Wheel-track variant wheel mechanism

Abstract

The present invention relates to the technical field of vehicle travel mechanism, and in particular to a wheel-track variant wheel mechanism, which includes a mechanism deformation device, a wheel drive device and a track drive device, the deformation mechanism includes a worm, a crank worm wheel, a connecting rod, a piston cylinder, a rocker, a wheel peripheral support and a triangular fixing plate, the wheel drive device includes a central axis passing through two triangular fixing plates and an electromagnetic clutch installed on the central axis, and the track drive device includes a first gear, three second gears and three third gears, the first gear is installed on the central axis, and the first gear, the second gear and the third gear are meshed in sequence, the wheel axle of the second gear is shared with the crank and the connecting rod, and the wheel axle of the third gear is shared with the piston cylinder and the connecting rod. The device provided by the present invention has a simple structure and is light, and the wheel and track travel systems share a set of mechanisms, and can switch between the wheel and track forms during travel.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle running mechanisms, in particular to a wheel-track variant wheel mechanism. Background Art

[0002] There are two main types of walking mechanisms commonly used in vehicles: wheeled structure and crawler structure. The wheeled structure has the advantages of fast maneuverability, easy control, etc., but it is not suitable for overcoming obstacles and has poor passability; while the crawler structure has a large ground contact area, good obstacle overcoming performance, and is suitable for all kinds of complex terrains. The disadvantages are slow speed, bulky appearance, and inflexible movement.

[0003] Some special vehicles, such as military off-road vehicles, rescue vehicles, engineering vehicles, etc., want to use wheels to drive on hard roads for fast maneuverability, and use tracks to drive on complex terrain and soft roads for good off-road performance. This is a problem for existing vehicle running mechanisms. Some engineering vehicles have two running mechanisms, which need to be stopped and replaced when driving on different roads; this method takes a long time to replace, and two running mechanisms need to be carried on board at ordinary times, which increases the vehicle load. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a wheel-track variant wheel mechanism which is simple in structure, light in weight, shares a common mechanism between wheeled and tracked walking systems, and can switch between the wheeled and tracked forms during travel.

[0005] The present invention is achieved through the following technical solutions:

[0006] The wheel-track variant wheel mechanism comprises a mechanism deformation device, a wheel drive device and a track drive device, wherein the deformation mechanism comprises a worm, a crank worm wheel, a connecting rod, a piston cylinder, a rocker, a wheel peripheral support and a triangular fixing plate, wherein the deformation mechanism comprises two groups respectively distributed on the inner and outer sides of the wheel and the two triangular fixing plates are fixedly connected by three triangular fixing plate connecting shafts, the crank worm wheel has three cranks, the worm and the crank worm wheel cooperate with each other, the three cranks of the crank worm wheel are respectively hinged to one end of the corresponding connecting rod, the piston rod end of the piston cylinder is fixedly mounted on the corresponding triangular fixing plate, each group of the wheel peripheral support comprises six components, one end of which is connected to the corresponding triangular fixing plate The other end of the corresponding connecting rod is coaxially hinged with the piston cylinder, the middle part of the wheel support is hinged with the rocker, and the other end of the rocker is fixedly mounted on the corresponding triangular fixing plate connecting shaft. The wheel drive device includes a central axis passing through the two triangular fixing plates and an electromagnetic clutch installed on the central axis. The crawler drive device includes a first gear, three second gears and three third gears. The first gear is installed on the central axis, and the first gear, the second gear and the third gear are meshed in sequence. The wheel axle of the second gear is a common axis with the crank and connecting rod of the corresponding crank worm gear, and the wheel axle of the third gear is a common axis with the corresponding piston cylinder and connecting rod.

[0007] Furthermore, the worm is driven by a motor fixedly mounted on the triangular fixing plate.

[0008] Furthermore, a bearing is installed between the triangular fixing plate and the central axis.

[0009] Furthermore, a plurality of rollers are mounted on the wheel circumference support member.

[0010] Advantageous Effects of the Invention

[0011] The wheel-track variant wheel mechanism protected by the present invention has the following beneficial effects compared with the prior art:

[0012] 1. The wheeled and crawler devices are a set of devices. The deformation mechanism drives the position relationship of the driven components to change, driving the components to combine into different shapes such as circles or triangles, completing the switch between the wheeled and crawler forms to adapt to various terrains, and combining mobility and off-road performance;

[0013] 2. Use a set of walking mechanism to reduce weight, and only need to control the forward and reverse rotation of the motor to realize the conversion between wheeled and tracked forms while the vehicle is moving. The conversion is convenient and fast.

[0014] 3. The power source of both forms is the half-axle of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0016] Figure 2 It is a side view structural schematic diagram of the present invention;

[0017] Figure 3 It is a schematic diagram of the wheeled state structure;

[0018] Figure 4 It is a schematic diagram of the crawler-type structure;

[0019] In the figure, 1. motor, 2. worm, 3. crank worm wheel, 4. connecting rod, 5. piston rod, 6. piston cylinder, 7. rocker, 8. wheel peripheral support, 9. center shaft, 10. triangular fixed plate connecting shaft, 11. first gear, 12. second gear, 13. third gear, 14. electromagnetic clutch, 15. roller, 16. triangular fixed plate, 17. annular rubber belt. DETAILED DESCRIPTION

[0020] The wheel-track variant wheel mechanism includes a mechanism deformation device, a wheel drive device and a track drive device. The deformation mechanism includes a worm 2, a crank worm wheel 3, a connecting rod 4, a piston cylinder 6, a rocker 7, a wheel circumference support 8 and a triangular fixing plate 16. The deformation mechanism is divided into two groups, which are respectively distributed on the inner and outer sides of the wheel and the two triangular fixing plates are fixedly connected by three triangular fixing plate connecting shafts 10. Some components of the deformation mechanism are divided into two groups, which are symmetrically distributed, so that the force can be more uniform.

[0021] The crank worm wheel has three cranks, and the worm and the crank worm wheel cooperate with each other. The three cranks of the crank worm wheel are respectively hinged to one end of the corresponding connecting rod. The end of the piston rod 5 of the piston cylinder is fixedly mounted on the corresponding triangular fixed plate. Each group of wheel circumferential support members consists of six components, one end of which is coaxially hinged with the other end of the corresponding connecting rod and the piston cylinder. The middle part of the wheel circumferential support member is hinged to the rocker, and the other end of the rocker is fixedly mounted on the corresponding triangular fixed plate connecting shaft. The worm is driven by a motor to rotate a certain angle, and the worm drives the crank worm wheel to rotate a certain angle. The three cranks of the crank worm wheel respectively drive the groups of connecting rods to move, driving the piston rod, piston cylinder, rocker, and wheel circumferential support members to move to specified positions under their respective constraints. The six wheel circumferential supports are combined into a quasi-circular or quasi-triangular shape to achieve wheel-type-tracked deformation.

[0022] The wheel drive device includes a central axis 9 passing through two triangular fixing plates and an electromagnetic clutch 14 installed on the central axis. The central axis is the vehicle wheel axle, and bearings are installed between the two triangular fixing plates and the central axis. When the electromagnetic clutch is closed, the connecting central axis will connect the two triangular fixing plates, so that the triangular fixing plates rotate with the axis. Since the two triangular fixing plates are connected and fixed by three triangular fixing plate connecting shafts, the remaining components fixed on the two triangular fixing plates and the fixing plate connecting shafts also rotate together. At this time, the mechanism deformation device is in a wheeled form and rotates in an overall wheeled manner, that is, the vehicle is in a wheeled rolling walking state.

[0023] The crawler drive device includes a first gear 11, three second gears 12 and three third gears 13. The first gear is mounted on the central shaft, and the first gear, the second gear and the third gear are meshed in sequence. The axle of the second gear is a common shaft with the crank and the connecting rod of the corresponding crank worm gear, and the axle of the third gear is a common shaft with the corresponding piston cylinder and the connecting rod. The electromagnetic clutch is separated to separate the central shaft from the two triangular fixing plates. The two triangular fixing plates gradually stop, and the mechanism deformation device will be transformed into a triangular form.

[0024] Furthermore, the worm is driven by a motor 1 fixedly mounted on a triangular fixing plate.

[0025] Furthermore, a bearing (not shown) is installed between the triangular fixing plate and the central axis.

[0026] Furthermore, a plurality of rollers 15 are mounted on the wheel peripheral support to facilitate walking when the wheel is driven.

[0027] Specifically, when the crawler type is transformed into a wheel type: the motor starts to rotate forward, driving the worm to rotate a certain angle, the worm drives the crank worm wheel to rotate a certain angle, the three cranks of the crank worm wheel respectively drive the groups of connecting rods to move, driving the piston rod, rocker arm, and wheel circumferential support members to move to specified positions under their respective constraints, and the six wheel circumferential support members are combined into a quasi-circular shape, which is now a wheel type.

[0028] Wheel travel: The electromagnetic clutch is closed, the central shaft and the two triangular fixing plates are fixedly connected as one, the central shaft rotates, driving the electromagnetic clutch to rotate, driving the two triangular fixing plates and all components to rotate; when the wheel rotates to the end of the wheel peripheral support away from the piston cylinder and contacts the ground, the wheel peripheral support is affected by the ground force and becomes the active part. At this time, the force transmission path is: wheel peripheral support-piston cylinder-connecting rod-crank worm gear-worm gear, and the worm gear mechanism is self-locking to prevent the mechanism from deforming into a quasi-triangle;

[0029] Wheeled-tracked deformation: the motor starts to reverse, driving the worm to rotate in the opposite direction by a certain angle, and the worm drives the crank worm wheel to rotate in the opposite direction by a certain angle. The three cranks of the crank worm wheel respectively drive the connecting rod groups to move, driving the piston rod, rocker arm, and wheel circumferential support members to move under their respective constraints until the crank of the crank worm wheel is in a straight line with the piston rod and piston cylinder. At this time, the six wheel circumferential support members are combined into a quasi-triangle.

[0030] Tracked travel: the electromagnetic clutch is separated, the central shaft and the two triangular fixed plates are separated, the triangular fixed plates are supported by the bearings on the central shaft, and the triangular fixed plates gradually become stationary. Since the deformation device of the mechanism has been transformed into a triangular form, the central shaft rotates and continues to drive the first gear, the second gear and the third gear to rotate. The teeth of the third gear mesh with the inner ring teeth of the annular rubber belt 17 installed on the periphery of the mechanism to drive the annular rubber belt. At this time, the vehicle is in a triangular crawler walking state.

[0031] To sum up, the wheel-track variant wheel mechanism protected by the present invention has a simple and lightweight structure, and the wheeled and tracked walking systems share a set of mechanisms and can switch between the wheeled and tracked modes during travel.

[0032] For those skilled in the art, the present invention may have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Wheel-track variant wheel mechanism, characterized in that: It includes a mechanism deformation device, a wheel drive device and a crawler drive device. The mechanism deformation device includes a worm, a crank worm wheel, a connecting rod, a piston cylinder, a rocker, a wheel circumference support and a triangular fixing plate. The mechanism deformation device is composed of two groups, which are respectively distributed on the inner and outer sides of the wheel, and the two triangular fixing plates are fixedly connected by three triangular fixing plate connecting shafts. The crank worm wheel has three cranks, and the worm and the crank worm wheel cooperate with each other. The three cranks of the crank worm wheel are respectively hinged to one end of the corresponding connecting rod, and the piston rod end of the piston cylinder is fixedly installed on the corresponding triangular fixing plate. Each group of wheel circumference supports consists of six components, one end of which is coaxially hinged with the other end of the corresponding connecting rod and the piston cylinder. The wheel drive device comprises a central shaft passing through two triangular fixing plates and an electromagnetic clutch mounted on the central shaft. The crawler drive device comprises a first gear, three second gears and three third gears. The first gear is mounted on the central shaft, and the first gear, the second gear and the third gear are meshed in sequence. The axle of the second gear is a shaft shared by the crank and the connecting rod of the corresponding crank worm gear, and the axle of the third gear is a shaft shared by the corresponding piston cylinder and the connecting rod. The worm is driven by a motor fixedly mounted on the triangular fixing plate, and a bearing is installed between the triangular fixing plate and the central shaft.

2. The wheel-track variant wheel mechanism according to claim 1, characterized in that: A plurality of rollers are mounted on the wheel circumference support member.

Images