Wheel-shoe deformation mechanism, travel device and vehicle

Abstract

The invention provides a wheel-shoe deformation mechanism which includes a traveling device of the wheel shoe deformation mechanism and a vehicle provided with the traveling device. The wheel shoe deformation mechanism comprises a gear seat, the transmission gear and two sets of track spreading units which are hinged on the gear base and whose hinge axes are both parallel to the transmission gearaxes. The gear base is connected with a deformation driving unit capable of driving the reciprocating linear movement thereof, and the reciprocating linear movement direction is perpendicular to the axial direction of the transmission gear. The two sets of track spreading units are connected with a limit structure capable of controlling the opening angle thereof, and the transmission gear is positioned between the two sets of track spreading units so as to be meshable with the inner side of the track. The invention can realize the change of the track shape, and the cooperation of a plurality of wheel-shoe deformation mechanisms can make the traveling device have various working modes such as wheel type and track type, and improve the load bearing performance and obstacle overtaking performance. The track spreading unit can cooperate with the transmission gear to induce and support the track and can adjust the tightness of the track.

Description

Technical field [0001] The invention belongs to the technical field of walking mechanisms, and specifically relates to a wheel-shoe deforming mechanism, a walking device including the wheel-shoe deforming mechanism, and a vehicle equipped with the walking device. Background technique [0002] Currently commonly used walking mechanisms mainly have two types of structures: wheel structure and crawler structure. The wheeled structure has the advantages of simple structure, fast moving speed, flexible movement, convenient control, etc. However, this structure has high requirements on the ground, cannot cross obstacles, and has very poor passability when facing muddy swamps; the crawler structure just has Large ground contact area, excellent obstacle crossing performance, and can make heavy vehicles drive in the swamp. The crawler is also suitable for various complex terrain, so it is often used in the design of all-terrain vehicles, but the walking speed of the crawler It is slow, t...

AI Technical Summary

Problems solved by technology

The wheel structure has the advantages of simple structure, fast moving speed, flexible movement, and convenient control. However, this structure has high requirements on the ground and cannot overcome obstacles. When facing muddy swamps, the passability is extremely poor; the crawler structure just has Large ground contact area, excellent obstacle surmounting performance, and can make heavy vehicles drive in swampy land. The track is also suitable for various complex terrains, so it is often used in the design of all-terrain vehicles, but the walking speed of the track Slow, complex and heavy, and inflexible in movement. Once a link of the track fails, the entire vehicle may not be able to continue

[0003] Since some special vehicles and special robots in the industry often need to walk on roads with different road conditions, and often have unique requirements for various indicators such as moving speed, moving flexibility, off-road performance, and vehicle / robot load, this is necessary for It is a difficult problem for the existing walking mechanism, neither the wheeled structure nor the crawler structure can take into account the off-road performance and work efficiency of the vehicle / robot in this case.

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