CN112896351A - Deformable wheel-track composite walking mechanism - Google Patents
Deformable wheel-track composite walking mechanism Download PDFInfo
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- CN112896351A CN112896351A CN202110400834.1A CN202110400834A CN112896351A CN 112896351 A CN112896351 A CN 112896351A CN 202110400834 A CN202110400834 A CN 202110400834A CN 112896351 A CN112896351 A CN 112896351A
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- wheel
- track
- driving
- deformable
- main frame
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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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
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a deformable wheel-track composite travelling mechanism, which comprises a deformable wheel-track main frame, a wheel-track main frame and a wheel-track main frame, wherein the deformable wheel-track main frame is used for changing the external outline between a flat long octagon and a similar circle; the track is coated on the outer edge of the deformable wheel-track main frame and can be driven by the deformable wheel-track main frame to change the shape; the crawler driving device is arranged in the middle of the interior of the deformable wheel-track main frame and is used for driving the crawler to rotate; and the wheel-track main frame driving device is arranged in the middle of the outer surface of the deformable wheel-track main frame and is used for driving the deformable wheel-track main frame to overturn. The deformable wheel-track main frame is based on a multi-connecting-rod motion principle, the driving triangular wheel set is driven by the deformation driving device to slide in the corresponding groove hole of the limiting plate, so that the triangular wheel is driven to slide and the longitudinal adjusting wheel is driven, the deformable wheel-track main frame is converted between a quasi-circular configuration and a flat-long configuration, the maneuvering performance and the passing performance of the platform walking mechanism are enhanced, and the maintenance and the repair are easy.
Description
Technical Field
The invention relates to the technical field of ground unmanned mobile platform travelling mechanisms, in particular to a deformable wheel-track composite travelling mechanism.
Background
The ground unmanned maneuvering platform walking mechanism is an important guarantee for guaranteeing the maneuverability and trafficability of the platform to complete specific military tasks, and can adapt to various walking environments, including various road conditions such as city pavement, mud, snow, sand, soft and the like.
At present, pure wheel type traveling mechanisms, pure crawler type traveling mechanisms and reconfigurable deformed wheel-track type traveling mechanisms are mainstream in ground unmanned mobile platform traveling mechanisms.
The independent wheel type road has simple structure, good high-speed running performance under good road conditions and more flexible steering, and has the defects of smaller grounding area, larger grounding specific pressure and easy occurrence of out-of-control situations such as slipping, deep sinking and the like under wet and slippery terrain; the crawler-type traveling mechanism has small ground pressure and large ground adhesion, is suitable for moving in environments such as snowfield and muddy roads, and has the defect that the flexibility of movement is poorer than that of a wheel-type mechanism due to the friction energy consumption of the crawler; the wheel-track combined type walking mechanism developed based on the reconfigurable deformation idea can switch the configuration between a wheel type and a track type, has the advantages of both the wheel type and the track type, but has a complex structure and poor reliability, which is a main technical bottleneck of the mechanism and is also a main reason for limited practical application. Considering the complexity factor of the mechanism, in the reconfigurable wheel-track structure of the current ground unmanned mobile platform, a triangular-similar-circular conversion structure is taken as the main stream, the mechanism can realize the conversion of the wheel-track shape between a similar circle and a regular triangle, and the mechanism can provide two motion modes of wheel rolling and triangular track sliding around a wheel carrier in the face of a complex road condition obstacle, and because the side length of the regular triangle is equivalent to the diameter of the similar circle under the two configurations, the triangular wheel-track structure does not have the advantage of realizing obstacle crossing by integral overturning in the geometric principle.
Disclosure of Invention
The invention aims to provide a deformable wheel-track composite travelling mechanism to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a deformable wheel-track composite walking mechanism comprises:
the deformable wheel-track main frame is used for changing the external contour between a prolate octagon and a similar circle;
the track is coated on the outer edge of the deformable wheel-track main frame and can be driven by the deformable wheel-track main frame to change the shape;
the crawler driving device is arranged in the middle of the interior of the deformable wheel-track main frame and is used for driving the crawler to rotate; and
and the wheel-track main frame driving device is arranged in the middle of the outer surface of the deformable wheel-track main frame and is used for driving the deformable wheel-track main frame to overturn.
As a further scheme of the invention: and a guide hole is formed in the middle of the track in the width direction.
As a further scheme of the invention: deformable wheel-track body frame includes limiting plate, the one end setting of relatively fixed setting at the drive triangle wheelset of the inside left and right sides of two limiting plates, is used for driving drive triangle wheelset horizontal slip's deformation drive arrangement, sets up oblique diagonal angle department on the limiting plate opposite face and can vertical gliding triangle skidding, set up limiting plate opposite flank top and bottom midpoint department can vertical gliding longitudinal adjustment wheel, longitudinal adjustment wheel is in same water flat line with the triangle skidding of its horizontal both sides, it is used for driving the gliding connecting rod of triangle skidding to be provided with between drive triangle wheelset and the triangle skidding, longitudinal adjustment wheel passes through the connecting rod and is articulated rather than the triangle skidding of horizontal both sides.
As a further scheme of the invention: the limiting plate is including setting up both ends center department is used for making about the limiting plate level drive triangle wheelset horizontal slip's drive triangle wheelset slip spacing groove, vertical setting are in each perpendicular extreme point department of limiting plate is used for making the triangle skidding realizes vertical and horizontal slip's triangle skidding spacing groove, sets up limiting plate top and bottom mid point department are used for realizing the gliding vertical adjustment wheel of vertical direction of vertical adjustment wheel slides spacing groove, sets up vertical adjustment wheel slip spacing groove both sides are used for keeping the certain vertical adjustment wheel of vertical adjustment wheel direction assists the sliding tray, and sets up the marble device is avoided to the dead point of vertical adjustment wheel slip spacing inslot side.
As a further scheme of the invention: two the drive arrangement level sets up both ends about arbitrary limiting plate lateral surface middle part, just the one end that warp drive arrangement with the one end fixed connection of drive triangle wheelset, warp drive arrangement include DC motor, with lead screw that DC motor links to each other, the lead screw slider of setting on the lead screw, the lead screw slider is connected drive triangle wheelset sets up one end on the limiting plate.
As a further scheme of the invention: the triangular pulley comprises two solid pulleys, a groove pulley and a fixing rod, wherein the solid pulleys and the groove pulley are arranged in a triangular shape and are connected with a rotating shaft of the solid pulleys and the groove pulley through the fixing rod.
As a further scheme of the invention: the driving triangular wheel set comprises two opposite triangular wheel slips and a fixed connecting rod, two ends of the fixed connecting rod are respectively fixed on the two triangular wheel slip groove pulleys, and the groove pulleys of the driving triangular wheel set are arranged on the limiting plate.
As a further scheme of the invention: the vertical regulating wheel comprises a triangular wheel slide and a guide crankshaft arranged on the triangular wheel slide in parallel, the guide crankshaft is fixed on fixing rods on two sides of the groove pulley, and the groove pulley and the guide crankshaft of the vertical regulating wheel are arranged on the limiting plate.
As a further scheme of the invention: the crawler driving device comprises a driving main wheel used for driving the crawler to rotate and a main wheel driving shaft used for being connected with an external power mechanism so as to drive the driving main wheel to rotate, the driving main wheel is arranged at the inner center of the deformable wheel-track main frame, one end of the main wheel driving shaft is connected with the driving main wheel in a key mode, and the other end of the main wheel driving shaft is exposed on the outer surface of the deformable wheel-track main frame.
As a further scheme of the invention: the wheel-track main frame driving device is a pinion fixed at the center of the outer surface of the deformable wheel-track main frame.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the flexible switching of the wheel-track configuration between the quasi-circular shape and the flat long shape by arranging the deformable wheel-track main frame and utilizing the motion law of the multiple connecting rods, and can realize three motion postures of synchronous pure rolling of the caterpillar track and the deformable wheel-track main frame around the central axis under the quasi-circular configuration, rotation of the caterpillar track around the deformable wheel-track main frame under the flat long configuration and integral overturning of the caterpillar track and the caterpillar track under the flat long configuration through the conversion and combination of the driving power. The vehicle runs in a similar-circular configuration under flat and hard road conditions such as urban pavement and the like, and the overall efficiency of the running system is improved due to the avoidance of relative sliding between the track and the deformable wheel-track main frame; the rotation mode of a flat-long-configuration track around a deformable wheel-track main frame is adopted in the face of soft muddy road conditions, so that the advantage and the characteristic of a crawler-type walking mechanism can be exerted; the overall overturning movement mode of the caterpillar band and the deformable wheel-track main frame under the flat-long configuration is adopted in the face of road condition obstacles, so that climbing and overturning of the obstacles can be realized, the three movement modes are organically combined, and the maneuvering performance and the passing performance of the platform walking mechanism are greatly enhanced. The invention is based on the motion rule of the connecting rod, has simple structure and is easy to maintain and repair; the two configurations correspond to two limit positions of the connecting rod, and the configurations are easy to keep stable; the deformation driving power is a direct current motor, the action is simple, and the reliability is high.
Drawings
FIG. 1 is an exploded view of the mechanism of the present invention;
FIG. 2 is a schematic perspective view of the oblong configuration of the present invention;
FIG. 3 is a schematic perspective view of the present invention in a circle-like configuration;
FIG. 4 is a schematic perspective view of a deformable wheel-track main frame;
FIG. 5 is a schematic structural diagram of a limiting plate;
FIG. 6 is a schematic structural view of a triangular roller skate;
FIG. 7 is a schematic structural diagram of a driving triangle wheel set;
fig. 8 is a schematic structural view of the longitudinal adjustment wheel.
In the figure: 1-a deformable wheel-track main frame, 11-a limiting plate, 111-a driving triangle wheel set sliding limiting groove, 112-a triangle wheel sliding limiting groove, 113-a longitudinal adjusting wheel sliding limiting groove, 114-a longitudinal adjusting wheel auxiliary sliding groove, 115-a dead point ball avoiding device, 12-a driving triangle wheel set, 121-a fixed connecting rod, 13-a deformation driving device, 131-a direct current motor, 132-a screw rod and 133-a screw rod sliding block, 14-triangular roller skating, 141-solid pulley, 142-groove pulley, 143-fixed rod, 15-longitudinal adjusting wheel, 151-guide crankshaft, 16-connecting rod, 2-track, 3-track driving device, 31-driving main wheel, 32-main wheel driving shaft and 4-wheel track main frame driving device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, a deformable wheel-track composite traveling mechanism includes a deformable wheel-track main frame 1 for changing an outer contour between a prolate octagon and a quasi-circular shape; the crawler belt 2 is coated on the outer edge of the deformable wheel-track main frame 1 and can be driven by the deformable wheel-track main frame to change the shape; the crawler driving device 3 is arranged in the middle of the interior of the deformable wheel-track main frame 1 and is used for driving the crawler 2 to rotate; and a wheel-track main frame driving device 4 arranged in the middle of the outer surface of the deformable wheel-track main frame 1 and used for driving the deformable wheel-track main frame to overturn.
Specifically, referring to fig. 1, the track 2 is made of high-wear-resistant rubber, a guide hole is formed in the middle of the track in the width direction and is used for being meshed with the gear teeth of the driving main wheel 31 of the track driving part 3, so that the track driving part 3 drives the track 2 to rotate, the track covers the outer edge of the deformable wheel-track main frame 1 and can change the shape along with the configuration change of the deformable wheel-track main frame, when the configuration of the deformable wheel-track main frame 1 is similar to a circle, the shape of the track is similar to a circle, and when the configuration of the deformable wheel-track main frame 1 is a flat octagonal shape, the shape of the track 2 is a flat octagonal shape.
Specifically, referring to fig. 4, the main frame structure 1 for deformable wheel-track includes a limiting plate 11, a driving triangle wheel set 12, a deformation driving device 13, a triangle roller skate 14, a longitudinal adjusting wheel 15, and a connecting rod 16, which are relatively fixed.
Specifically, referring to fig. 4 and 6, the eight triangular roller skates 14 are disposed at eight vertical corners of the two limiting plates 11, the triangular pulley 14 comprises two solid pulleys 141, a groove pulley 142 and three fixing rods 143 with equal length, as shown in fig. 6, the solid pulleys and the grooved pulleys are arranged in a regular triangle shape and fixed by fixing rods 143 with equal length connecting the rotating shafts of the solid pulleys and the grooved pulleys, the end surfaces of the two solid pulleys 141 are coplanar, the end surfaces of the grooved pulleys 142 and the solid pulleys 141 are not coplanar, thereby avoiding the motion interference friction between the limit plate 11 and the triangle pulley 14, the solid pulley 141 and the groove pulley 142 on the triangle pulley 14 can rotate for 360 degrees, the groove pulley of the triangular pulley 14 is arranged on the limiting plate 11 and can slide vertically and horizontally, and the triangular pulley 14 is used for adjusting the configuration posture of the deformable wheel-track main frame 1.
Specifically, please refer to fig. 4 and 7, one end of each of the two driving triangular wheel sets 12 is disposed at each of the left and right ends inside the two limiting plates, each of the driving triangular wheel sets 12 includes two triangular roller skids 14 and a fixed connecting rod 121, as shown in fig. 7, the two ends of the fixed connecting rod are respectively fixed on the groove pulleys 142 of the two triangular roller skids 14, the groove pulleys 142 on the driving triangular wheel sets 12 are disposed on the limiting plates 11 to drive the driving triangular wheel sets 12 to horizontally slide on the limiting plates 11, and the driving triangular wheel sets 12 are used for adjusting the configuration posture of the deformable wheel-track main frame 1.
Specifically, referring to fig. 4 and 8, the longitudinal adjusting wheels 15 are disposed at the middle points of the top end and the bottom end of the opposite side surfaces of the limiting plates 11, 4 longitudinal adjusting wheels are disposed on the two limiting plates, the longitudinal adjusting wheel and the triangular wheel slide 14 at the two horizontal sides of the longitudinal adjusting wheel are positioned at the same horizontal line, the longitudinal adjusting wheel 15 comprises a triangular wheel slide 14 and a guide crankshaft 151 which is arranged on the triangular wheel slide in parallel relatively, as shown in fig. 8, the guide crankshafts 151 are fixed to the fixing rods 143 at both sides of the grooved pulley 142, the end, which is not connected with the fixed rod, of the guide crankshaft is provided with a cylindrical buckle, the groove pulley 142 and the guide crankshaft 151 of the longitudinal adjusting wheel 15 are arranged on the limiting plate 11, so that the longitudinal adjusting wheel 15 can vertically slide on the limiting plate 11, and the longitudinal adjusting wheel 15 is used for adjusting the configuration posture of the deformable wheel-track main frame 1.
Specifically, referring to fig. 4 and 5, two oppositely arranged limiting plates 11 are fixed together by two stud assemblies on the left and right sides, each stud assembly comprises a long stud and four nuts, the inner side and the outer side of each limiting plate are locked and positioned by one nut, 4 screw holes are formed in the left and right sides of each limiting plate 11 for mounting the stud assemblies, and the limiting plates 11 are bilaterally symmetrical; the limiting plate 11 comprises a driving triangle wheel set sliding limiting groove 111, a triangle wheel sliding limiting groove 112, a longitudinal adjusting wheel sliding limiting groove 113, a longitudinal adjusting wheel auxiliary sliding groove 114 and a dead point marble avoiding device 115; the driving triangular wheel set sliding limiting grooves 111 are formed in the centers of the left and right horizontal ends of each limiting plate 11, the driving triangular wheel set sliding limiting grooves 111 are circular-angle rectangular groove holes, two groove pulleys 142 of the driving triangular wheel set 12 are respectively clamped in the driving triangular wheel set sliding limiting grooves 111 opposite to the two limiting plates 11, and the driving triangular wheel set 12 can horizontally slide on the driving triangular wheel set sliding limiting grooves 111 to realize horizontal movement guiding and limiting of the two driving triangular wheel sets 12; the triangular wheel slip sliding limiting grooves 112 are vertically arranged at four vertical corners of each limiting plate 11, namely, the oblique diagonal corners of each limiting plate 11, the triangular wheel slip sliding limiting grooves 112 are slotted holes with rounded rectangular corners, the four triangular wheel slip sliding limiting grooves 112 on each limiting plate 11 are symmetrically arranged from left to right and up and down, the groove pulleys 142 of the triangular wheel slips 14 are clamped in the triangular wheel slip sliding limiting grooves 112, and the triangular wheel slips 14 can vertically and horizontally slide on the triangular wheel slip sliding limiting grooves 112 to realize motion guiding and limiting of the triangular wheel slips 14; the sliding limiting groove 113 of the longitudinal adjusting wheel is vertically arranged at the middle points of the top end and the bottom end of the limiting plate 11, the sliding limiting groove 113 of the longitudinal adjusting wheel is respectively arranged at the upper end and the lower end of the middle part of each limiting plate 11, the auxiliary sliding groove 114 of the longitudinal adjusting wheel is arranged at the two sides of the sliding limiting groove 113 of the longitudinal adjusting wheel, the sliding limiting groove 113 of the longitudinal adjusting wheel is a rounded rectangular notch with one open end, the auxiliary sliding groove 114 of the longitudinal adjusting wheel is an open narrow rectangular groove, the size of the auxiliary sliding groove can be just used for placing the cylindrical buckle at one end of the guide crankshaft 151, the groove pulley 142 of the longitudinal adjusting wheel 15 is clamped in the sliding limiting groove 113 of the longitudinal adjusting wheel, the cylindrical buckle at one end of the guide crankshaft 151 is clamped in the auxiliary sliding groove 114 of the longitudinal adjusting wheel, and the longitudinal adjusting wheel 15 can vertically slide up and, the guide crankshaft 151 can vertically slide up and down in the longitudinal adjusting wheel auxiliary sliding groove 114, the longitudinal adjusting wheel sliding limiting groove 113 realizes the guide and limiting of the longitudinal adjusting wheel 15, the longitudinal adjusting wheel auxiliary sliding groove 114 realizes the guide of the guide crankshaft 151 and the limiting of the triangular wheel sliding of the longitudinal adjusting wheel 15, and one side of the triangular structure of the longitudinal adjusting wheel 15 can be kept horizontal all the time; the dead point ball avoiding device 115 is arranged on the inner side of the longitudinal adjusting wheel sliding limiting groove 113, when the triangular wheel slide 14 moves to the corner position of the corresponding groove hole, namely the longitudinal adjusting wheel is driven to the corresponding position, the connecting rod 16 is collinear, and when a dead point occurs, the collinear state of the connecting rod is broken by the ball elasticity of the dead point ball avoiding device 115, so that dead point crossing is realized, and the configuration of the deformable wheel-track main frame 1 can be continuously adjusted.
Specifically, referring to fig. 1-4, the triangular pulley block 14 is connected to the driving triangular pulley block 12 through a connecting rod 16, the connecting rod 16 arranged between the triangular pulley block 14 and the driving triangular pulley block 12 is connected to one end of the triangular pulley block 12 and is fixedly connected to the other end of the triangular pulley block, the connecting rod 16 is connected to one end of the driving triangular pulley block 12 and is hinged to the longitudinal adjusting wheel 15 through the connecting rod 16, the longitudinal adjusting wheel 15 is hinged to the triangular pulley blocks 14 on the two horizontal sides of the longitudinal adjusting wheel 15, the connecting rod 16 arranged between the longitudinal adjusting wheel 15 and the triangular pulley block 14 is hinged to the longitudinal adjusting wheel 15 and the triangular pulley block 14 on the two ends of the longitudinal adjusting wheel, the connecting rod 16 is used for realizing motion transmission among the driving triangular pulley block 12, the triangular pulley block 14 and the longitudinal adjusting wheel 15, and the connecting rod 16 on each limiting plate 11 form a complete closed loop structure; the two deformation driving devices 13 are horizontally arranged at the left end and the right end of the middle part of the outer side surface of any one limiting plate 11, each deformation driving device 13 comprises a direct current motor 131, a screw rod 132 connected with the direct current motor and a screw rod sliding block 133 arranged on the screw rod, the screw rod sliding block is fixedly connected with a groove pulley 142 of the driving triangular wheel set 12 arranged on the limiting plate 11, power for enabling the driving triangular wheel set 12 to horizontally move is provided, and the driving triangular wheel set is driven to horizontally move; the deformation driving device 13 drives the driving triangular wheel set 12 to move to the rightmost end along the leftmost end of the driving triangular wheel set sliding limiting groove 111 through the lead screw slider 133, the driving triangular wheel set 12 drives the triangular wheel slide 14 to move to the top corner along the bottommost end of the triangular wheel slide limiting groove 112 through the connecting rod, the driving triangular wheel set continues to move to the end point position of the horizontal section after breaking through the dead point position, the triangular wheel slide 14 drives the longitudinal adjusting wheel 15 to slide upwards along the lowest end of the longitudinal adjusting wheel sliding limiting groove 113 through the connecting rod 16 until the guide crankshaft 151 of the longitudinal adjusting wheel 15 slides to the topmost end of the longitudinal adjusting wheel auxiliary sliding groove, and therefore the flat-long octagonal configuration of the deformable wheel main frame 1 is converted into the similar-circular configuration, as shown in fig. 2 and 3, when the flat-long-circular configuration of the deformable wheel main frame 1 needs to be converted into the flat-long octagonal configuration, the driving triangular wheel set is driven by the deformation driving triangular wheel set The end point further drives the triangular pulley block 14 and the longitudinal adjusting wheel 15 to move to the other end point on the corresponding slot hole.
Specifically, referring to fig. 1, the track driving device 3 includes a driving main wheel 31 for driving the track 2 to rotate, and a main wheel driving shaft 32 for connecting an external power mechanism to drive the driving main wheel to rotate, the driving main wheel is a circular wheel with an inducing gear, the driving main wheel 31 is disposed at an inner center position of the flexible wheel-track main frame 1, one end of the main wheel driving shaft 32 is connected to the driving main wheel 31 in a key manner, and the other end of the main wheel driving shaft is exposed on an outer surface of the flexible wheel-track main frame 1; a through hole with a key groove is arranged at the center of the gear of the driving main wheel 31, the driving shaft 32 of the main wheel is of a step shaft structure, two sections of the driving shaft are respectively provided with a semicircular key groove, a thinner section of the driving shaft is inserted into the driving main wheel 31 and is in key connection transmission with the driving main wheel 31, an inner threaded hole is arranged on the end surface, the axial positioning on the driving main wheel 31 is realized through a limit bolt screwed in the internal thread hole and a shaft shoulder of the limit bolt, the semi-circular key groove of the thicker section of the main wheel driving shaft 32 is used for key connection transmission with an external speed reducer shaft, the external speed reducer realizes the support and the positioning of the main wheel driving shaft 32, and provides power for the main wheel driving shaft 32 to drive the main wheel driving shaft 32 to rotate so as to drive the main wheel 31 to rotate, the driving main wheel 31 drives the crawler 2 to rotate through the gear teeth of the outline thereof to fork the driving crawler 2, so that the crawler 2 rotates around the deformable wheel-track main frame 1 under the flat-long octagonal configuration.
Specifically, referring to fig. 1, the wheel-track main frame driving device 4 is a pinion fixed at the center of the outer surface of the deformable wheel-track main frame 1. The wheel-track main frame driving device 4 can realize 360-degree rotation around the central axis of the wheel-track main frame driving device 4, the wheel-track main frame driving device 4 is fixed at the center of the outer surface of the limiting plate through 5 hub bolts and nut fasteners, the wheel-track main frame driving device 4 receives torque input by an external power mechanism through meshing with the external power mechanism, the external power mechanism drives the wheel-track main frame driving device 4 to rotate, the wheel-track main frame driving device 4 drives the deformable wheel-track main frame 1 to rotate through the hub bolts, and the deformable wheel-track main frame 1 drives the track 2 to overturn together under the flat octagonal and round-like configurations.
The main deformable wheel-track frame 1 is novel in structure and stable in operation, based on the multi-connecting-rod motion principle, the driving triangular wheel group 12 is driven by the deformation driving device 13 to slide in the corresponding groove hole of the limiting plate 11, the triangular wheel slide 14 and the longitudinal adjusting wheel 15 are driven, the main deformable wheel-track frame 1 is switched between a quasi-circular shape and a flat-long shape, the track 2 is driven to be switched between the quasi-circular shape and the flat-long octagonal shape, and the main deformable wheel-track frame 1 can rotate 360 degrees around the central axis. When the deformable wheel-track main frame is used, when the deformable wheel-track main frame 1 is in a similar circular shape, the deformable wheel-track main frame 1 is driven to rotate through the wheel-track main frame driving device 4, so that the deformable wheel-track main frame 1 and the crawler belt 2 rotate together, the deformable wheel-track main frame is suitable for running under flat and hard road conditions such as urban pavement, the relative sliding between the crawler belt and the deformable wheel-track main frame is avoided, and the overall efficiency of a walking system is improved; when the deformable wheel-track main frame 1 is in a flat octagonal shape, the deformable wheel-track main frame 1 can be driven to rotate by the wheel-track main frame driving device 4, so that the deformable wheel-track main frame 1 and the track 2 rotate together, the deformable wheel-track main frame is suitable for road condition obstacles, and climbing and crossing of obstacles can be realized; or when the configuration of the deformable wheel-track main frame 1 is a flat octagon, the deformable wheel-track main frame 1 is realized by only driving the track 2 to rotate through the track driving device 3, the deformable wheel-track main frame 1 is fixed, the track 2 covers the deformable wheel-track main frame 1 and rotates around the deformable wheel-track main frame 1, the deformable wheel-track main frame is suitable for soft muddy road conditions, and the advantages and the characteristics of the crawler-type walking mechanism can be exerted.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A deformable wheel-track composite walking mechanism is characterized by comprising:
a deformable wheel-track main frame (1) for changing the external contour between a prolate octagon and a similar circle;
the crawler belt (2) is coated on the outer edge of the deformable wheel-track main frame (1) and can be driven by the deformable wheel-track main frame to change the shape;
the crawler driving device (3) is arranged in the middle of the interior of the deformable wheel-track main frame (1) and is used for driving the crawler (2) to rotate; and
and the wheel-track main frame driving device (4) is arranged in the middle of the outer surface of the deformable wheel-track main frame (1) and is used for driving the deformable wheel-track main frame to overturn.
2. A deformable wheel-track composite travelling mechanism according to claim 1, wherein a guide hole is formed in the middle of the track in the width direction.
3. The composite traveling mechanism for the deformable wheel-track is characterized in that the main deformable wheel-track frame (1) comprises limiting plates (11) which are relatively fixedly arranged, driving triangular wheel sets (12) with one ends arranged on the left side and the right side inside the two limiting plates, a deformation driving device (13) used for driving the driving triangular wheel sets to horizontally slide, triangular wheel slips (14) which are arranged on opposite surfaces of the limiting plates (11) and can vertically slide, and longitudinal adjusting wheels (15) which are arranged on the top ends of opposite sides and the middle points of the bottom ends of the limiting plates (11) and can vertically slide, wherein the longitudinal adjusting wheels and the triangular wheel slips (14) on two horizontal sides of the longitudinal adjusting wheels are on the same horizontal line, connecting rods (16) used for driving the triangular wheel slips are arranged between the driving triangular wheel sets (12) and the triangular wheel slips (14), and the longitudinal adjusting wheels (15) are hinged to the triangular wheel slips (14) on two horizontal sides of the longitudinal adjusting wheels through the connecting rods (16).
4. A deformable wheel-track composite travelling mechanism according to claim 3, wherein the limiting plate (11) comprises a driving triangular wheel set sliding limiting groove (111) arranged at the center of the left end and the right end of the limiting plate for enabling the driving triangular wheel set (12) to horizontally slide, a vertical adjusting wheel sliding limiting groove (112) arranged at each vertical end of the limiting plate (11) for enabling the triangular wheel slide (14) to vertically and horizontally slide, a longitudinal adjusting wheel sliding limiting groove (113) arranged at the center of the top end and the bottom end of the limiting plate (11) for enabling the longitudinal adjusting wheel (15) to vertically slide, longitudinal adjusting wheel auxiliary sliding grooves (114) arranged at the two sides of the longitudinal adjusting wheel sliding limiting groove (113) for keeping the longitudinal adjusting wheel (15) in a certain direction, and dead point marble avoiding devices (115) arranged at the inner side of the longitudinal adjusting wheel sliding limiting groove (113) .
5. A deformable wheel-track composite travelling mechanism according to claim 3, characterized in that two deformable driving devices (13) are horizontally arranged at the left and right ends of the middle part of the outer side surface of any one limiting plate (11), one end of each deformable driving device (13) is fixedly connected with one end of each driving triangular wheel set (12), each deformable driving device (13) comprises a direct current motor (131), a screw rod (132) connected with the direct current motor, and a screw rod sliding block (133) arranged on the screw rod, and the screw rod sliding block is connected with one end of each driving triangular wheel set (12) arranged on the limiting plate (11).
6. A deformable wheel-track composite running gear according to claim 3, characterized in that the triangular wheel-track (14) comprises two solid pulleys (141), a grooved pulley (142) and a fixing rod (143), wherein the solid pulleys and the grooved pulley are arranged in a triangular shape and connected with the rotating shafts of the solid pulleys and the grooved pulley through the fixing rod.
7. A deformable wheel-track composite travelling mechanism according to claim 6, wherein the driving triangular wheel set (12) comprises two triangular wheel skids (14) which are oppositely arranged and a fixed connecting rod (121), two ends of the fixed connecting rod are respectively fixed on the groove pulleys (142) of the two triangular wheel skids (14), and the groove pulleys of the driving triangular wheel set (12) are arranged on the limiting plate (11).
8. A deformable wheel-track composite travelling mechanism according to claim 6, characterized in that the longitudinal adjusting wheel (15) comprises a triangle roller (14) and a guide crankshaft (151) arranged on the triangle roller in a relatively parallel manner, the guide crankshaft is fixed on fixing rods (143) at two sides of the groove pulley (142), and the groove pulley and the guide crankshaft of the longitudinal adjusting wheel (15) are arranged on the limiting plate (11).
9. The composite deformable wheel-track walking mechanism as claimed in claim 1, wherein the track driving device (3) comprises a driving main wheel (31) for driving the track (2) to rotate, and a main wheel driving shaft (32) for connecting with an external power mechanism to drive the driving main wheel to rotate, the driving main wheel (31) is arranged at the inner center position of the deformable wheel-track main frame (1), one end of the main wheel driving shaft (32) is connected with the driving main wheel (31) in a key mode, and the other end of the main wheel driving shaft is exposed on the outer surface of the deformable wheel-track main frame (1).
10. A transformable wheel-track composite walking mechanism according to claim 1, characterized in that the wheel-track main frame driving device (4) is a pinion fixed at the center of the outer surface of the transformable wheel-track main frame (1).
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| CN113443038A (en) * | 2021-07-13 | 2021-09-28 | 北京交通大学 | Center-driven hexagonal robot |
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