CN109649077A - A kind of full terrain self-adaptive wheel is carried out and its application - Google Patents
A kind of full terrain self-adaptive wheel is carried out and its application Download PDFInfo
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- CN109649077A CN109649077A CN201910034000.6A CN201910034000A CN109649077A CN 109649077 A CN109649077 A CN 109649077A CN 201910034000 A CN201910034000 A CN 201910034000A CN 109649077 A CN109649077 A CN 109649077A
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- Prior art keywords
- hub
- wheel
- planetary gear
- composition formula
- hydraulic cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
Abstract
It carries out and its applies the present invention relates to a kind of full terrain self-adaptive wheel, including planetary gear reducing mechanism, movable composition formula hub mechanism and rubber track drive mechanism；Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, so that movable composition formula hub mechanism is changed outer shape by telescopic device work；Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape changes, realizes the conversion between the wheeled form and crawler type form of rubber track drive mechanism.The present invention can control the wheeled mutual conversion between crawler type form by the mutual cooperation of brake, clutch and hydraulic cylinder and be converted into wheeled form on flat hard pavement, to improve travel speed, reduce power consumption；On soft terrain, it is converted into crawler type form, to increase contact area, tractive force is improved, improves passability.
Description
Technical field
It carries out and its applies the present invention relates to a kind of full terrain self-adaptive wheel, belong to vehicle to run component technology field.
Background technique
Currently, engineering truck mainly has three kinds of vehicles of wheeled, crawler type and convertible wheel crawler.For different work
Landform needs to select unused vehicle.The hard surfacing that wheeled vehicle is suitble to landform flat, caterpillar is suitble to a varied topography
Soft terrain, and convertible wheel endless-track vehicle can take into account wheeled and crawler type.However the working environment of engineering truck now
Mostly single landform, thus convertible wheel endless-track vehicle in order to adapt to different landform need frequent more wheel change with
Crawler belt reduces working efficiency.
Wheeled vehicle has many advantages, such as simple structure, high speed, controls simple, motion stabilization and low energy consumption, but it is not
It is suitable across as gully, by muddy road surface etc., obstacle climbing ability, passability are poor.
Caterpillar has stronger landform adaptability compared to wheeled vehicle, has under mountain terrain, complex environment
Higher obstacle climbing ability and good environmental suitability, but since there are biggish frictional resistance, energy consumption is very high and moves
Speed is lower.
Through retrieving, Chinese patent literature CN108454718A discloses a kind of passive adaptive robot of crawler type, including
Car body module, two damping modules being mounted on before and after car body module, the information acquisition module for being mounted on car body module top and
It is mounted on four crawler type vehicle wheels of car body module two sides；The both ends of one damping module connect two crawler type vehicle wheels；Four
Crawler wheel construction is identical, is in all around to be arranged symmetrically around car body module；Each crawler type vehicle wheel includes carrying out
On the one hand band, pulley structure and V belt translation body, the V belt translation body are connect with car body module, on the other hand connect with pulley structure
It connects；Crawler belt is installed in pulley structure outer surface；The pulley structure includes six transmission gears, two planet support frames, four
Central axis, two central gears and two planetary gears.Each crawler type vehicle wheel of the robot passes through a motor driven
Movement, is connected by damping module, so that shock-absorbing arms telescopic variation, swing rod swing, can cross complicated landform.
Chinese patent literature CN108860341A discloses a kind of switchable type planetary gear crawler belt traveling mechanism, in drive shaft
It is connected separately with runing rest, the first fixed bracket and the second fixed bracket, the first thrust wheel is installed on runing rest, is rotated
The other end of bracket is connected with tensioning wheel hydraulic cylinder, and tensioning wheel is equipped in the hydraulic axis of tensioning wheel hydraulic cylinder, and first is fixed
The other end of bracket is connected with driving wheel hydraulic cylinder, and driving wheel is equipped in the hydraulic axis of driving wheel hydraulic cylinder, and second is fixed
Second thrust wheel is installed, the second support bracket fastened other end is equipped with directive wheel, the wheel hub two sides of three planetary gears on bracket
It has been removably installed limit chuck respectively, has been arranged with dismountable crawler belt on the outside of three planetary gears, wherein driving wheel can drive
Crawler belt rotation makes switchable type planetary gear crawler belt traveling mechanism wheel carry out formula traveling.There is the present invention planetary gear set and wheel to carry out combination
Two states can switch according to different road conditions and use, and have the preferable advance for adapting to various road conditions and obstacle crossing function.
Although the technical solution that above two patent documents provide can change the shape of crawler type vehicle wheel to a certain extent
Shape, but it is still caterpillar walking mechanism, it is merely capable of meeting the unitary demand of special road conditions, promotes getting over for crawler type vehicle wheel
Barrier ability cannot achieve the application of full landform all-terrain baby, can not freely convert between high-quality road conditions and special road conditions, and at present
There are no full landform wheel shoes to be reported in media.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of full terrain self-adaptive wheel shoe, can be in various road conditions items
Realized under part it is wheeled and it is caterpillar freely convert, meet the needs of different road conditions, be truly realized full landform be applicable in.
The present invention also provides a kind of above-mentioned working methods that full terrain self-adaptive wheel is carried out.
Technical scheme is as follows:
A kind of full terrain self-adaptive wheel shoe, including planetary gear reducing mechanism, movable composition formula hub mechanism and rubber are carried out
Tape handler；
Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, by flexible
Device work makes movable composition formula hub mechanism change outer shape；
Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape
When change, the conversion between the wheeled form and crawler type form of rubber track drive mechanism is realized.
Preferably, the planetary gear reducing mechanism includes preceding planet carrier, rear planet carrier, drive shaft, sun gear, planet
Axis, planetary gear and clutch；Sun gear is fixedly mounted on the driving shaft, and drive shaft passes through rear planet carrier, and planetary gear passes through bearing
Connection is mounted in planet axis, and three planetary gears are meshed with sun gear, and planet axis is installed and connected in preceding planet carrier and rear planet
Between frame, clutch is installed between drive shaft and rear planet carrier.
Preferably, the planetary gear reducing mechanism further includes brake, brake be installed on rear planet carrier and car body it
Between.
Preferably, the telescopic device includes hydraulic cylinder, cylinder, electric cylinder.
Preferably, the movable composition formula hub mechanism includes hub plate, stiffening plate and load-bearing axle；Hydraulic cylinder is fixedly mounted on
On preceding planet carrier, symmetrically hinged hub plate, every side hub plate are correspondingly connected with stiffening plate by load-bearing axle for the two sides of hydraulic cylinder pillar, support
Bar one end and hub plate be hinged, the other end and preceding planet carrier or rear planet carrier are hinged.
Preferably, the movable composition formula hub mechanism includes 12 blocks of hub plates, and every four blocks of hub plates are symmetrically articulated with same
The two sides of hydraulic cylinder pillar.The benefit of this design is just to constitute circular hub using 12 blocks of hub plates, while using minimum three
A hydraulic cylinder achieves that conversion of 12 blocks of hub plates between circular hub and crawler belt form.
Preferably, the rubber track drive mechanism includes rubber belt track, driving wheel, carrying roller；Driving wheel is installed on row
Star axis is simultaneously fixedly connected on planetary gear, and respectively there are a driving wheel in planetary gear left and right ends, and carrying roller is mounted on hub plate and reinforces
In load-bearing axle between plate, rubber belt track is wrapped in driving wheel and carrying roller, and engages on the inside of rubber belt track with driving wheel.
Preferably, there are four carrying rollers for arrangement between the hub plate and stiffening plate.
A kind of working method that full terrain self-adaptive wheel is carried out, comprising the following steps:
When needing wheeled form when driving, hydraulic cylinder packs up hydraulic cylinder pillar, and hub plate forms circular hub, system to contract
Dynamic device separation, clutch engagement latch planet row, entire planet row follows drive shaft to rotate synchronously with rubber belt track, to realize
Conversion from from crawler type to wheeled form；
Or
When needing crawler type form when driving, brake is engaged, clutch separation, and drive shaft drives sun gear, sun gear
Planetary gear is driven, and then drives drive wheel rubber belt track, hydraulic cylinder rises hydraulic cylinder pillar, and hub plate spreads composition three outward
Angular wheel hub, to realize from the wheeled conversion to crawler type form.
The beneficial effects of the present invention are:
Novel full terrain self-adaptive wheel provided by the present invention is carried out, and planetary gear reducing mechanism, movable composition formula are provided with
Hub mechanism and rubber track drive mechanism, can by the mutual cooperation of brake, clutch and hydraulic cylinder control it is wheeled with
Mutual conversion between crawler type form, therefore quick modality conversion can be carried out according to the needs of vehicle driving, flat
On hard pavement, it is converted into wheeled form, to improve travel speed, reduces power consumption；On soft terrain, it is converted into crawler belt
Formula form improves tractive force to increase contact area, improves passability.
Detailed description of the invention
Fig. 1 is the outside structure diagram that wheel carries out wheeled form；
Fig. 2 is the inside structure schematic diagram that wheel carries out wheeled form；
Fig. 3 is the structural schematic diagram that wheel carries out crawler type form；
Fig. 4 is the structural schematic diagram that wheel carries out wheeled form lower hub；
Fig. 5 is the structural schematic diagram that wheel carries out crawler type form lower hub；
Fig. 6 is the structural schematic diagram of planetary gear speed reducing mechanism；
Fig. 7 is movable hub plate and carrying roller scheme of installation；
In figure: 1- planetary gear reducing mechanism；Planet carrier before 101-；Planet carrier after 102-；103- drive shaft；The 104- sun
Wheel；105- planet axis；106- planetary gear；107- brake；108- clutch；2- movable composition formula hub mechanism；201- hub plate；
202- hydraulic cylinder pillar；203- hydraulic cylinder；204- support rod；205- stiffening plate；206- load-bearing axle；3- rubber track drive machine
Structure；301- rubber belt track；302- driving wheel；303- carrying roller.
Specific embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
As shown in Figures 1 to 7, the present embodiment provides a kind of full terrain self-adaptive wheels to carry out, and mainly includes planetary gear speed-reduction
3 three parts of mechanism 1, movable composition formula hub mechanism 2 and rubber track drive mechanism；
Planetary gear reducing mechanism 1 is connect by telescopic device, support rod 204 with movable composition formula hub mechanism 2, is passed through
Telescopic device work makes movable composition formula hub mechanism 2 change outer shape；
Rubber track drive mechanism 3 is connect with movable composition formula hub mechanism 2, outside movable composition formula hub mechanism 2
When shape changes, the conversion between the wheeled form and crawler type form of rubber track drive mechanism 3 is realized.
Specifically, planetary gear reducing mechanism 1 includes preceding planet carrier 101, rear planet carrier 102, drive shaft 103, sun gear
104, planet axis 105, planetary gear 106 and clutch 108；Sun gear 104 is fixedly mounted in drive shaft 103, and drive shaft 103 is worn
Later planet carrier 102, planetary gear 106 are mounted in planet axis 105 by bearing connection, three planetary gears 106 and sun gear 104
It is meshed, and forms planet row in conjunction with preceding planet carrier and rear planet carrier, 101 He of planet carrier before planet axis 105 is installed and connected in
Afterwards between planet carrier 102, clutch 108 is installed between drive shaft 103 and rear planet carrier 102.Here clutch 108 is used to
Rear planet carrier 102 and drive shaft 103 are connected or disconnected, to determine whether planet carrier follows drive shaft 103 and sun gear 104 same
Step rotation.
Planetary gear reducing mechanism further includes brake 107, and brake 107 is installed between rear planet carrier 102 and car body,
Here brake 107 is mainly used for remaining stationary planet carrier with car body, to realize Gear Planet Transmission.It is braked in the present embodiment
Device 107, clutch 108 select conventional equipment.
Telescopic device selects hydraulic cylinder 203 in the present embodiment, before being mounted on altogether there are three hydraulic cylinder 203 on planet carrier 101,
It is spacedly distributed between three hydraulic cylinders, hydraulic cylinder pillar 202 (piston rod) is a T-type structure, and front end is a T-block.
Movable composition formula hub mechanism includes hub plate 201, stiffening plate 205 and load-bearing axle 206；Hydraulic cylinder 203 is fixedly mounted
On preceding planet carrier 101, the symmetrical hinged hub plate 201 (hub plate one end is hinged in T-block) in the two sides of hydraulic cylinder pillar 202, often
Side hub plate 201 is correspondingly connected with stiffening plate 205 by load-bearing axle 206,204 one end of support rod and hub plate 201 is hinged, the other end is with before
Planet carrier 101 or rear planet carrier 102 are hinged, and hub plate 201, hydraulic cylinder pillar 202, hydraulic cylinder 203 and support rod 204 form at this time
Four-bar mechanism containing a prismatic pair.Hub mechanism is formed by 12 blocks of hub plates 201 in the present embodiment, left and right ends are pacified
Six pieces are filled, every four blocks of hub plates 201 are symmetrically articulated with the two sides of same hydraulic cylinder pillar 202.It is just constituted using 12 blocks of hub plates
Circular hub, while achieving that 12 blocks of hub plates turn between circular hub and crawler belt form using minimum of three hydraulic cylinder
It changes, component is few, at low cost.
Rubber track drive mechanism includes rubber belt track 301, driving wheel 302, carrying roller 303；Driving wheel 302 is installed on row
Star axis 105 is simultaneously fixedly connected on planetary gear 106, and respectively there are a driving wheel 302 in 106 left and right ends of planetary gear, driving wheel 302 with
Planetary gear 106 rotates synchronously, and carrying roller 303 is mounted in the load-bearing axle 206 between hub plate 201 and stiffening plate 205, hub plate 201
There are four carrying rollers 303, rubber belt track 301 to be wrapped in driving wheel 302 and carrying roller 303, and rubber for arrangement between stiffening plate 205
It is engaged with driving wheel 302 301 inside of glue crawler belt.
The present embodiment technical solution uses the design of planetary gear speed reducing mechanism and movable composition formula hub mechanism, and carrying out wheel can
It realizes the wheeled mutual conversion between crawler type form, can need to carry out the conversion of form according to the landform of vehicle driving,
On flat hard pavement, it is converted into wheeled form, to improve travel speed, reduces power consumption；On soft terrain, conversion
At crawler type form, to increase contact area, tractive force is improved, improves passability；The use of rubber belt track can be realized wheel
The smooth conversion of formula and crawler type form plays shock absorbing effect under wheeled form, and increase ground connection is played under crawler type form
Area is with the effect of increasing traction；Bogie wheel is connected on Combined hub, and the work for reinforcing wheel hub is played while load-bearing
With.
Embodiment 2:
A kind of full terrain self-adaptive wheel shoe, structure is as described in Example 1, the difference is that: telescopic device selects gas
Cylinder.According to vehicle difference requirement, different telescopic devices may be selected, to meet personalized configuration.
Embodiment 3:
A kind of full terrain self-adaptive wheel shoe, structure is as described in Example 1, the difference is that: telescopic device selects electricity
Dynamic cylinder.
Embodiment 4:
The working method that full terrain self-adaptive wheel is carried out, specific work process are as follows as described in Example 1:
When needing wheeled form when driving, hydraulic cylinder 203 packs up hydraulic cylinder pillar 202, and hub plate 201 is formed to contract to be justified
Shape wheel hub, brake 107 separate, and 108 engagement latch planet row of clutch, entire planet row and rubber belt track lock and follow drive
Moving axis 103 rotates synchronously, to realize the conversion from crawler type to wheeled form；
When needing crawler type form when driving, brake 107 is engaged, and clutch 108 separates, and drive shaft 103 drives the sun
Wheel 104, sun gear 104 drive planetary gear 106, and then driving wheel 302 is driven to drive rubber belt track 301, and hydraulic cylinder 203 rises liquid
Cylinder pressure pillar 202, diffusion forms triangular boss to hub plate 201 outward, to realize from the wheeled conversion to crawler type form.
During wheel carries out modality conversion, by control hydraulic device hydraulic cylinder pillar it is flexible, make the shape of wheel hub
It changes, and guarantees that the outer circumference of wheel hub is held essentially constant in the process, so that rubber belt track is correct with driving wheel
Engagement.
Claims (9)
1. a kind of full terrain self-adaptive wheel is carried out, which is characterized in that including planetary gear reducing mechanism, movable composition formula hub mechanism
With rubber track drive mechanism；
Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, passes through telescopic device
Work makes movable composition formula hub mechanism change outer shape；
Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape changes
When, realize the conversion between the wheeled form and crawler type form of rubber track drive mechanism.
2. full terrain self-adaptive wheel as described in claim 1 is carried out, which is characterized in that before the planetary gear reducing mechanism includes
Planet carrier, rear planet carrier, drive shaft, sun gear, planet axis, planetary gear and clutch；Sun gear is fixedly mounted on the driving shaft,
Drive shaft passes through rear planet carrier, and planetary gear is mounted in planet axis by bearing connection, and three planetary gears are meshed with sun gear,
Planet axis is installed and connected between preceding planet carrier and rear planet carrier, and clutch is installed between drive shaft and rear planet carrier.
3. terrain self-adaptive wheel as claimed in claim 2 complete is carried out, which is characterized in that the planetary gear reducing mechanism further includes
Brake, brake are installed between rear planet carrier and car body.
4. full terrain self-adaptive wheel as claimed in claim 2 is carried out, which is characterized in that the telescopic device includes hydraulic cylinder, gas
Cylinder, electric cylinder.
5. terrain self-adaptive wheel as claimed in claim 4 complete is carried out, which is characterized in that the movable composition formula hub mechanism includes
Hub plate, stiffening plate and load-bearing axle；Hydraulic cylinder be fixedly mounted on before on planet carrier, the symmetrical hinged hub plate in the two sides of hydraulic cylinder pillar,
Every side hub plate is correspondingly connected with stiffening plate by load-bearing axle, support rod one end and hub plate is hinged, the other end and preceding planet carrier or rear row
Carrier is hinged.
6. terrain self-adaptive wheel as claimed in claim 5 complete is carried out, which is characterized in that the movable composition formula hub mechanism includes
12 blocks of hub plates, every four blocks of hub plates are symmetrically articulated with the two sides of same hydraulic cylinder pillar.
7. full terrain self-adaptive wheel as claimed in claim 4 is carried out, which is characterized in that the rubber track drive mechanism includes rubber
Glue crawler belt, driving wheel, carrying roller；Driving wheel is installed on planet axis and is fixedly connected on planetary gear, and planetary gear left and right ends are each
There is a driving wheel, carrying roller is mounted in the load-bearing axle between hub plate and stiffening plate, and rubber belt track is wrapped in driving wheel and holds
Roller, and engaged on the inside of rubber belt track with driving wheel.
8. full terrain self-adaptive wheel as claimed in claim 7 is carried out, which is characterized in that be disposed between the hub plate and stiffening plate
Four carrying rollers.
9. a kind of working method carried out such as the described in any item full terrain self-adaptive wheels of claim 1-8, comprising the following steps:
When needing wheeled form when driving, hydraulic cylinder packs up hydraulic cylinder pillar, and hub plate forms circular hub, brake to contract
Separation, clutch engagement latch planet row, entire planet row follow drive shaft to rotate synchronously with rubber belt track, to realize by carrying out
Conversion of the belt to wheeled form；
Or
When needing crawler type form when driving, brake is engaged, clutch separation, and drive shaft drives sun gear, and sun gear drives
Planetary gear, and then drive wheel rubber belt track is driven, hydraulic cylinder rises hydraulic cylinder pillar, and hub plate spreads composition triangle outward
Wheel hub, to realize from the wheeled conversion to crawler type form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034000.6A CN109649077A (en) | 2019-01-15 | 2019-01-15 | A kind of full terrain self-adaptive wheel is carried out and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034000.6A CN109649077A (en) | 2019-01-15 | 2019-01-15 | A kind of full terrain self-adaptive wheel is carried out and its application |
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| Publication Number | Publication Date |
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| CN109649077A true CN109649077A (en) | 2019-04-19 |
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|---|---|---|---|
| CN201910034000.6A Pending CN109649077A (en) | 2019-01-15 | 2019-01-15 | A kind of full terrain self-adaptive wheel is carried out and its application |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182269A (en) * | 2019-04-22 | 2019-08-30 | 中国北方车辆研究所 | A kind of achievable wheel carries out the Athey wheel running gear of conversion |
| CN110182272A (en) * | 2019-05-17 | 2019-08-30 | 西安理工大学 | A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN110510017A (en) * | 2019-09-17 | 2019-11-29 | 北京理工大学 | A kind of wheel for being able to carry out wheel and carrying out transformation |
| CN110588809A (en) * | 2019-10-18 | 2019-12-20 | 西安石油大学 | Wheel-crawler type switching type all-terrain robot |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN111546826A (en) * | 2020-04-24 | 2020-08-18 | 北京交通大学 | Single degree of freedom deformation wheel |
| CN112140803A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Deformable tire |
| CN112543706A (en) * | 2020-10-30 | 2021-03-23 | 哈尔滨工业大学（深圳） | Wheel and mobile device thereof |
| CN112793679A (en) * | 2021-02-25 | 2021-05-14 | 常熟理工学院 | Full-deformation wheel device capable of being switched into track structure |
| CN112848792A (en) * | 2021-02-01 | 2021-05-28 | 吉林大学 | Wheel-track combined type reconfigurable wheel |
| CN112976931A (en) * | 2021-04-09 | 2021-06-18 | 吉林大学 | Wheel-track two-mode deformed wheel |
| CN113386872A (en) * | 2021-07-29 | 2021-09-14 | 中国人民解放军国防科技大学 | Wheel-track switching type variant wheel, wheel-track switching type driving and traveling mechanism and wheel-track switching method |
| CN113459722A (en) * | 2021-07-07 | 2021-10-01 | 南京航空航天大学 | Non-inflatable wheel capable of switching motion forms and changing shapes and changing method thereof |
| CN113665289A (en) * | 2021-09-03 | 2021-11-19 | 吉林大学 | Wheel-track independent switching star cart wheel |
| CN113753145A (en) * | 2021-09-01 | 2021-12-07 | 南京航空航天大学 | Non-inflatable safety wheel capable of switching wheel and track and switching method thereof |
| CN113895531A (en) * | 2021-11-17 | 2022-01-07 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler-type robot |
| CN114475086A (en) * | 2022-03-02 | 2022-05-13 | 中国北方车辆研究所 | Synchronous deformation driving mechanism for heavy-load deformation wheel |
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| CN113895531B (en) * | 2021-11-17 | 2024-05-03 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110182269A (en) * | 2019-04-22 | 2019-08-30 | 中国北方车辆研究所 | A kind of achievable wheel carries out the Athey wheel running gear of conversion |
| CN110182272A (en) * | 2019-05-17 | 2019-08-30 | 西安理工大学 | A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN110370863A (en) * | 2019-06-21 | 2019-10-25 | 农业农村部南京农业机械化研究所 | A kind of variable wheel diameter mechanism |
| CN110370863B (en) * | 2019-06-21 | 2024-04-05 | 农业农村部南京农业机械化研究所 | Variable wheel diameter mechanism |
| CN110510017B (en) * | 2019-09-17 | 2020-07-24 | 北京理工大学 | Wheel capable of changing wheel and track |
| CN110510017A (en) * | 2019-09-17 | 2019-11-29 | 北京理工大学 | A kind of wheel for being able to carry out wheel and carrying out transformation |
| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN110588809A (en) * | 2019-10-18 | 2019-12-20 | 西安石油大学 | Wheel-crawler type switching type all-terrain robot |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
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