CN111252151A - Wheel-crawler belt hybrid walking mechanism - Google Patents
Wheel-crawler belt hybrid walking mechanism Download PDFInfo
- Publication number
- CN111252151A CN111252151A CN202010231526.6A CN202010231526A CN111252151A CN 111252151 A CN111252151 A CN 111252151A CN 202010231526 A CN202010231526 A CN 202010231526A CN 111252151 A CN111252151 A CN 111252151A
- Authority
- CN
- China
- Prior art keywords
- wheel
- brake system
- transmission
- outer side
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
-
- 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
-
- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention provides a wheel-crawler belt hybrid walking mechanism which can be switched between a circular shape and a triangular shape and comprises a mechanism main body and an outer crawler belt; the mechanism main body comprises a main frame positioned in the center, a wheel edge system positioned at the periphery of the main frame and supported by the main frame, a clutch system positioned at the inner side and the outer side of the main frame and supported by the main frame, and a transmission system positioned at the outermost side of the main frame; the main frame comprises a transmission shaft, a support frame, a multi-channel oil-electric slip ring, a mounting frame and three deformed push rods, wherein the support frame, the multi-channel oil-electric slip ring and the mounting frame are sleeved on the transmission shaft; the wheel limit system includes six pairs of wheel limit pieces, three to the limiting plate and be used for connecting two adjacent pairs of wheel limit pieces and three first coupling assembling and three second coupling assembling that set up in turn, under the drive of deformation push rod, each coupling assembling can be respectively in remove repeatedly in the limiting plate. The walking mechanism can be simultaneously deformed in the movement process, improves the operation efficiency in a complex and changeable terrain application scene, and has simple structure and high reliability.
Description
Technical Field
The invention relates to a traveling mechanism, in particular to a wheel-crawler belt mixed traveling mechanism.
Background
Compared with common vehicles, military special vehicles need to face more complex road conditions and have the requirements of higher trafficability and mobility for traveling mechanisms. At present, special vehicles such as tanks and partial armored vehicles use crawler wheels as traveling mechanisms, and missile vehicles and transportation vehicles use common wheels as the traveling mechanisms. The crawler wheel traveling mechanism has good passing performance under severe road conditions and harsh terrains, the wheels have good maneuvering performance and high speed under mild road conditions, and the crawler wheel traveling mechanism and the wheels have the problem of low efficiency of the traveling mechanism under the conditions of abnormal use, so that the effective maneuvering of special vehicles is retarded.
Current crawler travel mechanism is mostly triangle-shaped or rectangular shape, and it does not all possess deformable characteristics, can not travel on ordinary flat road surface fast. The conventional common round wheel has poor trafficability in poor road conditions, and is not suitable for special vehicles. Meanwhile, most of the current variable wheels are driven wheels, for example, the shape of the current variable track wheel (with application number of CN201410749437.5) is changed hydraulically, but the wheel has no driving capability, is poor in effect when passing through a bad terrain, and still needs other wheels to provide power. If the vehicle runs into a large-area bad terrain, the driving wheel cannot advance, the driven wheel cannot obtain power, and the problem which cannot be solved in practical application exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wheel-track hybrid travelling mechanism which can be rapidly switched between a circular shape and a triangular shape, can travel at high speed under the two conditions of a circular wheel and a triangular track and is suitable for being used in different occasions.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a wheel-crawler belt hybrid walking mechanism which can be switched between a circular shape and a triangular shape and is characterized by comprising a mechanism main body and an outer crawler belt; the mechanism main body comprises a main frame positioned in the center, a wheel edge system positioned on the periphery of the main frame and supported by the main frame, clutch systems positioned on the inner side and the outer side of the main frame and supported by the main frame, and a transmission system positioned on the outermost side of the main frame;
the main frame comprises a transmission shaft, a support frame, a multi-channel oil-electric slip ring, a mounting frame and three deformation push rods, wherein the support frame, the multi-channel oil-electric slip ring and the mounting frame are sleeved on the transmission shaft; the inner side of the support frame is connected with any one of a suspension, a steering knuckle, a vehicle beam or a bearing type vehicle body of a vehicle, and the support frame and the mounting frame are sleeved on the transmission shaft through bearings respectively; the telescopic end of each deformation push rod is outward along the radial direction of the transmission shaft, and the outer side of the multi-channel oil-electric slip ring is fastened with the inner side of the mounting frame, so that the multi-channel oil-electric slip ring, the mounting frame and the deformation push rods are kept stable integrally and rotate relative to the support frame;
the wheel edge system comprises six pairs of wheel edge pieces, three pairs of limiting plates, three first connecting assemblies and three second connecting assemblies, wherein the three first connecting assemblies and the three second connecting assemblies are used for connecting two adjacent pairs of wheel edge pieces and are alternately arranged; two ends of each pair of wheel edge pieces are respectively connected in sequence through a corresponding first connecting assembly and a corresponding second connecting assembly to form a wheel edge; each second connecting assembly is positioned between two limiting plates in a corresponding pair of limiting plates, lateral limiting holes matched with the corresponding second connecting assemblies are formed in the two limiting plates, and limiting grooves matched with the two adjacent first connecting assemblies are formed in the two limiting plates; each first connecting assembly is also connected with the outer side crawler and the telescopic end of the corresponding deformed push rod respectively; the first connecting assembly and the second connecting assembly can respectively and repeatedly move in the limiting groove and the lateral limiting hole under the driving of the deformation push rod;
the clutch system comprises an inner brake system and an outer brake system; the inner side brake system is fixed at the outer side end of the support frame, and the outer side brake system is fixed at the inner side end of the mounting frame;
the transmission system comprises a central main gear and a plurality of transmission gears; the central main gear is driven by the transmission shaft; each transmission gear is respectively connected with the outer side end of the corresponding first connecting component in the wheel edge system.
Furthermore, the mounting frame comprises an outer end plate and an inner end plate which are positioned at two ends of the multi-channel oil-electric slip ring, and a plurality of first side plates and second side plates which are fixed between the inner end plate and the outer end plate and are alternately distributed, wherein the inner end plate and the outer end plate are respectively sleeved on the support frame through bearings; the outer side wall of the first side plate is provided with a corresponding deformation push rod along the radial direction, and the outer side wall of the second side plate is provided with a corresponding pair of limiting plates and a corresponding second connecting assembly along the radial direction; and the inner side walls of the first side plate and the second side plate are respectively fastened with the outer side wall of the multi-channel oil electric slip ring.
Furthermore, each first connecting assembly respectively comprises a wheel-side transmission gear sleeved on the wheel-side gear transmission shaft, the tooth part of the wheel-side transmission gear is meshed with the outer side crawler belt, two U-shaped supports are symmetrically arranged on the inner side and the outer side of the wheel-side transmission gear, the U-shaped support on the inner side is thicker than the U-shaped support on the outer side, and the telescopic end of the deformation push rod is conveniently inserted into the bottom of the U-shaped support on the inner side; each second connecting assembly respectively comprises a wheel edge supporting block and a spring which are connected, a limiting ring is arranged on the outer side of the spring, and the lower ends of the spring and the limiting ring are connected with a hole site reserved in the middle of the second side plate; the inner side and the outer side of each wheel-side transmission gear are respectively connected with the end parts of two adjacent wheel-side pieces through supporting rods; each limiting plate is integrally fan-shaped, two limiting grooves are symmetrically arranged in each limiting plate, each limiting groove is matched with the end part of the U-shaped support in each two adjacent first connecting assemblies, the middle part of each limiting plate is provided with the lateral limiting hole, and the lateral limiting hole is matched with the lateral limiting rod arranged on the inner side and the outer side of the wheel-edge supporting block.
Further, the wheel-crawler belt hybrid walking mechanism has two stable working states and a temporary stable working state;
the first stable working state is a crawler belt transmission mode, at the moment, the inner side brake system is locked, the outer side brake system is released, and the wheels are in a triangle shape;
the second stable working state is a wheel rolling mode, at the moment, the inner side brake system is released, the outer side brake system is locked, and the wheel is in a circular shape;
the temporary stable working state is to realize the conversion between the wheel rolling mode and the crawler belt transmission mode; when switching from the track drive mode to a wheel rolling mode: firstly, an inner side brake system is released to be converted into a transient stable working state, wheels are still in a triangular shape at the moment, and a main movement mode is still kept in caterpillar transmission; then, the deformation push rod descends to slowly deform the wheels into a circular shape, and the movement mode of the wheels is in a mixed mode of crawler transmission and wheel rolling; finally, slowly locking the outer side brake system to enable the relative movement of the whole crawler and the wheels to gradually disappear until the outer side brake system is completely locked, and converting to a second stable working state; when switching from the wheel rolling mode to the track drive mode: firstly, an outer side brake system is loosened, a temporary stable working state is achieved, at the moment, wheels are still in a circular shape, and a main movement mode is still kept in a wheel rolling mode; then, the deformation push rod rises to slowly deform the wheels into a triangle, and the movement mode of the wheels is in a mixed state of crawler transmission and wheel rolling; and finally, slowly locking the inner side brake system, so that the relative motion of the whole wheel, the vehicle body and the frame gradually disappears until the inner side brake system is completely locked, and converting to a first stable working state.
The invention has the following characteristics and beneficial effects:
the invention has the advantages that the weight is obviously reduced, the operation power consumption and the transportation cost are obviously reduced, and the overall complexity of the mechanism is correspondingly reduced, so that the internal space of the wheel is saved, a space basis is provided for more expanding functions, and the possibility of designing various models is provided for more wheel widths required by different purposes due to the narrower design width.
The invention realizes all control functions except driving, including deformation, braking and the like, only by double clutches and a group of synchronous deformation push rods, has simple, convenient and quick operation and high precision, and avoids the problems of difficult installation and low reliability of an excessively complex mechanism.
The invention successfully realizes the function of simultaneous deformation in the movement process, and does not have the limitation of stopping before deformation, thereby improving the efficiency in the application scene of complex and changeable terrain, simplifying the work of operators and improving the operation speed.
The invention only uses one main driving shaft to provide power, does not need a complex mechanism to change when switching the modes of wheels and crawler belts, and has simple and convenient operation and installation and high reliability.
Drawings
Fig. 1 is a schematic view showing the overall structure of a wheel-track hybrid running mechanism according to an embodiment of the present invention.
FIG. 2 is a schematic illustration of FIG. 1 with the remaining components of the drive train and track omitted.
Fig. 3 is a partial exploded view of fig. 2.
Fig. 4 is a structural blasting schematic diagram of the main frame in the embodiment of the invention.
Fig. 5 is a partial schematic view of a wheel rim system according to an embodiment of the present invention, wherein (a) and (b) are respectively a first connecting assembly and a second connecting assembly, and (c) and (d) are respectively limiting plates.
Fig. 6 is a schematic structural diagram of a clutch system according to an embodiment of the present invention, wherein (a) and (b) respectively show an outer brake system and an inner brake system.
FIG. 7 is a schematic structural diagram of a transmission system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
For a better understanding of the invention, an example of the use of the wheel-track hybrid vehicle according to the invention is explained in detail below.
Referring to fig. 1 to 3, a wheel-track hybrid running gear according to an embodiment of the present invention includes a gear body 100 and an outer track 200; the mechanism body 100 includes a main frame 110 at the center, a wheel side system 120 located at the periphery of the main frame 110 and supported by the main frame 110, clutch systems 130 located at the inner and outer sides of the main frame 110 and supported by the main frame 110 (the clutch systems are hidden in fig. 1 and will be shown in the following figures), and a transmission system 140 located at the outermost side of the main frame 110.
The specific implementation and functions of the components in the embodiment of the present invention are described as follows:
referring to fig. 3 to 4, the main frame 110 includes a transmission shaft 111, a support frame 112, a multi-channel oil-electric slip ring 113, a mounting frame 114, and three deformation push rods 115 uniformly distributed on the mounting frame, wherein the support frame 112, the multi-channel oil-electric slip ring 113, and the mounting frame 114 are sleeved on the transmission shaft 111. The inner side of the supporting frame 112 is connected to any one of a suspension, a knuckle, a beam or a body of a vehicle, the supporting frame 112 is sleeved on the transmission shaft 111 through a bearing, and the supporting frame 112 includes a hollow cylindrical structure 1121, and a convex ring 1122 and a mounting plate 1123 fixed at one end of the cylindrical structure and spaced apart from each other. The mounting frame 114 includes an outer end plate 1141 and an inner end plate 1142 (the inner end plate is mounted on the outer side of the convex ring 1122 through a bearing), and a plurality of first side plates 1143 and second side plates 1144 which are fixed between the inner and outer end plates and alternately arranged, the inner and outer end plates are respectively sleeved on the support frame 112 through a bearing, each deformation push rod 115 is respectively fixed on the outer side of a corresponding first side plate 1143 and the telescopic end is radially outward along the transmission shaft 111, the outer side of the multi-channel oil-electricity slip ring 113 is fastened with each first side plate 1143 and the inner side of each second side plate 1144, so that the multi-channel oil-electricity slip ring 113, the mounting frame 114 and the deformation push rod 115 can be integrally kept stable, and simultaneously rotate relative to the. In this embodiment, the inner and outer end plates (1142, 1141) are hexagonal plates with a central circular hole for mounting a bearing connected to the support frame 112, and three first side plates 1143 and three second side plates 1144 are alternately fixed between opposite sides of the inner and outer end plates. Three deformation push rods 115 select for use and are often used in the electric push rod of electronic deck chair, electric lift table (for commercially available product, the push rod upper end bracing piece can reciprocate after the circular telegram, and can set for electric push rod's removal velocity, stroke, voltage etc. according to the use scene) and transmit power, realize this running gear in the circular and triangle-shaped between continuous deformation to can remain stable under the optional state, electric push rod is supplied power by multichannel oily electric slip ring 113, electric push rod has following advantage: the electric push rods have a self-locking function, and the self-locking force provided by the electric push rods is not less than the maximum pressure borne by the deformed push rod 115 in the actual use environment, so that the stability of the walking mechanism in a triangular state is ensured; the electric push rod can realize the forward rotation, the reverse rotation and the stop of the motor through two electric wires, which ensures that the extension and retraction of the push rod can be controlled through a single chip microcomputer, so that the three deformed push rods 115 are deformed synchronously, namely the deformation degrees of the deformed push rods 115 are equal at every moment, and the running mechanism is ensured to be always in a symmetrical environment; the three deformation push rods 115 have six wires in total, so that convenience is provided for selection of the multi-channel oil-electric slip ring 113, and the wiring volume inside the multi-channel oil-electric slip ring 113 is reduced; the use of electric putter can reduce this running gear's complexity, saves manufacturing cost, reduces work load when the material object is assembled. The multichannel oil-electricity slip ring 113 is a via hole slip ring which is conductive and is communicated with hydraulic oil integrally, the inner side of the multichannel oil-electricity slip ring is fixed with the support frame 112, and the outer side of the slip ring is fixed with the wheel edge system 120 through the mounting frame 114 and the deformation push rod 115; the multichannel oil-electricity slip ring 113 can avoid the phenomenon that a cable of a wheel driving motor and a hydraulic oil pipeline of an oil brake are wound due to the fact that the wheel driving motor and the outer side clutch system 130 are fixed with the wheel body under the condition that the wheel driving motor and the outer side clutch system 130 rotate in a circular shape, and further the function of stably supplying electricity and hydraulic oil from an outer fixed position is achieved in the rotation process of the wheel body.
Referring to fig. 2, 3 and 5, the wheel edge system 120 includes six pairs of wheel edge members 121, three pairs of limiting plates 124, and a plurality of first connecting assemblies 122 and second connecting assemblies 123 alternately arranged for connecting two adjacent pairs of wheel edge members 121, and all the wheel edge members are connected in sequence by the connecting assemblies to form a wheel shape. Each wheel edge member 121 is the same and includes two symmetrically disposed circular arc-shaped wheel edge members 1211, and mounting holes 1212 connected to the first connecting assembly 122 and the second connecting assembly 123 are disposed at two ends of each wheel edge member 1211. Each first connecting assembly 122 has the same structure, and each first connecting assembly comprises a wheel-side transmission gear 1222 sleeved on the wheel-side gear transmission shaft 1221, a tooth portion of the wheel-side transmission gear is engaged with the outer crawler belt 200, two U-shaped brackets 1224 are symmetrically installed on the inner side and the outer side of the wheel-side transmission gear 1222 through a first supporting rod 1223, respectively, the U-shaped bracket on the inner side is thicker than the U-shaped bracket on the outer side, so that the telescopic end of the deformation pushing rod 115 is inserted into the bottom of the U-shaped bracket on the inner side, and the deformation pushing rod 115 is connected with the first connecting assembly 122. Each second connecting assembly 123 has the same structure, and includes a wheel-side supporting block 1231 and a yellow spring (the maximum compression ratio allowed by the yellow spring is 50%, and the wheel-side element is reset by the yellow spring) 1232, which are connected with each other, a limiting ring 1234 formed by splicing two short semicircular iron sheets is arranged outside the yellow spring 1232, the lower end of the yellow spring 1232 is connected with a circular hole in the middle of the second side plate 1144, and the lower end of the limiting ring 1234 is connected with a hole site reserved on the second side plate 1144, and is used for limiting the lateral displacement of the yellow spring 1232; the top of each rim support block 1231 is provided with a second strut 1233. The first and second struts 1223 and 1233 are respectively inserted through the mounting holes 1212 at the two ends of the adjacent two-wheel rim 1211 to mount and connect the two-wheel rim. Three pairs of limit plates 124 are respectively fixed on a corresponding second side plate 1144, two limit plates in each pair of limit plates 124 are respectively and symmetrically positioned at the inner side and the outer side of the second connecting component 123 on the corresponding second side plate, each limit plate 124 is integrally fan-shaped, two limit grooves 1241 are symmetrically arranged in the plates, each limit groove 1241 is respectively matched with the end part of the U-shaped bracket 1224 in the adjacent two first connecting components 122, the middle part of each limit plate 124 is also provided with a lateral limit hole 1242, the lateral limiting hole is matched with a lateral limiting rod 1235 arranged on the inner side and the outer side of the wheel edge supporting block 1231, driven by the deformation push rod 115, the U-shaped bracket 1224 and the lateral limiting rod 1235 can respectively move repeatedly in the limiting groove 1241 and the lateral limiting hole 1242 to meet the requirements of deformation and deformation stability of the wheel edge part, wherein the lateral restraint rods 1235 and the lateral restraint holes 1242 cooperate to ensure that the second connecting component 123 is in a symmetrical position under any circumstances.
Referring to fig. 2 and 6, the clutch system 130 includes two sets of inner and outer brake systems, and the embodiment adopts an oil pressure type disc brake system. The inner disc brake system is fixed at the reserved hole position of the mounting plate 1123 at the inner end of the supporting frame 112, and the outer disc brake system is fixed at the inner edge of the second side plate 1144. The disc brake system adopted in this embodiment is a common oil pressure disc brake system on the market, the outer disc brake system includes a brake disc 1311 and a brake caliper 1313 installed outside a fixing frame 1312, the brake disc 1311 is sleeved on the outer end of the transmission shaft 111 of the main frame 110, and the fixing frame 1312 is fixedly connected with an outer end plate 1141 of the main frame 110. The inner side disc brake system comprises a brake disc 1321 and a brake caliper 1323 which are arranged on the inner side of a fixing frame 1322, the brake disc 1321 is sleeved on a columnar structure 1121 of the main frame 110, the fixing frame 1322 is fixedly connected with an inner end plate 1142, and the brake caliper 1323 is fixed with a mounting plate 1123 of the main frame 110.
Referring to fig. 1 and 7, the transmission system 140 is located at the outermost side of the mechanism body 100, and includes a central main gear 141, three primary transmission gears 142, and three secondary transmission gears 143. The central main gear 141 is fixed to the transmission shaft 111 of the main frame 110 and rotates with the rotation of the transmission shaft 111; each primary transmission gear 142 is respectively connected with the outer end of the wheel edge gear transmission shaft 1221 of the corresponding first connecting assembly 122 in the wheel edge system 120; each secondary transmission gear 143 is engaged with the corresponding primary transmission gear 142 and the central main gear 141, respectively. The transmission system 140 is used for providing power for the crawler belt and meeting the motion requirements under different environments.
The clutch system 130 can control the wheels to be in different motion states, including two stable operation states and a transient operation state, which are respectively described as follows:
(1) steady state 1 (i.e. track drive): the inner disc brake system is locked and the outer disc brake system is released
This operating condition is used for track mode, and the wheel is in triangle-shaped this moment. The inboard disc brake system locks to keep the body, frame and mechanism body 100 stationary, and the outboard disc brake system releases to allow the drive shaft 111 to rotate freely, thereby driving the outboard center drive wheel 141 to rotate the track 200 via the drive system 140 and the wheel side system 120.
(2) Steady operating state 2 (i.e. rolling): the inner disc brake system is released and the outer disc brake system is locked
This operating state is used for the wheel operating mode, when the wheel is in a circle. The inboard disc brake system is released to allow the mechanism body 100 to rotate relative to the frame of the vehicle, and the outboard disc brake system is locked to allow the drive shaft 111 to remain stationary relative to the mechanism body 100, ultimately ensuring that no relative movement of the outboard track 200 with respect to the mechanism body 100 occurs.
(3) Transient stable operating conditions (i.e. deformation process):
this operating state is the key in the transition step between the wheel rolling mode and the track drive mode, and functions like a clutch.
From steady state 1 to steady state 2 (from track drive mode to wheel rolling mode): firstly, loosening an inner disc brake system, and turning to a temporary stable working state, wherein wheels are still in a triangular shape at the moment, and a main motion mode is still kept in caterpillar transmission; secondly, the deformation push rod 115 descends to slowly deform the wheels into a circular shape, and the movement mode of the wheels is in a mixed mode of crawler transmission and wheel rolling; and thirdly, slowly locking the outer disc brake system to enable the relative motion of the whole track and the wheel to disappear gradually, and slightly increasing the motion speed of the vehicle body in the process until the outer disc brake system is completely locked and converted into a stable working state 2.
Transition from steady state 2 to steady state 1 (transition from wheel rolling mode to track drive mode): step one, loosening an outer disc brake system, and turning to a temporary stable working state, wherein the wheel is still in a circular shape at the moment, and the main motion mode is still kept in a wheel rolling mode; secondly, the deformation push rod 115 rises to slowly deform the wheels into a triangle, at the moment, the movement mode of the wheels is in a mixed state of crawler transmission and wheel rolling, and the vehicle body bumps to a certain extent in the conversion process; and thirdly, slowly locking the inner side disc brake system to enable the relative motion of the whole wheel, the vehicle body and the rack to disappear gradually, and slightly slowing down the motion speed of the vehicle body in the process until the inner side disc brake system is completely locked and converted into a stable working state 1.
The brake process of the running mechanism, namely the locking of the inner disc brake system and the outer disc brake system, is as follows:
the working state is used for braking the whole vehicle body, when the inner and outer disc brake systems are locked, the relative rest of the vehicle body, the rack and the whole vehicle wheels and the relative rest of the transmission shaft 111, the crawler belt 200 and the whole vehicle body can be simultaneously ensured, all parts of the vehicle wheels do not move at this time, and the braking function is realized.
Braking from steady state 1 (braking from track mode): the outer disc brake system is directly and gradually locked, so that the crawler belt and the vehicle body are gradually and relatively static.
Braking from steady state 2 (braking from wheel mode): the inner disc brake system is directly and gradually locked, so that the whole wheel and the vehicle body are gradually and relatively static.
Braking from transient state (braking from transient state): the disc brake systems on the inner side and the outer side are directly and gradually locked, but the disc brake system is not in a normal working mode and is only used in an emergency state. When the transmission shaft 111 and the entire vehicle body are locked by the outer disc brake system while the deforming push rod 115 is operated, there is a possibility that parts such as gears may be damaged. In addition, the deformation control end ensures that the deformation operation is suspended if a brake signal is detected in a transition state.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention and is not actually limited thereto. Therefore, if the person skilled in the art receives the teaching, it is within the scope of the present invention to design the similar manner and embodiments without departing from the spirit of the invention.
Claims (10)
1. A wheel-track hybrid running mechanism capable of switching between a circular shape and a triangular shape, characterized by comprising a mechanism main body (100) and an outer track (200); the mechanism body (100) comprises a main frame (110) positioned in the center, a wheel edge system (120) positioned at the periphery of the main frame (110) and supported by the main frame (110), a clutch system (130) positioned at the inner side and the outer side of the main frame (110) and supported by the main frame (110), and a transmission system (140) positioned at the outermost side of the main frame (110);
the main frame (110) comprises a transmission shaft (111), a support frame (112), a multi-channel oil-electric slip ring (113), a mounting frame (114) and three deformation push rods (115) which are sleeved on the transmission shaft (111) and are uniformly distributed on the mounting frame (114); the inner side of the support frame (112) is connected with any one of a suspension, a steering knuckle, a vehicle beam or a bearing type vehicle body of a vehicle, and the support frame (112) and the mounting frame (114) are sleeved on the transmission shaft (111) through bearings respectively; the telescopic end of each deformation push rod (115) is radially outward along the transmission shaft (111), the outer side of the multi-channel oil-electric slip ring (113) is fastened with the inner side of the mounting frame (114), and therefore the multi-channel oil-electric slip ring (113), the mounting frame (114) and the deformation push rods (115) are integrally stable and rotate relative to the support frame (112);
the wheel edge system (120) comprises six pairs of wheel edge pieces (121), three pairs of limiting plates (124), three first connecting assemblies (122) and three second connecting assemblies (123) which are used for connecting two adjacent pairs of wheel edge pieces (121) and are alternately arranged; two ends of each pair of wheel edge pieces (121) are respectively connected in sequence through a corresponding first connecting component (122) and a corresponding second connecting component (123) to form a wheel edge; each second connecting component (123) is positioned between two corresponding limiting plates in the corresponding pair of limiting plates (124), lateral limiting holes (1242) matched with the corresponding second connecting components (123) are formed in the two limiting plates, and limiting grooves (1241) matched with the two adjacent first connecting components (122) are formed in the two limiting plates; each first connecting component (122) is also respectively connected with the outer crawler (200) and the telescopic end of the corresponding deformation push rod (115); under the driving of the deformation push rod (115), the first connecting component (122) and the second connecting component (123) can respectively and repeatedly move in the limiting groove (1241) and the lateral limiting hole (1242);
the clutch system (130) comprises an inner brake system and an outer brake system; the inner side brake system is fixed at the outer side end of the support frame (112), and the outer side brake system is fixed at the inner side end of the mounting frame (114);
the transmission system (140) comprises a central main gear (141) and a plurality of transmission gears; the central main gear (141) is driven by the transmission shaft (111); each transmission gear is respectively connected with the outer side end of a corresponding first connecting component (122) in the wheel edge system (120).
2. The hybrid wheel-track walking mechanism of claim 1, wherein the mounting frame (114) comprises an outer end plate (1141) and an inner end plate (1142) at two ends of the multi-channel oil-electric slip ring (113), and a plurality of first side plates (1143) and second side plates (1144) fixed between the inner end plate and the outer end plate and alternately arranged, wherein the inner end plate and the outer end plate are respectively sleeved on the supporting frame (112) through bearings; the outer side wall of the first side plate (1143) is provided with a corresponding one of the deformation push rods (115) in a radial direction, and the outer side wall of the second side plate (1144) is provided with a corresponding pair of the limiting plates (124) and a corresponding one of the second connecting assemblies (123) in a radial direction; the inner side walls of the first side plate (1143) and the second side plate (1144) are respectively fastened with the outer side wall of the multi-channel oil-electric slip ring (113).
3. The hybrid wheel-track walking mechanism of claim 2, wherein the inner end plate (1142) and the outer end plate (1141) are hexagonal plates with a central circular hole for mounting a bearing connected to the support frame (112).
4. The hybrid wheel-track walking mechanism of claim 2, wherein each first connecting assembly (122) comprises a wheel-side transmission gear (1222) sleeved on a wheel-side gear transmission shaft (1221), the teeth of the wheel-side transmission gear (1222) are engaged with the outer track (200), two U-shaped brackets (1224) are symmetrically installed on the inner side and the outer side of the wheel-side transmission gear (1222), and the inner U-shaped bracket is thicker than the outer U-shaped bracket, so that the telescopic end of the deformation pushing rod (115) can be inserted into the bottom of the inner U-shaped bracket; each second connecting assembly (123) comprises a wheel-side supporting block (1231) and a spring (1232) which are connected, a limiting ring (1234) is arranged on the outer side of the spring (1232), and the lower ends of the spring (1232) and the limiting ring (1234) are connected with a hole position reserved in the middle of the second side plate (1144); the inner side and the outer side of each wheel-side transmission gear (1222) are respectively connected with the end parts of two adjacent wheel-side pieces (121) through supporting rods; each limiting plate (124) is integrally fan-shaped, two limiting grooves (1241) are symmetrically arranged in each limiting plate, each limiting groove (1241) is matched with the end part of a U-shaped support (1224) in two adjacent first connecting assemblies (122), the middle part of each limiting plate (124) is provided with a lateral limiting hole (1242), and the lateral limiting hole is matched with a lateral limiting rod (1235) arranged on the inner side and the outer side of the wheel-edge supporting block (1231).
5. The hybrid wheel-track walking mechanism of claim 4, wherein the spring (1232) is a yellow spring.
6. The wheel-track hybrid walker as claimed in claim 4, characterized in that the transmission gears of the transmission system (140) comprise three primary transmission gears (142) and three secondary transmission gears (143); each secondary transmission gear (143) is respectively meshed with the corresponding primary transmission gear (142) and the central driving wheel (141); each secondary transmission gear (143) is respectively connected with the outer end of a wheel edge gear transmission shaft (1221) of a corresponding first connecting assembly (122) in the wheel edge system (120).
7. The wheel-track hybrid walker as claimed in claim 1, characterized in that said deformed pushrods (115) are electric pushrods, powered by said multi-channel oil-electric slip-ring (113); the deformation push rod (115) has a self-locking function, the self-locking force provided by the deformation push rod (115) is not less than the maximum pressure born by the deformation push rod (115) in the actual use environment, and the three deformation push rods (115) deform synchronously.
8. The hybrid wheel-track walking mechanism of claim 1, wherein the multi-channel oil-electric slip ring (113) is a conductive via-hole slip ring integrated with hydraulic oil, and the inner side of the multi-channel oil-electric slip ring is fixed to the support frame (112), and the outer side of the multi-channel oil-electric slip ring is fixed to the wheel-side system (120) through the mounting frame (114) and the deformation push rod (115).
9. The hybrid wheel-track walking mechanism of claim 1, wherein the support frame (112) comprises a hollow cylindrical structure (1121), and a convex ring (1122) and a mounting plate (1123) fixed to one end of the cylindrical structure and spaced apart from each other; a reserved hole position for fixing the inner side brake system is arranged on the outer side of the mounting plate (1123); the brake system adopts an oil pressure type disc brake system.
10. The wheel-track hybrid walker as claimed in any one of claims 1 to 9, wherein the wheel-track hybrid walker has two stable operating states and one temporary operating state;
the first stable working state is a crawler belt transmission mode, at the moment, the inner side brake system is locked, the outer side brake system is released, and the wheels are in a triangle shape;
the second stable working state is a wheel rolling mode, at the moment, the inner side brake system is released, the outer side brake system is locked, and the wheel is in a circular shape;
the temporary stable working state is to realize the conversion between the wheel rolling mode and the crawler belt transmission mode; when switching from the track drive mode to a wheel rolling mode: firstly, an inner side brake system is released to be converted into a transient stable working state, wheels are still in a triangular shape at the moment, and a main movement mode is still kept in caterpillar transmission; then, the deformation push rod (115) descends to slowly deform the wheels into a circular shape, and the motion mode of the wheels is in a mixed mode of crawler transmission and wheel rolling; finally, slowly locking the outer side brake system to enable the relative movement of the whole crawler and the wheels to gradually disappear until the outer side brake system is completely locked, and converting to a second stable working state; when switching from the wheel rolling mode to the track drive mode: firstly, an outer side brake system is loosened, a temporary stable working state is achieved, at the moment, wheels are still in a circular shape, and a main movement mode is still kept in a wheel rolling mode; then, the deformation push rod (115) rises to slowly deform the wheels into a triangle, and the motion mode of the wheels is in a mixed state of crawler transmission and wheel rolling; and finally, slowly locking the inner side brake system, so that the relative motion of the whole wheel, the vehicle body and the frame gradually disappears until the inner side brake system is completely locked, and converting to a first stable working state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010231526.6A CN111252151A (en) | 2020-03-27 | 2020-03-27 | Wheel-crawler belt hybrid walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010231526.6A CN111252151A (en) | 2020-03-27 | 2020-03-27 | Wheel-crawler belt hybrid walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111252151A true CN111252151A (en) | 2020-06-09 |
Family
ID=70942255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010231526.6A Pending CN111252151A (en) | 2020-03-27 | 2020-03-27 | Wheel-crawler belt hybrid walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111252151A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
| 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 |
| 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 |
-
2020
- 2020-03-27 CN CN202010231526.6A patent/CN111252151A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112140804A (en) * | 2020-09-23 | 2020-12-29 | 内蒙古工业大学 | Crawler-type deformation tire |
| 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 |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111252151A (en) | Wheel-crawler belt hybrid walking mechanism | |
| CN107487175B (en) | Integrated hub motor driving unit | |
| CN111572272A (en) | Novel wheel-track combined type variable structure wheel | |
| US7074151B2 (en) | Drive configuration for a skid steered vehicle | |
| US6953408B2 (en) | Electric drive configuration for a skid steered vehicle | |
| CN108357293B (en) | Stair climbing auxiliary wheel with damping function | |
| CN112644262A (en) | Double-motor electric drive axle of belt wheel side speed reducer | |
| CN111605634A (en) | Wheel-crawler type variant wheel mechanism | |
| CN111152837A (en) | Double-wheel steering driving wheel | |
| CN212373540U (en) | Wheel-crawler belt hybrid walking mechanism | |
| CN205112850U (en) | Single wheel universal wheel | |
| CN108240451B (en) | Differential and vehicle | |
| CN112848792B (en) | Wheel-track combined type reconfigurable wheel | |
| CN116512893A (en) | Two-gear hub integrated electric driving wheel set and vehicle comprising same | |
| CN108454719A (en) | A kind of mobile robot walking mechanism | |
| CN212921003U (en) | Novel wheel-track combined type variable structure wheel | |
| CN110539812A (en) | Distributed independent electrically driven light caterpillar vehicle wheel transmission device | |
| CN210212575U (en) | Vertical helm of wobbling difference | |
| CN103481730A (en) | Multifunctional wet axle of rear-driven electric forklift | |
| CN102748429B (en) | Planetary gear train auxiliary drive mechanism and engineering machinery vehicle | |
| CN113071306A (en) | Multi-gear rotatable hub power assembly | |
| CN113212058A (en) | Gear planet swing arm wheel structure | |
| CN105923069A (en) | Walking chassis for vehicle intelligent service robot | |
| CN202413416U (en) | Integral gate type steering drive front axle assembly | |
| CN109334432A (en) | Wheel undercarriage and unmanned platform truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |