CN111845197A - Deformable wheel hub and tire based on wheel type traveling mode and crawler type traveling mode - Google Patents
Deformable wheel hub and tire based on wheel type traveling mode and crawler type traveling mode Download PDFInfo
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- CN111845197A CN111845197A CN202010802483.2A CN202010802483A CN111845197A CN 111845197 A CN111845197 A CN 111845197A CN 202010802483 A CN202010802483 A CN 202010802483A CN 111845197 A CN111845197 A CN 111845197A
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- 238000000034 method Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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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
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Abstract
The invention provides a deformable hub and a tire based on two advancing modes of a wheel type and a crawler type, and belongs to the technical field of tires. The deformable wheel hub based on the wheel type traveling mode and the crawler type traveling mode comprises a support frame, a deformable wheel hub ring arranged around the support frame, a driving mechanism and a transmission mechanism arranged on the support frame; the deformable hub ring has a circular shape corresponding to a wheeled travel mode and a non-circular shape corresponding to a crawler travel mode; the driving mechanism is used for driving the extending end and the shortening end to move relative to the supporting frame so as to drive the deformable hub ring to switch between the circular form and the non-circular form. The invention also provides a deformable tire based on two traveling modes of a wheel type and a crawler type. The deformable wheel hub and the tire based on the two traveling modes of the wheel type and the crawler type can flexibly convert the form according to the terrain and are matched with the traveling mode of the wheel type or the crawler type, so that the defects of the conventional wheel type vehicle and crawler type vehicle are overcome.
Description
Technical Field
The invention belongs to the technical field of tires, and particularly relates to a deformable hub and a tire based on two advancing modes of a wheel type and a crawler type.
Background
The current mainstream cross-country vehicle mainly has two traveling modes, namely a wheel type and a crawler type, and the wheel type vehicle has high traveling speed but poor cross-country capability; tracked vehicles have a strong ability to cross-country, but do not have high travel speeds. For example, a snowfield off-road vehicle can adapt to a snowfield road section, the obstacle crossing capability is stronger, but the vehicle cannot provide a faster traveling speed on a straight road section; the wheeled off-road vehicle can obtain faster speed on straight road sections, but is extremely difficult to cross higher obstacles, the obstacle crossing capability is insufficient, and when the vehicle faces wet road sections or muddy road sections, tires are easy to slip and even sink into puddles, so that the traveling of the vehicle is influenced.
However, the conventional wheel hub for the tire has only one shape and is not changeable, and when the vehicle runs on different road surfaces, the corresponding vehicle or the tire of the vehicle needs to be replaced more landform, so that the use is often inconvenient.
Disclosure of Invention
The embodiment of the invention aims to provide a deformable hub and a tire based on wheel type and crawler type traveling modes, and aims to solve the technical problems that the wheel type and crawler type traveling modes respectively correspond to different tires and are inconvenient to use.
In one aspect, a deformable hub based on both wheeled and tracked travel is provided, comprising: the support frame is provided with extensible extension ends at two ends in a first direction respectively, and retractable shortening ends at two ends in a second direction perpendicular to the first direction respectively;
the main shaft extends along a third direction perpendicular to the first direction and the second direction, is rotatably arranged in the middle of the support frame around the axis of the main shaft, and is used for being in transmission connection with an external first power source;
the deformable hub ring is arranged around the support frame and provided with two arc-shaped hub sections which are connected with the two extension ends in a one-to-one corresponding mode and two deformable hub sections which are connected with the two shortening ends in a one-to-one corresponding mode, a driving wheel used for being meshed with a crawler belt is arranged on each arc-shaped hub section, each deformable hub section is provided with two arc-shaped sections which are hinged with each other, and the extension ends are connected with hinge shaft rotating shafts of the corresponding deformable hub sections; the deformable hub ring has a circular shape corresponding to a wheeled travel mode and a non-circular shape corresponding to a crawler travel mode;
the driving mechanism is used for driving the extending end and the shortening end to move relative to the support frame so as to drive the deformable hub ring to be converted between the circular shape and the non-circular shape, and meanwhile, the deformable hub ring can be locked in the circular shape or the non-circular shape; and
the transmission mechanism is arranged on the support frame, is in transmission connection with the main shaft, and is used for driving the assembly of the support frame and the deformable hub ring to rotate around the axis of the main shaft when the deformable hub ring is in the circular shape; when the deformable hub ring is in the non-circular shape, the deformable hub ring is in transmission connection with the driving wheel so as to drive the crawler to rotate relative to the deformable hub ring through the driving wheel.
Furthermore, the two ends of the supporting frame in the first direction are respectively provided with an extensible extending end, and the two ends of the supporting frame in the second direction perpendicular to the first direction are respectively provided with a retractable shortening end;
the main shaft extends along a third direction perpendicular to the first direction and the second direction, is rotatably arranged in the middle of the support frame around the axis of the main shaft, and is used for being in transmission connection with an external first power source;
the deformable hub ring is arranged around the support frame and provided with two arc-shaped hub sections which are connected with the two extension ends in a one-to-one corresponding mode and two deformable hub sections which are connected with the two shortening ends in a one-to-one corresponding mode, a driving wheel used for being meshed with a crawler belt is arranged on each arc-shaped hub section, each deformable hub section is provided with two arc-shaped sections which are hinged with each other, and the extension ends are connected with hinge shaft rotating shafts of the corresponding deformable hub sections; the deformable hub ring has a circular shape corresponding to a wheeled travel mode and a non-circular shape corresponding to a crawler travel mode;
the driving mechanism is used for driving the extending end and the shortening end to move relative to the support frame so as to drive the deformable hub ring to be converted between the circular shape and the non-circular shape, and meanwhile, the deformable hub ring can be locked in the circular shape or the non-circular shape; and
the transmission mechanism is arranged on the support frame, is in transmission connection with the main shaft, and is used for driving the assembly of the support frame and the deformable hub ring to rotate around the axis of the main shaft when the deformable hub ring is in the circular shape; when the deformable hub ring is in the non-circular shape, the deformable hub ring is in transmission connection with the driving wheel so as to drive the crawler to rotate relative to the deformable hub ring through the driving wheel.
Further, the transmission mechanism is a gear transmission mechanism;
the gear transmission mechanism includes:
the driving bevel gear is sleeved on the main shaft;
a transmission assembly having a first bevel gear meshing with the drive bevel gear and a second bevel gear rotatable synchronously with the first bevel gear for meshing with the respective drive wheel when the deformable hub ring is transitioned to the non-circular state; and
a locking assembly for defining the relative positions of the drive bevel gear and the two first bevel gears when the deformable hub ring is transitioned to the circular state.
Furthermore, the two transmission assemblies are arranged on two sides of the support frame respectively;
each of the transmission assemblies includes:
transmission shafts extending in the second direction and each having a degree of freedom of rotation about its axis;
the two first bevel gears and the two second bevel gears are connected with the two transmission shafts in a one-to-one correspondence mode, the second bevel gears are arranged on one ends, close to the shortening ends, of the corresponding transmission shafts in a sleeved mode, the first bevel gears are arranged on one ends, close to the main shaft, of the corresponding transmission shafts in a sleeved mode, and the two first bevel gears arranged on the two transmission shafts in a divided mode are meshed with the driving bevel gear.
Further, the locking assemblies are provided with two locking assemblies and are connected with the two extension ends in a one-to-one correspondence mode, and the two locking assemblies are used for being matched with each other to limit the relative positions of the drive bevel gear and the two first bevel gears when the deformable hub ring is converted to the circular state.
Further, the locking assembly includes:
the locking shaft is arranged on the support frame in a sliding mode along the first direction, one end of the locking shaft is fixedly connected with the corresponding extending end, and the other end of the locking shaft extends towards the main shaft along the first direction; and
and the locking bevel gear is sleeved on the extending end of the locking shaft and is used for being meshed with the driving bevel gear and the two first bevel gears when the deformable hub ring is converted to the circular state.
Further, the drive mechanism includes:
the rotating disc is rotatably sleeved on the main shaft and is used for being in transmission connection with an external second power source;
the two first connecting rods are arranged in one-to-one correspondence with the two shortening ends, one end of each first connecting rod is rotatably connected with the corresponding shortening end, and the other end of each first connecting rod is rotatably connected with the rotating disc; and
and the two second connecting rods are arranged in one-to-one correspondence with the two extension ends, one end of each second connecting rod is rotatably connected with the corresponding extension end, and the other end of each second connecting rod is rotatably connected with the rotating disc.
Further, the driving wheel includes:
the first driving wheel is arranged on one side of the arc-shaped hub section and is in transmission connection with the transmission mechanism; and
and the second driving wheel is arranged in the middle of the arc-shaped hub section and synchronously rotates with the first driving wheel, and is used for being meshed with the crawler.
Further, the arc-shaped hub section and the arc-shaped section are both provided with driven wheels meshed with the crawler belt.
Furthermore, the support frame is also provided with torsion bars which are connected with the arc sections in a one-to-one correspondence manner, and the torsion bars are connected with the support frame and the corresponding arc sections in a rotating manner.
One of the above technical solutions has the following beneficial effects: compared with the prior art, the power source is kept unchanged, the form can be flexibly converted according to the terrain, and the power source is matched with a wheel type advancing mode or a crawler type advancing mode, so that the defects of the existing wheel type vehicle and crawler type vehicle are effectively overcome, and the adaptability of the vehicle to the terrain is greatly improved. The hub can be applied to the military and civil fields, can be used on common vehicles, can also be miniaturized, and meets the tasks of anti-terrorism, explosive ordnance disposal, search, rescue and investigation.
In another aspect, a deformable tire based on both wheeled and tracked travel is provided, comprising:
the deformable hub is based on a wheel type traveling mode and a crawler type traveling mode; and
the track is sleeved on the deformable hub ring and meshed with the driving wheel.
One of the above technical solutions has the following beneficial effects: compared with the prior art, the deformable wheel hub based on the wheel type advancing mode and the crawler type advancing mode achieves basically the same technical effect, and is not repeated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of a deformable tire hub ring in a deformable tire based on two traveling modes of a wheel type and a crawler type according to an embodiment of the present invention, the deformable tire hub ring being transformed into a circular shape corresponding to the traveling mode of the wheel type;
FIG. 2 is a schematic rear view of the transformable tire of FIG. 1 based on both wheeled and tracked travel;
fig. 3 is a schematic perspective view of a deformable hub ring in a deformable hub based on two traveling modes of a wheel type and a crawler type according to an embodiment of the present invention, the deformable hub ring being converted into a circular shape corresponding to the traveling mode of the wheel type;
FIG. 4 is a schematic top view of the transformable hub of FIG. 3 based on both wheeled and tracked travel;
FIG. 5 is a sectional view taken along line A-A of FIG. 4;
FIG. 6 is a schematic perspective view of a deformable hub ring in a deformable tire for both wheeled and tracked travel according to an embodiment of the present invention, as it transitions to a non-circular configuration corresponding to tracked travel;
fig. 7 is a rear view schematically showing the deformable tire of fig. 6 based on both the wheel type and the crawler type traveling manners.
In the figure: 100. a support frame; 110. a cross-shaped bracket; 120. an extension rod; 130. shortening the rod; 140. a main shaft; 150. a first connecting member; 200. a deformable hub ring; 210. an arcuate hub section; 220. a deformable hub section; 221. an arc-shaped section; 230. a drive wheel; 231. a first drive wheel; 232. a second drive wheel; 240. a second connecting member; 250. a driven wheel; 300. a drive mechanism; 310. rotating the disc; 320. a first link; 330. a second link; 400. a transmission mechanism; 410. a drive shaft; 420. a first bevel gear; 430. a second bevel gear; 440. a drive bevel gear; 500. a locking assembly; 510. a lock shaft; 520. locking the bevel gear; 600. a crawler belt.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 7, a deformable hub for both wheeled and tracked travel according to an embodiment of the present invention will now be described. The deformable hub based on the wheel type traveling mode and the crawler type traveling mode comprises a support frame 100, a main shaft 140, a deformable hub ring 200 arranged around the support frame 100, a driving mechanism 300 and a transmission mechanism 400 arranged on the support frame 100.
An extensible extension end is provided at each end of the support frame 100 in a first direction, and a retractable shortening end is provided at each end of the support frame 100 in a second direction perpendicular to the first direction.
The main shaft 140 extends along a third direction perpendicular to the first direction and the second direction, has a degree of freedom of rotation around its own axis, and is rotatably disposed in the middle of the supporting frame 100 around its own axis for being in transmission connection with an external first power source.
The deformable hub ring 200 is provided with two arcuate hub segments 210 connected in one-to-one correspondence with the two elongated ends, and two deformable hub segments 220 connected in one-to-one correspondence with the two shortened ends. Wherein the arcuate hub section 210 is provided with a drive wheel 230 for engaging the track 600. Each deformable hub section 220 has two arcuate sections 221 hinged to each other and an elongated end pivotally connected to the hinge axis of the respective deformable hub section 220. The deformable hub wheel 200 has a circular shape corresponding to the wheel travel mode and a non-circular shape corresponding to the crawler travel mode.
The driving mechanism 300 is used to drive the extending end and the shortening end to move relative to the support frame 100 to drive the deformable hub ring 200 to switch between the circular configuration and the non-circular configuration, and simultaneously lock the deformable hub ring 200 in the circular configuration or the non-circular configuration.
The transmission mechanism 400 is arranged on the support frame 100, is in transmission connection with the main shaft 140, and is used for driving the assembly of the support frame 100 and the deformable hub ring 200 to rotate around the axis of the main shaft 140 when the deformable hub ring 200 is in the circular shape; when deformable hub ring 200 is in the non-circular configuration, it is drivingly connected to drive wheel 230 to rotate the track relative to deformable hub ring 200 via drive wheel 230.
For convenience of description, the following section will simply refer to "deformable hub based on both wheeled and tracked travel" as "hub".
In this embodiment, the extension end and the shortening end can be slidably disposed on the supporting frame 100 along corresponding directions, and can also be telescopic ends with telescopic function. The two arc-shaped hub segments 210 and the two deformable hub segments 220 are connected to form a closed deformable hub ring 200 through a second connecting member 240, wherein the second connecting member 240 may be a connecting rod or a connecting plate, and both ends of the second connecting member 240 are rotatably connected to the corresponding arc-shaped hub segment 210 or arc-shaped segment 221 through hinge shafts.
The drive mechanism 300 may employ one drive assembly connected to both the extension and shortening ends or a plurality of drive members connected to each of the extension and shortening ends. The driving part can be a linear driving part such as an air cylinder, a hydraulic cylinder, an electric cylinder and the like, and the driving assembly can be a connecting rod driving component with a plurality of driving heads, an electric driving component and the like.
The transmission mechanism 400 may be a gear transmission mechanism, a pulley transmission mechanism 400 or other transmission mechanism 400, as long as the driving wheel 230 is driven to rotate when the driving wheel 230 is in contact with the driving wheel.
The first power source may be a motor, a steering engine, or the like, or a motor, a steering engine, or the like and corresponding transmission members, such as a motor and a connecting sleeve connecting an output shaft of the motor and the main shaft 140.
When the vehicle needs to run on a flat road, the deformable hub is driven by the driving mechanism 300 to be converted into a circular state corresponding to a wheel type running mode, and the deformable hub is locked in the circular state, at this time, the extension end and the shortening end are in an initial state, the transmission mechanism 400 is separated from the driving wheel 230, and then the external first power source is started to drive the combination body of the support frame 100 and the deformable hub ring 200 to rotate along with the main shaft 140.
When the vehicle needs to run on a non-flat road surface, the deformable hub is converted into a non-circular state corresponding to a crawler type running mode under the driving of the driving mechanism 300 and is locked in the non-circular state, the extending end is in an extending state, the shortening end is in a shortening state, and the transmission mechanism 400 is in transmission connection with the driving wheel 230 to drive the crawler 600 to rotate relative to the deformable hub ring 200.
Compared with the prior art, the deformable hub based on the wheel type traveling mode and the crawler type traveling mode can flexibly convert the form according to the terrain under the condition of keeping a power source unchanged, is matched with the wheel type traveling mode or the crawler type traveling mode, effectively overcomes the defects of the existing wheel type vehicle and crawler type vehicle, and greatly improves the adaptability of the vehicle to the terrain. The hub can be applied to the military and civil fields, can be used on common vehicles, can also be miniaturized, and meets the tasks of anti-terrorism, explosive ordnance disposal, search, rescue and investigation.
The second connecting member 240 may be a rod or a plate. Further, both ends of the second connecting member 240 are provided with semicircular holes and straight grooves, which are respectively mounted on the arc-shaped hub section 210 and the deformable hub section 220 through shafts to play a supporting role, and when the tire deforms, the second connecting member 240 can be automatically adjusted to a proper position to keep the whole mechanism stable.
Referring to fig. 2 and 5, as an embodiment of the transformable hub based on both wheel-type and crawler-type traveling modes, the supporting frame 100 includes a cross-shaped frame 110, two extending rods 120 and two shortening rods 130. Wherein the cross beams of the cross bracket 110 extend in a first direction and the longitudinal beams of the cross bracket 110 extend in a second direction. Two extension rods 120 are slidably disposed at both ends of the cross beam along a first direction, respectively. The two shortening rods 130 are respectively arranged at two ends of the longitudinal beam in a sliding manner along the second direction. The extension end is the end of the extension rod 120 distal from the main shaft 140 and the shortening end is the end of the shortening rod 130 distal from the main shaft 140.
Specifically, the cross beam and the longitudinal beam are hollow tube bodies with two open ends, one end of the extension rod 120 is inserted into the corresponding end portion of the cross beam, the other end of the extension rod extends out of the cross beam, one end of the shortening rod 130 is inserted into the corresponding end portion of the longitudinal beam, and the other end of the shortening rod extends out of the longitudinal beam.
The main body of the support frame 100 adopts the cross-shaped support 110, so that the material and weight required by the support frame 100 are reduced, the manufacturing cost is effectively reduced, and the support frame is convenient to carry. The extension bar 120 and the shortening bar 130 are slidably disposed on the cross-shaped bracket 110 so as to move along a predetermined trajectory when the cross-shaped bracket is extended or retracted, thereby ensuring stable deformation of the deformable hub ring 200.
Further, the cross-shaped bracket 110 includes a main cylinder at the center and four hollow cylinders surrounding the main cylinder, the four hollow cylinders intersecting the main cylinder, and the two opposite cylinders having the same shape.
Referring to fig. 1 and 6, as an embodiment of the deformable hub based on both wheel type and crawler type traveling modes, the transmission mechanism 400 is a gear transmission mechanism. The gear transmission mechanism includes a drive bevel gear 440 sleeved on the main shaft 140, a transmission assembly and a locking assembly 500. The transmission assembly has a first bevel gear 420 engaged with the drive bevel gear 440, and a second bevel gear 430 capable of rotating synchronously with the first bevel gear 420, the second bevel gear 430 being adapted to engage with the corresponding drive wheel 230 when the deformable hub ring 200 is shifted to the non-circular state. The locking assembly 500 is used to define the relative positions of the drive bevel gear 440 and the two first bevel gears 420 when the deformable hub ring 200 is transformed to the circular state.
When the deformable hub ring 200 is converted to the non-circular state, the main shaft 140 is connected to an external first power source, and the driving bevel gear 440 rotates along with the main shaft 140 to drive the first bevel gear 420 and the second bevel gear 430 to rotate, so as to drive the driving wheel 230 to drive the track 600 to rotate relative to the deformable hub ring 200. When the deformable hub ring 200 is converted to the circular state, the locking assembly 500 defines the relative positions of the drive bevel gear 440 and the two first bevel gears 420, at this time, the transmission assembly is locked with the drive bevel gear 440, and when the main shaft 140 is connected with the external first power source, the combination of the support frame 100 and the deformable hub ring 200 can rotate along with the main shaft 140 under the driving of the transmission assembly.
Referring to fig. 1 and 6, as an embodiment of the deformable wheel hub based on two traveling modes of wheel type and crawler type, the transmission assembly is provided in two and separately disposed on two sides of the supporting frame 100. Each drive assembly includes a drive shaft 410. The two transmission shafts 410, which are respectively disposed in the two transmission assemblies, each extend in the second direction and each have a degree of freedom of rotation about its own axis. Specifically, two ends of the longitudinal beam of the cross-shaped bracket 110 are respectively provided with a first mounting seat for mounting the corresponding transmission shaft 410, and the mounting seats are provided with through holes which penetrate through the first mounting seats along the second direction and are used for the transmission shaft 410 to penetrate through. When the installation is carried out, the transmission shaft 410 penetrates into the through hole, and at the moment, a gap is reserved between the transmission shaft 410 and the hole wall, so that the transmission shaft can conveniently rotate relative to the first installation seat.
One end of each transmission shaft 410 close to the main shaft 140 is sleeved with a first bevel gear 420, and one end close to the shortened end is sleeved with a second bevel gear 430. The two first bevel gears 420 respectively disposed on the two transmission shafts 410 are engaged with the drive bevel gear 440.
The transmission mechanism 400 adopts a gear transmission mechanism, which facilitates the connection or disconnection of the transmission mechanism 400 and the driving wheel 230, and meets the use requirement. By adopting the structure, only one external second power source needs to be arranged to drive the driving bevel gear 440, so that the driving of the two transmission shafts 410 can be realized, and the manufacturing cost of the vehicle adopting the deformable wheel hub based on two advancing modes of a wheel type and a crawler type is effectively reduced.
The provision of the locking assembly 500 ensures stability of the overall structure of the hub when the deformable hub ring 200 is transformed into the circular configuration.
Referring to fig. 1 and 6 together, as an embodiment of the deformable hub for both wheeled and tracked travel provided by the present invention, two locking assemblies 500 are provided and are connected with two extending ends in a one-to-one correspondence, and the two locking assemblies 500 are used to cooperate with each other to define the relative positions of the drive bevel gear 440 and the two first bevel gears 420 when the deformable hub ring is transformed into the circular state.
The locking assembly 500 in this embodiment may be a limiting member that is engaged or magnetically coupled with both the drive bevel gear 440 and the two first bevel gears 420 when the deformable hub ring is transformed into the circular state.
The locking assembly 500 is provided such that when the transformable hub ring 200 is transformed into the circular state, the relative positions of the drive bevel gear 440 and the two first bevel gears 420 are fixed, thereby ensuring the structural stability of the entire hub when it operates as a whole.
Further, the locking assembly 500 includes a locking shaft 510 and a locking bevel gear 520 sleeved on the locking shaft 510. The locking shaft 510 is slidably disposed on the supporting frame 100 along a first direction, one end of the locking shaft is fixedly connected to the corresponding extending end, and the other end of the locking shaft extends towards the main shaft 140 along the first direction; the locking bevel gear 520 is sleeved on the extending end of the locking shaft 510 and is used for being engaged with the driving bevel gear and the two first bevel gears when the deformable hub ring is converted to the circular state.
Specifically, two ends of the cross beam of the cross-shaped bracket 110 are respectively provided with a second mounting seat for mounting the corresponding locking shaft 510, and the mounting seats are provided with through holes which penetrate through the second mounting seats along the first direction and are used for allowing the locking shaft 510 to penetrate through. During installation, the locking shaft 510 penetrates into the through hole, and a gap is reserved between the locking shaft 510 and the hole wall, so that the locking shaft can rotate relative to the second installation seat conveniently.
Two locking shafts 510 are respectively provided at both ends of the cross beam of the cross bracket 110,
thus, when the deformable hub ring 200 is shifted to the circular state, the two lock bevel gears 520, the two first bevel gears 420 and the drive bevel gear 440 are engaged with each other and in a tightly locked state, and the entire hub operates as a whole.
When the deformable hub ring 200 is converted into a non-circular state, the two locking bevel gears 520 are driven by the extension ends to be far away from the drive bevel gear 440, the drive bevel gear 440 is meshed with the first bevel gear 420 in the transmission mechanism 400, the motion transmission route at the moment is the drive bevel gear 440, the transmission mechanism 400, the driving wheel 230 and the track 600, the track 600 runs relative to the vehicle body, the tire runs in a track type, and therefore good off-road capability can be obtained, and the trafficability is strong.
Referring to fig. 3, as an embodiment of the transformable hub based on two wheeled and tracked traveling modes according to the present invention, the driving mechanism 300 includes a rotating disc 310 rotatably sleeved on the main shaft 140, two first connecting rods 320 disposed corresponding to two shortened ends one by one, and two second connecting rods 330 disposed corresponding to two extended ends one by one.
The rotating disc 310 is used for being in transmission connection with an external second power source. Each of the first links 320 has one end rotatably connected to the corresponding shortened end and the other end rotatably connected to the rotating disk 310. Each second link 330 has one end rotatably connected to the corresponding elongated end and the other end rotatably connected to the rotating disk 310.
In this embodiment, the external second power source may be a motor, a steering engine, or the like, and is in transmission connection with the rotating disc 310 through a gear transmission member or a belt transmission member during use, so as to drive the rotating disc 310 to rotate forward or backward. When the rotating disk 310 rotates forward, the first link 320 drives the shortening end to shorten, the second link 330 drives the extending end to extend, and the deformable hub ring 200 is converted to a non-circular state; when the rotating disk 310 is rotated reversely, the first link 320 and the second link 330 bring the shortened end and the extended end back to the original positions, and the deformable hub ring 200 is transformed into the circular state.
The driving mechanism 300 adopts the arrangement mode, can realize synchronous driving of the extension end and the shortening end, has simple structure, and can play a good supporting role on the deformed hub ring to ensure the normal operation of the hub.
Further, the rotating disc 310 is rotatably connected with the main shaft 140 through a rolling bearing, and a gear for being in transmission connection with an external second power source is further arranged on the rotating disc 310.
Referring to fig. 3, as an embodiment of the deformable hub based on two traveling modes of a wheel type and a crawler type according to the present invention, the driving wheel 230 includes a first driving wheel 231 disposed at one side of the arc-shaped hub section 210 for being in transmission connection with the transmission mechanism 400, and a second driving wheel 232 disposed at the middle of the arc-shaped hub section 210 for rotating synchronously with the first driving wheel 231, wherein the second driving wheel 232 is engaged with the crawler 600.
The first driver 231 is located outside the arc-shaped hub section 210 to facilitate connection or disconnection with the transmission mechanism 400. The second driver 232 is located in the middle of the arc-shaped hub section 210 to ensure the stability of the operation thereof and reduce the risk of inclination or abrasion thereof.
In order to ensure the stability of the contact between the deformable hub ring 200 and the track 600, the driven wheel 250 for engaging with the track 600 is added to each of the arc-shaped hub section 210 and the arc-shaped section 221 on the basis of the above-described embodiment.
After the track 600 is mounted on the deformable hub ring 200, stable support can be realized through the second driving wheel 232 and the driven wheel 250, so that the risk of relative abrasion between the track 600 and the deformable hub ring 200 is effectively reduced, and the stable running of the tire adopting the hub provided by the embodiment is ensured.
In order to further improve the stable support of the support frame 100 to the deformable hub ring 200, please refer to fig. 1 to fig. 3 together, as an embodiment of the deformable hub based on two traveling manners of the wheeled type and the tracked type provided by the present invention, the support frame 100 is further provided with first connecting pieces 150 connected with the arc-shaped sections 221 in a one-to-one correspondence manner, and the first connecting pieces 150 are rotatably connected with the support frame 100 and the corresponding arc-shaped sections 221.
The arrangement of the first connecting member 150 enhances the control of the support frame 100 on the corresponding arc-shaped section 221, so that the arc-shaped section 221 can be inclined as expected in different forms, and further, the deformable hub ring 200 can be deformed in a preset shape in different states.
Specifically, the support frame 100 and the arc-shaped section 221 are both provided with ear plates for rotatably connecting with the first connecting member 150.
The embodiment of the invention also provides a deformable tire based on two traveling modes of a wheel type and a crawler type. Referring to fig. 1, 2, 6 and 7, the deformable tire based on the two traveling manners of the wheel type and the crawler type includes the deformable hub based on the two traveling manners of the wheel type and the crawler type, and the crawler 600 sleeved on the deformable hub ring 200. The track 600 is engaged with the drive wheel 230.
The deformable tire based on the wheel type traveling mode and the crawler type traveling mode provided by the embodiment of the invention adopts the deformable wheel hub based on the wheel type traveling mode and the crawler type traveling mode, basically the same technical effect is achieved, and the details are not repeated.
Further, the track 600 is a rubber track having internal teeth, and the driving wheel 230 is engaged with the internal teeth on the inner wall of the track 600.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Deformable wheel hub based on wheeled and crawler-type two kinds of modes of travel, its characterized in that includes:
the support frame is provided with extensible extension ends at two ends in a first direction respectively, and retractable shortening ends at two ends in a second direction perpendicular to the first direction respectively;
the main shaft extends along a third direction perpendicular to the first direction and the second direction, is rotatably arranged in the middle of the support frame around the axis of the main shaft, and is used for being in transmission connection with an external first power source;
the deformable hub ring is arranged around the support frame and provided with two arc-shaped hub sections which are connected with the two extension ends in a one-to-one corresponding mode and two deformable hub sections which are connected with the two shortening ends in a one-to-one corresponding mode, a driving wheel used for being meshed with a crawler belt is arranged on each arc-shaped hub section, each deformable hub section is provided with two arc-shaped sections which are hinged with each other, and the extension ends are connected with hinge shaft rotating shafts of the corresponding deformable hub sections; the deformable hub ring has a circular shape corresponding to a wheeled travel mode and a non-circular shape corresponding to a crawler travel mode;
the driving mechanism is used for driving the extending end and the shortening end to move relative to the support frame so as to drive the deformable hub ring to be converted between the circular shape and the non-circular shape, and meanwhile, the deformable hub ring can be locked in the circular shape or the non-circular shape; and
the transmission mechanism is arranged on the support frame, is in transmission connection with the main shaft, and is used for driving the assembly of the support frame and the deformable hub ring to rotate around the axis of the main shaft when the deformable hub ring is in the circular shape; when the deformable hub ring is in the non-circular shape, the deformable hub ring is in transmission connection with the driving wheel so as to drive the crawler to rotate relative to the deformable hub ring through the driving wheel.
2. The transformable hub based on both wheeled and tracked travel of claim 1, wherein the transmission is a gear transmission;
the gear transmission mechanism includes:
the driving bevel gear is sleeved on the main shaft;
a transmission assembly having a first bevel gear meshing with the drive bevel gear and a second bevel gear rotatable synchronously with the first bevel gear for meshing with the respective drive wheel when the deformable hub ring is transitioned to the non-circular state; and
a locking assembly for defining the relative positions of the drive bevel gear and the two first bevel gears when the deformable hub ring is transitioned to the circular state.
3. The transformable wheel hub based on both wheel-type and crawler-type traveling manner according to claim 2, wherein the transmission assembly is provided in two and is respectively provided at both sides of the supporting frame;
each of the transmission assemblies includes:
transmission shafts extending in the second direction and each having a degree of freedom of rotation about its axis;
the two first bevel gears and the two second bevel gears are connected with the two transmission shafts in a one-to-one correspondence mode, the second bevel gears are arranged on one ends, close to the shortening ends, of the corresponding transmission shafts in a sleeved mode, the first bevel gears are arranged on one ends, close to the main shaft, of the corresponding transmission shafts in a sleeved mode, and the two first bevel gears arranged on the two transmission shafts in a divided mode are meshed with the driving bevel gear.
4. A deformable hub based on both wheeled and tracked travel according to claim 3, characterized in that: the two locking assemblies are connected with the two extension ends in a one-to-one correspondence mode, and the two locking assemblies are used for limiting the relative positions of the driving bevel gear and the two first bevel gears when the deformable hub ring is converted to the circular state in a matched mode.
5. The deformable hub for both wheeled and tracked travel of claim 4, wherein said latch assembly comprises:
the locking shaft is arranged on the support frame in a sliding mode along the first direction, one end of the locking shaft is fixedly connected with the corresponding extending end, and the other end of the locking shaft extends towards the main shaft along the first direction; and
and the locking bevel gear is sleeved on the extending end of the locking shaft and is used for being meshed with the driving bevel gear and the two first bevel gears when the deformable hub ring is converted to the circular state.
6. A deformable hub based on both wheeled and tracked travel according to any one of claims 1-5, characterized in that said drive mechanism comprises:
the rotating disc is rotatably sleeved on the main shaft and is used for being in transmission connection with an external second power source;
the two first connecting rods are arranged in one-to-one correspondence with the two shortening ends, one end of each first connecting rod is rotatably connected with the corresponding shortening end, and the other end of each first connecting rod is rotatably connected with the rotating disc; and
and the two second connecting rods are arranged in one-to-one correspondence with the two extension ends, one end of each second connecting rod is rotatably connected with the corresponding extension end, and the other end of each second connecting rod is rotatably connected with the rotating disc.
7. A deformable hub based on both wheeled and tracked travel according to claim 1, characterized in that said driving wheel comprises:
the first driving wheel is arranged on one side of the arc-shaped hub section and is in transmission connection with the transmission mechanism; and
and the second driving wheel is arranged in the middle of the arc-shaped hub section and synchronously rotates with the first driving wheel, and is used for being meshed with the crawler.
8. The transformable hub based on both wheeled and tracked travel of claim 7, wherein: the arc-shaped hub section and the arc-shaped section are both provided with driven wheels which are used for being meshed with the crawler.
9. A deformable hub based on both wheeled and tracked travel according to claim 1, characterized in that: the support frame is also provided with torsion bars which are connected with the arc sections in a one-to-one correspondence manner, and the torsion bars are rotationally connected with the support frame and the corresponding arc sections.
10. Deformable tyre based on two kinds of travelling methods of wheeled and crawler-type, characterized by comprising:
a deformable hub for both wheeled and tracked based travel according to any one of claims 1 to 9; and
the track is sleeved on the deformable hub ring and meshed with the driving wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010802483.2A CN111845197B (en) | 2020-08-11 | 2020-08-11 | Deformable wheel hub and tire based on wheel type traveling mode and crawler type traveling mode |
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| CN202010802483.2A CN111845197B (en) | 2020-08-11 | 2020-08-11 | Deformable wheel hub and tire based on wheel type traveling mode and crawler type traveling mode |
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| CN111845197B CN111845197B (en) | 2022-06-14 |
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| CN113443038A (en) * | 2021-07-13 | 2021-09-28 | 北京交通大学 | Center-driven hexagonal robot |
| CN114684290A (en) * | 2022-04-19 | 2022-07-01 | 湖北工业大学 | Crawler-type stay cable robot capable of achieving radial balance adjustment |
| KR102495781B1 (en) * | 2022-04-19 | 2023-02-06 | 주식회사 에이블모터스 | Shape shifting wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112918582A (en) * | 2021-03-02 | 2021-06-08 | 西安航空学院 | Deformable fire-fighting emergency robot |
| CN112918582B (en) * | 2021-03-02 | 2022-04-15 | 西安航空学院 | Deformable fire-fighting emergency robot |
| CN113443038A (en) * | 2021-07-13 | 2021-09-28 | 北京交通大学 | Center-driven hexagonal robot |
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| KR102660503B1 (en) * | 2022-04-19 | 2024-04-26 | 주식회사 에이블모터스 | Shape shifting wheel assembly |
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