CN110450868A - A kind of restructural wheel - Google Patents
A kind of restructural wheel Download PDFInfo
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- CN110450868A CN110450868A CN201910882927.5A CN201910882927A CN110450868A CN 110450868 A CN110450868 A CN 110450868A CN 201910882927 A CN201910882927 A CN 201910882927A CN 110450868 A CN110450868 A CN 110450868A
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- wheel
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- belt
- crawler belt
- gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000001360 synchronised effect Effects 0.000 claims description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 125000004122 cyclic group Chemical group 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 3
- 210000000515 tooth Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
-
- 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
- B62D55/18—Tracks
-
- 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
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a kind of restructural wheel, including braced frame, braced frame is distributed along the circumference with three groups of reconfiguration units, and the periphery of three groups of reconfiguration units is coated with a crawler belt；Every group of reconfiguration unit includes the first driving mechanism, link block, line shaft, power gear, two groups of deformable supports portions, drive its output shaft flexible by the first driving mechanism, to drive link block to move radially, on the one hand it drives line shaft and power gear to move radially, crawler belt is ejected or bounced back by power gear；On the other hand two groups of deformable supports portions are driven to withdraw or open, to be supported to the crawler belt of deformation；It is converted under wheeled and crawler type both of which to realize；It is additionally provided with the second driving mechanism in braced frame, three power gear rotations are driven by the second driving mechanism, and then drive crawler belt operation.Advantages of the present invention: it realizes and is quickly toggled between crawler type both of which wheeled.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of restructural wheels.
Background technique
The mobile mechanism of robot is generally divided into wheeled and two kinds of crawler type.It is wheeled to be travelled in hard ground, on the ground
It only rolls, keeps robot very steady during traveling.Crawler type is expanded with contact area of ground, can be soft
Ground smoothly travels.Both Move Modes all make the movement of robot have certain limitation.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of restructural wheel, to can be wheeled
It is quickly toggled between crawler type both of which, robot is enabled flexibly to cope with the road conditions of various complexity.
The present invention is achieved by the following technical solutions:
A kind of restructural wheel, including braced frame, the braced frame are distributed along the circumference with three groups of reconfiguration units, and three groups
The periphery of reconfiguration unit is coated with a crawler belt；
Every group of reconfiguration unit includes the first driving mechanism, link block, line shaft, power gear, two groups of deformable supports portions, institute
State the first driving mechanism installation on the support frame, the output shaft of first driving mechanism extend radially outward and with it is described
Link block is fixedly connected, and the line shaft is rotatably installed on link block, and the power gear is fixed on line shaft, described dynamic
It is meshed on the inside of powershift gear and crawler belt, two groups of deformable supports parts are listed in line shaft two sides, deformable supports portion one end end
It is rotatablely connected with link block, is rotatably connected to a pull rod, the other end of the pull rod and support in the middle part of the deformable supports portion
Frame member connection；It is flexible that its output shaft is driven by the first driving mechanism, so that link block is driven to move radially, link block
Movement, on the one hand line shaft and power gear is driven to move radially, crawler belt is ejected or bounced back by power gear；It is another
Aspect drives two groups of deformable supports portions to withdraw or open, to be supported to the crawler belt of deformation；
When the output shaft of the first driving mechanism of three groups of reconfiguration units stretches out, crawler belt is ejected by three power gears, together
When every group of reconfiguration unit two groups of deformable supports portions withdraw, crawler belt is in regular triangle shape at this time, and wheel is in crawler type work
Operation mode；When the output shaft of the first driving mechanism of three groups of reconfiguration units retracts, three power gear retractions, while every group of weight
Two groups of deformable supports portions of structure unit are opened, and crawler belt is rounded at this time, and wheel is in wheeled work mode, pass through braced frame
External drive shaft realizes the operation of wheel；
The second driving machine for driving the line shaft of three groups of reconfiguration units to rotate synchronously is additionally provided in the braced frame
Structure drives three line shafts to rotate by the second driving mechanism, to drive three power gears rotations, and then drives in shoe
Crawler belt operation under belt operating mode.
Further, second driving mechanism includes driving gear, the driving source of driving driving gear rotation, Yi Jiyan
Power, is passed to three groups of reconstruct by three groups of transmission mechanisms by three groups of circumferentially uniformly distributed transmission mechanisms of driving gear correspondingly
The line shaft of unit；
Every group of transmission mechanism includes at least one gear unit, and each gear unit includes passing through the synchronous belt successively company of transmission
The first to the 5th belt wheel connect, first pulley is coaxially connected by the first transmission shaft and the first driven gear, and the second belt wheel passes through
Second driving shaft and the second driven gear are coaxially connected, and first driven gear and the second driven gear are distributed in driving gear
It periphery and being meshed respectively with driving gear, third belt wheel is located on the outside of the second belt wheel, and the 5th belt wheel is located at first pulley outside,
4th belt wheel is fixed on line shaft, and contact roller is equipped in the first to the 5th belt wheel, between adjacent belt wheel by synchronous belt from outer
It inwardly compresses, contact roller between the second belt wheel and third belt wheel and between first pulley and the 5th belt wheel
Contact roller is movable contact roller, remaining contact roller is the wheel that is fixed and clamped, and the activity contact roller is mounted on an automatic impaction dress
It sets, the automatic compacting device includes mobile bar, guide rod, gag lever post, pressure spring, and the activity contact roller turning set is mounted in shifting
In lever, the mobile boom end is stretched in the sliding slot opened in braced frame and can be slidably reciprocated in sliding slot, the movement
Bar middle section empty set on guide rod perpendicular with mobile bar, the guide rod fixed installation on the support frame and with
Sliding slot is parallel, and described guide rod one end is equipped with gag lever post, in the portion between gag lever post and mobile bar on the guide rod
Position is set with pressure spring, mobile bar is pressed to synchronous belt automatically by pressure spring, so that the movable pressing-wheel in mobile bar is pressed always
Tight synchronous belt.
Further, the braced frame includes two end caps, a fixed pedestal, and the fixed pedestal is cyclic structure
And in being coated on the first driven gear of three groups of transmission mechanisms and the second driven gear, two end caps are oppositely arranged and respectively
The both ends of fixed pedestal are fixed on, the fixed pedestal periphery is set there are three mounting plane, is respectively used to three groups of reconstruct lists of installation
First driving mechanism of member is also provided with the perforation being pierced by for the synchronous belt of three groups of transmission mechanisms on the fixed pedestal.
Further, the wheel that is fixed and clamped is sleeved in fixed link, the fixed link, the first transmission shaft, the second transmission
Axis both ends are rotatablely connected with two end caps insides respectively；The both ends of the mobile bar are respectively protruding into the cunning opened to two end caps insides
In slot.
Further, the driving source is the motor being mounted on end cap, and first driving mechanism is to be mounted on fixation
Oil cylinder on pedestal.
Further, in reconfiguration unit described in every group, deformable supports portion described in every group includes two deformations being oppositely arranged
Page is supported, is linked together between two deformable supports pages by multiple support rods, multiple support rods are close to two deformable supports pages
Outside spacers setting be arranged into a circular arc line, the support rod both ends are rotatablely connected with two deformable supports pages respectively, institute
State support rod both ends and be respectively installed with support limit ring, the support limit ring convex for two deformable supports pages lateral surface,
The inside middle section of the crawler belt is equipped with the internal tooth that a circle is meshed with power gear, and the internal tooth of the crawler belt is located at two support limits
It in gap between the ring of position, is limited by internal tooth both ends of two support limit rings to crawler belt, and is limited by each support
Position ring is supported crawler belt medial surface.
Further, in deformable supports portion described in every group, the both ends of the pull rod are respectively equipped with the company perpendicular with pull rod
Extension bar, one of connecting rod both ends are rotatablely connected with two deformable supports pages respectively, another connecting rod both ends is respectively with two
A end cap rotation connection.
Further, in reconfiguration unit described in every group, the link block is equipped with a connecting shaft, sets in the connecting shaft
There are two first lugs for rotating support line shaft, the end in two groups of deformable supports portions passes through shaft respectively and link block turns
Dynamic connection, two shafts are arranged on the two sides of line shaft, and are parallel to each other between two shafts, line shaft, connecting shaft, the company
Two the second lugs for two shafts of rotating support, each V-shaped structure of second lug are additionally provided in spindle.
Further, the connecting shaft both ends are equipped with sliding block, are fixed with mutually to slide with sliding block in the braced frame and match
The guide rail of conjunction, the guide rail radially extend, and are oriented to by guide rail to the movement of link block.
Further, transmission mechanism described in every group includes two gear units, two synchronous belt edges of two gear units
Axially spaced-apart distribution.
The present invention has the advantage that compared with prior art
1, a kind of restructural wheel provided by the invention comprising the three group reconfiguration units circumferentially uniformly distributed along braced frame,
And it is coated on the crawler belt of three groups of reconfiguration unit peripheries, every group of reconfiguration unit drives power gear to stretch by the first driving mechanism
Contracting, while two groups of deformable supports portions being driven to withdraw or open, to realize the deformation of crawler belt, enable crawler belt triangular shaped
It is switched fast between circular shape, so that crawler belt being switched fast under crawler type and wheeled both of which is realized, so that should
Wheel can use either on hard surfacing or on soft road surface, have when wheeled mode it is mobile rapidly, smoothly
Advantage, when crawler type mode, can have good performance when needing obstacle detouring on soft terrain or on uneven road surface,
The case where wheel-slip can be effectively reduced, substantially increases vehicle so that the wheel can flexibly cope with the road conditions of various complexity
The use scope of wheel.And it can directly be converted during wheeled and tracked work pattern switching without parking, energy
The continuity for enough guaranteeing robot traveling, so that robot running efficiency is higher.In addition, the wheel is in wheeled and caterpillar drive
Moving axis is different, so that robot is adapted to the demand of various speed, can achieve a higher movement velocity.
2, a kind of restructural wheel provided by the invention, is provided with multiple contact rollers in every group of transmission mechanism, wherein
Two contact rollers are movable contact roller, and each activity contact roller is mounted in an automatic compacting device, and automatic compacting device is logical
The effect of pressure spring is crossed, can guarantee that movable contact roller is close to compress synchronous belt always, even synchronous belt is in the first driving mechanism
Drive under move, movable contact roller can also be moved together with the movement of synchronous belt, thus realize to the adaptive of synchronous belt
It compresses, and then the normal table operation that ensure that power gear and the normal table operation under tracked work mode.
3, a kind of restructural wheel provided by the invention, braced frame include two end caps and a fixed pedestal,
His component is integrated to be mounted on two end caps and a fixed pedestal, and total compact layout is not take up space.
Detailed description of the invention
Fig. 1 is the perspective view that the present invention is in wheeled state.
Fig. 2 is the main view that the present invention is in wheeled state.
Fig. 3 is the perspective view that the present invention is in crawler type state.
Fig. 4 is the main view that the present invention is in crawler type state.
Fig. 5 is that the present invention takes away the main view after an end cap.
Fig. 6 is the main view of single group reconfiguration unit of the invention.
Fig. 7 is the perspective view of single group reconfiguration unit of the invention.
Fig. 8 is the perspective view of link block of the invention.
Fig. 9 is the perspective view of the second driving mechanism of the invention.
Figure 10 is the plan view of single group transmission mechanism of the invention.
Figure 11 is the perspective view of single group transmission mechanism of the invention.
Figure 12 is fixed pedestal perspective view of the invention.
Figure 13 is the perspective view that driving gear of the invention is meshed with multiple driven gears.
Figure 14 is the main view that crawler belt of the invention is meshed with three power gears.
Figure 15 is the perspective view that crawler belt of the invention is meshed with three power gears.
Figure label: 1 end cap, 2 fixed pedestals, 3 connecting plates, 4 crawler belts, 5 oil cylinders, 6 link blocks, 7 line shafts, 8 power gears,
9 deformable supports pages, 10 pull rods, 11 connecting rods, 12 support rods, 13 support limit rings, 14 internal tooths, 15 connecting shafts, 16 first lugs,
17 shafts, 18 second lugs, 19 sliding blocks, 20 guide rails, 21 motors, 22 driving gears, 23 synchronous belts, 24 first pulleys, 25 second
Belt wheel, 26 third belt wheels, 27 the 4th belt wheels, 28 the 5th belt wheels, 29 first transmission shafts, 30 first driven gears, 31 second transmissions
Axis, 32 second driven gears, 33 movable contact rollers, 34 are fixed and clamped wheel, and 35 fixed links, 36 guide rods, 37 gag lever posts, 38 press
Spring, 39 sliding slots, 40 mobile bars, 41 mounting planes, 42 perforation.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Referring to Fig. 1 to Figure 15, present embodiment discloses a kind of restructural wheels, including braced frame, braced frame to include
Two end caps, 1, fixed pedestal 2, fixed pedestal 2 are cyclic structure, and two end caps 1 are oppositely arranged and are separately fixed at fixation
The both ends of pedestal 2, end cap 1 is triangular in shape, passes through connecting plate 3 respectively at three angles of two end caps 1 and links together.Braced frame
Three groups of reconfiguration units are distributed along the circumference with, the periphery of three groups of reconfiguration units is coated with a crawler belt 4.Wherein, crawler belt 4 is a kind of tool
Flexible rubber belt track 4 can satisfy the Deformation Demands of 4 formula of wheeled and crawler belt of restructural wheel.
Every group of reconfiguration unit includes the first driving mechanism, link block 6,8, two groups of line shaft 7, power gear deformable supports
The oil cylinder 5 being mounted on fixed pedestal 2 can be used in portion, the first driving mechanism.The output shaft of oil cylinder 5 extend radially outward and with
Link block 6 is fixedly connected, and line shaft 7 is rotatably installed on link block 6, and power gear 8 is fixed on line shaft 7, power gear 8
It is meshed on the inside of crawler belt 4, two groups of deformable supports parts are listed in 7 two sides of line shaft, deformable supports portion one end end and link block 6
Rotation connection, deformable supports portion middle part are rotatably connected to a pull rod 10, and the both ends of pull rod 10 are respectively equipped with hangs down with 10 phase of pull rod
Straight connecting rod 11, one of 11 both ends of connecting rod are rotatablely connected with two deformable supports pages 9 respectively, another connecting rod 11
Both ends are rotatablely connected with two end caps 1 respectively.Drive its output shaft flexible by oil cylinder 5, so that link block 6 be driven radially to move
Dynamic, on the one hand the movement of link block 6 drives line shaft 7 and power gear 8 to move radially, by power gear 8 by crawler belt 4
Ejection or retraction；On the other hand two groups of deformable supports portions are driven to withdraw or open, to be supported to the crawler belt 4 of deformation；Pass through
The deformation of oil cylinder 5 driven to realize wheel under wheeled and 4 formula both of which of crawler belt.
In every group of reconfiguration unit, every group of deformable supports portion includes two deformable supports pages 9 being oppositely arranged, two deformation branch
It is linked together between support page 9 by multiple support rods 12, multiple support rods 12 are set close to the outside spacers of two deformable supports pages 9
It sets and is arranged into a circular arc line, 12 both ends of support rod are rotatablely connected with two deformable supports pages 9 respectively, 12 both ends of support rod difference
It is set with support limit ring 13, support limit ring 13 protrudes from the lateral surface of two deformable supports pages 9, the inside middle section of crawler belt 4
Equipped with the internal tooth 14 that a circle is meshed with power gear 8, the internal tooth 14 of crawler belt 4 is located at the gap between two support limit rings 13
It is interior, it is limited by internal tooth 14 both ends of two support limit rings 13 to crawler belt 4, to prevent 4 sideslip of crawler belt from even falling off, and
4 medial surface of crawler belt is supported by each support limit ring 13.
In every group of reconfiguration unit, link block 6 is equipped with a connecting shaft 15, and connecting shaft 15 is equipped with dynamic for rotating support
Two first lugs 16 of power axis 7, the end in two groups of deformable supports portions passes through shaft 17 respectively and link block 6 is rotatablely connected, and two
A shaft 17 is arranged on the two sides of line shaft 7, and is parallel to each other between two shafts 17, line shaft 7, connecting shaft 15, connecting shaft
Two the second lugs 18 for two shafts 17 of rotating support, the V-shaped structure of each second lug 18 are additionally provided on 15.Connection
15 both ends of axis are equipped with sliding block 19, are fixed with the guide rail 20 being slidingly fitted with sliding block 19 on end cap 1, guide rail 20 radially prolongs
It stretches, the movement of link block 6 is oriented to by guide rail 20.
The second driving mechanism for driving the line shaft 7 of three groups of reconfiguration units to rotate synchronously is additionally provided in braced frame,
Three rotations of line shafts 7 are driven by the second driving mechanism, so that three power gears 8 be driven to rotate, and then are driven in shoe
It is run with the crawler belt 4 under 4 formula operating modes.
Specifically, the second driving mechanism includes driving gear 22, drives the driving source of the rotation of driving gear 22 and along master
Three groups of circumferentially uniformly distributed transmission mechanisms of moving gear 22, driving source are the motor 21 being mounted on end cap 1, pass through three groups of transmission mechanisms
Power is passed to the line shaft 7 of three groups of reconfiguration units correspondingly.
Every group of transmission mechanism includes at least one gear unit, is two gear units in the present embodiment, and two transmissions are single
The axially spaced distribution of two synchronous belts 23 of member.Each gear unit includes first to be successively sequentially connected by synchronous belt 23
To the 5th belt wheel 28, first pulley 24 is coaxially connected by the first transmission shaft 29 and the first driven gear 30, and the second belt wheel 25 is logical
It crosses second driving shaft 31 and the second driven gear 32 is coaxially connected, the first driven gear 30 and the second driven gear 32 are distributed in master
It 22 periphery of moving gear and is meshed respectively with driving gear 22, third belt wheel 26 is located at 25 outside of the second belt wheel, the 5th belt wheel 28
Positioned at the outside of first pulley 24, the 4th belt wheel 27 is fixed on line shaft 7, in the first to the 5th belt wheel 28, adjacent belt wheel it
Between be equipped with contact roller and compress synchronous belt 23 from outside to inside, contact roller between the second belt wheel 25 and third belt wheel 26, with
And the contact roller between first pulley 24 and the 5th belt wheel 28 is movable contact roller 33, remaining contact roller is the wheel that is fixed and clamped
34, wherein the wheel 34 that is fixed and clamped between first pulley 24 and the second belt wheel 25 is set, synchronous belt 23 and first band can be increased
Cornerite between wheel 24 and the second belt wheel 25, effectively prevent the too small skidding of cornerite.Movable contact roller 33 is mounted on one from dynamic pressure
On tight device, automatic compacting device includes mobile bar 40, guide rod 36, gag lever post 37, pressure spring 38, movable 33 turning set of contact roller
In mobile bar 40,40 end of mobile bar stretches in the sliding slot 39 opened on end cap 1 and can slidably reciprocate in sliding slot 39, moves
For 40 middle section empty set of lever on a guide rod 36 perpendicular with mobile bar 40, guide rod 36 is parallel with sliding slot 39, leads
It is equipped with gag lever post 37 to 36 one end of bar, gag lever post 37 is fixed on end cap 1, is being located at gag lever post 37 and mobile bar on guide rod 36
Position between 40 is set with pressure spring 38, mobile bar 40 is pressed to synchronous belt 23 automatically by pressure spring 38, so that mobile bar
Movable pressing-wheel on 40 compresses synchronous belt 23 always.Wherein, the gag lever post 37 of two adjacent groups reconfiguration unit can share a limit
Bar 37, to save space.
The wheel 34 that is fixed and clamped is sleeved in fixed link 35, fixed link 35, the first transmission shaft 29,31 both ends of second driving shaft point
It is not rotatablely connected on the inside of two end caps 1；The both ends of mobile bar 40 are respectively protruding into the sliding slot 39 opened on the inside of two end caps 1.
Specifically, fixed pedestal 2 is cyclic structure and the first driven gear 30 and second of three groups of transmission mechanisms is driven
In gear 32 is coated on, 2 periphery of fixed pedestal sets the oil that three groups of reconfiguration units of installation are respectively used to there are three mounting plane 41
Cylinder 5 is also provided with the perforation 42 being pierced by for the synchronous belt 23 of three groups of transmission mechanisms on fixed pedestal 2.
The working principle of second driving mechanism are as follows:
Driving gear 22 is driven to rotate by motor 21, driving gear 22 drives each driven gear rotation on its periphery, into
And impart power to three groups of transmission mechanisms.In every group of transmission mechanism, by the first driven gear 30 and the second driven gear 32
The first transmission shaft 29 and second driving shaft 31 is driven to rotate, to drive first pulley 24 and the second belt wheel 25 to rotate, and then band
Dynamic synchronous belt 23 is run, and drives the 4th belt wheel 27 to rotate by synchronous belt 23, drives line shaft 7 to rotate by the 4th belt wheel 27, in turn
The power gear 8 on line shaft 7 is driven to rotate.Crawler belt 4 is driven to run by three power gears 8 again.
When not needing the movement of crawler belt 4, the output shaft of the oil cylinder 5 of three groups of reconfiguration units is retracted, and three power gears 8 are returned
Contracting, while two groups of deformable supports portions of every group of reconfiguration unit are opened, crawler belt 4 is rounded at this time, and wheel is in wheeled work mould
Formula controls motor 21 at this time and does not rotate, so that synchronous belt 23 is motionless, then three power gears 8 do not rotate, crawler belt 4 and end
There is no relative motion between lid 1, i.e. crawler belt 4 is linked together with end cap 1, realizes vehicle by the drive shaft of the outer welding robot of end cap 1
The operation of wheel.
When needing crawler belt 4 to move, wheel is not connected with the drive shaft of robot.The oil cylinder 5 of three groups of reconfiguration units it is defeated
Shaft stretches out, and crawler belt 4 is ejected by three power gears 8, while two groups of deformable supports portions of every group of reconfiguration unit are withdrawn, at this time
Crawler belt 4 is in regular triangle shape, and wheel is in 4 formula operating mode of crawler belt, and motor 21 starts at this time, is driven by the second driving mechanism
Dynamic crawler belt 4 is run, and has relative motion under such operating mode between crawler belt 4 and end cap 1.
Wheel provided in this embodiment can be switched fast, so that the vehicle under 4 formula of crawler belt and wheeled both of which
Wheel can use either on hard surfacing or on soft road surface, rapid with movement when wheeled mode, stable excellent
Point, when 4 formula mode of crawler belt, can have good performance, energy when needing obstacle detouring on soft terrain or on uneven road surface
The case where effectively reducing wheel-slip substantially increases wheel so that the wheel can flexibly cope with the road conditions of various complexity
Use scope.And can directly be converted during the switching of wheeled and 4 formula operating mode of crawler belt without parking, it can
The continuity for guaranteeing robot traveling, so that robot running efficiency is higher.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of restructural wheel, including braced frame, it is characterised in that: the braced frame is distributed along the circumference with three groups of reconstruct
Unit, the periphery of three groups of reconfiguration units are coated with a crawler belt (4)；
Every group of reconfiguration unit includes the first driving mechanism, link block (6), line shaft (7), power gear (8), two groups of deformable supports
Portion, on the support frame, the output shaft of first driving mechanism extends radially outward simultaneously for the first driving mechanism installation
It is fixedly connected with the link block (6), the line shaft (7) is rotatably installed on link block (6), and the power gear (8) is solid
It is scheduled on line shaft (7), is meshed on the inside of the power gear (8) and crawler belt (4), two groups of deformable supports parts are listed in line shaft
(7) two sides, deformable supports portion one end end and link block (6) are rotatablely connected, rotation connection in the middle part of the deformable supports portion
There is a pull rod (10), the other end and braced frame of the pull rod (10) are rotatablely connected；It is driven by the first driving mechanism
Output shaft is flexible, so that link block (6) be driven to move radially, the movement of link block (6), on the one hand drive line shaft (7) and
Power gear (8) moves radially, and crawler belt (4) are ejected or bounced back by power gear (8)；On the other hand two groups of deformations are driven
Support portion withdraws or opens, and is supported with the crawler belt (4) to deformation；
When the output shaft of the first driving mechanism of three groups of reconfiguration units stretches out, crawler belt (4) is ejected by three power gears (8),
Two groups of deformable supports portions of every group of reconfiguration unit are withdrawn simultaneously, and crawler belt (4) is in regular triangle shape at this time, and wheel is in crawler belt
(4) formula operating mode；When the output shaft of the first driving mechanism of three groups of reconfiguration units retracts, three power gear (8) retractions,
Two groups of deformable supports portions of every group of reconfiguration unit are opened simultaneously, and crawler belt (4) is rounded at this time, and wheel is in wheeled work mould
Formula realizes the operation of wheel by the external drive shaft of braced frame；
The second driving machine that the line shaft (7) for driving three groups of reconfiguration units rotates synchronously is additionally provided in the braced frame
Structure drives three line shaft (7) rotations by the second driving mechanism, to drive three power gear (8) rotations, and then drives
Crawler belt (4) operation under crawler belt (4) formula operating mode.
2. a kind of restructural wheel as described in claim 1, it is characterised in that: second driving mechanism includes driving gear
(22), the driving source of driving driving gear (22) rotation and the three group transmission mechanisms circumferentially uniformly distributed along driving gear (22), lead to
Cross the line shaft (7) that power is passed to three groups of reconfiguration units by three groups of transmission mechanisms correspondingly；
Every group of transmission mechanism includes at least one gear unit, and each gear unit includes that successively transmission connects by synchronous belt (23)
The first to the 5th belt wheel (28) connect, first pulley (24) by the first transmission shaft (29) with the first driven gear (30) is coaxial connects
It connects, the second belt wheel (25) is coaxially connected by second driving shaft (31) and the second driven gear (32), first driven gear
(30) it is distributed in driving gear (22) periphery with the second driven gear (32) and is meshed respectively with driving gear (22), third band
Wheel (26) is located on the outside of the second belt wheel (25), and the 5th belt wheel (28) is located on the outside of first pulley (24), and the 4th belt wheel (27) is fixed
On line shaft (7), contact roller is equipped in the first to the 5th belt wheel (28), between adjacent belt wheel by synchronous belt (23) from extroversion
Interior compression, contact roller between the second belt wheel (25) and third belt wheel (26) and is located at first pulley (24) and the 5th
Contact roller between belt wheel (28) is movable contact roller (33), remaining contact roller is to be fixed and clamped wheel (34), and the activity compresses
Wheel (33) is mounted in an automatic compacting device, and the automatic compacting device includes mobile bar (40), guide rod (36), limit
Bar (37), pressure spring (38), activity contact roller (33) turning set on mobile bar (40), stretch by mobile bar (40) end
Enter to that can slidably reciprocate in the sliding slot (39) opened in braced frame and in sliding slot (39), mobile bar (40) the middle section empty set fills
On a guide rod (36) perpendicular with mobile bar (40), the guide rod (36) be fixedly mounted on the support frame and with
Sliding slot (39) is parallel, and described guide rod (36) one end is equipped with gag lever post (37), is being located at gag lever post on the guide rod (36)
(37) position between mobile bar (40) is set with pressure spring (38), and mobile bar (40) is pressed to synchronization automatically by pressure spring (38)
Band (23), so that the movable pressing-wheel in mobile bar (40) compresses synchronous belt (23) always.
3. a kind of restructural wheel as claimed in claim 2, it is characterised in that: the braced frame include two end caps (1),
One fixed pedestal (2), the fixed pedestal (2) be cyclic structure and by the first driven gear (30) of three groups of transmission mechanisms and
In second driven gear (32) is coated on, two end caps (1) are oppositely arranged and are separately fixed at the both ends of fixed pedestal (2),
Fixed pedestal (2) periphery sets the first driving machine that three groups of reconfiguration units of installation are respectively used to there are three mounting plane (41)
Structure is also provided with the perforation (42) being pierced by for the synchronous belt (23) of three groups of transmission mechanisms on the fixed pedestal (2).
4. a kind of restructural wheel as claimed in claim 3, it is characterised in that: the wheel (34) that is fixed and clamped is sleeved on fixation
On bar (35), the fixed link (35), the first transmission shaft (29), second driving shaft (31) both ends are respectively and in two end caps (1)
Side rotation connection；The both ends of the mobile bar (40) are respectively protruding into the sliding slot (39) opened to two end caps (1) insides.
5. a kind of restructural wheel as claimed in claim 3, it is characterised in that: the driving source is to be mounted on end cap (1)
Motor (21), first driving mechanism is the oil cylinder (5) being mounted on fixed pedestal (2).
6. a kind of restructural wheel as claimed in claim 3, it is characterised in that: in reconfiguration unit described in every group, described in every group
Deformable supports portion includes two deformable supports pages (9) being oppositely arranged, and passes through multiple support rods between two deformable supports pages (9)
(12) it is linked together, multiple support rods (12) are arranged into a circular arc close to the outside spacers setting of two deformable supports pages (9)
Line, support rod (12) both ends are rotatablely connected with two deformable supports pages (9) respectively, and support rod (12) both ends cover respectively
Equipped with support limit ring (13), the support limit ring (13) protrudes from the lateral surface of two deformable supports pages (9), the crawler belt
(4) inside middle section is equipped with the internal tooth (14) that a circle is meshed with power gear (8), and the internal tooth (14) of the crawler belt (4) is located at
In gap between two support limit rings (13), by two support limit rings (13) to internal tooth (14) both ends of crawler belt (4)
It is limited, and crawler belt (4) medial surface is supported by each support limit ring (13).
7. a kind of restructural wheel as claimed in claim 6, it is characterised in that: in deformable supports portion described in every group, the drawing
The both ends of bar (10) be respectively equipped with pull rod (10) perpendicular connecting rod (11), one of connecting rod (11) both ends respectively with
Two deformable supports page (9) rotation connections, another connecting rod (11) both ends is rotatablely connected with two end caps (1) respectively.
8. a kind of restructural wheel as described in claim 1, it is characterised in that: in reconfiguration unit described in every group, the connection
Block (6) is equipped with a connecting shaft (15), and the connecting shaft (15) is equipped with two first for rotating support line shaft (7)
Lug (16), the end in two groups of deformable supports portions pass through shaft (17) and link block (6) respectively and are rotatablely connected, two shafts (17)
It is arranged on the two sides of line shaft (7), and two shafts (17), line shaft (7), connecting shaft are parallel to each other between (15), the company
Two the second lugs (18) for two shafts (17) of rotating support are additionally provided in spindle (15), each second lug (18) is in
V-shaped structure.
9. a kind of restructural wheel as claimed in claim 8, it is characterised in that: connecting shaft (15) both ends are equipped with sliding block
(19), the guide rail (20) being slidingly fitted with sliding block (19) is fixed in the braced frame, the guide rail (20) is radially
Extend, the movement of link block (6) is oriented to by guide rail (20).
10. a kind of restructural wheel as claimed in claim 2, it is characterised in that: transmission mechanism described in every group includes two biographies
Moving cell, two axially spaced distributions of synchronous belt (23) of two gear units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882927.5A CN110450868A (en) | 2019-09-18 | 2019-09-18 | A kind of restructural wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882927.5A CN110450868A (en) | 2019-09-18 | 2019-09-18 | A kind of restructural wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110450868A true CN110450868A (en) | 2019-11-15 |
Family
ID=68492406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910882927.5A Pending CN110450868A (en) | 2019-09-18 | 2019-09-18 | A kind of restructural wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450868A (en) |
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| CN111252151A (en) * | 2020-03-27 | 2020-06-09 | 清华大学 | Wheel-crawler belt hybrid walking mechanism |
| CN111761990A (en) * | 2020-07-20 | 2020-10-13 | 河南科技大学 | Variant wheel type walking device capable of realizing wheel-track switching |
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
| CN112140803A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Deformable tire |
| CN112848792A (en) * | 2021-02-01 | 2021-05-28 | 吉林大学 | Wheel-track combined type reconfigurable wheel |
| CN113276971A (en) * | 2021-06-09 | 2021-08-20 | 中广核研究院有限公司 | Deformation wheel and mobile robot |
| CN113320609A (en) * | 2021-06-09 | 2021-08-31 | 中广核研究院有限公司 | Deformation wheel and mobile robot |
| CN113371085A (en) * | 2021-06-09 | 2021-09-10 | 中广核研究院有限公司 | Mobile chassis and mobile vehicle |
| CN113460180A (en) * | 2021-08-20 | 2021-10-01 | 常州工业职业技术学院 | Wheel-track reconfigurable wheel based on rocker-slider mechanism |
| CN114347716A (en) * | 2022-01-29 | 2022-04-15 | 北京工业大学 | Deformation wheel |
| CN114347717A (en) * | 2022-01-29 | 2022-04-15 | 北京工业大学 | Conversion device of deformation wheel and deformation wheel |
| CN114919329A (en) * | 2022-06-01 | 2022-08-19 | 江苏里下河地区农业科学研究所 | Wheel assembly suitable for agricultural machinery uses |
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| CN111252151A (en) * | 2020-03-27 | 2020-06-09 | 清华大学 | Wheel-crawler belt hybrid walking mechanism |
| CN111761990A (en) * | 2020-07-20 | 2020-10-13 | 河南科技大学 | Variant wheel type walking device capable of realizing wheel-track switching |
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
| CN112140803A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Deformable tire |
| CN112848792A (en) * | 2021-02-01 | 2021-05-28 | 吉林大学 | Wheel-track combined type reconfigurable wheel |
| CN113371085B (en) * | 2021-06-09 | 2022-07-15 | 中广核研究院有限公司 | Mobile chassis and mobile vehicle |
| CN113276971A (en) * | 2021-06-09 | 2021-08-20 | 中广核研究院有限公司 | Deformation wheel and mobile robot |
| CN113320609A (en) * | 2021-06-09 | 2021-08-31 | 中广核研究院有限公司 | Deformation wheel and mobile robot |
| CN113371085A (en) * | 2021-06-09 | 2021-09-10 | 中广核研究院有限公司 | Mobile chassis and mobile vehicle |
| CN113276971B (en) * | 2021-06-09 | 2023-02-17 | 中广核研究院有限公司 | Deformation wheel and mobile robot |
| CN113460180A (en) * | 2021-08-20 | 2021-10-01 | 常州工业职业技术学院 | Wheel-track reconfigurable wheel based on rocker-slider mechanism |
| CN113460180B (en) * | 2021-08-20 | 2023-01-31 | 常州工业职业技术学院 | Wheel-track reconfigurable wheel based on rocker-slider mechanism |
| CN114347717A (en) * | 2022-01-29 | 2022-04-15 | 北京工业大学 | Conversion device of deformation wheel and deformation wheel |
| CN114347716A (en) * | 2022-01-29 | 2022-04-15 | 北京工业大学 | Deformation wheel |
| CN114919329A (en) * | 2022-06-01 | 2022-08-19 | 江苏里下河地区农业科学研究所 | Wheel assembly suitable for agricultural machinery uses |
| CN114919329B (en) * | 2022-06-01 | 2023-05-09 | 江苏里下河地区农业科学研究所 | Wheel assembly suitable for agricultural machinery uses |
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