340,350,360,370,380 by screw thread respectively
Connect；Have hydraulic circuit in described main hub 101, and be arranged on described compound hub 100 eight hydraulic cylinders 112,
122nd, 132,142,152,162,172,182 communicate；In car wheel structure to eight described hydraulic cylinders 112,122,132,
142nd, 152,162,172,182 the hydraulic circuit of parallel connection is disposed with, and an oil pump is individually set up in the outside of car wheel structure and supplied
Oil, and a hydraulic cylinder and the board-like connection of servo valve progress are set up in every piece wheel construction afterbody, and make it so as to reality
The electrodeless change of existing wheel diameter.
Angle between two neighboring described active damper is 45.
Described accessory whorl hub 103 passes through provided with six mounting holes 101a, 101b, 101c, 101d, 101f, 101e, wheel
Six mounting holes 101a, 101b, 101c, 101d, 101f, 101e and suspension are connected.
Refer to shown in accompanying drawing 8 to accompanying drawing 10, described tire 310 is by alloy rim 311, honeycomb carcass 312 and tire living
Face 313 is constituted, and described alloy rim 311 passes through bonding by Vulcanization, described honeycomb carcass 312 with described honeycomb carcass 312
It is connected with described adaptation removable tread 313.Remaining seven pieces of tire 320,330,3340,350,360,370,380 is used and wheel
The identical structure of tire 310.
Described alloy rim 311 is made up of aluminum alloy material.
The face 312e of described honeycomb carcass 312 and the face 311a of described alloy rim 311 are being vulcanized by adhesive
During rubber is Nian Jie with alloy.
Described honeycomb carcass 312 is provided with four parallel flange 312a, 312b, 312c, 312d, described removable tread
313 provided with four parallel groove 313a, 313b, 313c, 313d, described four flanges 312a, 312b, 312c, 312d
It is embedded in by interference fit in described four grooves 313a, 313b, 313c, 313d.
Described alloy rim 311 is provided with the back-up ring of the screwed hole being connected with described piston rod 113 and fixed spring.
The surface that the face ring of described removable tread 313 is contacted with ground is provided with decorative pattern.
Refer to shown in accompanying drawing 11, hydraulic oil of the present utility model from magnetic rheological liquid and bridge architecture servo valve 9,
10th, 11,12, radius of wheel is judged and through speed change according to Predistribution Algorithm when detection sensor finds out the fluctuating situation on road surface by MCU
Degree, judges the flow that servo valve needs, and output control signal is to motor 13 and servo valve, and motor receives to export corresponding after signal
Power drive oil pump, while servo valve 9,10,11,12 is responded, be precisely controlled flow, piston is precisely stretched, it is real
Existing radius of wheel controlled reasonable change in situation of the central processing unit by sensor excitation.
It is of the present utility model to become as follows through process：
Wheel becomes the executing agency of radius into Hydrauservo System, is disposed with simultaneously to eight pieces of car wheel structures in car wheel structure
The oil circuit of connection, and an oil pump feed is individually set up outside wheel, and set up a hydraulic cylinder in every piece wheel construction afterbody
Board-like connection is carried out with servo valve, the sensor for being arranged in vehicle body finds out road conditions and body gesture information, and information is passed to through processing
Actuating mechanism controls oil pump and servo valve, and then the flexible of hydraulic cylinder is controlled, to realize the active control of radius of wheel, realize
The electrodeless change of wheel diameter.
In order to reduce the unstability that the wheel after wheel reducing is brought, add also on every 1/8th wheel mechanism
Upper flexible member（Spring）And active damper, flexible member and active damper parallel connection, active damper and hydraulic cylinder are connected.
In summary, the utility model is evenly arranged 8 pieces of casters in a circumferential direction, when wheel footpath becomes big, and wheel rim is from continuous
It is changed into discontinuous, discontinuous wheel flange wheel rolling resistance under the conditions of soft terrain is small, tractive force is big, and adhesion property is more preferable；Car
Hydraulic servomechanism is in the change radius executing agency of wheel, and hydraulic oil selects magnetic rheological liquid, and magnetorheological using bridge architecture is watched
Valve is taken, the electrodeless regulation of car wheel structure is realized, and reaction speed is better than traditional hydraulic servomechanism；In every 1/8th car
Flexible member and shock absorber are added in Lun Bian radiuses mechanism, the unstability that the wheel after wheel reducing is brought is reduced；
The peak nest wheel tire of installation honeybee piecemeal on wheel hub, and the wheel structure such as traditional solid tyre or crawler belt, change conventional wheel
Structure, the honeycomb tyre of piecemeal is relative to go other non-inflatable tyres to have more preferable damping performance and lighter amount, and will not leak
Gas explosion tire, can effectively improve the security of high vehicle speeds, and honeycomb tyre carcass can also be reduced using polyurethane material
Wheel mass；The variable obstacle climbing ability and stability for improving vehicle of radius of wheel, by changing radius of wheel, adjustment vehicle
Road clearance, the obstacle climbing ability of vehicle is improved, by the adjustment respectively to four wheels diameter, body gesture can be controlled
System, when climbing abrupt slope, prevents vehicle from occurring hypsokinesis, in Turning travel, prevents vehicle from rolling；Using hydraulic cylinder and subtracting
Shake the integrated arrangement of device so that wheel compact overall structure.
Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited,
The equivalent structure transformation that every utilization the utility model description is made, or it is directly or indirectly related with other are attached to
The technical field of product, is similarly included in scope of patent protection of the present utility model.
Claims (9)
1. a kind of integrated damping and the wheel of radius variable, it is characterised in that：Including compound hub, eight springs and eight pieces of wheels
Tire；Eight active dampers are integrated with described compound hub, eight described active dampers are respectively by hydraulic cylinder and work
Stopper rod is constituted；Eight described hydraulic cylinders are evenly distributed on described compound hub；Described compound hub is by main hub, pair
Wheel hub and lead-over groove are constituted, and described main hub is fixedly connected by described lead-over groove with described accessory whorl hub, and described eight
Individual active damper is respectively separated on described main hub；In the afterbody of described compound hub, eight described bullets
Spring is corresponding with described active damper in parallel respectively, and eight described piston rods pass through screw thread with eight pieces of described tires respectively
Connection；There is hydraulic circuit in described main hub, and communicated with eight hydraulic cylinders being arranged on described compound hub；In car
The hydraulic circuit of parallel connection is disposed with wheel construction to eight described hydraulic cylinders, and one is individually set up in the outside of car wheel structure
Oil pump feed, and set up a hydraulic cylinder and the board-like connection of servo valve progress in every piece wheel construction afterbody.
2. integrated damping according to claim 1 and the wheel of radius variable, it is characterised in that：Two neighboring described master
Angle between dynamic shock absorber is 45.
3. integrated damping according to claim 1 and the wheel of radius variable, it is characterised in that：Set on described accessory whorl hub
There are six mounting holes, wheel is connected by six mounting holes with suspension.
4. integrated damping according to claim 1 and the wheel of radius variable, it is characterised in that：Described tire is by metal
Wheel rim, honeycomb carcass and removable tread are constituted, and described alloy rim passes through bonding by Vulcanization, described honeybee with described honeycomb carcass
Nest carcass is connected with adaptation removable tread.
5. integrated damping according to claim 4 and the wheel of radius variable, it is characterised in that：Described alloy rim is
Aluminum alloy material is made.
6. integrated damping according to claim 4 and the wheel of radius variable, it is characterised in that：Described honeycomb carcass
The face of face and described alloy rim by adhesive in sulfidation rubber is Nian Jie with alloy.
7. integrated damping according to claim 4 and the wheel of radius variable, it is characterised in that：On described honeycomb carcass
Provided with four parallel flanges, described removable tread is provided with four parallel grooves, and four described flanges are matched somebody with somebody by interference
Close and be embedded in four described grooves.
8. integrated damping according to claim 4 and the wheel of radius variable, it is characterised in that：In described alloy rim
Back-up ring provided with the screwed hole being connected with described piston rod and fixed spring.
9. integrated damping according to claim 4 and the wheel of radius variable, it is characterised in that：The face of described removable tread
The surface that ring is contacted with ground is provided with decorative pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720364314.9U CN206598673U (en) | 2017-04-10 | 2017-04-10 | A kind of integrated damping and the wheel of radius variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720364314.9U CN206598673U (en) | 2017-04-10 | 2017-04-10 | A kind of integrated damping and the wheel of radius variable |
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| CN206598673U true CN206598673U (en) | 2017-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720364314.9U Expired - Fee Related CN206598673U (en) | 2017-04-10 | 2017-04-10 | A kind of integrated damping and the wheel of radius variable |
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| CN108001115A (en) * | 2017-12-27 | 2018-05-08 | 福建农林大学 | A kind of sandy beach wheel and its application method |
| CN108340733A (en) * | 2018-04-24 | 2018-07-31 | 吉林大学 | A kind of built-in sprung-hub wheel |
| CN108454322A (en) * | 2018-03-12 | 2018-08-28 | 南京航空航天大学 | A kind of Wheel-band wheels-stretched wire-spring-damper composite mechanical elastic safety car wheel structure |
| CN108715200A (en) * | 2018-05-29 | 2018-10-30 | 边英卓 | Balance car with variable-diameter wheel body and the balance car control module |
| CN109177647A (en) * | 2018-09-13 | 2019-01-11 | 广州番禺职业技术学院 | A kind of convertible adaptive tire |
| CN109699327A (en) * | 2019-03-01 | 2019-05-03 | 安徽工程大学 | Tea plant trimming machine |
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| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN110406321A (en) * | 2019-08-06 | 2019-11-05 | 辽宁石油化工大学 | Radial telescopic type tire |
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN110539583A (en) * | 2019-08-29 | 2019-12-06 | 湖北汽车工业学院 | Diameter-variable modular damping tire |
| CN111674197A (en) * | 2020-05-14 | 2020-09-18 | 南京航空航天大学 | Non-inflatable wheel with variable grounding area and working method thereof |
| CN113002246A (en) * | 2021-04-13 | 2021-06-22 | 东北大学 | Novel all-terrain rescue wheel and rescue equipment |
| WO2021148529A1 (en) * | 2020-01-24 | 2021-07-29 | Tree Associates Ltd. | Tyre |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
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| CN108001115A (en) * | 2017-12-27 | 2018-05-08 | 福建农林大学 | A kind of sandy beach wheel and its application method |
| CN108001115B (en) * | 2017-12-27 | 2023-08-18 | 福建农林大学 | Beach vehicle wheel and using method thereof |
| CN108454322A (en) * | 2018-03-12 | 2018-08-28 | 南京航空航天大学 | A kind of Wheel-band wheels-stretched wire-spring-damper composite mechanical elastic safety car wheel structure |
| CN108340733A (en) * | 2018-04-24 | 2018-07-31 | 吉林大学 | A kind of built-in sprung-hub wheel |
| CN108340733B (en) * | 2018-04-24 | 2024-03-15 | 吉林大学 | Wheel with built-in suspension |
| CN108715200A (en) * | 2018-05-29 | 2018-10-30 | 边英卓 | Balance car with variable-diameter wheel body and the balance car control module |
| WO2020052182A1 (en) * | 2018-09-13 | 2020-03-19 | 广州番禺职业技术学院 | Transformable adaptive tire |
| CN109177647A (en) * | 2018-09-13 | 2019-01-11 | 广州番禺职业技术学院 | A kind of convertible adaptive tire |
| CN109177647B (en) * | 2018-09-13 | 2023-03-07 | 广州番禺职业技术学院 | Convertible adaptation type tire |
| CN109699327A (en) * | 2019-03-01 | 2019-05-03 | 安徽工程大学 | Tea plant trimming machine |
| CN109699327B (en) * | 2019-03-01 | 2024-04-02 | 安徽工程大学 | Tea tree trimmer |
| CN110194264A (en) * | 2019-05-13 | 2019-09-03 | 艾欣创科技(北京)有限公司 | A kind of unmanned plane |
| CN110329130A (en) * | 2019-06-12 | 2019-10-15 | 中仪英斯泰克进出口有限公司 | A kind of high-definition digital signal retransmission vehicle with shock-absorbing function |
| CN110370863B (en) * | 2019-06-21 | 2024-04-05 | 农业农村部南京农业机械化研究所 | Variable wheel diameter mechanism |
| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN110406321B (en) * | 2019-08-06 | 2024-03-26 | 辽宁石油化工大学 | Radial telescopic tire |
| CN110406321A (en) * | 2019-08-06 | 2019-11-05 | 辽宁石油化工大学 | Radial telescopic type tire |
| CN110525691B (en) * | 2019-08-20 | 2021-04-20 | 武汉理工大学 | Foldable lunar camp auxiliary construction robot |
| CN110525691A (en) * | 2019-08-20 | 2019-12-03 | 武汉理工大学 | Foldable type moon campsite auxiliary builds robot |
| CN110539583A (en) * | 2019-08-29 | 2019-12-06 | 湖北汽车工业学院 | Diameter-variable modular damping tire |
| WO2021148529A1 (en) * | 2020-01-24 | 2021-07-29 | Tree Associates Ltd. | Tyre |
| CN115362070A (en) * | 2020-01-24 | 2022-11-18 | 瑞斯科技有限公司 | Tyre for vehicle wheels |
| CN111674197A (en) * | 2020-05-14 | 2020-09-18 | 南京航空航天大学 | Non-inflatable wheel with variable grounding area and working method thereof |
| CN113002246A (en) * | 2021-04-13 | 2021-06-22 | 东北大学 | Novel all-terrain rescue wheel and rescue equipment |
| CN113002246B (en) * | 2021-04-13 | 2024-03-22 | 东北大学 | Novel all-terrain rescue wheel and rescue equipment |
| CN115303377B (en) * | 2022-09-20 | 2023-11-03 | 哈尔滨理工大学 | Variable-diameter soft rolling robot and control method thereof |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |