A wheel-track composite deformable chassis

Abstract

The present invention discloses a wheel-track composite deformable chassis, comprising a frame, a power device and an actuator, each power device corresponds to an actuator, the actuator comprises a wheel-track conversion mechanism and a wheel body, the wheel-track conversion mechanism is used to convert the wheel body between a circle and a triangle, the power device comprises a moving power mechanism and a deforming power mechanism, wherein: the moving power mechanism comprises a travel motor and a travel gear set, the travel motor is connected to the actuator through a travel gear shaft; the deforming power mechanism comprises a deforming motor and a deforming gear set, the deforming motor is connected to the wheel-track conversion mechanism through a deforming gear set; a sealing protection device is provided between the power device and the actuator. The advantage is that the power device of the present invention ensures the stability of the wheel-track composite deformable chassis and ensures the safety of the wheel-track composite deformable chassis when traveling in a cluttered environment.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a wheel-track composite deformable chassis. Background Art

[0002] Existing stair climbing robots are mainly divided into wheeled, legged, tracked, and hybrid types according to the implementation principle. Among them, the wheeled chassis has a simple structure, high transmission efficiency, flexible movement and high speed, but poor environmental adaptability and unsatisfactory stair climbing ability; the tracked chassis has ideal obstacle crossing and stair climbing capabilities, but due to the complex transmission system, its speed, and transmission efficiency are low, and its flexibility and mobility are poor; legged mobile robots (bipedal and multi-legged robots) are suitable for walking on a variety of road surfaces, but have low speed, high energy consumption, and difficulty in maintaining balance, and are difficult to manufacture and control, and are costly; there are also hybrid mobile robots, whose chassis can be composed of a variety of movement modes such as wheel-leg type, wheel-leg-track type, joint-wheel type, joint-track type, and composite wheel type. Through the adjustment and combination of the mechanism, this type of robot has a variety of movement modes, effectively improving the robot's movement flexibility, ground adaptability, obstacle crossing stability, and anti-vibration and impact resistance performance, which is conducive to improving the comprehensive performance of the stair climbing robot chassis.

[0003] There are wheel-track combined walking mechanisms on the market, which are also hybrid mobile robot chassis. This type of chassis combines the advantages of wheel structure and track structure, which will greatly benefit the development of robot technology. At the same time, efficient wheel-track transformation mechanism and key technologies for transformation between wheel structure and track structure. How to combine the wheel-track transformation mechanism with the chassis drive structure without affecting the normal movement and deformation of the chassis is a major difficulty of the wheel-track composite deformation chassis. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a wheel-track composite deformable chassis that is flexible in movement, easy to change shape, and suitable for various terrains.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A wheel-track composite deformable chassis comprises a frame, a power device and an actuator, each of the power devices corresponds to one actuator, the actuator comprises a wheel-track conversion mechanism and a wheel body, the wheel-track conversion mechanism is used to convert the wheel body between a circle and a triangle, the power device comprises a moving power mechanism and a deforming power mechanism, wherein:

[0007] The mobile power mechanism includes a walking motor and a walking gear set, and the walking motor is connected to the actuator through the walking gear shaft; the deformation power mechanism includes a deformation motor and a deformation gear set, and the deformation motor is connected to the wheel-track conversion mechanism through the deformation gear set; a sealing protection device is provided between the power device and the actuator.

[0008] Furthermore, the actuator includes a main shaft, a walking outer wheel piece, a walking inner wheel piece and a crawler track, and the wheel-track conversion mechanism is located between the walking outer wheel piece and the walking inner wheel piece; the moving power mechanism is transmission-connected to the main shaft; the main shaft is respectively connected to the walking inner wheel piece and the walking outer wheel piece, and the crawler track covers the walking outer wheel piece and the walking inner wheel piece.

[0009] Further, the travel gear set includes a travel output gear and a transmission gear set, the transmission gear set is connected to the main shaft in a transmission manner, and includes a first transmission gear, a second transmission gear, a third transmission gear, a fourth transmission gear and a fifth transmission gear, and the sealing protection device includes an inner gear ring fixedly arranged on the travel inner wheel plate, wherein:

[0010] The first transmission gear is meshed with the travel output gear for transmission, the second transmission gear is fixedly connected to the main shaft and meshed with the first transmission gear for transmission, a cavity is provided in the inner gear ring, the third transmission gear, the fourth transmission gear and the fifth transmission gear are located in the cavity, the third transmission gear is fixedly connected to the main shaft and meshed with the fourth transmission gear for transmission, the fourth transmission gear is meshed with the fifth transmission gear for transmission, the fifth transmission gear is meshed with the inner gear ring for transmission, and drives the travel inner wheel piece to rotate; the main shaft is fixedly connected to the travel outer wheel piece, and the travel outer wheel piece rotates synchronously with the travel inner wheel piece.

[0011] Furthermore, the power device includes a first support seat fixedly connected to the frame, the main shaft passes through the first support seat and is rotatably connected to the first support seat, a truncated cone is provided on the first support seat, the diameter of the cavity is larger than the diameter of the truncated cone, the truncated cone is located in the cavity, the fourth transmission gear and the fifth transmission gear are rotatably connected to the truncated cone, the sealing protection device also includes a gasket located between the truncated cone and the inner wall of the cavity, and the inner gear ring rotates relative to the truncated cone with the walking inner wheel.

[0012] Furthermore, a secondary shaft is sleeved on the main shaft, the secondary shaft is a hollow structure, and is rotatably connected relative to the main shaft. An exposed portion is provided on the secondary shaft, and the third transmission gear, the fourth transmission gear and the fifth transmission gear are located in the exposed portion. The secondary shaft is sealed and rotatably connected to the first support seat; the secondary shaft is connected to the wheel-track conversion mechanism and the deformation gear set.

[0013] Furthermore, the sealing protection device also includes sealing rings arranged at both ends of the secondary shaft, the sealing rings are located between the secondary shaft and the main shaft, and are sealed and rotatably connected to the secondary shaft and the main shaft.

[0014] Furthermore, the deformable gear set includes a deformable output gear and a countershaft gear, and the countershaft gear is fixedly connected to the countershaft; the wheel-track conversion mechanism includes a rotating arm, and the countershaft is fixedly connected to the rotating arm, and the rotating arm is rotated to drive the wheel-track conversion mechanism to expand or retract.

[0015] Furthermore, the wheel-track conversion mechanism also includes a fixed frame, a fixed shaft is provided on the outside of the secondary shaft, the fixed shaft is a hollow structure for accommodating the main shaft and the secondary shaft, and a notch is provided on one side of the fixed shaft for exposing the traveling gear set, one end of the fixed shaft is fixedly connected to the fixed frame, and the other end is fixedly connected to the frame; the main shaft and the secondary shaft rotate relative to the fixed shaft.

[0016] Furthermore, a through groove is provided on the traveling inner wheel piece, and one end of the fixed shaft connected to the fixed frame is located in the through groove and is sealedly connected to the traveling inner wheel piece; the fixed shaft and the secondary shaft are sealed and rotatably connected.

[0017] Furthermore, the power device also includes a second support seat and a third support seat, the walking motor and the walking output gear, and the first transmission gear are arranged on the third support seat, the main shaft and the secondary shaft pass through the first support seat and the second support seat, the deformation motor and the deformation output gear are arranged on the second support seat, and the secondary shaft is sealed and rotatably connected with the second support seat.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The actuator on the wheel-track composite deformable chassis of the present invention moves and deforms under the action of the power device. The actuator corresponds to the power device one by one, which is beneficial to the differential speed conversion of the actuator, making the wheel-track composite deformable chassis convenient for turning and shifting; at the same time, the deformation power mechanism and the movement power mechanism in the power device are separately arranged without interfering with each other, so that each actuator can be specifically deformed into a shape suitable for the terrain, ensuring the stability of the wheel-track composite deformable chassis;

[0020] 2. Both the moving power and the deformation power are transmitted through the gear set, which is conducive to reducing the overall volume of the chassis while ensuring the stability of the transmission;

[0021] 3. A sealing protection device is provided between the power unit and the actuator to effectively prevent debris such as sand and gravel from entering between the traveling gear set and the deformation gear set, thus ensuring the safety of the wheel-track composite deformation chassis when traveling in a cluttered environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a wheel-track composite deformable chassis according to an embodiment of the present invention, which shows that the actuator is in a circular state;

[0023] Figure 2 This is a schematic structural diagram of a wheel-track composite deformable chassis according to an embodiment of the present invention, which shows that the actuator is in a triangular state;

[0024] Figure 3 It is a schematic cross-sectional structure diagram of a wheel-track composite deformable chassis according to an embodiment of the present invention;

[0025] Figure 4 It is a structural schematic diagram of a power device according to an embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a first support base according to an embodiment of the present invention;

[0027] Figure 6 is a schematic structural diagram of a secondary shaft according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic structural diagram of a fixed shaft according to an embodiment of the present invention;

[0029] Figure 8 is a schematic structural diagram of a crawler according to an embodiment of the present invention, which shows the crawler shape when the actuator is a triangle;

[0030] Fig. 9 Schematic diagram of the structure of the crawler of an embodiment of the present invention, which shows the shape of the crawler when the actuator is circular.

[0031] In the figure: 100, frame; 110, first support seat; 111, round table; 120, second support seat; 130, third support seat; 200, actuator; 210, crawler track; 211, raised portion; 212, elastic portion; 213, crawler track protrusion; 214, block; 220, walking outer wheel plate; 221, groove; 230, walking inner wheel plate; 231, through groove; 240, main shaft; 250, secondary shaft; 251, exposed portion; 260, fixed shaft; 261, notch; 300, mobile power mechanism; 310, walking motor; 320, walking gear set; 321, walking output gear; 322, first transmission gear; 323, second transmission gear; 324, third transmission The movable gear; 325, the fourth transmission gear; 326, the fifth transmission gear; 400, the deformation power mechanism; 410, the deformation motor; 420, the deformation gear set; 421, the deformation output gear; 422, the countershaft gear; 500, the wheel-track conversion mechanism; 510, the rotating arm; 520, the fixed frame; 530, the first connecting rod; 540, the second connecting rod; 550, the first swing arm; 560, the second swing arm; 570, the roller; 571, the gap; 600, the sealing protection device; 610, the inner gear ring; 611, the cavity; 620, the gasket; 630, the first sealing ring; 640, the second sealing ring; 650, the third sealing ring; 660, the fourth sealing ring; 670, the fifth sealing ring. DETAILED DESCRIPTION

[0032] The present invention will be described in more detail below in conjunction with the accompanying drawings. It should be noted that the description of the present invention with reference to the accompanying drawings is only illustrative and not restrictive. The various embodiments can be combined with each other to form other embodiments not shown in the following description.

[0033] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise specified and limited, the terms "assemble", "connect", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection; it can be directly connected, or it can be connected through an intermediate medium, or the two elements can be internally connected. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] See attached Figure 1 To Attachment Fig. 9 The wheel-track composite deformable chassis of an embodiment of the present invention will be explained in the following description, wherein the power device solves the problem of movement and deformation of the actuator 200, and at the same time, the sealing protection device 600 is used to protect the power device, thereby improving the stability of the operation of the actuator 200.

[0037] As attached Figure 1 and attached Figure 2 As shown, a wheel-track composite deformable chassis includes a frame 100, a power device and an actuator 200, each power device corresponds to an actuator 200, the actuator 200 includes a wheel-track conversion mechanism 500 and a wheel body, the wheel-track conversion mechanism 500 is used to convert the wheel body between a circle and a triangle, the power device includes a moving power mechanism 300 and a deformation power mechanism 400, wherein:

[0038] The mobile power mechanism 300 includes a walking motor 310 and a walking gear set 320, and the walking motor 310 is connected to the actuator 200 through a walking gear shaft; the deformation power mechanism 400 includes a deformation motor 410 and a deformation gear set 420, and the deformation motor 410 is connected to the wheel-track conversion mechanism 500 through the deformation gear set 420; a sealing protection device 600 is provided between the power device and the actuator 200.

[0039] The actuators 200 correspond one-to-one with the power devices, which is beneficial to the differential transformation of the actuators 200, so that the wheel-track composite deformable chassis is easy to turn and shift; the number of actuators 200 can be two as shown in the figure, and correspondingly, there are also two power devices. The actuators 200 are symmetrically arranged on both sides of the frame 100, and the two power devices are arranged on the frame 100 and fixedly connected to the frame 100; the number of actuators 200 can also be 3, 4, etc., as long as the stability of the frame 100 and the robot is ensured, and correspondingly, the number of power devices can also be 3, 4, etc.

[0040] This embodiment adopts gear transmission. More specifically, the mobile power mechanism 300 includes a travel motor 310 and a travel gear set 320. The travel motor 310 is connected to the actuator 200 through the travel gear shaft. The deformation power mechanism 400 includes a deformation motor 410 and a deformation gear set 420. The deformation motor 410 is connected to the wheel-track conversion mechanism 500 through the deformation gear set 420. In addition, a sealing protection device 600 is provided between the power device and the actuator 200 to prevent small gravel from entering the power device or entering between the power device and the actuator 200. The specific structure of the sealing protection device 600 is set according to the structure of the power device, which will be explained in the following description.

[0041] As attached Figure 1 To Attachment Figure 3 As shown, the actuator 200 of this embodiment includes a wheel-track conversion mechanism 500, a main shaft 240, a walking outer wheel piece 220, a walking inner wheel piece 230 and a track 210, wherein the walking outer wheel piece 220, the walking inner wheel piece 230 and the track 210 constitute a wheel body, and the wheel-track conversion mechanism 500 is located between the walking outer wheel piece 220 and the walking inner wheel piece 230; the moving power mechanism 300 is transmission-connected to the main shaft 240; the main shaft 240 is respectively connected to the walking inner wheel piece 230 and the walking outer wheel piece 220, and the track 210 covers the walking outer wheel piece 220 and the walking inner wheel piece 230.

[0042] As attached Figure 3 and attached Figure 4As shown, based on the structure of the actuator 200, the walking gear group 320 of this embodiment includes a walking output gear 321 and a transmission gear group. The transmission gear group is connected to the main shaft 240, including a first transmission gear 322, a second transmission gear 323, a third transmission gear 324, a fourth transmission gear 325 and a fifth transmission gear 326. The transmission gear group transmits the power of the walking motor 310 to the main shaft 240, and then transmits it to the walking outer wheel plate 220 and the walking inner wheel plate 230. In order to prevent the gears on the main shaft 240 from being exposed to the outside, the sealing protection device 600 includes an inner gear ring 610 fixedly arranged on the traveling inner wheel plate 230, and a cavity 611 is provided in the inner gear ring 610 to cover the gears meshing therewith to prevent exposure; more specifically, the first transmission gear 322 meshes with the traveling output gear 321 for transmission, the second transmission gear 323 is fixedly connected to the main shaft 240 and meshes with the first transmission gear 322 for transmission, the third transmission gear 324, the fourth transmission gear 325 and the fifth transmission gear 326 are located in the cavity 611, the third transmission gear 324 is fixedly connected to the main shaft 240 and meshes with the fourth transmission gear 325 for transmission, the fourth transmission gear 325 meshes with the fifth transmission gear 326 for transmission, the fifth transmission gear 326 meshes with the inner gear ring 610 for transmission, and the fifth transmission gear 326 meshes with the inner gear ring 610 for transmission. The inner travel wheel 230 is driven to rotate; the main shaft 240 is fixedly connected to the outer travel wheel 220, and the rotation of the outer travel wheel 220 is directly transmitted by the main shaft 240. At the same time, the transmission ratio of the third transmission gear 324, the fourth transmission gear 325, the fifth transmission gear 326 and the inner gear ring 610 is set so that the outer travel wheel 220 and the inner travel wheel 230 rotate synchronously; the transmission ratio between the third transmission gear 324 and the fourth transmission gear 325 is 1:n; the transmission ratio between the fourth transmission gear 325 and the fifth transmission gear 326 is 1:1, and the transmission ratio between the fifth transmission gear 326 and the inner gear ring 610 is 1:n; after such three-stage transmission, the inner travel wheel 230 and the main shaft 240 have the same rotation speed and the same direction, thereby ensuring that the inner travel wheel 230 and the outer travel wheel 220 have the same speed and the same direction.

[0043] The power transmission method of the actuator 200 of this embodiment is as follows. When the robot needs to be moved, the walking motor 310 rotates, and the power is transmitted to the first transmission gear 322 through the walking output gear 321, and then transmitted to the second transmission gear 323 and the main shaft 240. The main shaft 240 directly drives the walking outer wheel plate 220 to rotate. At the same time, the rotation of the main shaft 240 drives the third transmission gear 324 to rotate, thereby driving the fourth transmission gear 325. The fourth transmission gear 325 drives the fifth transmission gear 326 to rotate, and then the fifth transmission gear 326 engages with the inner gear ring 610, driving the inner gear ring 610 to rotate. The inner gear ring 610 is fixedly connected to the walking inner wheel plate 230, and the walking inner wheel plate 230 rotates with the inner gear ring 610, and finally the walking inner wheel plate 230 and the walking outer wheel plate 220 are synchronously rotated.

[0044] As attached Figure 4 As shown, in order to reduce the diameter of the inner gear ring 610, the fourth transmission gear 325 of this embodiment adopts a combination of coaxial large gear and small gear, so that the third transmission gear 324 and the fifth transmission gear 326 can be arranged front and back, while ensuring the transmission ratio of the three-stage transmission; the fourth transmission gear 325 is meshed with the small gear, and the fifth transmission gear 326 is meshed with the large gear.

[0045] In addition, to achieve the fixation of the fourth transmission gear 325 and the fifth transmission gear 326, and the sealing of the cavity 611 on the inner gear ring 610, the power device includes a first support seat 110 fixedly connected to the frame 100, the main shaft 240 passes through the first support seat 110 and is rotatably connected to the first support seat 110, a truncated cone 111 is provided on the first support seat 110, the diameter of the cavity 611 is larger than the diameter of the truncated cone 111, the truncated cone 111 is located in the cavity 611, the fourth transmission gear 325 and the fifth transmission gear 326 are rotatably connected to the truncated cone 111, the sealing protection device 600 also includes a gasket 620 located between the truncated cone 111 and the inner wall of the cavity 611, and the inner gear ring 610 rotates relative to the truncated cone 111 along with the running inner wheel 230. The sealing protection device 600 also includes a truncated cone 111 and the side of the first support seat 110 facing the inner gear ring 610. The first support seat 110 and the cavity 611 on the inner gear ring 610 form a sealed space. The third transmission gear 324, the fourth transmission gear 325 and the fifth transmission gear 326 are all located in the sealed space to ensure the stability and safety of the transmission.

[0046] In addition, the deformation of the wheel body in the actuator of this embodiment depends on the wheel-track conversion mechanism 500 and the deformation power mechanism 400. The deformation power mechanism 400 is connected to the wheel-track conversion mechanism 500 through the secondary shaft 250. More specifically, as shown in the attached Figure 2 and attached Figure 3 As shown, a secondary shaft 250 is sleeved on the main shaft 240, and the secondary shaft 250 is a hollow structure, which is rotatably connected relative to the main shaft 240. An exposed portion 251 is provided on the secondary shaft 250, and the third transmission gear 324, the fourth transmission gear 325 and the fifth transmission gear 326 are located in the exposed portion 251. The secondary shaft 250 is sealed and rotatably connected with the first support seat 110; the secondary shaft 250 is connected with the wheel-track conversion mechanism 500 and the deformation gear set 420; the deformation gear set 420 includes a deformation output gear 421 and a secondary shaft gear 422, and the secondary shaft gear 422 is fixedly connected with the secondary shaft 250; the wheel-track conversion mechanism 500 includes a rotating arm 510, and the secondary shaft 250 is fixedly connected with the rotating arm 510. The rotating arm 510 is rotated to drive the wheel-track conversion mechanism 500 to expand or retract. In order to reduce weight, the deformation output gear 421 of this embodiment is a semicircular gear.

[0047] The wheel-track conversion mechanism 500 of this embodiment includes a rotating arm 510, a fixed frame 520, a first connecting rod 530, a second connecting rod 540, a first swing arm 550 and a second swing arm 560. The fixed frame 520 is stationary relative to the frame 100. The first connecting rod 530 and the second connecting rod 540 are symmetrical about the axis center of the rotating arm 510. The first connecting rod 530 and the second connecting rod 540 are respectively rotatably connected to the rotating arm 510. The first swing arm 550 is respectively rotatably connected to the first connecting rod 530 and the fixed frame 520; the second swing arm 560 is respectively rotatably connected to the second connecting rod 540 and the fixed frame 520; the first swing arm 550 and the second swing arm 560 have a folded position and an extended position.

[0048] When the chassis encounters stairs or other road conditions suitable for crawler walking, the deformation motor 410 is started, and the power is transmitted to the countershaft gear 422 through the deformation output gear 421. The countershaft gear 422 is fixedly connected to the countershaft 250, so the countershaft 250 rotates with the countershaft gear 422, and the countershaft 250 is fixedly connected to the rotating arm 510, thereby driving the rotating arm 510 to rotate, and the first connecting rod 530 and the second connecting rod 540 rotate with the rotating arm 510. Due to the first swing arm 550 and the second swing arm 560 The ends are respectively connected to the fixed frame 520, so after the first connecting rod 530 and the second connecting rod 540 move, they swing with the connection point with the fixed frame 520 as the center of the circle, thereby realizing the expansion and contraction of the first swing arm 550 and the second swing arm 560. At the same time, the first swing arm 550 and the second swing arm 560 open the track, so that the wheel body is changed into a triangular track mode, so that the travel motor 310 continues to work, driving the triangular actuator 200 to continue to rotate, so that the chassis obtains the power to move forward, climb, or go downhill.

[0049] The crawler 210 of this embodiment is an integrated elastic crawler, which can change with the actuator 200. More specifically, as shown in the attached Figure 8 and attached Fig. 9 As shown, the crawler 210 of this embodiment includes an annular body, which includes a plurality of protrusions 211 and an elastic part 212, wherein the protrusions 211 are evenly distributed on the inner surface of the annular body and are used for meshing and transmitting with the inner and outer wheels; the elastic part 212 connects the adjacent protrusions 211, and the elastic part 212 is made of elastic material and has a contracted state and an expanded state. The length of the elastic part 212 after expansion can meet the circumference requirement of the triangular wheel body, and the protrusion 211 is always meshed with the inner wheel piece 230 and the outer wheel piece 220 of the wheel body; and when the wheel body becomes circular, the elastic part 212 contracts, shortening the distance between adjacent protrusions 211, so that the circumference of the crawler is adapted to the circumference of the wheel body.

[0050] More specifically, a groove 221 is provided on the contour edge of the outer running wheel piece 220 and the inner running wheel piece 230, and the groove 221 is adapted to the protrusion 211, and by setting the length of the elastic part 212 after being unfolded, the protrusion 211 is also correspondingly engaged with the groove 221 after the elastic part 212 is unfolded. The protrusion 211 is a long strip structure with a semicircular cross section, and correspondingly, the groove 221 is also a groove with a semicircular cross section, so that the protrusion 211 can be more smoothly embedded in or out of the groove 221. When the wheel body is circular, the grooves 221 correspond to the protrusions 211 one by one, and each groove 221 is embedded with a protrusion 211. When the wheel body is triangular, the distance between adjacent protrusions 211 becomes larger, so some grooves 221 are embedded with protrusions 211, and there is no protrusion 211 in the groove 221 between two protrusions 211. Therefore, in the process of converting the modified track wheel from circular to triangular, in order to facilitate the engagement of the protrusion 211 with the groove 221, it is necessary to rotate the main shaft 240 to rotate the track, and at the same time rotate the secondary shaft 250 to unfold the track, so that the protrusion 211 gradually engages with the corresponding groove 221 during the track rotation process. At this time, in order to prevent the rotating secondary shaft 250 from interfering with the engagement of the transmission gear set on the main shaft 240 with the inner gear ring 610, the exposed portion 251 on the secondary shaft 250 has a larger area, generally accounting for two-thirds or more of the side area of ​​the secondary shaft 250. The secondary shaft 250 drives the rotating arm 510 to a certain angle, so that the first swing arm 550 and the second swing arm 560 are unfolded.

[0051] In order to increase the grip of the actuator 200, track teeth 213 are evenly arranged on the outer surface of the annular body, and the track teeth 213 and the protrusions 211 are correspondingly arranged on the inner and outer surfaces of the annular body, so as to facilitate the contraction and expansion of the elastic member. At the same time, in order to facilitate processing, the track teeth 213, the protrusions 211, and the elastic part 212 are integrally formed with elastic materials. Preferably, the elastic part 212 is processed into a wavy shape in the initial state and a flat shape in the expanded state. The wavy elastic part 212 has greater elasticity and is not higher than the outer surface of the track teeth 213, which will not affect the normal movement of the actuator 200 when it is a circular wheel, thereby ensuring the smooth operation of the chassis.

[0052] At the same time, in order to prevent the track from separating from the wheel, a roller 570 is provided on one end of the first swing arm 550 and the second swing arm 560 facing the elastic track, and the roller 570 is in contact with the protrusion 211; a gap 571 is provided in the middle of the roller 570, and a block 214 is provided in the middle of the protrusion 211, and the block 214 is adapted to the gap 571 and is always located in the gap 571.

[0053] The operating principle of the wheel-track conversion mechanism is as follows: the rotating arm 510 of the wheel-track conversion mechanism 500 rotates only under the action of the countershaft gear 422, and the countershaft gear 422 is fixedly connected to the countershaft 250. Therefore, when the deformation motor 410 is not working, the countershaft 250 does not rotate, the rotating arm 510 does not rotate, and the wheel-track conversion mechanism 500 remains stationary relative to the frame 100. The wheel-track conversion mechanism 500 is arranged between the walking inner wheel piece 230 and the walking outer wheel piece 220. The walking inner wheel piece 230 and the walking outer wheel piece 220 need to rotate when walking. The fixed frame 520 and other components of the wheel-track conversion mechanism 500 do not rotate with the walking inner wheel piece 230 and the walking outer wheel piece 220. Therefore, a fixed shaft 260 is provided on the outside of the secondary shaft 250, and one end of the fixed shaft 260 is fixedly connected to the fixed frame 520, and the other end is fixedly connected to the frame 100; the main shaft 240 and the secondary shaft 250 are rotatably connected to the fixed shaft 260, and the fixed shaft 260 is a hollow structure for accommodating the main shaft 240 and the secondary shaft 250, and a notch 261 is provided on one side of the fixed shaft 260 for exposing the walking gear set 320. Since the fixed shaft 260 is sleeved on the outside of the main shaft 240 and the secondary shaft 250, in order to prevent the fixed shaft 260 from interfering with the meshing transmission of the third transmission gear 324, the fourth transmission gear 325 and the fifth transmission gear 326 with the inner gear ring 610, a notch 261 is provided on one side of the fixed shaft 260. The orientation of the notch 261 is consistent with the orientation of the exposed portion 251 of the secondary shaft 250, and can be set at any angle as long as the meshing transmission of the fifth transmission gear 326 with the inner gear ring 610 is ensured. As shown in the drawings, the notch 261 and the exposed portion 251 of this embodiment are both set upward, the notch 261 is located at the upper part of the fixed shaft 260, and the exposed portion 251 is also located at the upper part of the secondary shaft 250.

[0054] The connection relationship between the fixed shaft 260 and the fixed frame 520 is as follows: the fixed shaft 260 is partially located in the inner gear ring 610 and is fixedly connected to the truncated table 111 on the first support seat 110. At the same time, a through groove 231 is provided on the walking inner wheel piece 230. The end of the fixed shaft 260 connected to the fixed frame 520 is located in the through groove 231 and is sealed and connected to the walking inner wheel piece 230. The fixed shaft 260 is sealed and rotatably connected to the secondary shaft 250. The walking inner wheel piece 230 is rotatably connected to the fixed shaft 260, and the fixed frame 520 fixedly connected to the fixed shaft 260 is stationary relative to the frame 100, so that the wheel-track conversion mechanism 500 is stationary relative to the frame 100 when the deformation motor 410 is not working. The fixed frame 520 and the rotating arm 510 are both mounted on the secondary shaft 250, and the rotating arm 510 is fixedly connected to the secondary shaft 250. When the secondary shaft 250 rotates, the rotating arm 510 rotates along with the secondary shaft 250, while the fixed frame 520 is stationary, thereby allowing the first connecting rod 530 and the second connecting rod 540 connected to the rotating arm 510 to unfold the first swing arm 550 and the second swing arm 560.

[0055] The sealing protection device is designed based on the above structure. More specifically, the sealing protection device 600 includes not only a gasket 620 located between the truncated cone 111 and the inner wall of the cavity 611, but also sealing rings arranged at various locations of the power device and the actuator 200. For the convenience of description, the sealing rings arranged at both ends of the secondary shaft 250 are now defined as the first sealing ring 630. The first sealing ring 630 is located between the secondary shaft 250 and the main shaft 240, and is sealed and rotatably connected with the secondary shaft 250 and the main shaft 240. In addition to the sealing function, the setting of the first sealing ring 630 can also allow a certain gap between the main shaft 240 and the secondary shaft 250, making the contact surface of the main shaft 240 and the secondary shaft 250 smaller, thereby avoiding excessive friction between the main shaft 240 and the secondary shaft 250 when the main shaft 240 rotates, resulting in damage to the main shaft 240 and the secondary shaft 250. Since the secondary shaft 250 is sleeved on the outside of the main shaft 240 and passes through the first support seat 110 , a second sealing ring 640 is provided between the secondary shaft 250 and the first support seat 110 to achieve a sealed rotation connection between the secondary shaft 250 and the first support seat 110 . The power device also includes a second support seat 120 and a third support seat 130, a walking motor 310 and a walking output gear 321, and a first transmission gear 322 are arranged on the third support seat 130, a support block extends from the side of the first support seat 110, the rotating shaft of the first transmission gear 322 passes through the first support seat 110 and the third support seat 130, and the first transmission gear 322 is rotatably connected with the first support seat 110 and the third support seat 130; at the same time, the deformation motor 410 and the deformation output gear 421 are arranged on the second support seat 120, the main shaft 240 and the secondary shaft 250 pass through the second support seat 120, and the secondary shaft 250 is sleeved on the outside of the main shaft 240, therefore, a third sealing ring 650 is provided between the secondary shaft 250 and the second support seat 120 to realize a sealed rotation connection between the secondary shaft 250 and the second support seat 120. In addition, the fixed shaft 260 is sleeved on the outside of the secondary shaft 250. In order to achieve a sealed connection between the fixed shaft 260 and the secondary shaft 250 and to allow a certain gap between the fixed shaft 260 and the secondary shaft 250, a fourth sealing ring 660 is provided between the secondary shaft 250 and the fixed shaft 260 to achieve a sealed rotation connection between the secondary shaft 250 and the fixed shaft 260 and to avoid excessive friction between the fixed shaft 260 and the secondary shaft 250. The running inner wheel sheet 230 rotates relative to the fixed shaft 260. Therefore, a fifth sealing ring 670 is provided between the running inner wheel sheet 230 and the fixed shaft 260 to achieve a sealed rotation connection between the fixed shaft 260 and the running inner wheel sheet 230. The gasket 620, the first sealing ring 630, the second sealing ring 640, the third sealing ring 650, the fourth sealing ring 660 and the fifth sealing ring 670 can be made of elastic rubber material.

[0056] In addition, the sealing protection device 600 also includes a cover (not shown) arranged on the frame 100, which is used to seal the travel motor 310, the deformation motor 410 and other components. As shown in the accompanying drawings, the power unit is centrally arranged on the frame, so that the cover can cover the power unit. The cover is sealed and fixedly connected to the frame 100, and can also be sealed and fixedly connected to the round table 111 on the first support seat 110. Due to the setting of the inner ring gear 610, the power unit is completely in a sealed state, which effectively prevents gravel and debris from entering the power unit during the movement of the chassis, thereby ensuring the stable operation of the power unit.

[0057] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A wheel-track composite deformable chassis, characterized in that: It includes a frame, a power device and an actuator, each of the power devices corresponds to an actuator, the actuator includes a wheel-track conversion mechanism and a wheel body, which is used to convert the wheel body between a circle and a triangle, and the power device includes a moving power mechanism and a deformation power mechanism, wherein: The mobile power mechanism comprises a travel motor and a travel gear set, and the travel motor is transmission-connected to the actuator through the travel gear set; The deformation power mechanism comprises a deformation motor and a deformation gear set, and the deformation motor is transmission-connected to the wheel-track conversion mechanism through the deformation gear set; A sealing protection device is provided between the power device and the actuator; The actuator includes a main shaft, a walking outer wheel piece, a walking inner wheel piece and a crawler belt, the wheel-track conversion mechanism is located between the walking outer wheel piece and the walking inner wheel piece; the moving power mechanism is connected to the main shaft in a transmission manner; the main shaft is connected to the walking inner wheel piece and the walking outer wheel piece respectively, and the crawler belt covers the walking outer wheel piece and the walking inner wheel piece; The travel gear group includes a travel output gear and a transmission gear group, the transmission gear group is connected to the main shaft, including a first transmission gear, a second transmission gear, a third transmission gear, a fourth transmission gear and a fifth transmission gear, the sealing protection device includes an inner gear ring fixedly arranged on the travel inner wheel plate, and a cavity is provided in the inner gear ring, the power device includes a first support seat fixedly connected to the frame, the main shaft passes through the first support seat and is rotatably connected to the first support seat, the sealing protection device also includes a frustum and the side of the first support seat facing the inner gear ring, the frustum is located on the first support seat, the diameter of the cavity is larger than the diameter of the frustum, the frustum is located in the cavity, the first support seat and the cavity on the inner gear ring form a sealed space, wherein: The first transmission gear is meshed with the travel output gear for transmission, the second transmission gear is fixedly connected to the main shaft and meshed with the first transmission gear for transmission, the third transmission gear, the fourth transmission gear and the fifth transmission gear are located in the cavity, that is, located in the sealed space, the third transmission gear is fixedly connected to the main shaft and meshed with the fourth transmission gear for transmission, the fourth transmission gear is meshed with the fifth transmission gear for transmission, the fifth transmission gear is meshed with the inner gear ring for transmission, and drives the travel inner wheel piece to rotate; the main shaft is fixedly connected to the travel outer wheel piece, and the travel outer wheel piece rotates synchronously with the travel inner wheel piece; The main shaft is sleeved with a countershaft, the countershaft is a hollow structure, and is rotatably connected relative to the main shaft. The countershaft is provided with an exposed portion, and the third transmission gear, the fourth transmission gear and the fifth transmission gear are located in the exposed portion. The countershaft is connected to the wheel-track conversion mechanism and the deformation gear set. The deformable gear set includes a deformable output gear and a countershaft gear, and the countershaft gear is fixedly connected to the countershaft; the wheel-track conversion mechanism includes a rotating arm, and the countershaft is fixedly connected to the rotating arm, and the rotating arm is rotated to drive the wheel-track conversion mechanism to expand or retract.

2. The wheel-track composite deformable chassis according to claim 1, characterized in that: The fourth transmission gear and the fifth transmission gear are rotatably connected to the truncated table. The sealing protection device also includes a gasket located between the truncated table and the inner wall of the cavity. The inner gear ring rotates relative to the truncated table along with the traveling inner wheel piece.

3. The wheel-track composite deformable chassis according to claim 2, characterized in that: The secondary shaft is sealingly and rotatably connected to the first support seat.

4. The wheel-track composite deformable chassis according to claim 1, characterized in that: The sealing protection device also includes sealing rings arranged at both ends of the secondary shaft, the sealing rings are located between the secondary shaft and the main shaft, and are sealingly and rotatably connected to the secondary shaft and the main shaft.

5. The wheel-track composite deformable chassis according to claim 1, characterized in that: The wheel-track conversion mechanism also includes a fixed frame, a fixed shaft is provided on the outside of the secondary shaft, the fixed shaft is a hollow structure for accommodating the main shaft and the secondary shaft, and a notch is provided on one side of the fixed shaft for exposing the traveling gear set, one end of the fixed shaft is fixedly connected to the fixed frame, and the other end is fixedly connected to the frame; the main shaft and the secondary shaft are rotatably connected to the fixed shaft.

6. The wheel-track composite deformable chassis according to claim 5, characterized in that: The inner travel wheel piece is provided with a through groove, one end of the fixed shaft connected to the fixed frame is located in the through groove and is sealed and connected to the inner travel wheel piece; the fixed shaft is sealed and rotatably connected to the secondary shaft.

7. The wheel-track composite deformable chassis according to claim 2, characterized in that: The power device also includes a second support seat and a third support seat, the travel motor and the travel output gear, and the first transmission gear are arranged on the third support seat, the main shaft and the secondary shaft pass through the first support seat and the second support seat, the deformation motor and the deformation output gear are arranged on the second support seat, and the secondary shaft is sealed and rotatably connected with the second support seat.

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