WO2024041271A1

WO2024041271A1 - 4d printing technology-based multi-response variable-structure wheel, and vehicle

Info

Publication number: WO2024041271A1
Application number: PCT/CN2023/108296
Authority: WO
Inventors: 黄舒; 王程; 张航; 张军辉; 朱明亮; 魏洁安; 杨宏伟; 盛杰; 周建忠
Original assignee: 江苏大学
Priority date: 2022-08-26
Filing date: 2023-07-20
Publication date: 2024-02-29
Also published as: CN115402036A

Abstract

The present invention provides a 4D printing technology-based multi-response variable-structure wheel, and a vehicle. The multi-response variable-structure wheel comprises a hub, spokes, rims, rollers, a tire and electric heating layers; two ends of each spoke are connected to the hub and a rim respectively; the rims are installed on the tire; a row of holes are formed in the outer side of each rim, and the rollers are installed on rotating shafts in the holes and make contact with the inner side of the tire; the base material of the rims is a photoresponsive shape memory polymer, and the rims are manufactured by means of 4D printing technology; the electric heating layers are arranged in the rims, and the shape of the rims can be changed on the basis of stimulation of light or electricity. In the present invention, on the basis of the photoresponsive shape memory polymer and the mode of embedding the electric heating layers therein, the wheel can achieve rapid conversion from a wheel-type movement mode to a track-type movement mode when given light or electricity stimulation by humans in a complex environment, thus integrally improving the passing capability of the wheel.

Description

A multi-responsive deformable structure wheel and vehicle based on 4D printing technology

Technical field

The invention belongs to the field of 4D printing technology, and in particular relates to a multi-response variable structure wheel and vehicle based on 4D printing technology.

Background technique

With the continuous development of science and technology, human exploration of the space field continues to deepen. At the same time, robots have been widely used as a tool for human exploration of space. With the needs of work, the scope of robot exploration continues to expand. For example, when encountering Rugged terrain and steep slopes require robots to have the ability to pass through complex terrain, which places high demands on the robot's movement flexibility, obstacle surmountability, and environmental adaptability.

General wheeled mobile robots have the advantages of high driving efficiency on flat ground and mature research technology, but they have poor adaptability and limited obstacle surmounting ability in complex terrain environments. When encountering obstacle terrain, they often can only avoid obstacles; crawler robots Thanks to its unique traveling method, mobile robots have greater adaptability than wheeled mobile robots when passing through complex terrain, but their traveling speed is slow and their energy consumption is high; and general wheeled wheels will sink when the ground is soft. Often the wheels are moved forward and backward and the steering is constantly adjusted to get out of trouble, which takes a long time and consumes a lot of energy. Therefore, how to improve the wheel's passing performance on complex terrain is an issue that needs to be solved urgently.

In response to this complex terrain and working environment, researchers have designed different solutions, such as the use of variable diameter wheels and variable structure wheels, which can greatly improve the exploration robot's ability to pass through complex terrain. The obstacle surmounting performance of the wheeled mobile mechanism is directly related to the diameter of the wheel. Under the same conditions, the larger the diameter of the wheel, the stronger the obstacle surmounting ability. Therefore, changing the diameter, size and shape of the wheel can improve the obstacle surmounting performance of the wheeled mobile mechanism. An important research point; although the current existing technology can achieve changes in the shape of the wheel, the mechanical structure is relatively complex and is limited to changing the wheel diameter, and does not involve changes in the way the wheel travels.

Contents of the invention

In view of the above technical problems, one of the purposes of one aspect of the present invention is to provide a multi-response variable structure wheel based on 4D printing technology. By utilizing the characteristics of controllable deformation of 4D printed components, the main structures involved in the deformation of the variable structure wheel are designed. The base material of the wheel rim is a shape memory polymer that can respond to light stimulation. There is an electric heating layer embedded inside, which can achieve the shape recovery function by responding to external light and electrical stimulation, thereby realizing the overall wheel travel mode to the crawler mode. A change in the way of travel.

One of the purposes of one aspect of the present invention is to utilize memory polymers that can respond to light stimulation as 4D printing materials. There is an electric heating layer in the rim, which provides a 4D printed variable structure wheel with multiple responses to light and electricity. It can artificially control the wheel deformation process and realize various changes in the overall shape of the wheel. By changing the wheel contact area, it can achieve By artificially giving light or electrical stimulation to the wheel in a complex environment, the wheel can quickly switch from a wheeled traveling mode to a tracked traveling mode, thereby improving the wheel's passing performance on complex terrain.

One of the purposes of one aspect of the present invention is to use 4D printing technology to complete the preparation of rim components, which can greatly simplify the structural design of deformed wheels and reduce production and maintenance costs.

Note that the recording of these purposes does not prevent the existence of other purposes. An embodiment of the invention does not need to achieve all of the above objects. Purposes other than the above-mentioned purposes may be extracted from descriptions in the description, drawings, and claims.

The present invention achieves the above technical objectives through the following technical means.

A multi-response deformable structure wheel based on 4D printing technology, including hub, spokes, rim, rollers, tires and electric heating layer;

The two ends of the spokes are connected to the hub and the rim respectively. The rim is installed on the tire. There is a row of holes on the outside of the rim. The roller is installed on the rotating shaft in the hole and contacts the inside of the tire;

The base material of the rim is a light-responsive shape memory polymer, which is made by 4D printing technology. There is an electric heating layer inside the rim, and the shape of the rim can change according to the stimulation of light or electricity.

In the above solution, the hole provided on the outside of the rim is a "U"-shaped hole, and the roller can rotate inside the "U"-shaped hole, and a part of the protruding outer surface of the rim contacts the inside of the tire.

In the above solution, a round hole is provided in the center of the rim, and the rim and the top of the spoke are connected with bolts through the round hole.

In the above solution, a cavity is provided inside the spoke.

In the above solution, the spokes are rods.

Further, the width of one end of the spoke connected to the rim gradually decreases toward the end connected to the hub.

In the above solution, the spokes are connected to the hub through bolts.

In the above scheme, the light-responsive shape memory polymer includes polyurethane acrylate PUA, isobornyl acrylate IBOA and 2,4,6-trimethylbenzoylphenylphosphonate ethyl ester TPO-L.

Further, the mass percentages of the polyurethane acrylate PUA, isobornyl acrylate IBOA and ethyl 2,4,6-trimethylbenzoylphenylphosphonate TPO-L are 56wt%:40wt%:4wt%.

A vehicle includes the multi-responsive deformable structure wheel based on 4D printing technology.

Compared with the prior art, the beneficial effects of the present invention are:

According to one mode of the present invention, the characteristics of controllable deformation of 4D printed components are used to design the rim, the main structural component involved in deformation in the variable structure wheel. The base material of the rim is a shape memory polymer that can respond to light stimulation, and is embedded with The electric heating layer can realize the shape recovery function by responding to external light and electrical stimulation, thereby realizing the overall wheel-like traveling mode of the wheel. Changes in crawler travel mode.

According to one aspect of the present invention, a memory polymer that can respond to light stimulation is used as a 4D printing material, and an electric heating layer is provided in the rim. This provides a 4D printed variable structure wheel with multiple responses to light and electricity, which can artificially control the wheel. The process of deformation realizes various changes in the overall shape of the wheel. By changing the wheel contact area, the wheel can be quickly converted from a wheeled traveling mode to a tracked traveling mode by artificially giving light or electrical stimulation in complex environments, improving The wheel's passing performance on complex terrain.

According to one aspect of the present invention, by using 4D printing technology to complete the preparation of rim components, the structural design of the deformed wheel can be greatly simplified and production and maintenance costs can be reduced.

Note that the description of these effects does not prevent the existence of other effects. One aspect of the present invention does not necessarily have to have all of the above effects. Effects other than those described above can be clearly seen and extracted from the description in the specification, drawings, claims, etc.

Description of drawings

Figure 1 is a schematic front view of a multi-response deformable structure wheel based on 4D printing technology according to an embodiment of the present invention.

Figure 2 is a schematic side view of a multi-response deformable structure wheel based on 4D printing technology according to an embodiment of the present invention.

Figure 3 is a schematic front view of a wheel rim according to an embodiment of the present invention.

Figure 4 is a schematic diagram of the connection between the rim and the spokes according to an embodiment of the present invention.

Figure 5 is a schematic diagram of the deformation process of the wheel rim according to an embodiment of the present invention, in which Figure 5(a) is the initial form; Figure 5(b) is the intermediate form; Figure 5(c) is the initial form.

Figure 6 is a schematic diagram of a triangular wheel deformation according to an embodiment of the present invention.

Figure 7 is a schematic diagram of a hexagonal wheel deformation according to an embodiment of the present invention.

In the picture: 1. Hub; 2. Spoke; 3. Rim; 4. Small roller; 5. Tire; 6. Electric heating layer.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", " The orientation or positional relationships indicated by "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. . In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, the characteristics defined as "first" and "second" can be expressed or implicitly Include one or more of this feature. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Figure 1 shows a preferred embodiment of a multi-responsive strain structure wheel based on 4D printing technology according to the present invention, including a hub 1, a spoke 2, a rim 3, a roller 4, a tire 5 and an electric heating layer 6;

As shown in Figure 2, both ends of the spoke 2 are connected to the hub 1 and the rim 3 respectively. The rim 3 is installed on the tire 5. As shown in Figure 3, a row of holes is provided on the outside of the rim 3, and the roller 4 is installed in the hole. on the inner shaft and in contact with the inner side of the tire 5;

The base material of the rim 3 is a light-responsive shape memory polymer, which is made by 4D printing technology. There is an electric heating layer 6 inside the rim 3, and the shape of the rim 3 can change according to the stimulation of light or electricity. Preferably, a switch is installed in the vehicle operating room, and the switch is manually operated to energize or de-energize the electric heating layer 6 in the rim 3 . Preferably, a light source is provided outside the wheel to stimulate the wheel with strong light. As shown in Figure 5, the rim 3 made by 4D printing technology has a triangular initial printing shape as shown in Figure 5(a). After heating and shaping, it is cooled and fixed to form an arc-shaped intermediate shape as shown in Figure 5(b). , the shape returns to the triangular printed initial shape after heating again, as shown in Figure 5(c). Specifically, the rim 3 is heated to above its glass transition temperature Tg and then shaped and cooled to fix it so that the shape of the rim 3 becomes In the intermediate form, during deformation, the rim 3 is heated to above its glass transition temperature Tg and then shaped and cooled to restore the shape of the rim 3 to its original shape.

Preferably, the base material of the rim 3 is a shape memory polymer that can respond to light stimulation. The polymer can convert light energy into heat energy, thereby increasing the local temperature to the transformation temperature value, thereby completing the deformation of the rim 3 .

Preferably, the hole provided on the outside of the rim 3 is a "U"-shaped hole, and the roller 4 can rotate inside the "U"-shaped hole, and a part of the outer surface of the rim 3 protrudes to contact the inside of the tire 5.

Preferably, a round hole is provided in the center of the rim 3, and the top ends of the rim 3 and the spokes 2 are connected with bolts through the round hole.

Preferably, the electrothermal layer 6 responds when receiving external electrical stimulation, generates heat through electrothermal reaction, and then increases the local temperature to reach the transition temperature value, allowing the rim 3 to complete deformation. The electric heating layer 6 embedded in the rim 3 has the ability to conduct electricity after conducting electricity, so that it changes from an insulator to a conductor, forming an electrically responsive shape memory polymer, which has the advantages of easy control, remote driving, and fast response speed.

Preferably, the number of pores on the outside of the rim 3 is determined according to the shape of the rim.

Preferably, two holes are provided on both sides of the spoke 2 for connection and fixation with the hub 3 through two bolts of different specifications.

Preferably, the spoke 2 is provided with a cavity inside for installing wires, connecting circuits and transmitting external electrical stimulation.

Preferably, the spoke 2 is a rod, and the width of the end where the spoke 2 is connected to the rim 3 gradually decreases toward the end where it is connected to the hub 1 . Preferably, the spokes 2 are connected to the hub 1 through bolts.

Preferably, the shape memory process of the printed part of the rim 3 is: raising the temperature of the rim 3 from the initial printed shape to above its glass transition temperature, applying an external force to the rim 3 and deforming it to an appropriate angle; keeping the external force unchanged, reducing After heating, the shape of the residence is maintained and the assembly of the wheel is completed in this shape; the temperature of the rim 3 is again raised to above the glass transition temperature to release the internal stress of the material and return to the original shape.

Preferably, the preparation method of embedding the electric heating layer 6 inside the rim 3 is to spray an alcohol solution with conductive particles on the surface of the structure during printing. After drying, the conductive particles adhere to the surface of the structure to form an electric heating layer, and then continue to complete the remaining printing steps. .

Preferably, preferably, the roller 4 is connected to the hole on the outside of the rim 3 through bolts. The bolt can not only function as a rotating shaft, but also can be installed and fixed on the rim 3.

Preferably, the light-responsive shape memory polymer includes polyurethane acrylate PUA, isobornyl acrylate IBOA and 2,4,6-trimethylbenzoylphenylphosphonate ethyl ester TPO-L;

The mass percentages of the polyurethane acrylate PUA, isobornyl acrylate IBOA and ethyl 2,4,6-trimethylbenzoylphenylphosphonate TPO-L are 56wt%:40wt%:4wt%.

The photoresponsive shape memory polymer introduces photoresponsive functional groups or photothermal conversion reagents on the basis of shape memory materials to achieve photoresponsiveness of the material. Compared with traditional shape memory polymers, photoresponsive shape memory polymers It has the advantages of simple response mode and the ability to realize remote control and precise regulation of deformation behavior;

As shown in Figure 4, the top of the spoke 2 is connected to the rim 3 in a hinged manner. Under the premise that the spoke 2 is fixed, the five degrees of freedom of the rim 3 in space are limited, and the rim 3 can be realized in a plane. The central axis of the connection hole is the center of rotation to achieve small range rotation. The spokes 2 are provided with installation apertures for wires to facilitate the connection of external circuits.

During normal operation, the wheel has a circular structure as a whole and operates in a wheeled manner;

When encountering a specific road section that makes the round wheels unable to pass, external current or specific light intensity is supplied to the wheels to drive the wheels to convert from wheeled to crawler traveling. When an external current is supplied to the wheel, the deformation is driven by electricity. The current flows into the electric heating layer 6 embedded in the rim 3, and heat is generated through the thermal resistance effect, causing the temperature of the base material of the rim 3 to rise above the glass transition temperature Tg. , thereby stimulating the shape of the rim 3 to return to the original shape of the printed part, and realizing the deformation of the wheel from a wheel to a crawler type; when the wheel is irradiated with a specific light intensity, light-driven deformation is used, and the base material of the rim 3 is modified by the specific light intensity. Irradiation is carried out, and the temperature of the base material is raised to above the glass transition temperature Tg through the photothermal conversion effect, thereby stimulating the shape of the rim 3 to return to the original shape of the printed part, and realizing the deformation of the wheel from a wheel to a crawler.

Working principle: Determine the initial shape of the printed part of the rim 3 based on the desired shape of the wheel after deformation, heat the rim 3 to above its glass transition temperature Tg, then shape it and cool it to fix it, and then connect the spokes 2, hub 1 and other components to complete round car When the wheel is assembled, the wheel has a circular structure as a whole and runs in a wheeled mode during normal operation. When encountering a steep or potholed road section that cannot be passed in the shape of a round wheel, external current or specific light intensity is supplied to the wheel. The irradiation drive wheel realizes the conversion from wheel to crawler travel. When electric drive deformation is used, the current flows into the rim 3 through the wires installed in the reserved holes in the spoke 2. The electric heating layer 6 embedded in the rim 3 is generated by the thermal resistance effect. Heat, when the temperature is higher than the glass transition temperature Tg of the base material of the printed part, the printed part can return to its original shape to realize the deformation process of the wheel; when light-driven deformation is used, the rim 3 component is irradiated with a specific light intensity, and the rim 3 matrix The photothermal conversion material introduced into the material uses the photothermal conversion effect to increase the temperature above the glass transition temperature Tg of the base material of the printed part, thereby stimulating the shape recovery process to achieve wheel deformation.

A vehicle includes the multi-response deformable structure wheel based on 4D printing technology in the above solution, and therefore has the above beneficial effects.

Example 1

A multi-response deformable structure wheel based on 4D printing technology, including a hub 1, a spoke 2, a rim 3, a roller 4, a tire 5 and an electric heating layer 6; both ends of the spoke 2 are connected to the hub 1 and the rim 3 respectively, and the rim 3 is installed on the tire 5. There is a row of holes on the outside of the rim 3, and the roller 4 is installed on the rotating shaft in the hole and contacts the inside of the tire 5; the base material of the rim 3 is a light-responsive shape memory polymer, which is composed of Made with 4D printing technology, the rim 3 is equipped with an electric heating layer 6, and the shape of the rim 3 can change according to light or electrical stimulation.

The base material of the rim 3 is a light-responsive shape memory polymer, which is made by 4D printing technology. There is an electric heating layer 6 inside the rim 3, and the shape of the rim 3 can change according to the stimulation of light or electricity.

According to this embodiment, preferably, the base material of the rim 3 is a shape memory polymer that can respond to light stimulation. The polymer can convert light energy into heat energy, thereby increasing the local temperature to the transformation temperature value, thereby Complete the deformation of rim 3.

Preferably, the electrothermal layer 6 responds when receiving external electrical stimulation, generates heat through electrothermal reaction, and then increases the local temperature to reach the transition temperature value, allowing the rim 3 to complete deformation.

Preferably, the spoke 2 is a rod, and the width of the end where the spoke 2 is connected to the rim 3 gradually decreases toward the end where it is connected to the hub 1 .

Preferably, the roller 4 is connected to the hole on the outside of the rim 3 through bolts.

According to this embodiment, preferably, as shown in Figure 5, 4D printing technology is used to make the initial shape of the rim 3, and the rim 3 is heated to above its glass transition temperature Tg and then shaped and cooled and fixed to change the shape of the rim 3. It is an intermediate form. During deformation, the rim 3 is heated to above its glass transition temperature Tg and then shaped and cooled to restore the shape of the rim 3 to its original shape.

According to this embodiment, preferably, as shown in Figure 6, the desired wheel shape after deformation determines that the deformed wheel shape is a triangle, thereby determining the initial shape of the printed part of the rim 3 and the number of groups of the spokes 2 to be 3 groups, and The rim 3 is heated to above its glass transition temperature and then shaped and cooled to fix it. The temperature of the rim 3 is raised again to above the glass transition temperature to release the internal stress of the material and return to its original shape.

The angle α between each spoke 2 is according to the formula It is determined to be 120°. In order to ensure that each rim does not interfere with each other when moving, the size parameters of the printed part of rim 3 are designed and the initial shape of the printed part of rim 3 is determined. There is a "U" shape on the outside of rim 3 for installing small rollers. The number of pores is determined to be 8 based on the shape parameters of the rim. By responding to external light or electrical stimulation, the deformation of a circular wheel to a triangular wheel structure can be achieved.

Connect the hub 1, spoke 2, rim 3, small roller 4, tire 5 and electric heating layer 6 to complete the assembly of the round wheel. During normal operation, the wheel has a circular structure as a whole and operates in a wheeled manner; when encountering a specific road section that makes the circular wheel unable to pass, when external current is passed to the wheel, it is deformed by electric drive, and the current flows into the rim 3 embedded in the wheel. In electric heating layer 6, pass The overheating resistance effect generates heat, causing the temperature of the base material of the rim 3 to rise above the glass transition temperature Tg, thereby stimulating the shape of the rim 3 to return to the triangle shape of the initial shape of the printed part, realizing the deformation of the wheel from wheel to track. The contact area between the tire 5 and the ground is increased.

Example 2

Preferably, the shape memory process of the printed part of the rim 3 is: raising the temperature of the rim 3 from the initial printed shape to above its glass transition temperature, applying an external force to the rim 3 and deforming it to an appropriate angle; keeping the external force unchanged, reducing After the temperature is reached, the shape of the residence is maintained and the assembly of the wheel is completed in this shape; the temperature of the rim 3 is again raised to above the glass transition temperature to release the internal stress of the material and return to the original shape, and the wheel realizes changes in form and travel mode. .

A deformation method for multi-responsive deformed structure wheels based on 4D printing technology, including the following steps:

According to this embodiment, preferably, as shown in Figure 7, the desired wheel shape after deformation determines that the deformed wheel shape is a hexagon, thereby determining that the initial shape of the printed part of the rim 3 and the number of groups of the spokes 2 are 6 groups , heat the rim 3 to above its glass transition temperature, then shape it and cool it to fix it. Raise the temperature of the rim 3 to above the glass transition temperature again to release the internal stress of the material and return to its original shape.

The angle α between each spoke is based on the formula It is determined to be 60°. In order to ensure that each rim does not interfere with each other when moving, the size parameters of the printed part of rim 3 are designed and the initial shape of the printed part of rim 3 is determined. There is a "U" shape on the outside of rim 3 for installing small rollers. The number of pores is determined to be 4 based on the shape parameters of the rim. By responding to external light or electrical stimulation, the deformation of the circular wheel to the hexagonal wheel structure can be achieved.

Connect the hub 1, spoke 2, rim 3, small roller 4, tire 5 and electric heating layer 6 to complete the assembly of the round wheel.

By illuminating the wheel rim 3 with a specific light intensity, the photothermal conversion effect of the electrothermal layer 6 embedded in the wheel rim 3 increases the temperature above the glass transition temperature of the base material of the printed part, thus stimulating the shape recovery process to achieve wheel deformation.

When encountering a specific road section that makes the round wheel unable to pass, when the wheel is irradiated with a specific light intensity, light-driven deformation is used to illuminate the base material of the rim 3 through the specific light intensity, and the temperature of the base material is increased to The glass transition temperature is above Tg, thereby stimulating the shape of the rim 3 to return to the initial shape of the triangular printed part, realizing the deformation of the wheel from a wheel to a crawler, and increasing the contact area between the tire 5 and the ground.

In this embodiment, the preferred light response shape memory recovery condition is: under the condition of 1W/cm^2, the rapid shape memory recovery process can be completed within 60 seconds.

The invention is based on a light-responsive shape memory polymer and embedded electric heating layer, which can realize the rapid conversion of the wheel from a wheeled traveling mode to a tracked traveling mode by artificially giving light or electrical stimulation in a complex environment. Overall, Improved wheel passing ability.

It should be understood that, although this specification is described in terms of various embodiments, not each embodiment includes only one independent The technical solutions in the description are only for the sake of clarity. Those skilled in the art should take the description as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art. Way. The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent embodiments or embodiments that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.

Claims

A multi-response deformable structure wheel based on 4D printing technology, characterized by including a hub (1), spokes (2), rim (3), roller (4), tire (5) and electric heating layer (6);

Both ends of the spoke (2) are connected to the hub (1) and the rim (3) respectively. The rim (3) is installed on the tire (5). A row of holes is provided on the outside of the rim (3), and the roller (4) is installed. On the shaft in the hole and in contact with the inside of the tire (5);

The base material of the rim (3) is a light-responsive shape memory polymer, which is made by 4D printing technology. The rim (3) is equipped with an electric heating layer (6), and the shape of the rim (3) can be adjusted according to the stimulation of light or electricity. Make changes.
A multi-responsive strain structure wheel based on 4D printing technology according to claim 1, characterized in that the pores provided on the outside of the rim (3) are "U" shaped pores, and the rollers (4) can move in the "U" shape. The "shaped hole rotates inside, and a part of the outer surface of the rim (3) protrudes to contact the inner side of the tire (5).
The multi-response strain structure wheel based on 4D printing technology according to claim 1, characterized in that a round hole is provided in the center of the rim (3), and the tops of the rim (3) and the spokes (2) are connected with bolts through the round hole. .
The multi-responsive strain structure wheel based on 4D printing technology according to claim 1, characterized in that a cavity is provided inside the spoke (2).
The multi-responsive strain structure wheel based on 4D printing technology according to claim 1, characterized in that the spokes (2) are rods.
The multi-responsive strain structure wheel based on 4D printing technology according to claim 5, characterized in that the width of the end of the spoke (2) connected to the rim (3) gradually decreases toward the end connected to the hub (1) .
The multi-responsive strain structure wheel based on 4D printing technology according to claim 1, characterized in that the spokes (2) are connected to the hub (1) through bolts.
The multi-responsive strain structure wheel based on 4D printing technology according to claim 1, characterized in that the light-responsive shape memory polymer includes polyurethane acrylate PUA, isobornyl acrylate IBOA and 2,4,6-trimethyl Ethyl benzoylphenylphosphonate TPO-L.
The multi-responsive strain structure wheel based on 4D printing technology according to claim 8, characterized in that the polyurethane acrylate PUA, isobornyl acrylate IBOA and 2,4,6-trimethylbenzoylphenylphosphine The mass percentage of ethyl acid ester TPO-L is 56wt%: 40wt%: 4wt%.
A vehicle, characterized by comprising a multi-responsive deformed structure wheel based on 4D printing technology according to any one of claims 1-9.