Deformable tyre, control method and vehicle

Abstract

The application discloses a deformable tire, a control method and a vehicle, which comprise a hub, a tire tread and a transmission system; the hub comprises a base frame located at the center of the hub, a driving mechanism mounted on the base frame and a deformation mechanism arranged on the tire tread; the driving mechanism is used for driving the deformation mechanism to change the shape so as to change the shape of the tire tread surrounded outside the deformation mechanism; and the transmission system is used for driving the hub to rotate and also used for driving the tire tread to rotate relative to the hub. The transmission system of the deformable tire drives the hub and the tire tread to operate simultaneously, improves the adaptability of the wheel type mode, and does not need to be adaptively switched during the mode conversion, but only needs to drive the deformation mechanism to deform, change the shape of the tire tread and limit the rotation of the hub, so that the switching from the wheel type to the track type can be completed, and the conversion is faster and more stable.

Description

Technical Field

[0001] This invention relates to the field of special vehicle technology, and in particular to a deformable tire, a control method, and a vehicle. Background Technology

[0002] Currently, vehicles commonly use two main types of wheels: wheeled and tracked. Wheeled wheels offer advantages such as high speed and maneuverability, and easy control, but are unsuitable for obstacle crossing and have poor off-road capability. Tracked wheels, on the other hand, have a larger ground contact area, resulting in excellent obstacle crossing performance and suitability for various complex terrains. However, they are slower, bulkier, and less maneuverable. Some specialized vehicles, such as military off-road vehicles, rescue vehicles, and engineering vehicles, or inspection vehicles operating in rugged and steep areas, require wheeled operation for rapid maneuverability on hard surfaces and tracked operation for better off-road performance on soft, complex terrain. This presents a challenge for existing vehicle running gear.

[0003] In the prior art, patent CN112140803B proposes a deformable tire driven by a chain, which has low transmission smoothness and high driving noise. Patent CN101966797A also proposes a deformable tire driven by a chain with a tensioning device, which has a complex structure, low transmission smoothness, high driving noise, and limited wheel mode operation function. Summary of the Invention

[0004] This invention provides a deformable tire, a control method, and a vehicle to solve the technical problems of poor transmission smoothness and the need to improve the overall performance of deformable tires in the prior art.

[0005] The technical solution adopted in this invention is as follows:

[0006] A deformable tire, comprising a rim, a tread, and a transmission system;

[0007] The wheel hub includes a base frame located at the center of the wheel hub, a drive mechanism mounted on the base frame, and a deformation mechanism that conforms to the tread. The drive mechanism is used to drive the joint position of the deformation mechanism to move and rotate relative to it, thereby changing the shape of the tread surrounding the deformation mechanism and keeping it taut.

[0008] The transmission system is used to drive the wheel hub to rotate, and also to drive the tire tread to rotate relative to the wheel hub.

[0009] As a further improvement to the above technical solution, the deformation mechanism includes a support plate assembly that conforms to the tire tread.

[0010] The drive mechanism includes a first drive assembly mounted on the base frame and a second drive assembly mounted on the base frame;

[0011] A set of support plate assemblies is symmetrically arranged on both sides of the second drive assembly, and the second drive assembly is hinged to the ends of the two support plate assemblies respectively.

[0012] The first end of the first drive component is hinged to the middle region of the support plate assembly or hinged to the end of the support plate assembly away from the second drive component;

[0013] At least three sets of the second drive components are evenly arranged circumferentially on the base frame;

[0014] The second drive assembly is used to move radially relative to the wheel hub, thereby driving the adjacent ends of the two corresponding support plate assemblies to move. The first drive assembly is used to cooperate with the movement of the second drive assembly to adaptively extend, retract, and swing, thereby changing the included angle between the two support plate assemblies, so that the shape of the tread surrounding the support plate assembly changes and remains taut.

[0015] As a further improvement to the above technical solution, the deformable tire also includes a drive wheel for driving the tread to rotate. The transmission system includes a first gearbox mounted on the base frame and used to connect to the input shaft. The transmission system also includes a second gearbox, the input end of which is connected to the first gearbox, and the output end of which is connected to the drive wheel. The second gearbox can move radially relative to the wheel hub and maintain a transmission connection with the first gearbox, and drives the drive wheel to move radially synchronously and maintain a driving connection with the tread.

[0016] As a further improvement to the above technical solution, the first gearbox includes:

[0017] The first shell serves as a carrier;

[0018] Transition gear, driven connection to the input shaft;

[0019] A planetary bevel gear is connected to the transition gear via a planetary carrier. The axis of the planetary bevel gear is perpendicular to and passes through the axis of the transition gear. The transition gear is used to drive the axis of the planetary bevel gear ring transition gear to rotate via the planetary carrier.

[0020] The first bevel gear is coaxial with the transition gear and meshes with the planetary bevel gear;

[0021] A first output shaft is rotatably connected to the first gearbox. The end of the first output shaft has a connecting flange for fixed connection with the hub. The first output shaft is coaxially fixedly connected to the first bevel gear, thereby driving the hub to rotate via the first output shaft.

[0022] The second bevel gear is coaxial with the transition gear and meshes with the planetary bevel gear;

[0023] The drive shaft is rotatably connected to the first gearbox and fixedly connected to the second bevel gear.

[0024] The third bevel gear is fixedly connected to the drive shaft, and the planetary bevel gear drives the second bevel gear to rotate, thereby causing the third bevel gear to rotate synchronously.

[0025] A fourth bevel gear, the axis of which is perpendicular to and passes through the axial direction of the transition gear, meshes with the third bevel gear;

[0026] The second output shaft is rotatably connected to the first gearbox, coaxially and fixedly connected to the fourth bevel gear, and used for transmission connection with the second gearbox.

[0027] As a further improvement to the above technical solution, the second gearbox includes:

[0028] The mating shaft is coaxially arranged with the second output shaft and has a mating structure for mating with the second output shaft;

[0029] The fifth bevel gear is fixedly mounted on the mating shaft;

[0030] The sixth bevel gear meshes with the fifth bevel gear;

[0031] The third output shaft is rotatably connected to the second gearbox, fixedly connected to the sixth bevel gear, and driven by the drive wheel. The end of the third output shaft is connected to the movable end of the second drive assembly, and is used to maintain the drive wheel and the tire tread drive connection as the second drive assembly moves.

[0032] As a further improvement to the above technical solution, the surface of the drive wheel has teeth, and the inner wall of the tread has teeth to mesh with the drive wheel.

[0033] As a further improvement to the above technical solution, the end of the second output shaft is provided with a spline, and the mating structure is a spline groove opened axially at the mating end of the mating shaft. The end of the second output shaft is used to insert into the spline groove so that it can move axially along the mating shaft and maintain the transmission connection.

[0034] As a further improvement to the above technical solution, the first gearbox is provided with a first guide structure in the radial direction, and the second gearbox is provided with a second guide structure in the radial direction for sliding cooperation with the first gearbox.

[0035] As a further improvement to the above technical solution, the deformable tire includes a braking device for limiting the rotation of the wheel hub.

[0036] As a further improvement to the above technical solution, the first driving component is a telescopic hydraulic cylinder, the second end of the first driving component is hinged to the support plate assembly, and the second driving component is a telescopic hydraulic cylinder arranged radially on the base frame; the second driving component is used to drive the adjacent ends of the two corresponding support plate assemblies away from or close to the axis of the hub, thereby causing the support plate assembly to rotate about the first end of the first driving component as the axis of rotation, and the first driving component is used to match the rotation axis position of the support plate assembly and support the support plate assembly.

[0037] As a further improvement to the above technical solution, a limiting groove is provided on the base frame, and the second end of the first drive component is hinged to the base frame in the limiting groove. The limiting groove is used to limit the rotation angle of the first drive component relative to the base frame.

[0038] As a further improvement to the above technical solution, the support plate assembly includes a support wheel and two parallel support plates, the support wheel being disposed between the two support plates and used to engage with the tire tread.

[0039] As a further improvement to the above technical solution, three sets of the second drive components are provided on the base frame, and the mating surface between the support plate component and the tread is an arc-shaped surface; the second drive component is used to drive the included angle of a set of two adjacent support plate components to change, so that the tread shape is circular or triangular.

[0040] According to another aspect of the present invention, a control method is also provided, wherein the deformable tire includes a control system, the control method comprising:

[0041] If the rotational speed of the deformable tire is lower than a set value, the rotation of the wheel hub is restricted, the second drive device drives the deformation mechanism to switch to a triangular shape, the tire tread rotates relative to the wheel hub, and the deformable tire operates in track mode;

[0042] If the rotational speed of the deformable tire is higher than the set value, the second drive device drives the deformation mechanism to switch to a circular shape. The wheel hub rotates while the tire tread rotates relative to the wheel hub, and the deformable tire operates in wheel mode.

[0043] According to another aspect of the invention, a vehicle is also provided that uses any of the deformable tires described above.

[0044] This invention has the following beneficial effects: The deformable wheel is driven by a drive mechanism to deform the deformation mechanism. As the shape changes, the joint position moves, maintaining tension with the tire tread. Through driven deformation, the tire tread surrounding the deformation mechanism changes to a circular shape, thus operating in wheel mode. The transmission system drives the wheel hub to rotate the tire, and simultaneously drives the tire tread to rotate relative to the wheel hub. In wheel mode, the tire rotates and the tire tread further rotates relative to the wheel hub, propelling the vehicle. It possesses the high speed and strong controllability of wheel mode while adapting to certain complex terrains, exhibiting excellent overall performance; or it is driven by a drive mechanism... The deformation mechanism deforms, changing the shape of the tread surrounding it into a triangle, enabling tracked operation. This restricts wheel hub rotation, while the transmission system drives the tread to rotate relative to the wheel hub, increasing the contact area with the ground and further adapting to more complex terrain and soft surfaces. The transmission system of this deformable tire simultaneously drives both the wheel hub and the tread, improving its adaptability to wheeled mode. During shape transitions, the transmission system does not need to adapt; simply driving the deformation mechanism to change the tread shape and restricting wheel hub rotation is sufficient to switch from wheeled to tracked mode, making the transition faster and more stable.

[0045] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0046] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0047] Figure 1 This is a schematic diagram of the circular state of the deformable tire according to a preferred embodiment of the present invention;

[0048] Figure 2 This is a cross-sectional view of the deformable tire in a circular state according to a preferred embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the triangular state of a deformable tire according to a preferred embodiment of the present invention;

[0050] Figure 4 This is a cross-sectional view of the deformable tire in a triangular state according to a preferred embodiment of the present invention;

[0051] Figure 5 This is a cross-sectional view of the first gearbox according to a preferred embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the support plate assembly structure according to a preferred embodiment of the present invention;

[0053] Figure 7 This is a cross-sectional view of the second gearbox according to a preferred embodiment of the present invention;

[0054] Figure 8 This is a schematic diagram of the base frame structure of a preferred embodiment of the present invention;

[0055] 1. Hub 11. Base frame 111. Limiting groove 12. Support plate assembly 121. Support plate 122. Support wheel 13. First drive assembly 14. Second drive assembly 15. Push block 16. Drive wheel 2. Tread 3. Transmission system 31. First gearbox 3101. Input shaft 3102. Transition gear 3103. Planetary bevel gear 3104. First bevel gear 3105. Connecting flange 3106. Second bevel gear 3107. Third bevel gear 3108. Drive shaft 3109. Fourth bevel gear 3110. First housing 3111. First guide structure 3112. Second output shaft 32. Second gearbox 3201. Mating shaft 3202. Sixth bevel gear 3203. Third output shaft 3204. Second housing 3205. Second guide structure 3206. Fifth bevel gear 4. Braking device. Detailed Implementation

[0056] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] Figure 1 This is a schematic diagram of the circular state of the deformable tire according to a preferred embodiment of the present invention; Figure 2 This is a cross-sectional view of the deformable tire in a circular state according to a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the triangular state of a deformable tire according to a preferred embodiment of the present invention; Figure 4 This is a cross-sectional view of the deformable tire in a triangular state according to a preferred embodiment of the present invention; Figure 5 This is a cross-sectional view of the first gearbox according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of the support plate assembly structure according to a preferred embodiment of the present invention; Figure 7 This is a cross-sectional view of the second gearbox according to a preferred embodiment of the present invention; Figure 8 This is a schematic diagram of the base frame structure of a preferred embodiment of the present invention;

[0058] Reference Figures 1 to 8 A preferred embodiment of the present invention provides a deformable tire, including a hub 1, a tread 2, and a transmission system 3;

[0059] The hub 1 includes a base frame 11 located at the center of the hub 1, a drive mechanism mounted on the base frame 11, and a deformation mechanism that conforms to the tread 2. The drive mechanism is used to drive the joint position of the deformation mechanism to move and rotate relative to each other, thereby changing the shape of the tread 2 surrounding the deformation mechanism and keeping it taut.

[0060] The transmission system 3 is used to drive the wheel hub 1 to rotate, and also to drive the tire tread 2 to rotate relative to the wheel hub 1.

[0061] It should be understood that the tread 2 is a track-type rubber tread 2; the mating surface between the deformation mechanism and the tread 2 can be changed to a circle or a triangle;

[0062] Understandably, this deformable wheel is driven by a drive mechanism to deform the deformation mechanism. As the shape changes, the joint position moves, maintaining tension with the tread. Through this deformation, the tread 2 surrounding the deformation mechanism changes to a circular shape, operating in wheel mode. The transmission system 3 drives the wheel hub 1, causing the tire to rotate. Simultaneously, the transmission system 3 also drives the tread 2 to rotate relative to the wheel hub 1. In wheel mode, the tire rotates, and the tread 2 further rotates relative to the wheel hub 1, propelling the vehicle. It possesses the high speed and controllability of wheel mode while adapting to certain complex terrains, exhibiting excellent overall performance; or the deformation is driven by a drive mechanism. The deformation of the mechanism changes the shape of the tread 2, which is enclosed by the deformation mechanism, into a triangle, thus enabling tracked operation. This restricts the rotation of the hub 1. The transmission system 3 drives the tread 2 to rotate relative to the hub 1, achieving tracked operation and increasing the contact area with the ground. This further adapts to more complex terrain and soft surfaces. The transmission system 3 of this deformable tire simultaneously drives the hub 1 and the tread 2, improving the adaptability of the wheeled mode. During the transformation, the transmission system 3 does not need to adapt and switch. It only needs to drive the deformation mechanism to deform and change the shape of the tread 2 and restrict the rotation of the hub 1 to complete the switch from wheeled to tracked mode. The transformation is faster and more stable.

[0063] Furthermore, the deformable tire includes a braking device 4, which is a brake disc disposed on one side of the wheel hub 1. By controlling the brake disc to lock the wheel hub 1, the rotation of the wheel hub 1 is restricted.

[0064] In this embodiment, the deformation mechanism includes a support plate assembly 12 that conforms to the tire tread 2; the driving mechanism includes a first driving assembly 13 mounted on the base frame 11 and a second driving assembly 14 mounted on the base frame 11; a set of support plate assemblies 12 are symmetrically arranged on both sides of the second driving assembly 14, and the movable end of each second driving assembly 14 is hinged to two support plate assemblies 12 respectively; the first end of the first driving assembly 13 is hinged to the middle region of the support plate assembly 12 or to the end of the support plate assembly 12 away from the second driving assembly 14; at least three sets of second driving assemblies 14 are evenly arranged circumferentially on the base frame 11; the second driving assembly 14 is used to move radially relative to the wheel hub 1, thereby driving the adjacent two support plate assemblies 12. The first drive assembly 13 is used to adapt to the movement of the second drive assembly 14 by extending, contracting and swinging, thereby changing the included angle between the two support plate assemblies 12. This changes the shape of the tread 2 surrounding the support plate assembly 12 and keeps it taut. That is, the second drive assembly 14 moves radially relative to the hub 1, causing the adjacent ends of the two support plate assemblies 12 to move synchronously. The two support plate assemblies 12 rotate based on their hinge positions with the first drive assembly 13 and with the second drive assembly 14, respectively. The first drive assembly 13 adapts to the extension, contraction and swinging, thereby changing the included angle between the two support plate assemblies 12. The tread 2 and the support plate assembly 12 are in contact, thereby changing the shape of the tread 2 and keeping it taut.

[0065] It should be understood that, in this embodiment, the base frame 11 is provided with three sets of second drive assemblies 14, and the movable end of the second drive assembly 14 is provided with a push block 15 for hinged connection with the support plate assembly 12. That is, a total of six support plate assemblies 12 are provided on the three sets of second drive assemblies 14. The mating surface between the support plate assembly 12 and the tread 2 is an arc-shaped surface, such as... Figure 1 As shown, in its normal state, the outer walls of the six support plate assemblies 12 of the second drive assembly 14 form a circle; as Figure 3 As shown, the push block 15 at the movable end of the second drive assembly 14 moves radially outward relative to the base frame 11, thereby driving a change (reduction) in the included angle of two adjacent support plate assemblies 12. The three sets of support plate assemblies 12 change their included angles simultaneously, while the first drive assembly 13 adapts to the extension and retraction adjustment, thereby causing the three sets of support plate assemblies 12 to form a triangle. At this time, the joint position moves outward, while the surface area in contact with the tread remains unchanged, thus performing shape switching while maintaining tension on the tread. It can be understood that the first drive mechanism 13 and the second drive mechanism 14 extend and retract synchronously, thereby maintaining tension between the support plate assembly 12 and the tread 2 during the shape switching process.

[0066] Specifically, the first drive assembly 13 is a telescopic hydraulic cylinder, and the second end of the first drive assembly 13 is hinged to the support plate assembly 12. The second drive assembly 14 is a telescopic hydraulic cylinder arranged radially on the base frame 11. The second drive assembly 14 is used to drive the adjacent ends of the two corresponding support plate assemblies 12 away from or close to the axis of the wheel hub 1, thereby causing the support plate assembly 12 to rotate about the first end of the first drive assembly 13 as the axis of rotation (and also based on the hinge position with the push block 15). The first drive assembly 13 is used to match the rotation axis position of the support plate assembly 12 and support the support plate assembly 12. For example, when switching from wheeled mode to tracked mode, the adjacent ends of the two support plate assemblies 12 move radially outward along the wheel hub 1 with the second drive assembly 14. The first drive assembly 13 adjusts the hinge position of the support plate assembly 12 with the push block 15 by telescopic and swinging, thereby causing the two support plate assemblies 12 to rotate relative to the push block 15 and change the included angle.

[0067] Furthermore, a limiting groove 111 is provided on the base frame 11. The second end of the first drive assembly 13 is hinged to the base frame 11 within the limiting groove 111. The limiting groove 111 is used to limit the rotation angle of the first drive assembly 13 relative to the base frame 11. When switching from wheeled mode to tracked mode, the second drive assembly 14 extends, and the corresponding two first drive assemblies 13 retract and swing towards the second drive assembly 14 until they abut against the limiting groove 111. The included angle between the two support plate assemblies 12 decreases (approaching 60 degrees), and any support plate assembly 12 tends to be parallel to the adjacent support plate assembly 12 in another set of support plate assemblies 12, increasing the contact area with the ground. Similarly, the opposite is true when switching from tracked mode to wheeled mode.

[0068] In this embodiment, the support plate assembly 12 includes a support wheel 122 and two parallel support plates 121. The support wheel 122 is disposed between the two support plates 121. The support wheel 122 is used to cooperate with the tread 2. The two rotate relative to each other to support the normal operation of the tread 2 in the wheel mode, i.e. the track mode.

[0069] It should be understood that the base frame 11 of the hub 1 has two sets of parallel and spaced mounting structures, and three sets of corresponding drive mechanisms and deformation mechanisms are respectively provided on the two sets of mounting structures of the base frame 11; the transmission system 3 is located between the two sets of mounting structures of the base frame 11, and the structure is compact.

[0070] In this embodiment, the deformable tire also includes a drive wheel 16, which is used to drive the tread 2 to rotate. The transmission system 3 includes a first gearbox 31 with a first housing 3110. The first gearbox 31 is mounted on the base frame 11 and is used to connect with the input shaft 3101. The transmission system 3 also includes a second gearbox 32 with a second housing 3204. The input end of the second gearbox 32 is connected to the first gearbox 31, and the output end is connected to the drive wheel 16. The second gearbox 32 can move radially relative to the hub 1 and maintain the transmission connection with the first gearbox 31, and drive the drive wheel to move radially synchronously and maintain the driving connection with the tread.

[0071] The drive wheel 16 has teeth on its surface, and the inner wall of the tread 2 has teeth to mesh with the drive wheel 16, so that the drive wheel 16 can smoothly drive the tread 2 to rotate.

[0072] In this embodiment, the first gearbox 31 includes:

[0073] The first housing 3110 serves as a carrier;

[0074] Transition gear 3102 is driven to connect with input shaft 3101;

[0075] The planetary bevel gear 3103 is connected to the transition gear 3102 via the planetary carrier. The axis of the planetary bevel gear 3103 is perpendicular to and passes through the axis of the transition gear 3102. The transition gear 3102 is used to drive the planetary bevel gear 3103 to rotate circumferentially around the axis of the transition gear 3102 via the planetary carrier.

[0076] The first bevel gear 3104 is coaxial with the transition gear 3102 and meshes with the planetary bevel gear 3103;

[0077] The first output shaft is rotatably connected to the first gearbox 31 and extends from the first end of the first gearbox 31. The end of the first output shaft has a connecting flange 3105 for fixed connection with the hub 1. The first output shaft is coaxially fixedly connected to the first bevel gear 3104, and the first bevel gear 3104 drives the hub 1 to rotate via the first output shaft.

[0078] The second bevel gear 3106 is coaxial with the transition gear 3102 and meshes with the planetary bevel gear 3103; it is positioned opposite to the first bevel gear 3104.

[0079] The drive shaft 3108 is rotatably connected to the first gearbox 31 via a bearing and fixedly connected to the second bevel gear 3106. The drive shaft 3108 passes through the second end of the first gearbox 31, is coaxial with the first output shaft and has a certain distance from it.

[0080] The third bevel gear 3107 is fixedly connected to the transmission shaft 3108, and the planetary bevel gear 3103 drives the second bevel gear 3106 to rotate, thereby causing the third bevel gear 3107 to rotate synchronously.

[0081] The fourth bevel gear 3109 has its axis perpendicular to and passes through the axis of the transition gear 3102, and meshes with the third bevel gear 3107.

[0082] The second output shaft 3112 is rotatably connected to the first gearbox 31 via a bearing, is coaxially fixedly connected to the fourth bevel gear 3109, and is used for transmission connection with the second gearbox 32.

[0083] In this embodiment, the first gearbox 31 is fixedly installed within the base frame 11 and coaxially arranged with the base frame 11. It is externally driven to rotate the transition gear 3102 via the input shaft 3101 and the gears on the input shaft 3101. The transition gear 3102, through the planetary carrier, drives the planetary bevel gear 3103 to rotate circumferentially around the axis of the hub 1 / the axis of the first gearbox 31 along the planetary carrier trajectory. In wheel mode, the planetary bevel gear 3103 drives the second bevel gear 3106 and the third bevel gear 3107 to rotate synchronously in opposite directions. The second bevel gear 3106 drives the first output shaft to the connecting flange 3105 to rotate the hub 1. The bevel gear 3107 drives the fourth bevel gear 3109 via the drive shaft 3108, which in turn drives the fifth bevel gear 3206 to rotate, thereby driving the second output shaft 3112 to rotate and transmit to the second gearbox 32, causing the drive wheel 16 to rotate. Based on the differential structure of the first gearbox 31, the hub 1 is driven to rotate synchronously and the tire tread 2 is driven to rotate differentially relative to the hub 1. The transmission route is stable, compact, and smooth. When switching to track mode, the drive mechanism drives the deformation mechanism to operate, the brake disc locks the hub 1 to restrict the rotation of the hub 1, and the third bevel gear 3107 drives the tire tread 2 to rotate based on the aforementioned transmission route. The mode change is fast and stable.

[0084] In this embodiment, the second gearbox 32 includes:

[0085] The mating shaft 3201 is coaxially arranged with the second output shaft 3112 and has a mating structure for mating with the second output shaft 3112. Specifically, the end of the second output shaft 3112 is provided with a spline, and the mating structure is a spline groove formed axially at the mating end of the mating shaft 3201. The end of the second output shaft 3112 is used to insert into the spline groove, thereby being able to move axially along the mating shaft 3201 and maintain the transmission connection. In other embodiments, the second output shaft 3112 may have a spline groove, and the mating shaft 3201 may have a spline.

[0086] The fifth bevel gear 3206 is fixedly mounted on the mating shaft 3201;

[0087] The sixth bevel gear 3202 meshes with the fifth bevel gear 3206;

[0088] The third output shaft 3203 is rotatably connected to the second gearbox 32, fixedly connected to the sixth bevel gear 3202, and driven by the drive wheel 16. The end of the third output shaft 3203 is connected to the movable end of the second drive assembly 14, and is used to move with the second drive assembly 14 to maintain the drive wheel 16 and the tread 2 in a driving connection.

[0089] In this embodiment, the second gearbox 32 is movably installed inside the tire. When the tire shape is changed, a second drive assembly 14 drives the push block 15 to move radially relative to the hub 1, simultaneously driving the third output shaft 3203 to move, which in turn drives the drive wheel 16 to move, keeping the drive wheel 16 engaged with the tread 2. At the same time, the second output shaft 3112 moves axially (i.e., radially relative to the hub 1) within the spline groove of the mating shaft 3201, maintaining a transmission connection between the two. This transmission system 3 adopts gear transmission, resulting in a compact, stable, and reliable transmission route. Based on the differential principle, it achieves simultaneous driving of the tire and the tread 2. The mechanism allows for rapid and easy control in wheeled mode while adapting to certain complex terrains. Based on the differential principle, the braking device 4 restricts the rotation of the wheel hub 1, enabling form changes during driving. The changes are quick and convenient. During form switching, the first gearbox 31 is fixed, while the second gearbox 32 moves radially relative to it, keeping the drive wheel 16 engaged with the tire tread 2. The two gearboxes are connected in a mating structure to achieve transmission in the moving state, thus realizing form switching during driving. During the switching process, all gears remain engaged, ensuring smooth transmission. The two gearboxes remain connected, ensuring smooth transmission and rapid form changes.

[0090] Furthermore, the first gearbox 31 is provided with a cylindrical first guide structure 3111 in the radial direction, and the second gearbox 32 is provided with a cylindrical second guide structure 3205 in the radial direction for sliding cooperation with the first gearbox 31, so as to guide and limit the movement of the second gearbox 32. Specifically, matching slide rails and slide grooves can be provided on the two guide structures respectively.

[0091] It should be noted that the deformable tire in this embodiment also includes a control system for controlling the tire's shape switching, which can be selected by command or based on rotational speed.

[0092] For example, when the tire speed is higher than the set value, the deformable tire is in wheel mode. At this time, the wheel hub 1 rotates and the rubber tread 2 also rotates relative to the wheel hub 1.

[0093] When the tire speed is lower than the set value, the deformable tire is in track mode. At this time, the brake disc locks the wheel hub 1 and fixes it, and only drives the rubber tread 2 to rotate relative to the wheel hub 1.

[0094] When the tire speed drops from high speed to below the set value, the second drive device extends, the tire changes from a circle to a triangle, the deformable tire switches to track mode, the brake disc mounted on the wheel hub 1 locks, the wheel hub 1 stops rotating, and all power is transmitted through the transmission system 3 to the drive wheel to drive the tire tread 2 to rotate relative to the wheel hub 1.

[0095] When the tire speed increases from low speed to above the set value, the second drive device retracts, the tire changes from a triangle to a circle, the deformable tire changes to a wheel mode, the brake disc locked on the wheel hub 1 separates, the power is output to the wheel hub 1 and the second gearbox 32 via the first output shaft and the second output shaft 3112 respectively, and the wheel hub 1 starts to rotate, and the tire tread 2 rotates relative to the wheel hub 1.

[0096] It is understandable that when the tire speed is at the set value, the current operating mode is maintained; the control method of this embodiment determines the operating mode according to the real-time speed of the tire, so that when it starts to start or reduces the speed to below the set value, it increases the contact area with the ground through the track mode, increases the operating thrust and can adapt to complex terrain. After the speed is increased, it operates in the wheel mode, which is convenient for control and increases the operating speed.

[0097] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deformable tire, characterized in that, Includes wheel hub (1), tire tread (2), and transmission system (3); The hub (1) includes a base frame (11) located at the center of the hub (1), a drive mechanism mounted on the base frame (11), and a deformation mechanism that fits against the tread (2). The drive mechanism is used to drive the joint position of the deformation mechanism to move and rotate relative to each other, thereby changing the shape of the tread (2) surrounding the deformation mechanism and keeping it taut. The base frame (11) of the hub (1) has two sets of parallel and spaced mounting structures. Three sets of corresponding drive mechanisms and deformation mechanisms are respectively provided on the two sets of mounting structures of the base frame (11). The transmission system (3) is located between the two sets of mounting structures of the base frame (11). The transmission system (3) is used to drive the wheel hub (1) to rotate, and also to drive the tire tread (2) to rotate relative to the wheel hub (1); The deformation mechanism includes a support plate assembly (12) that conforms to the tread (2); The drive mechanism includes a first drive assembly (13) mounted on the base frame (11) and a second drive assembly (14) mounted on the base frame (11); A set of support plate assemblies (12) are symmetrically arranged on both sides of the second drive assembly (14), and the second drive assembly (14) is hinged to the ends of the two support plate assemblies (12) respectively; The first end of the first drive assembly (13) is hinged to the middle region of the support plate assembly (12) or hinged to the end of the support plate assembly (12) away from the second drive assembly (14); Three sets of the second drive components (14) are evenly arranged circumferentially on the base frame (11); The second drive assembly (14) is used to move radially relative to the wheel hub (1) and drive the adjacent ends of the two corresponding support plate assemblies (12) to move. The first drive assembly (13) is used to adapt to the movement of the second drive assembly (14) by extending, retracting and swinging, thereby changing the included angle between the two support plate assemblies (12), so that the shape of the tread (2) surrounding the support plate assembly (12) changes and remains taut. The deformable tire also includes a drive wheel (16) for driving the tread (2) to rotate. The transmission system (3) includes a first gearbox (31) mounted on the base frame (11) and connected to the input shaft (3101). The transmission system (3) also includes a second gearbox (32) whose input end is connected to the first gearbox (31) and whose output end is connected to the drive wheel (16). The second gearbox (32) can move radially relative to the hub (1) and maintain a transmission connection with the first gearbox (31), and drive the drive wheel to move radially synchronously and maintain a driving connection with the tread. The first gearbox (31) includes: The first shell (3110) serves as a carrier; The transition gear (3102) is driven to connect with the input shaft (3101); A planetary bevel gear (3103) is connected to the transition gear (3102) via a planetary carrier. The axis of the planetary bevel gear (3103) is perpendicular to and passes through the axis of the transition gear (3102). The transition gear (3102) is used to drive the planetary bevel gear (3103) to rotate around the axis of the transition gear (3102) via the planetary carrier. The first bevel gear (3104) is coaxial with the transition gear (3102) and meshes with the planetary bevel gear (3103); The first output shaft is rotatably connected to the first gearbox (31). The end of the first output shaft has a connecting flange (3105) for fixed connection with the hub (1). The first output shaft is coaxially fixedly connected to the first bevel gear (3104), and the first bevel gear (3104) drives the hub (1) to rotate via the first output shaft. The second bevel gear (3106) is coaxial with the transition gear (3102) and meshes with the planetary bevel gear (3103); The drive shaft (3108) is rotatably connected to the first gearbox (31) and fixedly connected to the second bevel gear (3106); The third bevel gear (3107) is fixedly connected to the transmission shaft (3108), and the planetary bevel gear (3103) drives the second bevel gear (3106) to rotate, thereby causing the third bevel gear (3107) to rotate synchronously. A fourth bevel gear (3109) has its axis perpendicular to and passes through the axial direction of the transition gear (3102), and meshes with the third bevel gear (3107). The second output shaft (3112) is rotatably connected to the first gearbox (31), coaxially fixedly connected to the fourth bevel gear (3109), and used for transmission connection with the second gearbox (32).

2. The deformable tire according to claim 1, characterized in that, The second gearbox includes: The mating shaft (3201) is coaxially arranged with the second output shaft (3112) and has a mating structure for mating with the second output shaft (3112); The fifth bevel gear (3206) is fixedly mounted on the mating shaft (3201); The sixth bevel gear (3202) meshes with the fifth bevel gear (3206); The third output shaft (3203) is rotatably connected to the second gearbox (32), fixedly connected to the sixth bevel gear (3202), and drivenly connected to the drive wheel (16). The end of the third output shaft (3203) is connected to the movable end of the second drive assembly (14) and is used to move with the second drive assembly (14) to maintain the drive wheel (16) and the tire tread (2) in a driving connection.

3. The deformable tire according to claim 2, characterized in that, The surface of the drive wheel (16) has teeth, and the inner wall of the tread (2) has teeth to engage with the drive wheel (16).

4. The deformable tire according to claim 2, characterized in that, The end of the second output shaft (3112) is provided with a spline, and the mating structure is a spline groove opened axially at the mating end of the mating shaft (3201). The end of the second output shaft (3112) is used to insert into the spline groove so that it can move axially along the mating shaft (3201) and maintain the transmission connection.

5. The deformable tire according to any one of claims 1-4, characterized in that, The first gearbox (31) is provided with a first guide structure (3111) in the radial direction, and the second gearbox (32) is provided with a second guide structure (3205) in the radial direction for sliding cooperation with the first gearbox (31).

6. The deformable tire according to any one of claims 1-4, characterized in that, The deformable tire includes a braking device (4) for limiting the rotation of the hub (1).

7. The deformable tire according to any one of claims 1-4, characterized in that, The first drive assembly (13) is a telescopic cylinder, and the second end of the first drive assembly (13) is hinged to the support plate assembly (12). The second drive assembly (14) is a telescopic cylinder arranged radially on the base frame (11). The second drive assembly (14) is used to drive the adjacent ends of the two corresponding support plate assemblies (12) away from or close to the axis of the hub (1), thereby causing the support plate assembly (12) to rotate about the first end of the first drive assembly (13) as the axis of rotation. The first drive assembly (13) is used to match the rotation axis position of the support plate assembly (12) and support the support plate assembly (12).

8. The deformable tire according to claim 7, characterized in that, A limiting groove (111) is provided on the base frame (11), and the second end of the first drive component (13) is hinged to the base frame (11) in the limiting groove (111). The limiting groove (111) is used to limit the rotation angle of the first drive component (13) relative to the base frame (11).

9. The deformable tire according to any one of claims 1-4, characterized in that, The support plate assembly (12) includes a support wheel (122) and two parallel support plates (121). The support wheel (122) is disposed between the two support plates (121) and is used to cooperate with the tire tread (2).

10. The deformable tire according to any one of claims 1-4, characterized in that, The mating surface between the support plate assembly (12) and the tread (2) is an arc-shaped surface; the second drive assembly (14) is used to drive a set of two adjacent support plate assemblies (12) to change the included angle, so that the tread (2) is circular or triangular in shape.

11. A control method, characterized in that, The method for controlling the deformable tire according to any one of claims 1-10, the control method comprising: If the rotational speed of the deformable tire is lower than a set value, the rotation of the wheel hub is restricted. The second drive component drives the deformation mechanism to switch to a triangular shape, the tire tread rotates relative to the wheel hub, and the deformable tire operates in track mode. If the rotational speed of the deformable tire is higher than the set value, the second drive component drives the deformation mechanism to switch to a circular shape. The wheel hub rotates while the tire tread rotates relative to the wheel hub, and the deformable tire operates in wheel mode.

12. A vehicle, characterized in that, The application has the deformable tire as described in any one of claims 1-10.

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