CN113753145A - Non-inflatable safety wheel capable of switching wheel and track and switching method thereof - Google Patents
Non-inflatable safety wheel capable of switching wheel and track and switching method thereof Download PDFInfo
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- CN113753145A CN113753145A CN202111021107.0A CN202111021107A CN113753145A CN 113753145 A CN113753145 A CN 113753145A CN 202111021107 A CN202111021107 A CN 202111021107A CN 113753145 A CN113753145 A CN 113753145A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000000712 assembly Effects 0.000 claims abstract description 20
- 238000000429 assembly Methods 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical group 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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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- 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
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a non-inflatable safety wheel capable of switching wheel tracks and a switching method thereof, wherein the non-inflatable safety wheel comprises a wheel rim, a track, a supporting module, a deformation driving module, a track driving module and a control module; the rim comprises six support plates and three hinge assemblies; the hinge assembly comprises a hinge column and four hinge rods; the support module comprises a central column and six support rods; the deformation driving module comprises three deformation driving units; the deformation driving unit comprises a rigid spring, a spring seat, an electromagnet and a magnetic column; the track driving module comprises a driving motor, a driving gear and three driven assemblies. The invention can realize the mutual conversion of the shapes of the wheels in a circle and an approximate triangle during the traveling, and has the characteristics of rapidness, flexibility, strong environment adaptability, high maneuverability and the like when the mobile chassis operates in unstructured complex environments such as non-paved road surfaces, disaster relief and the like.
Description
Technical Field
The invention relates to the technical field of wheel moving structures, in particular to a non-inflatable safety wheel capable of switching wheel and track and a switching method thereof.
Background
With the development of vehicle equipment and robotics, the demand of people for a traveling mechanism as a key part thereof is gradually increasing. The running mechanism mainly functions to convert the driving torque transmitted by the engine or the motor to the driving wheel into the driving force required by the operation of the vehicle or the robot and support the whole vehicle or the robot. At present, the main running mechanism mainly has wheel type, crawler type and the compound form of the two types. The wheel type walking can reach higher movement speed, the efficiency is high, the turning is flexible, but the requirements on the walking ground are higher, the skidding and the sinking on the wet and soft ground are easy, and the obstacle crossing and climbing capabilities are limited. The crawler-type traveling mechanism has good traction adhesion and cross-country maneuverability, but has poor maneuverability and higher maintenance cost. Although the advantages and the disadvantages of the two traveling mechanisms are mutually compensated, the traditional wheel-track composite traveling mechanism has the defects of large occupied space, increased overall weight, complex wheel-track switching mode and the like, and cannot meet the requirements of high maneuverability and high flexibility in some special occasions.
Disclosure of Invention
The invention aims to provide a non-inflatable safety wheel capable of switching between wheel and track and a switching method thereof aiming at the defects of the existing travelling mechanism, which can switch between wheel type and track type movement according to the switching of the external environment and can be used for vehicles or robots needing to switch the travelling mode at any time in various severe environments.
A non-inflatable safety wheel capable of switching wheel tracks comprises a wheel rim, a track, a supporting module, a deformation driving module, a track driving module and a control module;
the rim comprises first to sixth supporting plates and first to third hinge assemblies;
the first to sixth supporting plates are identical in structure, are arc-shaped panels and comprise two arc edges and two straight edges, two ends of one arc edge are respectively provided with a first connecting rod and a second connecting rod which extend outwards and are arc-shaped, two ends of the other arc edge are respectively provided with a third connecting rod and a fourth connecting rod which extend outwards and are arc-shaped, the first connecting rod and the third connecting rod are parallel to each other and have the same orientation, and the second connecting rod and the fourth connecting rod are parallel to each other and have the same orientation;
the first hinge assembly, the second hinge assembly and the third hinge assembly are identical in structure and respectively comprise a hinge column and a first hinge rod, a second hinge rod, a third hinge rod and a fourth hinge rod, the first hinge rod, the second hinge rod and the fourth hinge rod are all arc-shaped, one end of the first hinge rod, one end of the second hinge rod and one end of the third hinge rod are hinged with one end of the hinge column, and one end of the third hinge rod, one end of the fourth hinge rod and the other end of the hinge column are hinged; the hinge columns are perpendicular to the first hinge rod, the second hinge rod and the fourth hinge rod respectively;
the first connecting rod and the third connecting rod of the first supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, the first connecting rod and the third connecting rod of the third supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and the first connecting rod and the sixth connecting rod of the fifth supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively;
one ends of the first hinge assembly, the first hinge rod and the third hinge rod, which are far away from the hinge column, are correspondingly hinged with the second connecting rod and the fourth connecting rod of the first supporting plate respectively, and one ends of the first hinge assembly, the second hinge rod and the fourth hinge rod, which are far away from the hinge column, are correspondingly hinged with the first connecting rod and the third connecting rod of the sixth supporting plate respectively;
one ends of the second hinge assembly, far away from the hinge column, of the first hinge rod and the third hinge rod are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, and one ends of the first hinge assembly, far away from the hinge column, of the second hinge rod and the fourth hinge rod are correspondingly hinged with the first connecting rod and the third connecting rod of the third supporting plate respectively;
one ends, far away from the hinge column, of the first hinge rod and the third hinge rod of the third hinge assembly are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and one ends, far away from the hinge column, of the second hinge rod and the fourth hinge rod of the first hinge assembly are correspondingly hinged with the first connecting rod and the third connecting rod of the fifth supporting plate respectively;
the support module comprises a central column and first to sixth support rods;
the central column is cylindrical and is arranged in the center of the rim and is coaxial with the rim;
the first support rod and the fourth support rod are arranged in parallel, one end of the first support rod is vertically and fixedly connected with the central column, and the other end of the first support rod is hinged with a hinge joint between the first support plate first connecting rod and the second support plate second connecting rod; one end of a fourth supporting rod is vertically and fixedly connected with the central column, and the other end of the fourth supporting rod is hinged with a hinge joint between the third connecting rod of the first supporting plate and the fourth connecting rod of the second supporting plate;
the second support rod and the fifth support rod are arranged in parallel, one end of the second support rod is vertically and fixedly connected with the central column, and the other end of the second support rod is hinged with a hinge joint between the first connecting rod of the third support plate and the second connecting rod of the fourth support plate; one end of a fifth supporting rod is vertically and fixedly connected with the central column, and the other end of the fifth supporting rod is hinged with a hinge joint between the third connecting rod of the third supporting plate and the fourth connecting rod of the fourth supporting plate;
the third support rod and the sixth support rod are arranged in parallel, one end of the third support rod is vertically and fixedly connected with the central column, and the other end of the third support rod is hinged with a hinge joint between the fifth support plate first connecting rod and the sixth support plate second connecting rod; one end of a sixth supporting rod is vertically and fixedly connected with the central column, and the other end of the sixth supporting rod is hinged with a hinge joint between the third connecting rod of the fifth supporting plate and the fourth connecting rod of the sixth supporting plate;
the deformation driving module comprises first to third deformation driving units; the first deformation driving unit, the second deformation driving unit, the third deformation driving unit and the fourth deformation driving unit are identical in structure and respectively comprise a rigid spring, a spring seat, an electromagnet and a magnetic column, wherein the spring seat is a hollow cylinder with two open ends; one end of the rigid spring is sleeved on the spring seat and fixedly connected with the spring seat, and the other end of the rigid spring is sleeved on the magnetic column and in clearance fit with the magnetic column, so that the magnetic column and the spring seat are coaxial; the electromagnet is arranged in the spring seat and used for adsorbing or loosening the magnetic column;
the axial lines of the first to third deformation driving units are uniformly arranged between the central column and the wheel rim in the circumferential direction, wherein spring seats of the first to third deformation driving units are vertically and fixedly connected with the central column, magnetic columns of the first to third deformation driving units are vertically and fixedly connected with centers of the hinge columns of the first to third hinge assemblies respectively, and rigid springs of the first to third deformation driving units are sleeved at one ends of the magnetic columns of the first to third deformation driving units and abut against the hinge columns of the first to third hinge assemblies respectively;
the crawler driving module comprises a driving motor, a driving gear and first to third driven assemblies;
the first driven assembly, the second driven assembly and the third driven assembly are identical in structure and respectively comprise a transverse shaft, a first driven gear and a second driven gear, wherein the first driven gear and the second driven gear are arranged on the transverse shaft in parallel, are coaxial with the transverse shaft and can freely rotate relative to the transverse shaft;
the transverse shaft of the first driven assembly is arranged between the first supporting rod and the fourth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the first driven assembly extend out of the wheel rim;
the transverse shaft of the second driven assembly is arranged between the second supporting rod and the fifth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the second driven assembly extend out of the wheel rim;
the transverse shaft of the third driven assembly is arranged between the third supporting rod and the sixth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the third driven assembly extend out of the wheel rim;
the driving motor is fixed on the first supporting rod, an output shaft of the driving motor is parallel to the axis of the central column and is coaxially and fixedly connected with the driving gear, and the driving gear is meshed with a first driven gear of the first driven assembly;
the crawler belt is an elastic crawler belt and is sleeved outside the wheel rim, and the inner wall of the crawler belt is provided with a first annular rack and a second annular rack, wherein the first rack is respectively meshed with first driven gears of the first driven assembly, the second rack is respectively meshed with second driven gears of the first driven assembly, the second driven assembly and the third driven assembly;
the control module is electrically connected with the driving motor and the electromagnets of the first to third deformation driving units respectively and is used for controlling the driving motor and the electromagnets of the first to third deformation driving units to work.
The invention also discloses a switching method of the non-inflatable safety wheel capable of switching the wheel and the track, which comprises the following steps:
if the wheel rim needs to be switched to a track structure, the electromagnets of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit are controlled to work and adsorb the magnetic columns of the electromagnets, so that the hinge columns of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit contract inwards along with the magnetic columns of the first deformation driving unit, the wheel rim is deformed into a triangle under the driving of the first deformation driving unit, and at the moment, the elastic track is changed from a tensioning state to a jointing state outside the wheel rim and can slide relative to the wheel rim; the driving motor is controlled to work, namely, the first driven gear of the first driven assembly can be driven to rotate through the driving gear, and then the crawler belt is driven to rotate;
if the wheel type structure is required to be switched, the electromagnets of the first to third deformation driving units are controlled to stop working and loosen the magnetic columns of the electromagnets, the hinge columns of the first to third hinge assemblies are outwards unfolded under the action of the rigid spring sleeves of the first to third deformation driving units, so that the wheel rim is deformed into a circular shape under the driving of the first to third hinge assemblies, and at the moment, the elastic crawler is changed into a tensioning state from a fitting state under the action of the wheel rim and is relatively fixed with the wheel rim.
The invention has the following beneficial effects:
1. the crawler-type traveling mechanism can be switched between a wheel type and a crawler type, combines the advantages of the wheel-type traveling mechanism and the crawler-type traveling mechanism, and has high flexibility and maneuverability due to small volume and light weight;
2. the invention uses the electromagnet as the wheel-track switching driving mechanism, thereby leading the wheel-track switching to have the characteristics of quicker response and more convenience compared with the similar invention;
3. the invention adopts hinge joint to connect the supporting plates. Because the outer circumference of the rim can change in the switching process of the wheel type and the crawler type, the change rule is met by adopting the hinged connection under the condition that the length of the arc segment is unchangeable, so that the stability of the shape after deformation and the smoothness in the deformation process are improved.
Drawings
FIG. 1 is a schematic view of the present invention in a wheeled configuration;
FIG. 2 is a schematic view of the track structure of the present invention;
fig. 3 is a schematic view of the present invention with the track removed in a wheeled configuration.
In the figure, 1-crawler belt, 2-first support plate, 3-third connecting rod of sixth support plate, 4-hinge column of first hinge assembly, 5-third hinge rod of first hinge assembly, 6-first hinge rod of first hinge assembly, 7-rigid spring of first deformation driving unit, 8-electromagnet of first deformation driving unit, 9-spring seat of first deformation driving unit, 10-fifth support plate, 11-first hinge rod of third hinge assembly, 12-central column, 13-third support rod, 14-first driven gear of third driven assembly.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the invention discloses a non-inflatable safety wheel capable of performing wheel-track switching, comprising a rim, a track, a support module, a deformation driving module, a track driving module and a control module;
the rim comprises first to sixth supporting plates and first to third hinge assemblies;
the first to sixth supporting plates are identical in structure, are arc-shaped panels and comprise two arc edges and two straight edges, two ends of one arc edge are respectively provided with a first connecting rod and a second connecting rod which extend outwards and are arc-shaped, two ends of the other arc edge are respectively provided with a third connecting rod and a fourth connecting rod which extend outwards and are arc-shaped, the first connecting rod and the third connecting rod are parallel to each other and have the same orientation, and the second connecting rod and the fourth connecting rod are parallel to each other and have the same orientation;
the first hinge assembly, the second hinge assembly and the third hinge assembly are identical in structure and respectively comprise a hinge column and a first hinge rod, a second hinge rod, a third hinge rod and a fourth hinge rod, the first hinge rod, the second hinge rod and the fourth hinge rod are all arc-shaped, one end of the first hinge rod, one end of the second hinge rod and one end of the third hinge rod are hinged with one end of the hinge column, and one end of the third hinge rod, one end of the fourth hinge rod and the other end of the hinge column are hinged; the hinge columns are perpendicular to the first hinge rod, the second hinge rod and the fourth hinge rod respectively;
the first connecting rod and the third connecting rod of the first supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, the first connecting rod and the third connecting rod of the third supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and the first connecting rod and the sixth connecting rod of the fifth supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively;
one ends of the first hinge assembly, the first hinge rod and the third hinge rod, which are far away from the hinge column, are correspondingly hinged with the second connecting rod and the fourth connecting rod of the first supporting plate respectively, and one ends of the first hinge assembly, the second hinge rod and the fourth hinge rod, which are far away from the hinge column, are correspondingly hinged with the first connecting rod and the third connecting rod of the sixth supporting plate respectively;
one ends of the second hinge assembly, far away from the hinge column, of the first hinge rod and the third hinge rod are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, and one ends of the first hinge assembly, far away from the hinge column, of the second hinge rod and the fourth hinge rod are correspondingly hinged with the first connecting rod and the third connecting rod of the third supporting plate respectively;
one ends, far away from the hinge column, of the first hinge rod and the third hinge rod of the third hinge assembly are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and one ends, far away from the hinge column, of the second hinge rod and the fourth hinge rod of the first hinge assembly are correspondingly hinged with the first connecting rod and the third connecting rod of the fifth supporting plate respectively;
the support module comprises a central column and first to sixth support rods;
the central column is cylindrical and is arranged in the center of the rim and is coaxial with the rim;
the first support rod and the fourth support rod are arranged in parallel, one end of the first support rod is vertically and fixedly connected with the central column, and the other end of the first support rod is hinged with a hinge joint between the first support plate first connecting rod and the second support plate second connecting rod; one end of a fourth supporting rod is vertically and fixedly connected with the central column, and the other end of the fourth supporting rod is hinged with a hinge joint between the third connecting rod of the first supporting plate and the fourth connecting rod of the second supporting plate;
the second support rod and the fifth support rod are arranged in parallel, one end of the second support rod is vertically and fixedly connected with the central column, and the other end of the second support rod is hinged with a hinge joint between the first connecting rod of the third support plate and the second connecting rod of the fourth support plate; one end of a fifth supporting rod is vertically and fixedly connected with the central column, and the other end of the fifth supporting rod is hinged with a hinge joint between the third connecting rod of the third supporting plate and the fourth connecting rod of the fourth supporting plate;
the third support rod and the sixth support rod are arranged in parallel, one end of the third support rod is vertically and fixedly connected with the central column, and the other end of the third support rod is hinged with a hinge joint between the fifth support plate first connecting rod and the sixth support plate second connecting rod; one end of a sixth supporting rod is vertically and fixedly connected with the central column, and the other end of the sixth supporting rod is hinged with a hinge joint between the third connecting rod of the fifth supporting plate and the fourth connecting rod of the sixth supporting plate;
the deformation driving module comprises first to third deformation driving units; the first deformation driving unit, the second deformation driving unit, the third deformation driving unit and the fourth deformation driving unit are identical in structure and respectively comprise a rigid spring, a spring seat, an electromagnet and a magnetic column, wherein the spring seat is a hollow cylinder with two open ends; one end of the rigid spring is sleeved on the spring seat and fixedly connected with the spring seat, and the other end of the rigid spring is sleeved on the magnetic column and in clearance fit with the magnetic column, so that the magnetic column and the spring seat are coaxial; the electromagnet is arranged in the spring seat and used for adsorbing or loosening the magnetic column;
the axial lines of the first to third deformation driving units are uniformly arranged between the central column and the wheel rim in the circumferential direction, wherein spring seats of the first to third deformation driving units are vertically and fixedly connected with the central column, magnetic columns of the first to third deformation driving units are vertically and fixedly connected with centers of the hinge columns of the first to third hinge assemblies respectively, and rigid springs of the first to third deformation driving units are sleeved at one ends of the magnetic columns of the first to third deformation driving units and abut against the hinge columns of the first to third hinge assemblies respectively;
the crawler driving module comprises a driving motor, a driving gear and first to third driven assemblies;
the first driven assembly, the second driven assembly and the third driven assembly are identical in structure and respectively comprise a transverse shaft, a first driven gear and a second driven gear, wherein the first driven gear and the second driven gear are arranged on the transverse shaft in parallel, are coaxial with the transverse shaft and can freely rotate relative to the transverse shaft;
the transverse shaft of the first driven assembly is arranged between the first support rod and the fourth support rod and is parallel to the axis of the central column, so that parts of the first driven gear and the second driven gear of the first driven assembly extend out of the wheel rim, as shown in fig. 3;
the transverse shaft of the second driven assembly is arranged between the second supporting rod and the fifth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the second driven assembly extend out of the wheel rim;
the transverse shaft of the third driven assembly is arranged between the third supporting rod and the sixth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the third driven assembly extend out of the wheel rim;
the driving motor is fixed on the first supporting rod, an output shaft of the driving motor is parallel to the axis of the central column and is coaxially and fixedly connected with the driving gear, and the driving gear is meshed with a first driven gear of the first driven assembly;
the crawler belt is an elastic crawler belt and is sleeved outside the wheel rim, and the inner wall of the crawler belt is provided with a first annular rack and a second annular rack, wherein the first rack is respectively meshed with first driven gears of the first driven assembly, the second rack is respectively meshed with second driven gears of the first driven assembly, the second driven assembly and the third driven assembly;
the control module is electrically connected with the driving motor and the electromagnets of the first to third deformation driving units respectively and is used for controlling the driving motor and the electromagnets of the first to third deformation driving units to work.
The invention also discloses a switching method of the non-inflatable safety wheel capable of switching the wheel and the track, which comprises the following steps:
if the wheel rim needs to be switched to the track structure, the electromagnets of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit are controlled to work and adsorb the magnetic columns of the electromagnets, so that the hinge columns of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit contract inwards along with the magnetic columns of the first deformation driving unit, the wheel rim is deformed into a triangle under the driving of the first deformation driving unit, and as shown in fig. 2, at the moment, the elastic track is changed from a tensioning state to a jointing state outside the wheel rim and can slide relative to the wheel rim; the driving motor is controlled to work, namely, the first driven gear of the first driven assembly can be driven to rotate through the driving gear, and then the crawler belt is driven to rotate;
if the wheel type structure is required to be switched, the electromagnets of the first to third deformation driving units are controlled to stop working and release the magnetic columns, the hinge columns of the first to third hinge assemblies are outwards unfolded under the action of the rigid spring sleeves of the first to third deformation driving units, so that the wheel rim is deformed into a circular shape under the driving of the first to third hinge assemblies, as shown in fig. 1, at the moment, the elastic crawler is changed from a joint state into a tensioning state under the action of the wheel rim and is relatively fixed with the wheel rim.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A non-inflatable safety wheel capable of switching wheel tracks is characterized by comprising a wheel rim, a track, a supporting module, a deformation driving module, a track driving module and a control module;
the rim comprises first to sixth supporting plates and first to third hinge assemblies;
the first to sixth supporting plates are identical in structure, are arc-shaped panels and comprise two arc edges and two straight edges, two ends of one arc edge are respectively provided with a first connecting rod and a second connecting rod which extend outwards and are arc-shaped, two ends of the other arc edge are respectively provided with a third connecting rod and a fourth connecting rod which extend outwards and are arc-shaped, the first connecting rod and the third connecting rod are parallel to each other and have the same orientation, and the second connecting rod and the fourth connecting rod are parallel to each other and have the same orientation;
the first hinge assembly, the second hinge assembly and the third hinge assembly are identical in structure and respectively comprise a hinge column and a first hinge rod, a second hinge rod, a third hinge rod and a fourth hinge rod, the first hinge rod, the second hinge rod and the fourth hinge rod are all arc-shaped, one end of the first hinge rod, one end of the second hinge rod and one end of the third hinge rod are hinged with one end of the hinge column, and one end of the third hinge rod, one end of the fourth hinge rod and the other end of the hinge column are hinged; the hinge columns are perpendicular to the first hinge rod, the second hinge rod and the fourth hinge rod respectively;
the first connecting rod and the third connecting rod of the first supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, the first connecting rod and the third connecting rod of the third supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and the first connecting rod and the sixth connecting rod of the fifth supporting plate are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively;
one ends of the first hinge assembly, the first hinge rod and the third hinge rod, which are far away from the hinge column, are correspondingly hinged with the second connecting rod and the fourth connecting rod of the first supporting plate respectively, and one ends of the first hinge assembly, the second hinge rod and the fourth hinge rod, which are far away from the hinge column, are correspondingly hinged with the first connecting rod and the third connecting rod of the sixth supporting plate respectively;
one ends of the second hinge assembly, far away from the hinge column, of the first hinge rod and the third hinge rod are correspondingly hinged with the second connecting rod and the fourth connecting rod of the second supporting plate respectively, and one ends of the first hinge assembly, far away from the hinge column, of the second hinge rod and the fourth hinge rod are correspondingly hinged with the first connecting rod and the third connecting rod of the third supporting plate respectively;
one ends, far away from the hinge column, of the first hinge rod and the third hinge rod of the third hinge assembly are correspondingly hinged with the second connecting rod and the fourth connecting rod of the fourth supporting plate respectively, and one ends, far away from the hinge column, of the second hinge rod and the fourth hinge rod of the first hinge assembly are correspondingly hinged with the first connecting rod and the third connecting rod of the fifth supporting plate respectively;
the support module comprises a central column and first to sixth support rods;
the central column is cylindrical and is arranged in the center of the rim and is coaxial with the rim;
the first support rod and the fourth support rod are arranged in parallel, one end of the first support rod is vertically and fixedly connected with the central column, and the other end of the first support rod is hinged with a hinge joint between the first support plate first connecting rod and the second support plate second connecting rod; one end of a fourth supporting rod is vertically and fixedly connected with the central column, and the other end of the fourth supporting rod is hinged with a hinge joint between the third connecting rod of the first supporting plate and the fourth connecting rod of the second supporting plate;
the second support rod and the fifth support rod are arranged in parallel, one end of the second support rod is vertically and fixedly connected with the central column, and the other end of the second support rod is hinged with a hinge joint between the first connecting rod of the third support plate and the second connecting rod of the fourth support plate; one end of a fifth supporting rod is vertically and fixedly connected with the central column, and the other end of the fifth supporting rod is hinged with a hinge joint between the third connecting rod of the third supporting plate and the fourth connecting rod of the fourth supporting plate;
the third support rod and the sixth support rod are arranged in parallel, one end of the third support rod is vertically and fixedly connected with the central column, and the other end of the third support rod is hinged with a hinge joint between the fifth support plate first connecting rod and the sixth support plate second connecting rod; one end of a sixth supporting rod is vertically and fixedly connected with the central column, and the other end of the sixth supporting rod is hinged with a hinge joint between the third connecting rod of the fifth supporting plate and the fourth connecting rod of the sixth supporting plate;
the deformation driving module comprises first to third deformation driving units; the first deformation driving unit, the second deformation driving unit, the third deformation driving unit and the fourth deformation driving unit are identical in structure and respectively comprise a rigid spring, a spring seat, an electromagnet and a magnetic column, wherein the spring seat is a hollow cylinder with two open ends; one end of the rigid spring is sleeved on the spring seat and fixedly connected with the spring seat, and the other end of the rigid spring is sleeved on the magnetic column and in clearance fit with the magnetic column, so that the magnetic column and the spring seat are coaxial; the electromagnet is arranged in the spring seat and used for adsorbing or loosening the magnetic column;
the axial lines of the first to third deformation driving units are uniformly arranged between the central column and the wheel rim in the circumferential direction, wherein spring seats of the first to third deformation driving units are vertically and fixedly connected with the central column, magnetic columns of the first to third deformation driving units are vertically and fixedly connected with centers of the hinge columns of the first to third hinge assemblies respectively, and rigid springs of the first to third deformation driving units are sleeved at one ends of the magnetic columns of the first to third deformation driving units and abut against the hinge columns of the first to third hinge assemblies respectively;
the crawler driving module comprises a driving motor, a driving gear and first to third driven assemblies;
the first driven assembly, the second driven assembly and the third driven assembly are identical in structure and respectively comprise a transverse shaft, a first driven gear and a second driven gear, wherein the first driven gear and the second driven gear are arranged on the transverse shaft in parallel, are coaxial with the transverse shaft and can freely rotate relative to the transverse shaft;
the transverse shaft of the first driven assembly is arranged between the first supporting rod and the fourth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the first driven assembly extend out of the wheel rim;
the transverse shaft of the second driven assembly is arranged between the second supporting rod and the fifth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the second driven assembly extend out of the wheel rim;
the transverse shaft of the third driven assembly is arranged between the third supporting rod and the sixth supporting rod and is parallel to the axis of the central column, so that the parts of the first driven gear and the second driven gear of the third driven assembly extend out of the wheel rim;
the driving motor is fixed on the first supporting rod, an output shaft of the driving motor is parallel to the axis of the central column and is coaxially and fixedly connected with the driving gear, and the driving gear is meshed with a first driven gear of the first driven assembly;
the crawler belt is an elastic crawler belt and is sleeved outside the wheel rim, and the inner wall of the crawler belt is provided with a first annular rack and a second annular rack, wherein the first rack is respectively meshed with first driven gears of the first driven assembly, the second rack is respectively meshed with second driven gears of the first driven assembly, the second driven assembly and the third driven assembly;
the control module is electrically connected with the driving motor and the electromagnets of the first to third deformation driving units respectively and is used for controlling the driving motor and the electromagnets of the first to third deformation driving units to work.
2. The method for switching a non-pneumatic safety wheel capable of performing wheel-track switching according to claim 1, comprising the steps of:
if the wheel rim needs to be switched to a track structure, the electromagnets of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit are controlled to work and adsorb the magnetic columns of the electromagnets, so that the hinge columns of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit contract inwards along with the magnetic columns of the first deformation driving unit, the wheel rim is deformed into a triangle under the driving of the first deformation driving unit, and at the moment, the elastic track is changed from a tensioning state to a jointing state outside the wheel rim and can slide relative to the wheel rim; the driving motor is controlled to work, namely, the first driven gear of the first driven assembly can be driven to rotate through the driving gear, and then the crawler belt is driven to rotate;
if the wheel type structure is required to be switched, the electromagnets of the first to third deformation driving units are controlled to stop working and loosen the magnetic columns of the electromagnets, the hinge columns of the first to third hinge assemblies are outwards unfolded under the action of the rigid spring sleeves of the first to third deformation driving units, so that the wheel rim is deformed into a circular shape under the driving of the first to third hinge assemblies, and at the moment, the elastic crawler is changed into a tensioning state from a fitting state under the action of the wheel rim and is relatively fixed with the wheel rim.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111021107.0A CN113753145A (en) | 2021-09-01 | 2021-09-01 | Non-inflatable safety wheel capable of switching wheel and track and switching method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111021107.0A CN113753145A (en) | 2021-09-01 | 2021-09-01 | Non-inflatable safety wheel capable of switching wheel and track and switching method thereof |
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| CN113753145A true CN113753145A (en) | 2021-12-07 |
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| CN202111021107.0A Pending CN113753145A (en) | 2021-09-01 | 2021-09-01 | Non-inflatable safety wheel capable of switching wheel and track and switching method thereof |
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Application publication date: 20211207 |