Diameter-variable wheel for automatically adapting to road surface

Abstract

The invention discloses a diameter-variable wheel for automatically adapting to a road surface, which comprises a plurality of outer wheel blades, a plurality of inner wheel blades and a plurality of connecting rod wheel blades; middle parts of the plurality of inner wheel blades are respectively provided with a telescopic strut bar fixed on a circumference of a central wheel hub; end faces on two sides of the central wheel hub are provided with a plurality of crank-slider mechanisms connected with the inner wheel blades, and are provided with a driving device for driving the plurality of crank-slider mechanisms; and one ends of connecting rods of the crank-slider mechanisms are connected with the inner wheel blades through revolute pairs, and the other ends of the connecting rods of the crank-slider mechanisms are connected with cranks through revolute pairs. The diameter-variable wheel solves the contradiction between wheel obstacle-surmounting performance and volume structure restraint, effectively improves the adaptability of the wheel, and solves the problems of the conventional wheels in the environments of underground, planetary surfaces or other comprehensive road surfaces. The wheel controls a servo motor to drive the cranks to rotate a certain angle, and the crank-slider mechanisms parallelly drive the inner wheel blades to radially expand or contract, so that the wheel diameter is continuously variable. The diameter-variable wheel can realize diameter-expanded obstacle surmounting, walking obstacle surmounting, tolerance obstacle surmounting and the like, and the adaptability and the flexibility of the wheel for different road surfaces are enhanced.

Description

technical field [0001] The invention relates to a variable-diameter wheel, in particular to a variable-diameter wheel suitable for automatic adaptation in uneven and complex road surface environments. Background technique [0002] In underground, planetary surface or other complex road environment, higher requirements are put forward for the adaptability and flexibility of the vehicle body. At present, the rigid fixed-radius wheels commonly used in China can run freely on flat and hard roads, but on uneven and complex roads, the wheels will be impacted and the stability is poor, especially on soft ground such as swamps and sandy grounds, which are prone to damage. Different degrees of skidding or subsidence affect the operation of the car body. In order to solve this difficult problem, a large number of pneumatic tires and leg type and crawler wheels have appeared in recent years. However, most of these new wheels can only operate under specific terrain conditions, and the ...

AI Technical Summary

Problems solved by technology

However, this method of diameter reduction is complicated to drive, the range of diameter reduction realized is small, and the rim is not smooth under the state of large diameter.

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