CN212098261U - Paper folding type wheel with variable width - Google Patents
Paper folding type wheel with variable width Download PDFInfo
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- CN212098261U CN212098261U CN202020417470.9U CN202020417470U CN212098261U CN 212098261 U CN212098261 U CN 212098261U CN 202020417470 U CN202020417470 U CN 202020417470U CN 212098261 U CN212098261 U CN 212098261U
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Abstract
The utility model relates to a variable width paper folding wheel, which comprises a reducing wheel carrier and a wheel shaft arranged on the reducing wheel carrier; the reducing wheel carrier comprises a plurality of folding units; a plurality of folding units are sequentially connected end to form a ring shape; each folding unit is provided with a first plane, a second plane, a third plane, a fourth plane, a fifth plane and a sixth plane; be equipped with first valley broken line between first plane and the second plane and use first valley broken line to set up as central symmetry, be equipped with first mountain broken line between third plane and the fourth plane and use first mountain broken line to set up as central symmetry, be equipped with second valley broken line between first plane and the third plane, be equipped with third valley broken line between second plane and the fourth plane, fifth plane and sixth plane use first valley broken line to set up as central symmetry, fifth plane and sixth plane are connected with first plane and second plane respectively. The variable-width paper folding wheel can adjust the width of the variable-diameter wheel carrier, and belongs to the technical field of variable-width wheels and variable-diameter wheels.
Description
Technical Field
The utility model relates to a technical field of reducing wheel especially relates to a variable width's paper folding formula wheel.
Background
In the environments of uneven road surfaces, narrow gaps of cave or unknown complex road surfaces in disaster areas, higher requirements are put forward on the adaptability and the trafficability of the wheels. At present, the research on rigid variable diameter wheels, such as a variable diameter wheel which is automatically adaptive to a road surface, is started in China, and the rigid variable diameter wheels are formed by assembling a certain number of parts and can freely run on a flat hard road surface or some known uneven complex road surfaces. However, the rigid reducing wheel has a complex internal structure, a complex assembly process, high requirements on the manufacturing precision of parts, and a single deformation mode, and the width of the wheel cannot be deformed. In recent years, several types of deformable paper folding wheels appear abroad, but the wheels can only achieve the deformation of the wheel diameter, the deformation of the wheel width can not be realized, the adaptability and the trafficability of the wheels to unknown narrow and complex road surfaces can not be ensured, and the practicability can not be met.
SUMMERY OF THE UTILITY MODEL
To the technical problem who exists among the prior art, the utility model aims at: the paper folding type wheel with the variable width is simple in structure and easy to control, the width and the diameter of the wheel can be adjusted, and the paper folding type wheel can adapt to various road conditions.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a variable-width paper folding type wheel comprises a reducing wheel carrier and a wheel shaft arranged on the reducing wheel carrier; the reducing wheel carrier comprises a plurality of folding units; a plurality of folding units are sequentially connected end to form a ring shape;
each folding unit is provided with a first plane, a second plane, a third plane, a fourth plane, a fifth plane and a sixth plane; the first plane and the second plane are connected with each other, a first valley fold line is arranged between the first plane and the second plane and is arranged in a central symmetry mode by taking the first valley fold line as a center, the third plane and the fourth plane are connected with each other, a first mountain fold line is arranged between the third plane and the fourth plane and is arranged in a central symmetry mode by taking the first mountain fold line as a center, the first mountain fold line is connected with the first valley fold line to form a folding line, the first plane and the second plane are respectively connected with the third plane and the fourth plane, a second valley fold line is arranged between the first plane and the third plane, a third valley fold line is arranged between the second plane and the fourth plane, the fifth plane and the sixth plane are arranged in a central symmetry mode by taking the folding line as a center, the fifth plane and the sixth plane are respectively connected with the first plane and the second plane, a second mountain fold line is arranged between the first plane and the fifth plane, and a third mountain fold line is arranged between the second plane and the sixth plane;
the fifth planes of all the folding units form a first end face of the reducing wheel carrier together, and the sixth planes of all the folding units form a second end face of the reducing wheel carrier together. The reducing wheel carrier takes the folding line as the center and folds, and the width and the diameter can be changed to the reducing wheel carrier.
Further, the method comprises the following steps: the variable-width paper folding type wheel also comprises a first hub arranged on the first end surface and a second hub arranged on the second end surface; the first wheel hub and the second wheel hub are both located outside the reducing wheel carrier and are respectively provided with a first end cover and a second end cover. The strength of the reducing wheel frame can be enhanced by the first wheel hub and the second wheel hub, and the first end cover and the second end cover prevent dust from entering the reducing wheel frame.
Further, the method comprises the following steps: the variable width paper folding wheel further comprises a third hub; the third hub is fixed on the first end surface and is arranged in the diameter-variable wheel carrier; one end of the wheel shaft is fixedly connected with the third wheel hub, the other end of the wheel shaft sequentially penetrates through the second wheel hub and the second end cover, and the second wheel hub and the second end cover are sleeved on the wheel shaft in a sliding mode. The third wheel hub is used for fixing the wheel shaft, and the wheel shaft provides support for reducing of the reducing wheel carrier.
Further, the method comprises the following steps: the wheel shaft comprises a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are fixedly connected with the third hub, the other end of the metal wire and the other end of the spring coil sequentially penetrate through the second hub and the second end cover, a pulley is arranged at the end, and the metal wire is wound on the pulley. The diameter-variable wheel carrier is driven to change the diameter and widen by controlling the pulley to receive and release the metal wire.
Further, the method comprises the following steps: and the first end surface and the second end surface are both provided with hub mounting holes. The first wheel hub, the second wheel hub and the third wheel hub penetrate through the wheel hub mounting holes through bolts for mounting.
Further, the method comprises the following steps: the first plane and the second plane are both provided with a reducing rod and a rod hole, and the reducing rod is installed on the first plane or the second plane through the rod hole. The width of the reducing wheel carrier is continuously changed, so that the spatial position of a symmetrical plane on the folding unit can be changed, the spatial position of the reducing rod is changed, the reducing rod is switched between a gentle position and a vertical position, and the continuous change of the wheel diameter is realized.
Further, the method comprises the following steps: and when viewed from the rolling direction of the reducing wheel carrier, the reducing rods are arranged in an outward inclined manner.
Further, the method comprises the following steps: the first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane are all rigid sheets. The rigid sheet can provide sufficient strength.
The first mountain folding line, the second mountain folding line, the third mountain folding line, the first valley folding line, the second valley folding line and the third valley folding line are all filled with flexible materials. The flexible material is labor-resistant and wear-resistant, and is convenient for reducing the diameter of the reducing wheel carrier.
In general, the utility model has the advantages as follows:
the reducing wheel carrier folded according to the specific paper folding pattern is a multi-mechanism assembly body, the paper folding structure characteristics and crease distribution characteristics are fully utilized, integral forming is realized, and the width of the wheel can be continuously changed only by applying one excitation in the axial direction of the axle, so that the wheel diameter is continuously changed. The external motor is used for driving the pulley, the metal wire and the wheel shaft are wound or released by the pulley, the driving and the control are simple and reliable, and the diameter-variable wheel carrier has large-multiple width continuous change and large-multiple wheel diameter continuous change. The folding unit adopts a manufacturing method of rigid material and flexible material distribution forming, thereby improving the bearing capacity and other performances of the wheel, simultaneously retaining the folding characteristic at the crease, and realizing the continuous change of the width and the wheel diameter. The large-width small wheel diameter is in a working state to form a common rigid wheel, and is suitable for the conditions of stable road surfaces and uneven road surfaces; the wheel rim is still continuous under the working condition of the small-width large wheel diameter, and can cross higher broken stones through narrow gaps, so that the wheel rim is used for complex occasions on the road surface, and the obstacle crossing capability, adaptability and flexibility are effectively enhanced. The utility model discloses can be applied to the rescue robot of special occasions such as narrow cave, little rubble, earthquake disaster area to and detection robot, search and rescue robot. The utility model discloses the institute can not only utilize the characteristic of its paper folding structure, has reduced the assembly complexity between the spare part, has also reduced the preparation time of paper folding formula wheel simultaneously, realizes that the narrowing crosses seam, hole enlargement and hinders more, and can simplify the assembling process, reduces the manufacturing time.
Drawings
Fig. 1 is a schematic structural diagram of a variable width paper folding wheel.
Fig. 2 is a cross-sectional view of a variable width paper-folded wheel.
Fig. 3 is a schematic structural diagram of the variable diameter wheel carrier.
Fig. 4 is a schematic structural view of the folding unit.
Fig. 5 is an expanded view of the structure of the variable diameter wheel carrier.
Fig. 6 is an expanded view of the structure of the folding unit.
Fig. 7 is a schematic view of the construction of the axle.
Fig. 8 is a schematic view of the variable width paper folding wheel when the width is increased.
Fig. 9 is a schematic view of the variable width paper folding wheel when the width is reduced.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:
the wheel hub assembly comprises a first plane 1, a second plane 2, a third plane 3, a fourth plane 4, a fifth plane 5, a sixth plane 6, a first valley broken line 7, a first mountain broken line 8, a second valley broken line 9, a third valley broken line 10, a second mountain broken line 11, a third mountain broken line 12, a wheel shaft 13, a first end face 14, a second end face 15, a first wheel hub 16, a second wheel hub 17, a third wheel hub 18, a first end cover 19, a second end cover 20, a metal wire 21, a spring coil 22, a wheel hub mounting hole 23, a variable diameter rod 24 and a rod hole 25.
Referring to fig. 1, 4, 5 and 6, a variable width paper folding wheel comprises a variable diameter wheel carrier and a wheel axle arranged on the variable diameter wheel carrier; the reducing wheel carrier comprises a plurality of folding units; a plurality of folding units are sequentially connected end to form a ring shape; the reducing wheel carrier is based on a classic three-pump paper folding structure. On the basis of a fold pattern of a three-pump fold structure, a rigid sheet is adopted, mountain fold lines or valley fold lines are additionally added, and finally the reducing wheel carrier is formed. The mountain fold line means that the junction of two faces is convex, and the valley fold line means that the junction of two faces is concave. The variable diameter wheel carrier is composed of a plurality of identical folding units (as shown in figure 5, grid parts are cut off). Each folding unit is provided with a folding line, and the whole reducing wheel carrier is folded by the symmetrical axis of the folding line to realize width and reducing.
Each folding unit is provided with a first plane, a second plane, a third plane, a fourth plane, a fifth plane and a sixth plane. The first plane and the second plane are connected with each other, a first valley fold line is arranged between the first plane and the second plane and is arranged in a central symmetry mode by taking the first valley fold line as a center, the third plane and the fourth plane are connected with each other, a first mountain fold line is arranged between the third plane and the fourth plane and is arranged in a central symmetry mode by taking the first mountain fold line as a center, the first mountain fold line is connected with the first valley fold line to form a folding line, the first plane and the second plane are respectively connected with the third plane and the fourth plane, a second valley fold line is arranged between the first plane and the third plane, a third valley fold line is arranged between the second plane and the fourth plane, the fifth plane and the sixth plane are arranged in a central symmetry mode by taking the folding line as a center, the fifth plane and the sixth plane are respectively connected with the first plane and the second plane, a second mountain fold line is arranged between the first plane and the fifth plane, and a third mountain fold line is arranged between the second plane and the sixth plane; each folding unit is composed of a rigid sheet first plane, a second plane, a third plane, a fourth plane, a fifth plane, a sixth plane, and flexible creases (a first mountain fold line, a second mountain fold line, a third mountain fold line, a first valley fold line, a second valley fold line, a third valley fold line), as shown in fig. 6. The first plane and the second plane of each folding unit are connected with the third plane and the fourth plane of another adjacent folding unit respectively.
The reducing wheel carrier is formed by folding and integrating a rigid sheet coated with flexible material according to the crease. Firstly, a flexible high-viscosity material (such as a high-viscosity PVC material) is taken as a substrate, and folding lines (a first mountain folding line, a second mountain folding line, a third mountain folding line, a first valley folding line, a second valley folding line and a third valley folding line) are replaced. Rigid sheets (such as copper sheets) are distributed on the flexible high-viscosity material substrate, and deformation spaces (creases) are reserved among the first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane. And finally, covering a layer of flexible high-viscosity material on the rigid sheet, folding according to the folding mode, then sequentially connecting the end of each folding unit, and connecting the first folding unit and the last folding unit to form a wheel shape.
The fifth planes of all the folding units together form a first end face of the reducing wheel frame (namely one end face of the wheel), and the sixth planes of all the folding units together form a second end face of the reducing wheel frame (namely the other end face of the wheel).
As shown in fig. 1, 2, 3 and 7, the variable-width origami wheel further includes a first hub mounted on the first end surface and a second hub mounted on the second end surface; the first wheel hub and the second wheel hub are both located outside the reducing wheel carrier and are respectively provided with a first end cover and a second end cover. The variable width paper folding wheel further comprises a third hub; the third hub is fixed on the first end surface and is arranged in the diameter-variable wheel carrier; one end of the wheel shaft is fixedly connected with the third wheel hub, the other end of the wheel shaft sequentially penetrates through the second wheel hub and the second end cover, and the second wheel hub and the second end cover are sleeved on the wheel shaft in a sliding mode. The first wheel hub and the third wheel hub are respectively arranged outside and inside the first end face of the reducing wheel carrier, the fixed end of the wheel shaft is fixed on the third wheel hub, the movable end of the wheel shaft is provided with a driving device (servo motor) of the pulley, the pulley is driven to rotate for a certain angle by controlling the servo motor, the wheel shaft is wound or released by the pulley, the length of the wheel shaft is controlled, and the first end face is driven to move towards the second end face, so that the width of the reducing wheel carrier is continuously changed, and the diameter of the wheel is continuously changed. The axial center lines of the first wheel hub, the third wheel hub, the first end cover, the second wheel hub, the second end cover and the wheel shaft are consistent with the axial center line of the reducing wheel carrier.
The wheel shaft comprises a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are fixedly connected with the third hub, the other end of the metal wire and the other end of the spring coil sequentially penetrate through the second hub and the second end cover, a pulley is arranged at the end, and the metal wire is wound on the pulley (not shown in the figure). The servo motor (not shown in the figure) is controlled to drive the pulley to rotate for a certain angle, the metal wire and the spring coil are wound or released by the pulley, and then the first hub is driven to move towards the second hub, so that the continuous change of the variable-diameter wheel carrier on the width is realized. When the width of the reducing wheel frame is continuously changed, the spatial position of the rigid sheet on the reducing wheel frame can be changed, so that the spatial position of the reducing rod is changed, the reducing rods on the first plane and the second plane are mutually switched between the gentle position and the vertical position, and the continuous change of the wheel diameter of the wheel is realized.
And the first end surface and the second end surface are both provided with hub mounting holes. The first hub, the second hub and the third hub are fixed through bolts and hub mounting holes. The first hub and the second hub are respectively provided with four corresponding threaded holes for fixing the first end cover and the second end cover.
The first plane and the second plane are both provided with a reducing rod and a rod hole, and the reducing rod is installed on the first plane or the second plane through the rod hole. And when viewed from the rolling direction of the reducing wheel carrier, the reducing rods are arranged in an outward inclined manner. The reducer rods are arranged on the first plane and the second plane which are symmetrical with a certain rule. The diameter-variable wheel carrier becomes wide so as to cause the diameter-variable rod to move along the diameter-variable wheel carrier, and the diameter change of the diameter-variable rod can be amplified.
The first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane are all rigid sheets. The rigid sheet has enough strength and hardness to meet the requirement that the paper folding type wheel can be used as a wheel.
The first mountain folding line, the second mountain folding line, the third mountain folding line, the first valley folding line, the second valley folding line and the third valley folding line are all filled with flexible materials. The flexible material is used for replacing the crease, and the folding is carried out according to the folding mode of the original folding line to form the reducing wheel carrier.
The working principle of the variable-width paper folding type wheel is as follows: as shown in fig. 8 and 9, the variable-width origami wheel is in a large-width small-wheel-diameter state (as shown in fig. 8) during normal running, and the variable-diameter rod is in a gentle state (i.e., the wheel diameter is the minimum state, and the variable-diameter rod tends to be in a horizontal state). When the road surface environment of narrow gaps or cave and higher obstacles is met, the control servo motor drives the pulley to rotate and the wheel shaft is wound. When the wheel shaft is gradually wound in the pulley, the fixed end of the wheel shaft drives the first end face to axially move, the first end face shrinks towards the second end face by taking the folding line as a folding center due to the distribution characteristic of the paper folding creases of the variable diameter wheel frame, and the variable diameter wheel frame narrows. When the reducing wheel carrier is narrowed, the reducing rod is driven to switch from a gentle position to a vertical position (the reducing rod tends to be in a vertical state), and when the reducing rod tends to be vertical, the wheel diameter is enlarged. When the width of the wheel is shrunk to the minimum (as shown in fig. 9), and the wheel diameter of the reducing wheel carrier is expanded to the maximum position in the maximum diameter state, the paper folding wheel can run on a flat hard road surface after a narrow gap or an obstacle is crossed. Similarly, the pulley is driven by controlling the motor to rotate reversely, the wheel shaft in a shrinkage state is released, the width of the reducing wheel frame is enlarged, the contact area with the road surface is increased, and the stability of the running process of the wheel is improved, and the width continuous change of the reducing wheel frame can reach 1-2.5 times and the wheel diameter continuous change of 1-1.5 times.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. A variable width paper folding wheel is characterized in that: comprises a reducing wheel carrier and a wheel shaft arranged on the reducing wheel carrier; the reducing wheel carrier comprises a plurality of folding units; a plurality of folding units are sequentially connected end to form a ring shape;
each folding unit is provided with a first plane, a second plane, a third plane, a fourth plane, a fifth plane and a sixth plane; the first plane and the second plane are connected with each other, a first valley fold line is arranged between the first plane and the second plane and is arranged in a central symmetry mode by taking the first valley fold line as a center, the third plane and the fourth plane are connected with each other, a first mountain fold line is arranged between the third plane and the fourth plane and is arranged in a central symmetry mode by taking the first mountain fold line as a center, the first mountain fold line is connected with the first valley fold line to form a folding line, the first plane and the second plane are respectively connected with the third plane and the fourth plane, a second valley fold line is arranged between the first plane and the third plane, a third valley fold line is arranged between the second plane and the fourth plane, the fifth plane and the sixth plane are arranged in a central symmetry mode by taking the folding line as a center, the fifth plane and the sixth plane are respectively connected with the first plane and the second plane, a second mountain fold line is arranged between the first plane and the fifth plane, and a third mountain fold line is arranged between the second plane and the sixth plane;
the fifth planes of all the folding units form a first end face of the reducing wheel carrier together, and the sixth planes of all the folding units form a second end face of the reducing wheel carrier together.
2. A variable width origami wheel according to claim 1, wherein: the variable-width paper folding type wheel also comprises a first hub arranged on the first end surface and a second hub arranged on the second end surface; the first wheel hub and the second wheel hub are both located outside the reducing wheel carrier and are respectively provided with a first end cover and a second end cover.
3. A variable width origami wheel according to claim 2, wherein: the variable width paper folding wheel further comprises a third hub; the third hub is fixed on the first end surface and is arranged in the diameter-variable wheel carrier; one end of the wheel shaft is fixedly connected with the third wheel hub, the other end of the wheel shaft sequentially penetrates through the second wheel hub and the second end cover, and the second wheel hub and the second end cover are sleeved on the wheel shaft in a sliding mode.
4. A variable width origami wheel according to claim 3, wherein: the wheel shaft comprises a metal wire and a spring coil sleeved on the metal wire; one end of the metal wire and one end of the spring coil are fixedly connected with the third hub, the other end of the metal wire and the other end of the spring coil sequentially penetrate through the second hub and the second end cover, a pulley is arranged at the end, and the metal wire is wound on the pulley.
5. A variable width origami wheel according to claim 3, wherein: and the first end surface and the second end surface are both provided with hub mounting holes.
6. A variable width origami wheel according to claim 1, wherein: the first plane and the second plane are both provided with a reducing rod and a rod hole, and the reducing rod is installed on the first plane or the second plane through the rod hole.
7. A variable width origami wheel according to claim 6, wherein: and when viewed from the rolling direction of the reducing wheel carrier, the reducing rods are arranged in an outward inclined manner.
8. A variable width origami wheel according to claim 1, wherein: the first plane, the second plane, the third plane, the fourth plane, the fifth plane and the sixth plane are all rigid sheets.
9. A variable width origami wheel according to claim 8, wherein: the first mountain folding line, the second mountain folding line, the third mountain folding line, the first valley folding line, the second valley folding line and the third valley folding line are all filled with flexible materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020417470.9U CN212098261U (en) | 2020-03-27 | 2020-03-27 | Paper folding type wheel with variable width |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020417470.9U CN212098261U (en) | 2020-03-27 | 2020-03-27 | Paper folding type wheel with variable width |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212098261U true CN212098261U (en) | 2020-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020417470.9U Active CN212098261U (en) | 2020-03-27 | 2020-03-27 | Paper folding type wheel with variable width |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212098261U (en) |
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2020
- 2020-03-27 CN CN202020417470.9U patent/CN212098261U/en active Active
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