WO2014192029A2

WO2014192029A2 - Reconfigurable mechanism for a variable diameter wheel

Info

Publication number: WO2014192029A2
Application number: PCT/IN2014/000363
Authority: WO
Inventors: Riyaz RAFIQUE
Original assignee: Rafique Riyaz
Priority date: 2013-05-30
Filing date: 2014-05-29
Publication date: 2014-12-04
Also published as: WO2014192029A3; WO2014192028A2; WO2014192028A3

Abstract

The present disclosure discloses a reconfigurable mechanism for a variable diameter wheel. The variable diameter wheel is provided with only a single actuator for reconfigurable mechanism which is adapted for expansion and contraction of wheel segments. The reconfigurable mechanism for variable diameter wheel comprises at least one wheel assembly, at least a plurality of wheel segment, at least a linkage mechanism, at least one slider block, at least one slider link, at least one powering unit, at least one transmission mechanism and a frame. The frame supports at least one wheel assembly. Said at least one powering unit is isolated from said wheel assembly, wherein rotational motion of said wheel assembly is independent of motion transmission from said at least one powering unit to said slider link.

Description

RECONFIGURABLE MECHANISM FOR A VARIABLE DIAMETER

WHEEL

FIELD OF THE INVENTION

The present invention relates to the field of wheeled apparatus.

Particularly, the present invention relates to the field of reconfigurable mechanism for expanding wheel.

Particularly, the present invention relates to the field of wheeled apparatus for movement on staircase, even surfaces, uneven surfaces, aquatic environment and slopes.

Particularly, the present invention relates to the field of variable transmission. BACKGROUND OF THE INVENTION

Conventional legged and tracked apparatus do not exhibit higher energy efficiencies than wheeled apparatus when used on relatively flat terrain. But, such wheeled and tracked robots are unable to traverse rough and difficult terrain as compared to legged apparatus.

Conventional variable transmission systems are bulky, complex and difficult to control.

Conventional mechanism for variable diameter wheel are not dynamically balanced, are not reconfigurable with single degree of freedom and compels to lots of objects and or actuators to be rotated with the wheel which leads to high energy consumption.

OBJECTS OF THE INVENTION

Some of the objects of the system of the present disclosure, which at least one embodiment herein satisfies, are as follows:

An object of the present invention is to provide a wheeled apparatus which can expand the diameter for encountering different terrains or say hurdles.

An object of the present invention is to provide a wheeled apparatus which can expand the diameter and utilizes least number of motors.

An object of the present invention is to provide novel wheeled platform which inherits both advantages of legged and wheeled vehicles possessing the flexibility to provide superb riding conditions even as terrain conditions vary severely utilizing least actuators and are compact, light weight, easier to control and have no resistance in between wheel tracks while expanding wheel.

An object of the present invention is to provide a wheeled apparatus which can be configured differently, manually or automatically, for operation on both flat and rough terrain.

An object of the present invention is to provide a wheeled apparatus in which only a single actuator for reconfigurable mechanism is utilized for expansion and contraction of wheel.

An object of the present invention is to provide a wheeled apparatus in which weight of wheel and all the components rotating with the wheel, in all states of wheel must be evenly distributed.

An object of the present invention is to provide a wheeled apparatus which utilizes a trailing link (in two wheel mode) which is expandable.

An object of the present invention is to maintain a high degree of mobility over rough terrain utilizing different configuration with better power management, while simplifying the drive-train.

An object of the present invention is to provide a wheeled apparatus which is capable to operate in aquatic environments.

An object of the present invention is to provide a wheeled apparatus which is easy to operate and control while ascending or descending a staircase.

An object of the present disclosure is to provide a wheeled apparatus which is safe, smooth, convenient, light weight and user friendly.

An object of the present disclosure is to provide a variable transmission system which is compact, simple and easy to control.

Other objects and advantages of the present disclosure will be more apparent from the following description when read in conjunction with the accompanying figures, which are not intended to limit the scope of the present disclosure. SUMMARY OF THE INVENTION

In accordance with the present disclosure there is provided a reconfigurable mechanism responsible for expanding and contracting a polygon, circular form or say wheel with any form for various other applications. Varying diameter wheel is reconfigurable with single degree of freedom. One of the application is a wheeled apparatus having at least one pair as well as two pair of wheels adapted to expand the diameter and hence, capable for high performance locomotion. Another application is in transmission systems to achieve varying speed.

The powering unit is isolated from said wheel assembly, wherein the expanding mechanism actuator is independent of actuator for rotational motion.

Trailing link is expanded in such a way that the distance between centre of the wheel and end point of trailing link is more than twice the radius of wheel at all states for better stability of wheeled apparatus.

BRIEF DESCRIPTION OF DRAWINGS

So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments.

While the specification concludes with claims particularly pointing out and distinctly claiming the subject matter that is regarded as the present invention, it is believed that the invention will be more fully understood from the following description taken in conjunction with the accompanying drawings. None of the drawings are necessarily to scale.

The wheeled apparatus of the present disclosure will now be described with the help of accompanying drawings, in which:

FIG. 1 illustrates a closed wheel mechanism which can be fitted on a wheeled apparatus in accordance with the present invention;

FIG. 2 illustrates an interim position while expanding wheel of mechanism shown in FIG. 1 ;

FIG. 3 illustrates an expanded wheel of the mechanism shown in FIG. 1 ;

FIG. 4 illustrates different states of a single arc of wheel; FIG. 5 illustrates an exact straight line mechanism while wheel is closed;

FIG. 6 illustrates an exact straight line mechanism showing all states;

FIG. 7 illustrates an exact straight line mechanism while wheel is closed;

FIG. 8 illustrates an exact straight line mechanism for only two arcs of wheel;

FIG. 9 illustrates an isometric view of mechanism for Slider Link;

FIG. 10 illustrates an isometric view of slider link mechanism with mounting block; FIG. 1 1 illustrates an isometric view of two wheeled apparatus with left conical cover or left hollowed section and cover plate removed;

FIG. 12 illustrates a close view of slider link mechanism by removing left conical cover or left hollowed section when wheel is closed;

FIG. 13 illustrates a close view of slider link mechanism by removing conical cover or left hollowed section while interim position of expanding wheel;

FIG. 14 illustrates a close view of slider link mechanism by removing conical cover or left hollowed section while expanded wheel;

FIG. 15 illustrates a top view of wheeled apparatus with only two wheels, when wheel is closed;

FIG. 16 illustrates an isometric view of two wheeled apparatus with frame while closed wheel;

FIG. 17 illustrates an isometric view of trailing link while expanded wheel;

FIG. 18 illustrates an isometric view of two wheeled apparatus with frame while interim position of expanding wheel;

FIG. 19 illustrates an isometric view of two wheeled apparatus with frame while expanded wheel;

FIG. 20 illustrates an Isometric View of four wheeled apparatus with frame while expanded Wheel;

FIG. 21 illustrates an Isometric View of four wheeled apparatus with frame and cover plate while expanded wheel;

FIG. 22 illustrates an isometric view of two wheeled apparatus with cover plate and trailing link while expanded wheel;

FIG. 23 illustrates an alternate slider link mechanism as shown in FIG.9;

FIG. 24 illustrates an alternate arrangement of slider link mechanism with mounting block as shown in FIG.10; FIG. 25 illustrates a connecting link and a wheel segment with two holes for pivoting wheel segment and connecting link;

FIG. 26 illustrates a connecting link pivoted with a link element with a pin;

FIG. 27 illustrates a wheel segment with only a hole to couple with pin of link element;

FIG. 28 illustrates an isometric view of expanded wheel in which each wheel segment is coupled with each pin of link element and linkage mechanism is fully covered ; FIG. 29 illustrates an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which both wheels and mechanism for varying diameter is powered by different motors;

FIG. 30 illustrates an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a motor;

FIG. 31 illustrates an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a cross bar manually;

FIG. 32 illustrates an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a cross bar manually through a handle;

FIG. 33 illustrates an isometric view of reconfigurable mechanism for variable diameter wheel of a wheel chair with two wheels in which both wheels and mechanism for varying diameter is powered by different handles manually;

FIG. 34 illustrates a closed wheel mechanism with different wheel segment as shown in FIG. 1 ;

FIG. 35 illustrates an interim position while expanding wheel of mechanism shown in FIG. 34;

FIG. 36 illustrates a wheel chair provided with extendable handles, spider wheel assembly and variable diameter wheel;

FIG. 37 illustrates a hand truck or trolley bag with extendable handles and variable diameter wheel powered by cross bar manually;

FIG. 38 illustrates a variable power transmission system from an input pulley or sprocket to variable diameter wheel with the help of belt or chain and an idler. FIG. 39 illustrates a variable power transmission system from an variable diameter wheel to another variable diameter wheel with the help of belt or chain and an idler. DETAILED DESCRIPTION OF THE INVENTION WITH THE ACCOMPANYING DRAWINGS

In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, that the present invention may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing.

Figure 1 is a conceptual illustration of closed wheel 1. Here 2 is the centre of the Wheel. And, the each connecting links 3, 4, 5 and 6 are connected pivotally with the each individual arc 7, 8, 9 and 10 respectively of the wheel 1. In total there are four connecting links 3,4,5 and 6 and , circumference of wheel 1 is divided into four arcs or say wheel segments 7,8,9 and 10 . Individual wheel segments 7, 8, 9 and 10 is pivoted at one end 16, 17, 18 and 19 respectively with the profiled outer plate 15.

For expanding the wheel 1 one ends 11, 12, 13 and 14 of the connecting links 3, 4, 5 and 6 respectively is pivoted to the wheel segment of the wheel 1 and other ends 20, 21, 22 and 23 is shifted away from the centre of the wheel. Shifting of other ends 20, 21, 22 and 23 away from the centre of the wheel should be done simultaneously for all the connecting links. For example, here 20 of the above connecting link 3 is shifted above as shown with arrow and 21 of the below connecting link 4 is shifted below as shown with arrow. In the same way left and right side of the connecting links 6 and 5 are shifted accordingly, for expanding the wheel 1.

Figure 2 is a conceptual illustration of interim position while expanding wheel 1. Here interim position while expanding wheel 1 is shown with centre of the wheel as 2. Here, connecting link end initial position 20 have further shifted to new position 28 and 21 have further shifted to new position 29. In the same way left and right side of the connecting links 6 and 5 are shifted accordingly.

Figure 3 is a conceptual illustration of expanded wheel. Here expanded wheel 1 is shown with centre of the wheel as 2. Here, position 28 has further shifted to new position 30 and position 29 has further shifted to new position 31. In the same way left and right side of the connecting links 6 and 5 are shifted accordingly. Reconfigurable mechanism is broadly constituents of following mechanisms:- Linkage mechanism - This mechanism provides motion to the connecting link. This mechanism transforms the straight line motion into rotational motion of arc of wheel (segment of the circumference of the wheel) for expanding wheel diameter.

Mechanism for Slider link - This mechanism provides motion to the slider block, which transmits input motion to the above said linkage mechanism. This mechanism transforms the rotational motion of screw threaded shaft into translatory motion of nut.

Mechanism for expanding trailing link - This mechanism provides motion to the trailing link. This mechanism transforms the horizontal linear motion of said nuts into vertical linear motion of the trailing link.

Mechanism for expanding trailing link may or may not be included in reconfigurable mechanism, since only two wheeled robots utilize trailing link as a constraint mechanism to prevent rotation of the body or say frame.

Mechanism for slider link as stated above can be replaced by many other mechanisms for providing linear motion to the slider block 61 which is pivotally connected with the slider link 62. One replacement of this mechanism is conventional slider crank mechanism, where the role of crank is done by a gear (crank gear), and over the face of same crank gear is pivoted connecting rod at one end. And, at the other end of connecting rod is connected slider link (which is constrained to move linearly). Rotation of crank gear gives reciprocating motion of slider link. And half rotation of crank gear will open the wheel and the slider link is pivotally connected with the slider block which powers the exact straight line mechanism for expanding the wheel. Hence, other half rotation of crank gear will contract the wheel and will bring back into closed wheel position. Said crank gear can be powered by a second gear powered by motor. Further if the motor powered gear is meshed with a crank gear in left side and another crank gear at right side , then rotation of powered gear will simultaneously control the expanding and contracting of left and right wheel at same moment.

Mechanism for varying wheel diameter is further mentioned here. Different states of a single wheel segment 7 of proposed wheel 1 are illustrated in Figure 4. Here, closed wheel position 32 with centre of the wheel as 2 is shown. To achieve interim position 33 while expanding wheel 1, end 20 of connecting link 3 have to be further shifted to 28. And, finally to achieve expanded wheel position 34, end 20 of connecting link have to be further shifted to 30. In the same way all the connecting links 3, 4, 5 and 6 are shifted accordingly away from the centre 2 of wheel 1. This figure clearly illustrates that exact straight line motion can deliver the desired motion.

In the Figure 5, exact straight line mechanism while wheel 1 is closed is illustrated. The above mechanism can be referred as the Scott Russell Mechanism or a more descriptive name is the Scott Russell Exact Straight Line Mechanism. For this description to be true the acting length of the short link 39, needs to be half as long as the active length of the long link 40 and the pin 37 that connects them must be concentric with the midpoint of the long link 40. One more requirement is that the connection pin of slider link 41 needs to be sliding in a line that would intersect the static pivot end 38 of the short link 39.

In the Figure 6, 36 is shifted to 47 when slider link 41 is pushed in the direction of 36 to 38. Hence, initial position of connecting link end 20 is shifted to 28 in the direction of 38 to 28. In this way the interim position 33 while expanding wheel 1 is achieved. In the same way, connecting link end 28 is further shifted to 30 when slider link 41 is further pushed in the direction of 47 to 48. In this way the expanded wheel position 34 is achieved. In the Figure 6, all the states of exact straight line mechanism is illustrated. It is clear from this figure that shifting of slider link 41 in left expands the wheel diameter whereas shifting in right will contract the wheel diameter.

In the Figure 7, exact straight line mechanism which is utilized to transfer motion away from the centre of the wheel 2 is represented. Slider link 41 is either pulled or pushed in the direction of 51 to 2 for expanding or 2 to 51 for contracting wheel. Here, 36 to 100 is slider block 41 which is pivoted over the slider link 41 at 51. And, static pivot end of the short link 39 is 101 and similarly for short link 53 is 54. Same is explained elaborately in Figure 8.

In the Figure 8, right side of imaginary line 49 to50 represents exact straight line mechanism which is utilized to transfer motion away and near from the centre of the wheel 2 on individual connecting links (here shown only 3 and 4 for ease in clarity) pivoted with each wheel segment of wheel 7 and 8 respectively. Slider link 41 is either pulled or pushed in the direction of 51 to 2 for expanding or 2 to 51 for contracting wheel. Here, 36 to 100 is slider block 41 which is pivoted over the slider link 41 at 51 . And, static pivot end of the short link 39 is 101 and similarly for short link 53 is 54. All the static pivot ends of the short links are adapted to be pivoted with outer plate 15. Left side of imaginary line 49, 50 represents two wheel segments of the wheel 7 and 8, and is on different plane than exact straight line mechanism shown at right side of imaginary line 49, 50. Only two of the wheel segments 7 and 8 are shown here for avoiding any misinterpretation. Wheel segment 7 shown above is pivoted with outer plate 15 at point 16 whereas wheel segment 8 shown below is pivoted with outer plate 15 at point 17.

In the Figure 9, mechanism to provide linear motion for slider block 61 is illustrated. Mechanism for slider link is composed of shaft 55 with screw thread 56 (which is rotated) and cuboidal nut 57 (constrained to move only linear motion) with internal thread, which transforms rotational motion to linear motion. Shaft 55 with screw thread 56 is rotated which transmits linear motion to the cuboidal nut 57. Cuboidal nut 57 is constrained to move only linearly as one of its side is rolled over a pivotally mounted roller 58, which is mounted with supports 59 at both ends which are fixed with frame 60 (not shown in Fig. 9). Slider block 61 is pivotally mounted over the slider link 62 at one end where as cuboidal nut 57 is connected over the other end of slider link 62. Slider block 61 further delivers motion to the exact straight line mechanism. And, long link 40 and all long links are pivotally connected with this slider block 61 at one end and at the other end adapted to be pivotally connected with connecting links 3, 4, 5 and 6 at ends 20, 21, 22 and 23.

To consider wheel's rotation, an actuator of wheel-rotation should be independent from wheel expansion, so for actuating wheel expansion here it is embedded a shaft 55 with screw thread 56 further extended into a hollowed mounting block 63 which pivotally supports wheel gears 65 at 64. At other end of wheel gear 65 disc of conical cover 66 is connected. Disc of conical cover 66 is connected with one end of conical cover 67 whereas inner plate 68 is connected at the other end of conical cover 67. The wheel 1 is rotated by actuation of wheel gear 65. A schematic of basic concept of this is shown in Figure 9. Mounting Block 63 is shown in Figure 10 in detail by shifting wheel gear 65 and disc 66 of sectional or say conical cover 67 aside and removing all other attachments. Mounting Block 63 is fixed with the frame 60 and is hollowed to pass the shaft 55 and slider link 62. Embossed surface 64 over mounting block 63 is utilized to pivotally mount the wheel gear 65 and disc of sectional cover 66. Slider block 61 is pivotally mounted over the slider link 62 which is connected with the cuboidal nut 57. Motor 105 is coupled with gear 205, said gear 205 is meshed with gear 305 mounted over the shaft 55. Said motor 105 is adapted to be powered to vary the diameter of wheel 1.

Mechanism for Expanding Trailing Link is mentioned in Figure 17.

A vehicle which has only two driving wheels requires a constraint mechanism not to rotate the body. Usually, the mechanism can be just a bar, and here it is termed as "trailing link". A function of the trailing link length corresponds to wheelbase of conventional automobile. Therefore, the longer the trailing link length is, the better stability the robot performs in case of its moving on a bumpy surface. However in practical case, there is a minimum length of the trailing link to surmount a certain height of step, in geometric analysis. Furthermore, the length better be minimum in consideration of energy-consumption and obstacles' interference with the trailing link. Therefore, a mechanism of variable- trailing link is designed to respond to various heights of steps or say hurdles and to keep the stabilizer length short. Different states of this mechanism are illustrated in Figure 17. Rear hole 97 (from where trailing link 90 is protruded outside) of the cover plate 69 constraints the trailing li nk 90 to extend linearly.

As shown in Fig. 17, at one end of link 72 Body 71 is pivoted by bolt 73 where as at other end link 79 is pivoted by bolt 74. At the other end of link 79 link 85 is pivoted by bolt 81. Whereas link 94 is also pivoted with link 79 by bolt 80. Link 94 is fixed with frame 60 with the bolts 95 and 96.

At the other end of link 85, link 89 is pivoted by bolt 86. Link 89 is fixed with trailing link 90. With the trailing link 90 free wheels 92 and 93 are pivotally connected with the bolt 91. At one end of link 76 Body 75 is pivoted by bolt 77 where as at other end link 82 is pivoted by bolt 78. At the other end of link 82, link 87 is pivoted by bolt 84. Whereas link 94 is also pivoted with link 82 by bolt 83. At the other end of link 87 link 89 is pivoted by bolt 88. Body 71 is connected with the right side cuboidal nut 57 and in the same way body 75 is connected with the left side cuboidal nut. It is clearly illustrated from drawings that movement of left side cuboidal nut and right side cuboidal nut will expand or contract the trailing link mechanism 98.

Shaft 55 is pivotaily mounted with the help of Plummer blocks 99 and 399. Right wheel motor 104 which is clamped with the frame 60 with clamps 101. Gear 201 is coupled with right wheel motor 101, which is meshed with wheel gear 65.Thus, motor 101 is utilized to power the right wheel. Left wheel motor 103 is clamped with the frame 60 with clamps 401. Hence, in the same way left wheel motor is utilized to power the right wheel.

When both the left and right wheel motor is powered in clockwise direction wheeled apparatus will move straight forward and when both the left and right wheel motor is powered in anti-clockwise direction wheeled apparatus will move straight backward. When only one side of motor is powered then steering is achieved. Steering can also be achieved with speed differences in left and right wheel. When two different motors are employed to power the left and right side of the reconfigurable mechanism in a two wheeled vehicle, the centre of gravity of the robot can be shifted to the small diameter side of the wheel for stability and can improve the steering capability of the robot. Only three motors can also power four wheeled apparatus, when only one motor is adapted to power the right wheels and another motor is adapted to power the left wheels and a third motor is adapted to power the reconfigurable mechanism of all wheels for expanding and contracting the wheel diameter. Only one motor can be adapted to power both wheels. Even though here it is proposed as wheel, same mechanism can also be adapted to many different shapes or say polygons, for various other applications in different fields. Main thing here is invention of a reconfigurable mechanism which is responsible for expanding and contracting any polygon or say shape while it is rotating or in rest. Since the expanding mechanism actuator is independent of actuator for rotational motion, this mechanism is easy to operate and can have wider applications in various applications of deployable mechanism. Said wheeled apparatus is also able to efficiently operate in aquatic environments. To improve the wheeled apparatus's operation, sensors to detect surroundings and surveillance cameras are employed over the frame 60.

The present wheeled apparatus can also be adapted to be attached (with or without trailing link) with wheel chair, hand truck and mobile robotic platform. Either two or four said expandable wheel can be attached with wheel chair, hand truck and mobile robotic platform. Two said expandable wheels may be adapted to be attached with wheel chair or hand truck which employs two free wheels or two caster wheels at front or at rear.

In the Figure 21, four wheeled vehicle with cover plate 69 is shown. In the Figure 22, four wheeled vehicle with cover plate 69 and expandable trailing link is shown.

In the Figure 23, an alternate slider link mechanism as shown in Figure 9 is shown. Here , link 501 is coupled with slider link 62 at one end and with nut 757 at other end. In the Figure 23, an alternate arrangement shown in Figure 23 of slider link mechanism with mounting block 63 is shown. Mounting block 63 is utilized to support rotatably shaft 55 and two further holes are done to pass the link 501 of slider link shown in Figure 23.

In the Figure 25, a connecting link 3 and a wheel segment 7 with two holes for pivoting wheel segment 7 and connecting link 3 is shown. In the Figure 26, a connecting link 3 is pivoted with a link element 510 with a pin at pivoted point 16. In the Figure 27, a wheel segment 7 with only a hole to couple with pin of link element 510 at different plane is shown.

In the Figure 28, an isometric view of expanded wheel 1 in which each wheel segment is coupled with each pin of link element and linkage mechanism is fully covered by cover 777 to eliminate any blockage in operation due to entering foreign objects such as dust and dirt etc.

In the Figure 29, an isometric view of reconfigurable mechanism for variable diameter wheel 1 with two wheels in which both wheels and mechanism for varying diameter is powered by different motors.

In the Figure 30, an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a motor.

In the Figure 31 , an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a cross bar manually.

In the Figure 32, an isometric view of reconfigurable mechanism for variable diameter wheel with two wheels in which only mechanism for varying diameter is powered by a cross bar 530 manually utilizing a handle 542 supported pivotally over blocks 543 and 544 which are supported over the frame. At the end of handle 542 a bevel gear 541 is coupled which meshes with another bevel gear 540, said bevel gear 540 is coupled over shaft 55.

In the Figure 33, an isometric view of reconfigurable mechanism for variable diameter wheel 1 of a wheel chair 699 with two wheels in which both wheels and mechanism for varying diameter is powered by different handles manually. Here cross bar 530 is adapted to be powered manually for varying wheel diameter and hand levers 688 are adapted to be coupled with disc 66 to power the wheels. Handle 551 is coupled with cross bar 530 at one end and bevel gear 548 at other end. Link 550 is adapted to pivot handle 551 , and shaft 542. Bevel gear 546 is meshed with said bevel gear 548. Said bevel gear 546 is coupled with shaft 542 which is mounted pivotally with blocks 543 and 544. The said whole arrangement is adapted to supply the power manually from cross bar 530 to shaft 55 for varying wheel diameter. Said wheel chair 699 further includes at least a pair of spider wheel assembly 555 where free wheel 556 is pivotally coupled at ends. Said wheel assembly 555 is pivotally mounted over the shaft 557 with pivotally mounted blocks 558 and 560.

In the Figure 34, an alternate arrangement of a closed wheel 1 is shown where wheel segment 565 is stacked one over the other either on same plane or different planes to enable maximum varying wheel diameter. In the Figure 35, an interim position while expanding wheel 1 as mentioned above in Figure 35 is shown.

In the Figure 36, a wheel chair 666 provided with extendable handles 570, spider wheel assembly 555 and variable diameter wheel 1 is shown.

In the Figure 37, a hand truck or say trolley bag 777 provided with extendable handles 565 and variable diameter wheel 1 is shown. Said variable diameter wheel 1 is powered here manually with cross bar 533.

In the Figure 38, a variable power transmission system from an input pulley or sprocket 571 to variable diameter wheel 1 with the help of belt or chain 570 and an idler 572 is shown. Said idler 572 is mounted over a damper or say spring loaded member 573 which is pivotally fixed with member 575. Said idler is utilized to maintain tightness in the belt or say chain while diameter of wheel 1 is varied while transmission. Centre line 574 between input pulley or sprocket and varying diameter wheel 1 is shown.

In the Figure 39, an alternate arrangement of mechanism shown in Figure 38 a variable power transmission system from an variable diameter wheel 1 to another variable diameter wheel 1 with the help of belt or chain 570 and an idler 572 is shown.

The mechanism as mentioned here, wherein said powering unit is automatically activated to travel more effectively on different surfaces, wherein rotation of said powering unit is automatically activated to travel more effectively on different surfaces and obstacles, wherein this activation is based on one or more factors selected from the group of factors consisting of: a change in the surfaces or obstacles that the device encounters based on information from a visual sensor; a change in the surfaces or obstacles that the device encounters based on information from an accelerometer; a change in the surfaces or obstacles that the device encounters based on information from an inclinometer; a change in the surfaces or obstacles that the device encounters based on information from infrared emissions; a change in the surfaces or obstacles that the device encounters based on information from acoustic emissions; a change in the surfaces or obstacles that the device encounters based on information from a map, blueprint, or GPS system; a change in the surfaces or obstacles that the device encounters based a change in the rotational speed of one or more wheel assembly; and a change in the surfaces or obstacles that the device encounters based a change in the rotational resistance of one or more wheel assembly. In the foregoing specification, specific embodiments of the present invention have been described. However, one of ordinary skill in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present invention as set forth in the various embodiments discussed above. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present invention. The benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential features or elements as described herein.

Claims

claim:

1. A reconfigurable mechanism for a variable diameter wheel having at least a wheel adapted to vary wheel diameter, said mechanism comprising:

• at least a wheel assembly having at least one profiled plate defining a plurality of wheel segment fixing portions adapted to rotatably fix a plurality of wheel segments about said plurality of wheel segment fixing portions, each of said profiled plate adapted to be rotatably mounted on at least one coaxial shaft;

• at least a linkage mechanism adapted to transmit motion to said plurality of wheel segments through at least one slider block;

• said at least one slider block adapted to be rotatably mounted on at least a slider link, said slider link is adapted to be coaxially mounted on said coaxial shaft;

• at least one powering unit, said at least one powering unit is isolated from said wheel assembly, wherein rotational motion of said wheel assembly is independent of motion transmission from said at least one powering unit to said slider link;

• at least one transmission mechanism adapted to transmit motion from said at least one powering unit to said slider link to enable diameter variation of said wheel assembly; and

• a frame adapted to support said wheel assembly, said frame adapted to support at least a drive arrangement adapted to transmit motion from said powering unit to said transmission mechanism.

2. The mechanism as claimed in claim 1 further includes at least one propulsion unit, said at least one propulsion unit adapted to transmit torque to said at least one wheel assembly.

3. The mechanism as claimed in claim 1 , wherein said linkage mechanism is having at least one long link, at least one short link is adapted to be pivotally coupled with midpoint of said at least one long link, wherein one end part of said at least one long link is adapted to transmit motion to said plurality of wheel segment and other end part of said at least one long link is adapted to be pivotally coupled with said at least one slider block, said at least one short link is adapted to be pivotally coupled with said at least one profiled plate at other end part , wherein said at least one slider link needs to be sliding in a line that would intersect static pivot end of said at least one short link.

4. The mechanism as claimed in claim 3, wherein said linkage mechanism further includes at least one connecting link, said at least one long link is adapted to transmit motion to said at least one wheel segment through said at least one connecting link.

5. The mechanism as claimed in claim 1 , wherein said transmission mechanism is adapted to convert rotary motion of said at least one powering unit to linear motion of said slider link.

6. The mechanism as claimed in claim 1 is operable on at least one displaceable article.

7. The mechanism as claimed in claim 1 is operable on at least one vehicle to enable high degree of mobility over various terrain.

8. The mechanism as claimed in above 7, wherein said vehicle further includes at least one propulsion unit is adapted to provide torque to said wheel assembly.

9. The mechanism as claimed in above 7, wherein said vehicle further includes a mechanism for at least one trailing link adapted to vary length of said trailing link to enable stability of said vehicle, said at least one trailing link adapted to be powered by said at least one powering unit.

10. The mechanism as claimed in claim 1 is operable on at least one hand truck to enable high degree of mobility over various terrain.

11. The mechanism as claimed in claim 10, wherein said hand truck further includes at least one propulsion unit to provide torque to said wheel assembly.

12. The mechanism as claimed in claim 1 1, wherein said powering unit is adapted to be manually operated unit utilizing hand lever.

13. The mechanism as claimed in claim 1 is operable on at least one trolley bag to enable high degree of mobility over various terrain.

14. The mechanism as claimed in claim 13, wherein said powering unit is adapted to be manually operated unit utilizing hand lever.

15. The mechanism as claimed in claim 1 is operable on at least one of a wheel chair to enable high degree of mobility over various terrain.

16. The mechanism as claimed in claim 15, wherein said powering unit is adapted to be manually operated unit utilizing hand lever.

17. The mechanism as claimed in claim 15, wherein said propulsion unit is adapted to be manually operated unit utilizing hand lever.

18. The mechanism as claimed in claim 15 further includes at least a pair of spider wheel assembly, where in said spider wheel assembly is having at least a pair of plate and at least a pair of pivotally rotated free wheels.

19. The mechanism as claimed in claim 1 further includes a stabilizing mechanism adapted to vary a shortest wheelbase distance between said pair of wheel assembly and a pair of swivelable wheels, said pair of swivelable wheels being adapted to be pivotally mounted on said frame, said stabilizing mechanism being adapted to be manually operated, automatically operated and semi- automatically operated.

20. The mechanism as claimed in claim 1 , wherein said at least one powering unit is selected from the group consisting of manually operated unit and motor operated unit.

21. The mechanism as claimed in claim 1 , wherein said at least one propulsion unit is selected from the group consisting of manually operated unit and motor operated unit.

22. The mechanism as claimed in claim 1 is operable on at least one variable transmission system, wherein role of said mechanism is selected from the group consisting of driver unit and driven unit.

23. The mechanism as claimed in claim 1, wherein said at least a pair of wheel segment is stacked one over the other, wherein plane of stacking of said at least a pair of wheel segment is selected from the group of plane consisting of same. plane and different plane to enable maximum varying wheel diameter.

24. The mechanism as claimed in claim 1 , wherein said powering unit is automatically activated to travel more effectively on different surfaces, wherein rotation of said powering unit is automatically activated to travel more effectively on different surfaces and obstacles, wherein this activation is based on one or more factors selected from the group of factors consisting of: a change in the surfaces or obstacles that the device encounters based on information from a visual sensor; a change in the surfaces or obstacles that the device encounters based on information from an accelerometer; a change in the surfaces or obstacles that the device encounters based on information from an inclinometer; a change in the surfaces or obstacles that the device encounters based on information from infrared emissions; a change in the surfaces or obstacles that the device encounters based on information from acoustic emissions; a change in the surfaces or obstacles that the device encounters based on information from a map, blueprint, or GPS system; a change in the surfaces or obstacles that the device encounters based a change in the rotational speed of one or more wheel assembly; and a change in the surfaces or obstacles that the device encounters based a change in the rotational resistance of one or more wheel assembly.