A wheel-track coupled wheel

Abstract

The invention relates to a wheel-shoe coupling type wheel. Wheel operation, the clutch sleeve moves and meshes with the main shaft and the inner plate of the wheel respectively, and drives the inner plate of the wheel. At the same time, the clutch sleeve is tightened by the second cable and pulls up the front fork arm and the rear fork arm, and the track is forked The arm is driven inward and is clamped by the yoke, the wheel inner plate and the wheel outer plate are exposed, and the two wheel side plates are used to walk. Track-type operation, the clutch sleeve moves and disengages from the main shaft and the inner plate of the wheel respectively. At the same time, the torsion spring is in a stretched state, the front fork arm and rear fork arm are stretched by the torsion spring, the track is tensioned, the main shaft rotates and passes through the timing belt The power is transmitted to the two driving wheels, and the driving wheels drive the crawler to walk. The wheel-track coupled wheel of the present invention combines wheel wheels and crawler wheels, has a simple and compact structure, and can quickly complete the switching between wheel and crawler walking, so as to meet the needs of high-speed movement on flat roads and passage under complex terrain more adaptable.

Description

technical field [0001] The invention belongs to the technical field of trolley robots, and in particular relates to a wheel-track coupled wheel. Background technique [0002] Nowadays, small-car robots are increasingly used to perform dangerous tasks such as firefighting, disaster relief, and terrain investigation. Wheels, as the "legs" of small-car robots, directly determine the passability of robots and the success or failure of tasks. It is understood that the existing trolley robot wheels mainly include two types: one is wheeled, which is suitable for fast movement on flat roads, but when facing complex terrain, the ability to overcome obstacles is limited, and the triangular wheel with stronger ability to overcome obstacles is replaced If it is a wheel, it takes at least 20 minutes, which is more troublesome; the other is a crawler type, which has a strong ability to overcome obstacles and is suitable for moving between rough and complex terrain, but the moving speed is...

AI Technical Summary

Problems solved by technology

It is understood that the existing trolley robot wheels mainly include two types: one is wheeled, which is suitable for fast movement on flat roads, but when facing complex terrain, the ability to overcome obstacles is limited, and the triangular wheel with stronger ability to overcome obstacles is replaced If it is a wheel, it takes at least 20 minutes, which is more troublesome; the other is a crawler type, which has a strong ability to overcome obstacles and is suitable for moving between rough and complex terrain, but the moving speed is slower

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