Crawler wheel capable of achieving mutual conversion of wheel type state and crawler type state

Abstract

The invention provides a crawler wheel capable of achieving mutual conversion of a wheel type state and a crawler type state. The crawler wheel comprises a fixed-length crawler and a driving device; the driving device comprises holding frames and a driving braking assembly; the holding frames comprise inner fixed brackets and outer movable brackets; the outer movable brackets further comprise supporting plates, pinion telescopic rods and main gear telescopic rods; auxiliary supporting rods are connected between the outer movable brackets and the inner fixed brackets; the driving braking assembly comprises a center driving gear, crawler driving main gears and crawler driving pinions; the center driving gear is fixed between the left sides and the right sides of the inner fixed brackets; thecrawler driving main gears are fixed between the left sides and the right sides of the main gear telescopic rods; the crawler driving pinions are fixed between the left sides and the right sides of the pinion telescopic rods; and the crawler driving main gears and the crawler driving pinions are engaged with the fixed-length crawler. The states can be changed according to the difference of road conditions and terrains, the rolling ability, the loading ability, the stability and the timeliness are improved comprehensively, and the practicability is enhanced further.

Description

technical field [0001] The invention belongs to the technical field of vehicle walking, and in particular relates to a crawler wheel which can realize the mutual conversion between the wheel type and the crawler type state. Background technique [0002] The track wheel is a wheel-track integrated traveling mechanism. Through the change of the shape of the traveling mechanism, the conversion between the wheel type and the crawler type is realized. It is mainly used to improve the grounding of the traveling mechanism and the ground, that is, to use the wheel on a flat hard road. Drive in crawler state to increase the driving speed, and drive in crawler state on rough and soft roads to improve passability. [0003] At present, several representative patents related to the wheel-track integrated traveling mechanism that have been authorized in China include: a crawler wheel that can realize mutual conversion between wheel and track-type states. The authorized announcement number...

AI Technical Summary

Problems solved by technology

[0003] At present, several representative patents related to the wheel-track integrated traveling mechanism that have been authorized in China include: a crawler wheel that can realize mutual conversion between wheel and track-type states. The authorized announcement number is CN 105882774 B. The main characteristics of its structure are The cage is deformed, and the brake assembly is driven to drive the crawler to rotate. The design load capacity of this mechanism and the timeliness of deformation stability are good, but because the center shaft is installed eccentrically in the wheel state, it does not have rolling performance; in addition, it also has There is a wheel-shoe conversion mechanism whose authorized announcement number is CN 202358210 U. The main feature of its structure is the variable-diameter drive gear. Due to the peripheral structure of the load-bearing structure, the load-bearing capacity is good, but because the gear-diameter change process is not continuous, Therefore, if it is deformed with an automatic deformation device, the deformation stability and timeliness of the mechanism are poor

[0004] The wheel-track integrated driving mechanism is still in the exploratory stage. The main limiting factors are weak load capacity caused by structural design, unstable deformation caused by control technology, and untimely deformation caused by sensing technology.

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