A deformable track wheel type traveling mechanism

Abstract

The application discloses a deformable track wheel type walking mechanism, which comprises a telescopic supporting track wheel mechanism, a deformation driving wheel and a track; the deformation driving wheel comprises deformation wheels and a stepped shaft; one or more deformation wheels are coaxially arranged on the stepped shaft; the outer circumferential surface of each deformation wheel is provided with a plurality of movable teeth and fixed teeth; the movable teeth can perform telescopic movement in the radial direction of the deformation wheel; the track is enveloped outside the deformation driving wheel, and the track is provided with engaging holes; when the walking mechanism is in a wheel type structure, the movable teeth of the deformation wheels are extended and engaged with the engaging holes of the track, and the track is supported by the movable teeth to be in the wheel type structure; when the walking mechanism is in a track type structure, the movable teeth of the deformation wheels are retracted, and the movable teeth and the fixed teeth are engaged with the engaging holes of the track, and the track is simultaneously supported by the deformation driving wheel and the supporting track wheel of the telescopic supporting track wheel mechanism to be in the track type structure. The application can combine the excellent performances of the wheel type vehicle and the track type vehicle.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering technology, and specifically relates to a deformable tracked wheel walking mechanism. Background Technology

[0002] Wheeled and tracked vehicles are two commonly used running gear systems for special-purpose vehicles. Wheeled vehicles have good mobility and steering performance, but their off-road capabilities are poor. When faced with complex road conditions such as mud and swamps, their tires can easily get stuck. Wheeled vehicles also have limited ability to traverse obstacles such as vertical walls and trenches. In contrast, tracked armored vehicles have higher obstacle-crossing capabilities, but due to the much higher drag coefficient of their tracks, their acceleration performance is inferior to that of wheeled vehicles. Summary of the Invention

[0003] In view of this, the present invention provides a deformable tracked wheel type running mechanism that can combine the superior performance of wheeled vehicles and tracked vehicles.

[0004] This invention is achieved through the following technical solution:

[0005] A deformable tracked wheel type walking mechanism includes: a telescopic track support wheel mechanism, a coupling, a deformable drive wheel, and a track;

[0006] The telescopic track support mechanism includes: a fixed flange, a telescopic cylinder, and a track support roller; the cylinder body of the telescopic cylinder is connected to the vehicle body through the fixed flange; the track support roller is fixed to the piston rod end of the telescopic cylinder.

[0007] The deformable drive wheel includes one or more deformable wheels with the same structure and a stepped shaft; one or more deformable wheels are mounted coaxially in parallel on the stepped shaft and are fixedly connected to the stepped shaft; each deformable wheel has a number of equal movable teeth and fixed teeth on its outer circumferential surface; and the movable teeth and fixed teeth are arranged at intervals; the movable teeth can extend and retract in the radial direction of the deformable wheel;

[0008] The stepped shaft of the deformable drive wheel is connected to the vehicle body via a coupling;

[0009] The track wraps around the outside of the deformable drive wheel, and the track is machined with meshing holes that mesh with the movable and fixed teeth of the deformable drive wheel;

[0010] When the traveling mechanism is in a wheeled structure, the movable wheel teeth of the deformable wheel extend and engage with the meshing holes of the track, and the track is supported by the movable wheel teeth to form a wheeled structure.

[0011] When the traveling mechanism is in tracked structure, the movable wheel teeth of the deformable wheel retract, and both the movable and fixed wheel teeth mesh with the meshing holes of the track. The track is simultaneously supported by the deformable drive wheel and the track support wheel of the telescopic track support mechanism, forming a tracked structure.

[0012] Furthermore, the walking mechanism also includes: a rotary joint;

[0013] The deformable wheel has an annular hydraulic oil chamber machined inside. The movable wheel teeth are installed in the hydraulic oil chamber as piston rods, dividing the hydraulic oil chamber into a rod chamber and a rodless chamber. The rodless chamber is closer to the axis of the deformable wheel than the rod chamber.

[0014] When the oil pressure in the rodless chamber of the hydraulic oil chamber increases, the movable gear teeth extend out of the hydraulic oil chamber; when the oil pressure in the rod chamber of the hydraulic oil chamber increases, the movable gear teeth retract into the hydraulic oil chamber.

[0015] The stepped shaft has two hydraulic circuits inside, namely the first hydraulic circuit and the second hydraulic circuit. The first hydraulic circuit is connected to the rodless chamber of the hydraulic oil chamber, and the second hydraulic circuit is connected to the rod chamber of the hydraulic oil chamber. The first hydraulic circuit is used to fill the rodless chamber with oil, and the second hydraulic circuit is used to fill the rod chamber with oil. By adjusting the oil pressure in the rod chamber and the rodless chamber, the extension and retraction of the movable gear teeth can be achieved.

[0016] The rotary joint is mounted on the outside of the stepped shaft via two deep groove ball bearings. The rotary joint includes a first oil inlet / outlet and a second oil inlet / outlet, which are respectively connected to the first hydraulic oil circuit and the second hydraulic oil circuit inside the stepped shaft.

[0017] Furthermore, the deformable wheel is welded and fixed to the stepped shaft.

[0018] Furthermore, when the movable gear tooth retracts, the tooth height of the movable gear tooth is equal to the tooth height of the fixed gear tooth.

[0019] Furthermore, the tracks are either metal tracks or rubber-coated tracks.

[0020] Beneficial effects:

[0021] (1) When the movable wheel teeth of the deformable wheel of the present invention extend and engage with the meshing holes of the track, the track is supported by the movable wheel teeth as a wheel structure; when the movable wheel teeth of the deformable wheel retract and both the movable wheel teeth and the fixed wheel teeth engage with the meshing holes of the track, the track is simultaneously supported by the deformable drive wheel and the track support wheel of the telescopic track support mechanism as a track structure; therefore, the walking mechanism of the present invention can deform between wheel and track structures, thereby adapting to different road conditions and improving the vehicle's passability.

[0022] (2) The present invention controls the extension and retraction of all movable gear teeth in the deformable wheel by setting a hydraulic oil chamber in the deformable wheel and controlling the volume change of the rod-shaped chamber and the rodless chamber in the hydraulic oil chamber through two independent hydraulic oil circuits; the extension and retraction control method of the movable gear teeth is simple, reliable and easy to implement.

[0023] (3) When the movable wheel tooth of the present invention retracts, the tooth height of the movable wheel tooth is equal to that of the fixed wheel tooth, which makes it easier for the movable wheel tooth to engage with the meshing hole of the track together with the fixed wheel tooth when the movable wheel tooth retracts, thereby improving the reliability of the engagement between the deformable wheel and the track. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention in a wheel-like configuration.

[0025] Figure 2 This is a schematic diagram of the wheel-type structure of the present invention.

[0026] Figure 3 This is a schematic diagram of the present invention in a tracked structure.

[0027] Figure 4 This is a schematic diagram of the telescopic support roller mechanism of the present invention.

[0028] Figure 5 This is a schematic diagram of the coupling of the present invention.

[0029] Figure 6 This is a schematic diagram of the deformable drive wheel of the present invention.

[0030] Figure 7 This is a cross-sectional view of the movable tooth of the deformable drive wheel of the present invention when it is extended.

[0031] Figure 8 This is a cross-sectional view of the movable gear teeth of the deformable drive wheel of the present invention when they retract.

[0032] Figure 9 This is a schematic diagram of the rotary joint structure of the present invention.

[0033] Figure 10 This is an assembly diagram of the deep groove ball bearing and rotary joint of the present invention.

[0034] Figure 11 This is a schematic diagram of the bushing structure of the present invention.

[0035] Figure 12 This is a schematic diagram of the track of the present invention.

[0036] Among them, 1-telescopic track roller mechanism, 2-coupling, 3-deformation drive wheel, 4-rotary joint, 5-shaft sleeve, 7-deep groove ball bearing, 11-fixed flange, 12-telescopic cylinder, 13-track roller, 111-bolt hole A, 121-oil inlet, 122-oil outlet, 21-bolt hole B, 22-countersunk threaded hole A, 31-first deformable wheel, 32-second deformable wheel, 33-stepped shaft, 311-movable gear tooth, 312-fixed gear tooth, 331-threaded hole B, 332-first hydraulic oil circuit, 333-second hydraulic oil circuit, 334-first hydraulic oil chamber, 335-second hydraulic oil chamber, 41-first inlet / outlet, 42-second inlet / outlet, 43-first bearing mounting cavity, 44-second bearing mounting cavity, 61-track plate, 62-meshing hole, 63-pin. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] This embodiment provides a deformable tracked wheel type walking mechanism, see appendix. Figure 1-3 It includes: telescopic track roller mechanism 1, coupling 2, deformable drive wheel 3 and track 6;

[0039] See appendix Figure 4 The telescopic track support mechanism 1 includes: a fixed flange 11, a telescopic cylinder 12, and a track support wheel 13; the fixed flange 11 is fixed to the cylinder end of the telescopic cylinder 12, and the fixed flange 11 is provided with eight bolt holes A111, which are bolted to the vehicle body to realize the connection between the telescopic track support mechanism 1 and the vehicle body; the track support wheel 13 is fixed to the piston rod end of the telescopic cylinder 12, and the extension and retraction of the track support wheel 13 is realized by controlling the hydraulic oil circuit composed of the oil inlet 121 and the oil outlet 122 at the upper end of the telescopic cylinder 12.

[0040] See appendix Figure 6 The deformable drive wheel 3 includes one or more deformable wheels with the same structure and a stepped shaft 33; one or more deformable wheels are installed side by side and coaxially on the large end of the stepped shaft 33 and are welded and fixed to the stepped shaft 33; this embodiment uses two deformable wheels, which are the first deformable wheel 31 and the second deformable wheel 32 shown in the figure;

[0041] Each of the deformable wheels has twelve movable teeth 311 and twelve fixed teeth 312 on its outer circumferential surface; the movable teeth 311 and the fixed teeth 312 are arranged at intervals; the movable teeth 311 can extend and retract in the radial direction of the deformable wheel, and when the movable teeth 311 retract, the tooth height of the movable teeth 311 is equal to the tooth height of the fixed teeth 312.

[0042] See appendix Figure 5One end of the coupling 2 is provided with five countersunk threaded holes A22, which are coaxially connected to the threaded hole B331 at the small end of the stepped shaft of the deformable drive wheel 3 by screws; the other end of the coupling 2 is provided with eight bolt holes B21, which are connected to the vehicle body output flange by bolts to transmit torque and realize the connection between the deformable drive wheel 3 and the vehicle body.

[0043] The track 6 encloses the outside of the deformable drive wheel 3, see Appendix Figure 12 The track 6 has meshing holes 62 that mesh with the movable teeth 311 and fixed teeth 312 of the deformable drive wheel 3. When the traveling mechanism is in a wheel structure, the movable teeth 311 of the deformable wheel extend, increasing the outer diameter of the deformable wheel. The movable teeth 311 mesh with the meshing holes 62 of the track, and the track 6 is supported by the movable teeth 311 in a wheel structure. The traveling mechanism is in line contact with the ground. When the traveling mechanism is in a track structure, the movable teeth 311 of the deformable wheel retract, decreasing the outer diameter of the deformable wheel. Both the movable teeth 311 and the fixed teeth 312 mesh with the meshing holes 62 of the track. The track 6 is simultaneously supported by the deformable drive wheel 3 and the track roller 13 of the telescopic track roller mechanism 1 in a track structure. The traveling mechanism is in surface contact with the ground.

[0044] The track 6 is composed of thirty-six track plates 61 connected by pins 63; and the track 6 is either a metal track or a rubber-coated track.

[0045] In a preferred embodiment, the walking mechanism further includes: a rotary joint 4, a deep groove ball bearing 7, and a bushing 5;

[0046] See appendix Figure 7-8 The deformable wheel and its movable gear teeth adopt the structure of a hydraulic cylinder, that is, the deformable wheel has an annular hydraulic oil chamber, and the movable gear teeth 311 are installed in the hydraulic oil chamber as piston rods, dividing the hydraulic oil chamber into a rod chamber and a rodless chamber; the rodless chamber is closer to the axis of the deformable wheel than the rod chamber.

[0047] When the oil pressure in the rodless chamber of the hydraulic oil chamber increases, the movable gear tooth 311 extends out of the hydraulic oil chamber; when the oil pressure in the rod chamber of the hydraulic oil chamber increases, the movable gear tooth 311 retracts into the hydraulic oil chamber. Since this embodiment uses two deformable wheels, namely the first deformable wheel 31 and the second deformable wheel 32, the hydraulic oil chamber in the first deformable wheel 31 is the first hydraulic oil chamber 334 indicated in the figure, and the hydraulic oil chamber in the second deformable wheel 32 is the second hydraulic oil chamber 335 indicated in the figure.

[0048] The stepped shaft 33 has two hydraulic circuits inside, namely the first hydraulic circuit 332 and the second hydraulic circuit 333 as shown in the attached figure. The first hydraulic circuit 332 is connected to the rodless chamber of the hydraulic oil chamber, and the second hydraulic circuit 333 is connected to the rod chamber of the hydraulic oil chamber. The first hydraulic circuit 332 is used to fill the rodless chamber with oil, and the second hydraulic circuit 333 is used to fill the rod chamber with oil. Finally, the oil pressure in the rod chamber and the rodless chamber is adjusted through the circuit formed by the two hydraulic circuits inside the stepped shaft 33 and the hydraulic oil chamber in the deformable wheel, so as to realize the extension and retraction of the movable gear tooth 311.

[0049] See appendix Figure 9 The rotary joint 4 has bearing mounting cavities at both ends of its inner circumferential surface. The two bearing mounting cavities are the first bearing mounting cavity 43 and the second bearing mounting cavity 44 shown in the attached drawings.

[0050] See appendix Figure 10 The rotary joint 4 is fitted onto the outside of the stepped shaft 2 via two deep groove ball bearings 7 (the two deep groove ball bearings 7 are respectively installed in two bearing mounting cavities), and the ends of the two deep groove ball bearings 7 are axially limited by bushings 5. The structure of the bushings 5 ​​is shown in the appendix. Figure 11 The rotary joint 4 includes a first oil inlet / outlet 41 and a second oil inlet / outlet 42, which are respectively connected to the first hydraulic oil circuit 332 and the second hydraulic oil circuit 333 inside the stepped shaft 33.

[0051] Working principle:

[0052] When the first hydraulic circuit 332 is filled with oil and the second hydraulic circuit 333 is returned to oil, all movable wheel teeth extend, and the track 6 achieves a circular shape; when the first hydraulic circuit 332 is returned to oil and the second hydraulic circuit 333 is filled with oil, all movable wheel teeth 311 retract, the teeth of the deformable drive wheel 3 mesh with the track 6, and at the same time, the telescopic cylinder 12 of the telescopic track support mechanism 1 extends the track support wheel 13 to support the track, and the track 6 achieves a conical shape.

[0053] Figure 1-2 The diagram shows the state when the movable teeth 311 of the deformable drive wheel 3 are fully extended. In this state, all twelve movable teeth 311 of the deformable drive wheel 3 are engaged with the track 6. At the same time, the telescopic cylinder 12 of the telescopic track roller mechanism 1 drives the track roller 13 to retract and not contact the track 6. The track 6 is in a circular state, realizing the "wheel" structure of the walking mechanism.

[0054] Figure 3The diagram shows the state when the movable tooth 311 of the deformable drive wheel 3 is fully retracted. In this state, the movable tooth 311 and the fixed tooth 312 of the deformable drive wheel 3 are engaged with the track 6. At the same time, the telescopic cylinder 12 of the telescopic track roller mechanism 1 drives the track roller 13 to extend. The track roller 13 pushes the track 6 out to a conical state, realizing the "track-type" structure of the walking mechanism.

[0055] In practical applications, the deformable tracked wheeled walking mechanism can be flexibly combined. When traveling on flat paved roads, the walking mechanism can be deformed into a circle, at which point the vehicle is in a "wheeled" traveling state with high mobility. When traveling on muddy and rugged roads, the walking mechanism can be deformed into a cone shape, at which point the vehicle is in a "tracked" traveling state with high passability, thus adapting to different road conditions and improving the flexibility of use.

[0056] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. 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 tracked wheel type walking mechanism, characterized in that, include: Telescopic track roller mechanism, coupling, deformable drive wheel and track; The telescopic track support mechanism includes: a fixed flange, a telescopic cylinder, and a track support roller; the cylinder body of the telescopic cylinder is connected to the vehicle body through the fixed flange; the track support roller is fixed to the piston rod end of the telescopic cylinder. The deformable drive wheel includes one or more deformable wheels with the same structure and a stepped shaft; one or more deformable wheels are mounted coaxially in parallel on the stepped shaft and are fixedly connected to the stepped shaft; each deformable wheel has a number of equal movable teeth and fixed teeth on its outer circumferential surface; and the movable teeth and fixed teeth are arranged at intervals; the movable teeth can extend and retract in the radial direction of the deformable wheel; The stepped shaft of the deformable drive wheel is connected to the vehicle body via a coupling; The track wraps around the outside of the deformable drive wheel, and the track is machined with meshing holes that mesh with the movable and fixed teeth of the deformable drive wheel; When the traveling mechanism is in a wheeled structure, the movable wheel teeth of the deformable wheel extend and engage with the meshing holes of the track, and the track is supported by the movable wheel teeth to form a wheeled structure. When the traveling mechanism is in tracked structure, the movable wheel teeth of the deformable wheel retract, and both the movable and fixed wheel teeth mesh with the meshing holes of the track. The track is simultaneously supported by the deformable drive wheel and the track support wheel of the telescopic track support mechanism, forming a tracked structure. The walking mechanism also includes: a rotary joint; The deformable wheel has an annular hydraulic oil chamber machined inside. The movable wheel teeth are installed in the hydraulic oil chamber as piston rods, dividing the hydraulic oil chamber into a rod chamber and a rodless chamber. The rodless chamber is closer to the axis of the deformable wheel than the rod chamber. When the oil pressure in the rodless chamber of the hydraulic oil chamber increases, the movable gear teeth extend out of the hydraulic oil chamber; when the oil pressure in the rod chamber of the hydraulic oil chamber increases, the movable gear teeth retract into the hydraulic oil chamber. The stepped shaft has two hydraulic circuits inside, namely the first hydraulic circuit and the second hydraulic circuit. The first hydraulic circuit is connected to the rodless chamber of the hydraulic oil chamber, and the second hydraulic circuit is connected to the rod chamber of the hydraulic oil chamber. The first hydraulic circuit is used to fill the rodless chamber with oil, and the second hydraulic circuit is used to fill the rod chamber with oil. By adjusting the oil pressure in the rod chamber and the rodless chamber, the extension and retraction of the movable gear teeth can be achieved. The rotary joint is mounted on the outside of the stepped shaft via two deep groove ball bearings. The rotary joint includes a first oil inlet / outlet and a second oil inlet / outlet, which are respectively connected to the first hydraulic oil circuit and the second hydraulic oil circuit inside the stepped shaft.

2. The deformable tracked wheel type walking mechanism as described in claim 1, characterized in that, The deformable wheel is welded and fixed to the stepped shaft.

3. The deformable tracked wheel type walking mechanism as described in claim 1, characterized in that, When the movable gear tooth retracts, the tooth height of the movable gear tooth is equal to the tooth height of the fixed gear tooth.

4. A deformable tracked wheel type walking mechanism as described in claim 1, characterized in that, The tracks are either metal tracks or rubber-coated tracks.

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