A shrinking and expanding crawler walking device

Abstract

The invention discloses a contraction-expanding type crawler walking device, comprising: a walking frame, a main crawler walking unit, a front auxiliary crawler walking unit, a rear auxiliary crawler walking unit, a left swing link and a right swing link; The wheel D is supported on the ground; the wheels A, B and C of the main crawler walking unit are respectively pinned to the walking frame; the wheels A and C of the front auxiliary crawler walking unit are respectively connected to the two The horizontal part is pinned; the end of the vertical part of the left swing link is pinned to the wheel B of the main crawler walking unit; the wheels A and B of the rear auxiliary crawler walking unit are respectively pinned to the two horizontal parts of the right swing link connected; the end of the vertical part of the right swing link is pinned to the wheel C of the main crawler walking unit; the structure of the present invention is simple, not only can realize conventional ground driving in the contracted state, but also can complete the bumpy, Driving tasks on complex ground such as 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 contraction-expanding type crawler 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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