SKOULIKARIS IOANNIS (GR)
| US20130072085A1 | 2013-03-21 | |||
| US20050208871A1 | 2005-09-22 | |||
| US20050250413A1 | 2005-11-10 | |||
| DE3702043A1 | 1988-08-04 |
| Claims 1. A system for adapting a flexible wheel (3) to a vehicle and for transmitting the motion from an electric motor (2) to the flexible wheel (3), the system consisting of - a flexible drive wheel (3), - reduction gear (2.1) which is adapted to the electric motor (2) and the flexible wheel (3), the reduction gear configured to transmit the motion to the flexible wheel (3), - a system for adapting the reduction gear (2.1) to the flexible wheel (3) which system consists of a bearing (1) comprising an outer ring (1.1), a coaxial inner ring (1.3) and pins (1.2) interposed between the outer and inner ring, where the outer ring (1.1) is coaxially connected directly to the flexible wheel (3) where the reduction gear (2.1) is coaxially connected directly to the flexible wheel (3) where the inner ring (1.3) is connected to the vehicle, where the pins (1.2) have a generally cylindrical shape with at least two different diameters (1.1. c, 1.1. d), which alternate in sequence along the pins, and where the bearing components (1) and the flexible wheel (3) are made by the method of 3D printing. 2. System according to claim 1, wherein alternating between the different diameters of the pins (l.l.c, 1.1. d) is achieved by using frustum-shaped portions. 3. System according to claim 1 or 2, wherein the connection of the reduction gear (2.1) with the flexible wheel (3) is achieved with an axis of polygonal cross section (2.2). 4. System according to claim 3, wherein the polygonal cross-section (2.2) is hexagonal. 5. A vehicle comprising a plurality of flexible wheels and corresponding electric motors, wherein each flexible wheel comprises an adapting system to the corresponding electric motor and motion transmission according to claim 1. 6. A vehicle according to Claim 5, which is operated by remote control. 7. A vehicle according to claim 5 or 6, comprising a body which serves as a component carrier, wherein the body is made by three-dimensional printing. 8. A vehicle according to claim 7, wherein the materials used for three- dimensional printing are PLA TPU Carbon Fiber and / or ABS. |
| AMENDED CLAIMS received by the International Bureau on 06 April 2021 (06.04.2021). Claims 1. A remote controlled vehicle comprising a plurality of flexible wheels (3) and corresponding electric motors (2), wherein each flexible wheel (3) comprises an adapting system consisting of - reduction gear (2.1) which is adapted to the electric motor (2) and the flexible wheel (3), the reduction gear configured to transmit the motion to the flexible wheel (3), - a system for adapting the reduction gear (2.1) to the flexible wheel (3) which system consists of a bearing (1) comprising an outer ring (1.1), a coaxial inner ring (1.3) and pins (1.2) interposed between the outer and inner ring, where the outer ring (1.1) is coaxially connected directly to the flexible wheel (3) where the reduction gear (2.1) is coaxially connected directly to the flexible wheel (3) where the inner ring (1.3) is connected to the vehicle, where the pins (1.2) have a generally cylindrical shape with at least two different diameters (1.1. c, 1.1. d), which alternate in sequence along the pins, and where the bearing components (1) and the flexible wheel (3) are made by the method of 3D printing. 2. A remote controlled vehicle according to claim 1, wherein alternating between the different diameters of the pins (1.1. c, 1.1. d) is achieved by using frustum-shaped portions. 3. A remote controlled vehicle according to claim 1 or 2, wherein the connection of the reduction gear (2.1) with the flexible wheel (3) is achieved with an axis of polygonal cross section (2.2). 4. A remote controlled vehicle according to claim 3, wherein the polygonal cross-section (2.2) is hexagonal. 5. A remote controlled vehicle according to any of claims 1 to 4, comprising a body which serves as a component carrier, wherein the body is made by three-dimensional printing. 6. A remote controlled vehicle according to claim 5, wherein the materials used for three-dimensional printing are PLA TPU Carbon Fiber and / or ABS. |
REMOTE CONTROLLED VEHICLES WITH 3D PRINTING. The invention belongs to the technical field of 3D printed vehicles and more particularly to the technical field of 3D printed remote-controlled vehicles. These vehicles are driven according to the state of the art with electric motors that transmit the motion to flexible wheels through reduction gearboxes. The forces created during the movement, either due to obstacles encountered by the vehicle, or due to change of direction or speed of movement, are transferred from the wheels to the parts of the electric motor and strain it, and can result in the destruction of the electric motor. According to the prior art, the movement of the vehicle is achieved with conventional electric motors and more particularly with conventional electric motors for remote-controlled vehicles. This creates a major problem, since the electric motor reduction gear is not built to withstand the stresses from vehicle use and continuously displays damage or even destruction through fracture. This problem is addressed by the present invention.
More specifically the technical problem solved by the present invention arises due to the inability of the reduction gear components to manage the axial and rotational shock and the corresponding forces that are transferred from the flexible wheel to the shaft of the motor. In accordance with the prior art, in case of axial impact when the flexible wheel hits bumps during its movement, the forces are transferred to the drive shaft resulting in the frequent deformation or breakage of the shaft. In the case of rotary impact when the wheel is stopped abruptly during a crash, the inertia of the motor in combination with the sudden stop of the rotation due to the impact often exceed the strength of the geared wheels in the reduction gear, leading to their destruction. The aforementioned problems encountered in the prior art are remedied by using more durable and bulky motors, thus increasing the vehicle weight and reducing its maneuverability. In addition, the cost of production increases.
The above problems are addressed, according to the invention, by placing the electric motor on the inside of the bearing, placing the flexible wheel on the outside of the bearing, and connecting the motor directly to the flexible wheel so that the motor is protected by the flexible wheel from axial impacts. In addition, the design of the flexible wheel in combination with its elasticity attenuates or nullifies the forces resulting from rotational impacts, so that the forces that are eventually transferred from the flexible wheel to the electric motor are not enough to destroy it .
To understand the invention, it is appropriate to provide a general technical description of the 3D printed remote-controlled vehicles in accordance with the invention. The three-dimensional printed remote- controlled vehicles are manufactured using inexpensive table-top three- dimensional printers (FDF). This is their main feature, which separates them from anything pre-existing and makes them unique in their kind. The materials from which they are made are PLA TPU Carbon Fiber and / or ABS. The size of the vehicles ranges from 20cm x 20cm up to 80cm x 80cm, their weight ranges from 1kg up to 10kg without this being a limitation for later designing larger or smaller vehicles, depending on the needs and applications. Their control is achieved mainly by the use of terrestrial wireless communication with the vehicle management station. They can be equipped with their own standalone software, which makes them autonomous. The vehicle results from the combination of two or more parts depending on the application or the problem for which they are intended. The main part is the body (chassis) of the vehicle in which the battery, the remote-control unit and most electronic components are placed and protected. Then there is a wide variety of accessories which are placed at the front, back or the top of the vehicle, depending on the requirements resulting from its use.
According to the present invention, the following criteria have to be fulfilled when designing these vehicles: Simple design, so that they are easy to produce.
Easy and fast assembly and repair of the vehicle and its accessories. Selection of already existing components.
Flexible wheel connection to the vehicle body and transmission of motion from the electric motor to the flexible wheel to avoid damage and/or destruction of the engine.
In connection with the above criteria, the present invention provides the following advantages: Regarding ease of production, three- dimensional printing (FDM) was chosen as the production method. In recent years, 3D printers (FDM) are very popular and more and more individuals and professionals use them as a tool. 3D printers are ideal for producing the vehicles since all owners of 3D printers (FDM) can be potential users. The user has the ability, with the appropriate machinery and knowledge, to buy online the design of the part he wants and then print it himself at his premises and within a few hours to have it ready for use. Still, those who do not possess a 3D printer can buy the vehicle and its accessories printed and assembled.
Regarding the easy, fast assembly and repair of the vehicle and its parts, the vehicle was designed with the least possible number of parts, and with the aim of being printed and assembled by the end user. Also, many of the accessories are put together and manufactured separately such that they can be placed on the vehicle as individual parts.
For example, the control unit is an accessory which is obtained by assembling the battery, the controller and the engine management unit. Then, when the control unit is mounted on the vehicle, it is a single integrated component, so that it can be immediately replaced without the delay imposed by its repair. The same applies to vehicle accessories which are mounted on and around the vehicle. At the same time, this construction provides the possibility to use conventional electric motors and reduction gears, without compromising the strength of the construction and at the same time reducing costs. Brief disclosure of the Drawings:
Drawings 1 and 2 ii!ustrate a view of the bearing and the motor.
Drawings 3 and 4 illustrate views of the flexible wheel. Drawing 5 shows a general view of the connection of the flexible wheel to the bearing.
The invention is described below, by means of a non-limiting example, and with reference to the accompanying drawings, which show an embodiment of the present invention.
The bearing (1) according to the invention consists of three main parts. First, from the outer ring (1.1) on which the flexible wheel (3) is placed and locked in place due to the engagement of the outer ring configuration (l.l.A) shown in detail (3.e) of the section (F-F) in Drawing 3. Second, from the inner ring (1.3), inside which the electric motor (2) is placed. And third, from the sliding pins (1.2).
The outer ring (1.1) slides onto the pins (1.2) and then the pins slide onto the inner ring (1.3). As shown in detail (Z) of Drawing 2, the pins are generally cylindrical in shape, where each pin has two different diameters (l.l.c, 1.1. d), which alternate along its length, with a transition from one diameter to the other via the inclined frustum-shaped sections so that the pins (1.2) absorb both axial and transverse forces that are carried by the flexible wheel (3) on the outer ring (1.1) and then on them. In particular, the bearing (1) achieves the transfer of forces from the flexible wheel through the outer ring and the pins to the inner ring (1.3). This mechanical property dampens all the forces that stress the gearbox of the electric motor so that the gearbox exerts only torque on the tire.
The shaping of the pins with successively increasing and decreasing diameters (l.l.c, 1.1. d), and with the resulting successive narrowings and extensions, increases the engagement surface leading to more efficient damping. Also, during successive slides or bumps, the sloping surfaces analyze the forces in two components such that even more efficient damping is achieved.
Detail (C) of the bearing of drawing 1 shows the cooling ports (1.3. a) inside the bearing, which allow air to flow to cool the electric motor (2).
The flexible wheel (3), as also shown in Drawings 4 and 5, is designed to deform in the event of an impact with ground irregularities or other objects. Also the inclination and the hole (3.d) which are parts of the design of the arms (3.b) connecting the inside of the flexible wheel to its tread, enable the flexible wheel to deform and to recede, such as to absorb full impact and not transfer the forces to the axis, or transfer them significantly weakened.
Controlled deformation results from the geometry of the arm (3.b) which recedes and absorbs impacts. The inclination with which it is designed attenuates the force of impact as it recedes and reduces the grip of the flexible wheel with the ground. As shown in Drawing 3, in the center of the flexible wheel with configuration (3.c) there is engagement of an axis of hexagonal (or, in general, polygonal) cross section (2.2) of the reduction gear (2.1) such that the motion is transferred from the electric motor to the wheel. At this point as well there is configuration (3.c) which reduces still further the forces transferred from the wheel to the reduction gear. In addition, the hexagonal cross section axis (2.2) is designed and adapted in such a way to the flexible wheel, so that the axis (2.2) is allowed to slide with respect to the flexible wheel (3). Therefore, even in the most extreme case where all mentioned means for reduction gear protection fail, there is achieved a controlled slip of the engagement such that the geared wheels of the reduction gear do not fail.
For industrial applications, the vehicle combined with cameras, robotic arms, gas sensors and other similar measuring, sampling and control components is used as a tool for inspecting and repairing underground pipes and shafts. It is also used in approaching, sampling, inspecting and repairing dangerous or inaccessible points, such as sewage or fuel tanks and the like. Concerning applications in education, the vehicle is the perfect tool for every teacher in a robotics course. In addition, the ability for a teacher to print most of the components of the vehicle using the school printing equipment, reduces drastically the cost of operating the robotics lab. Concerning search and rescue applications, equipping the vehicle with thermal cameras, temperature sensors and other similar equipment, enables search and rescue teams to search the wreckage for survivors more efficiently. Also, rescue teams have the opportunity to repair the vehicle "printing" spare parts in place. In addition, the vehicle can be used as a detector of bombs, explosive devices and in similar uses.