A shrinking and expanding type wheeled walking device

Abstract

The invention discloses a contraction-expandable wheeled walking device, which comprises: a main crawler walking unit, a front auxiliary crawler walking unit, a rear auxiliary crawler walking unit, a walking frame, a left crank and a right crank; the main crawler walking unit Wheel A is installed on the pin seat of the walking frame through a pin shaft, and the wheel D of the crawler unit is supported on the ground; the wheel C of the front auxiliary crawler unit is connected with the wheel of the main crawler unit through the left crank. B is pinned; the wheel A of the front auxiliary crawler unit is pinned to the left slider through a connecting rod; the wheel B of the rear auxiliary crawler unit is pinned to the wheel C of the main crawler unit through a right crank connected; the wheel A of the rear auxiliary crawler walking unit is pinned to the right slider through a connecting rod; the structure of the present invention is simple, and it can not only realize conventional wheeled ground driving in a contracted state, but also can be completed in a developed state. Crawler driving tasks on complex ground such as rough, paddy fields, mud and snow.

Description

technical field [0001] The invention belongs to the technical field of vehicle walking, and in particular relates to a shrinking and expanding type wheel walking device. Background technique [0002] Vehicles with crawler walking devices have low grounding specific pressure, good adhesion to soil and are not easy to slip, good stability, strong climbing performance and obstacle-surpassing ability, and can be used for off-road driving. They are suitable for various terrains, especially non-road It has better passability in working conditions such as various occasions, soft and easy-to-subsidence environments, fields or mountains. However, its low efficiency, poor maneuverability, large friction loss when turning, high self-weight and the resulting high energy consumption limit its popularization and application, so the deformable crawler is a current research hotspot. [0003] At present, there are several patents related to wheel-track integrated driving technology that hav...

AI Technical Summary

Problems solved by technology

However, its low efficiency, poor maneuverability, high friction loss when turning, high self-weight and the resulting high energy consumption limit its popularization and application, so the deformable crawler walking device is a current research hotspot.

[0003] At present, there are several patents related to wheel-track integrated driving technology that have been authorized in China: a track wheel that can realize the mutual conversion between wheel and track The track is driven to rotate to realize the conversion of the wheel and the track, but because the center shaft is installed eccentrically in the wheeled state, it does not have rolling performance; a wheel-track conversion mechanism (the authorized announcement number is CN202358210U) realizes the wheel and track through the variable-diameter drive gear. Track conversion, but due to the discontinuity of the gear diameter reduction process, the deformation stability and timeliness of the mechanism are poor; the wheel-foot-foot mutual change traveling device (authorized announcement number is CN 205499102U) consists of an attitude adjustment part and a wheel body part , can realize the mutual conversion of the three driving modes of wheel, shoe and foot, but the mechanism is complicated, the energy consumption ratio is high when the walking mode is converted, and the additional crawler belt makes the deformation timeliness poor

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