Wheel-track-foot conversion type traveling device

Abstract

The application provides a wheel-track-foot conversion type travelling device, which comprises a frame, a main support, a vertical sliding rod, a front auxiliary wheel travelling unit, a rear auxiliary wheel travelling unit, a front auxiliary track travelling unit, a main track travelling unit, a rear auxiliary track travelling unit, a foot traction crank and a foot traction swing block. In response to the vertical sliding rod being in a middle position, the main support being fixedly connected with the frame at a connecting point B and a connecting point O, and a first external power mechanism driving the main support and the vertical sliding rod to rotate at the connecting point O, a wheeled travelling state is realized. In response to the vertical sliding rod being in a short position, a multi-section track is formed, and under the driving of a second external power mechanism, a tracked travelling state is realized. In response to the vertical sliding rod being in a long position, a connecting point D and a connecting point G are engaged, the main support is separated from the frame, and a third external power mechanism drives the foot traction crank to rotate at a connecting point A, so that a foot travelling state is realized. The embodiment can realize the switching of the wheeled, tracked and foot travelling states.

Description

Technical Field

[0001] This invention relates to the field of vehicle travel technology, and in particular to a wheel-track-foot convertible travel device. Background Technology

[0002] To solve the last-mile transportation problem of ammunition and other equipment and supplies in high-altitude and frigid border areas, wheeled or tracked vehicles are often used. Wheeled vehicles are characterized by high speed and low energy consumption and are suitable for paved roads, but they have a small ground contact area and poor traction. They are not good at passing through fields such as ice slopes, snow, and gravel, and are prone to slipping and sinking. Tracked vehicles have strong terrain adaptability, good passability in field conditions, and strong climbing ability, but they are heavy, have poor maneuverability, and low transmission efficiency.

[0003] In addition, the foot-based mode of travel has a high chassis, strong maneuverability, and good obstacle crossing ability, making it more adaptable and capable of passing through road conditions such as boulders, wide ditches, and deep snow that are common in high-altitude and cold regions. However, it has low speed and small load capacity.

[0004] It is evident that wheeled, tracked, and footed locomotion systems each possess their own advantages for different terrains. Current locomotion devices typically only offer the ability to switch between wheels and tracks, thus limiting their adaptability to certain terrains and making it difficult to solve the last-mile transportation problem for equipment and supplies.

[0005] Therefore, a locomotion device with three modes of movement—wheels, tracks, and feet—is needed to solve the above problems. Summary of the Invention

[0006] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section that follows. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0007] Some embodiments of the present invention provide a wheel-track-foot convertible travel device to solve the technical problems mentioned in the background section above.

[0008] The device includes a frame, a main support, a vertical slide bar, a front auxiliary wheel travel unit, a rear auxiliary wheel travel unit, a front auxiliary drive unit, a main track travel unit, a rear auxiliary drive unit, a foot traction crank, and a foot traction swing block. The two ends of the foot traction crank are hinged to the frame and the main support through connection points A and B; The foot traction swing block is hinged to the frame through connection point C; The front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the rear auxiliary drive unit, the main track travel unit, and the front auxiliary drive unit are hinged together clockwise at connection points B, G, F, E, and D. The first end of the main support is fixedly connected to or separated from the frame through the connection point B and the connection point O, and the second end of the main support is slidably connected to the foot traction swing block. The first end of the vertical slide bar is slidably inserted into the main support, and the second end of the vertical slide bar is connected to the main track traveling unit. The vertical slide bar can extend to the short position, the middle position, and the long position. In response to the vertical slide bar being in the middle position and the main support being fixed to the frame at connection point B and connection point O, the front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the main track travel unit, the front auxiliary drive unit, and the rear auxiliary drive unit forming a circle, the first external power mechanism drives the main support and the vertical slide bar to rotate at connection point O, thereby realizing the wheeled travel state; In response to the vertical slide bar being in the short position, the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit unfold horizontally to form a multi-segment track, which, driven by the second external power mechanism, achieves track travel. In response to the vertical slide bar being in the extended position, the front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the front auxiliary drive unit, and the rear auxiliary drive unit converge inward, and the connection point D and the connection point G engage; in response to the main support separating from the frame, the third external power mechanism drives the foot traction crank at the connection point A to rotate the main support, thereby achieving a foot-based travel state.

[0009] The above embodiments of the present invention have the following beneficial effects: the wheel-track-foot-transformation travel device of the present invention can realize the switching between wheeled, tracked and foot-type travel states.

[0010] Specifically, by adjusting the vertical slide bar to the middle, short, and long positions, the front and rear auxiliary drive units can be retracted or extended relative to the main track drive unit, thus enabling switching between wheeled, tracked, and footed driving modes.

[0011] Furthermore, when switching to the foot-based walking mode, by disengaging the main support from the frame, the circular motion of the foot-traction crank can drive the main support to swing, thereby realizing the walking action in the foot-based walking mode.

[0012] In this way, when the vehicle is traveling on paved roads, the device is in wheel mode, enabling rapid passage; when encountering unpaved roads such as ice, snow, gravel, swamps, or ice slopes, and with moderate obstacles, the device unfolds into tracked mode, using multi-section tracks to increase obstacle-crossing and ditch-crossing capabilities, improve traction and load-bearing capacity, overcome slippage and getting stuck in swamps, and achieve better terrain adaptability; when encountering large obstacles, the device extends into leg mode to increase chassis height, and through the combination of crank-slider mechanism and crank-rocker mechanism, it achieves passage over large obstacles. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment of the wheel-track-foot convertible travel device of the present invention in its wheel-mounted travel state. Figure 2 This is a schematic diagram of an embodiment of the track-moving state of a wheel-track-foot convertible travel device according to the present invention; Figure 3 This is a schematic diagram of the main track travel unit of an embodiment of a wheel-track-foot conversion travel device according to the present invention; Figure 4 This is a schematic diagram of the structure of an embodiment of the wheel-track-foot-transformation walking device of the present invention in the foot-type walking state; Figure 5 This is a schematic diagram of another embodiment of the wheel-track-foot-transformation travel device of the present invention in the foot-type travel state.

[0015] Explanation of reference numerals in the attached figures: 1: Foot traction crank; 2: Main support; 3: Foot traction swing block; 4: Vertical slide bar; 5: Front auxiliary wheel travel unit; 6: Rear auxiliary wheel travel unit; 7: Rear auxiliary drive unit; 8: Main track travel unit; 81: Track support; 82: Wheel A; 83: Wheel C; 84: Wheel B; 85: Track; 9: Front auxiliary drive unit. Detailed Implementation

[0016] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Please refer to the following first. Figure 1 , Figure 1 This is a schematic diagram of an embodiment of the wheel-track-foot-transformation travel device of the present invention in its wheeled travel state. Figure 1 As shown, the traveling device includes a frame, a main support 2, a vertical slide bar 4, a front auxiliary wheel traveling unit 5, a rear auxiliary wheel traveling unit 6, a front auxiliary drive unit 9, a main track traveling unit 8, a rear auxiliary drive unit 7, a foot traction crank 1, and a foot traction swing block 3.

[0021] The aforementioned front auxiliary wheel travel unit 5, rear auxiliary wheel travel unit 6, rear auxiliary track travel unit 7, main track travel unit 8, and front auxiliary track travel unit 9 are hinged clockwise at connection points B, G, F, E, and D. As an example, hinge shafts can be provided at connection points B, G, F, E, and D, allowing adjacent components to rotate together.

[0022] The upper end of the aforementioned foot traction crank 1 ( Figure 1 (The direction in the middle) can be achieved by setting a hinge shaft at connection point A to hinge with the frame, forming a rotational fit. The lower end of the traction crank 1 ( Figure 1 (in the direction) By setting a hinge axis at connection point B and connecting it to the first end of the main bracket 2 (in the direction) Figure 1 (The upper end of the middle) is hinged.

[0023] The first end of the main support 2 ( Figure 1 The upper end of the main bracket 2 can be connected to or detached from the frame via a locating pin. Figure 1 The lower end of the main support 2 is slidably connected to the foot traction swing block 3. As an example, a groove can be provided on the outer surface of the main support 2 to allow it to slide with the foot traction swing block 3. The foot traction swing block 3 can be rotatably engaged with the frame by providing a hinge shaft at the connection point C.

[0024] The first end of the aforementioned vertical slide bar 4 ( Figure 1 The upper end of the vertical slide rod 4 is slidably inserted into the main support 2. Figure 1 The lower end of the vertical slide bar 4 is connected to the main track travel unit 8 mentioned above. This vertical slide bar 4 can extend to the middle, short, and long positions (e.g., ...). Figure 1 , Figure 2 and Figure 3 Specifically, three positioning pin holes can be provided at the first end of the vertical slide rod 4, and the three positioning pin holes are respectively pinned to the main bracket 2, so that the vertical slide rod 4 is in the short position, the middle position or the long position.

[0025] Furthermore, the main support 2 and the vertical slide bar 4 can be combined to form a telescopic rod. This telescopic rod can extend to three fixed lengths, corresponding to the short, medium, or long positions mentioned above. As an example, the electric telescopic rod can be an electric push rod, an electromagnetic push rod, or a hydraulic cylinder, etc.

[0026] like Figure 1As shown, when the main support 2 is fixed to the frame at connection points B and O by positioning pins, as the vertical slide bar 4 is in the middle position, the aforementioned front auxiliary wheel travel unit 5, rear auxiliary wheel travel unit 6, main track travel unit 8, front auxiliary drive unit 9, and rear auxiliary drive unit 7 are gradually opened up. Furthermore, because the front auxiliary wheel travel unit 5, rear auxiliary wheel travel unit 6, main track travel unit 8, front auxiliary drive unit 9, and rear auxiliary drive unit 7 are arc-shaped, they can be opened into a circle.

[0027] Furthermore, the location of the connection point O can be the center of the aforementioned circle. At the connection point O, the main support 2 and the vertical slide bar 4 can be driven to rotate by the first external power mechanism, thereby achieving wheeled movement.

[0028] Please refer to the following. Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of an embodiment of the track-moving state of a wheel-track-foot convertible travel device according to the present invention; Figure 3 This is a schematic diagram of the main track traveling unit 8 of an embodiment of a wheel-track-foot convertible traveling device according to the present invention. Figure 2 As shown, when the main support 2 is fixed to the frame at connection points B and O by positioning pins, as the vertical slide bar 4 is in a low position, the main track travel unit 8 is pulled upward, thereby driving the front auxiliary travel unit 9 and the rear auxiliary travel unit 7 to unfold horizontally, forming a multi-segment track. Simultaneously, the front auxiliary wheel travel unit 5 and the rear auxiliary wheel travel unit 6 open outward around connection point B. At this point, the system switches to track travel mode.

[0029] Specifically, the aforementioned front auxiliary actuator 9, the aforementioned main track travel unit 8, and the aforementioned rear auxiliary actuator 7 all include tracks 85, wheels A82, B84, C83, and track supports 81. The following explanation uses the main track travel unit 8 as an example. Figure 3 As shown, wheels A82, B84, and C83 are hinged to the three corners of the track bracket 81; the track 85 is arranged around wheels A82, B84, and C83; the track bracket 81 is an isosceles triangle, wheels A82 and B84 are symmetrically arranged, and wheel C83 is engaged with the ground.

[0030] When each wheel A82 is a drive wheel, the wheels A82 of the main track travel unit 8, the front auxiliary travel unit 9, and the rear auxiliary travel unit 7 can be driven by the second external power mechanism, thereby driving the tracks of the main track travel unit 8, the front auxiliary travel unit 9, and the rear auxiliary travel unit 7 to rotate respectively.

[0031] When each wheel B84 is a drive wheel, the wheels B84 of the main track travel unit 8, the front auxiliary drive unit 9, and the rear auxiliary drive unit 7 can be driven by the second external power mechanism, thereby driving the tracks of the main track travel unit 8, the front auxiliary drive unit 9, and the rear auxiliary drive unit 7 to rotate respectively.

[0032] Please see last. Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the structure of an embodiment of the wheel-track-foot-transformation walking device of the present invention in the foot-type walking state; Figure 5 This is a schematic diagram of another embodiment of the wheel-track-foot-transformation walking device of the present invention in its foot-walking state. Figure 4 and Figure 5 As shown, when the main support 2 is disconnected from the frame at connection points B and O, as the vertical slide bar 4 is in its extended position, the main track travel unit 8 is stretched downwards, causing the front auxiliary wheel travel unit 5 and the rear auxiliary wheel travel unit 6 to converge inwards around connection point B. Simultaneously, the front auxiliary drive unit 9 and the rear auxiliary drive unit 7 converge inwards around connection points E and F, respectively. After connection points D and G are engaged, the main track travel unit 8, the front auxiliary drive unit 9, and the rear auxiliary drive unit 7 fold into an equilateral triangle, with wheel C83 of the main track travel unit 8 serving as the support point. The relative positions of the main support 2, the front auxiliary wheel travel unit 5, the rear auxiliary wheel travel unit 6, the main track travel unit 8, the front auxiliary drive unit 9, and the rear auxiliary drive unit 7 remain fixed. The device then transforms into a foot-based travel state.

[0033] Furthermore, locating pins or electromagnetic switches can be used at connection points D and G to enhance the firmness of the connection between them.

[0034] A third external power mechanism can be connected at connection point A. This third external power mechanism drives the foot traction crank 1 to rotate around connection point A, thereby causing relative sliding between the main support 2 and the foot traction swing block 3, and simultaneously causing the foot traction swing block 3 to rotate relative to the frame. This constitutes a crank-rocker traction mechanism. Under the drive of the main support 2, it can complete the foot-like walking motion of lifting → swinging forward → falling → swinging backward.

[0035] It should be noted that the aforementioned first external power mechanism, second external power mechanism, and third external power mechanism can be a drive motor or a hydraulic drive system, etc. Those skilled in the art can select the appropriate mechanism based on the actual situation.

[0036] Furthermore, a compound hinge shaft can be installed at connection point B. One end of this compound hinge shaft hinges the front auxiliary wheel travel unit 5 and the rear auxiliary wheel travel unit 6 in a rotational engagement. The other end of the compound hinge shaft hinges the foot traction crank 1 in a rotational engagement. The engagement and disengagement with the foot traction crank 1 and the frame can be controlled by a clutch bearing. Specifically, in response to the wheeled or multi-tracked configuration, when the clutch bearing controls the compound hinge shaft to disengage from the foot traction crank 1, it is fixed to the frame; in response to the foot-mounted travel configuration, when the clutch bearing controls the compound hinge shaft to rotate with the foot traction crank 1, it is disengaged from the frame.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheel-track-foot convertible locomotion device, characterized in that, It includes a frame, main support, vertical slide bar, front auxiliary wheel travel unit, rear auxiliary wheel travel unit, front auxiliary actuator travel unit, main track travel unit, rear auxiliary actuator travel unit, foot traction crank, and foot traction swing block, among which, The two ends of the foot traction crank are hinged to the frame and the main support through connection points A and B; The foot traction swing block is hinged to the frame through connection point C; The front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the rear auxiliary drive unit, the main track travel unit, and the front auxiliary drive unit are hinged together clockwise at connection points B, G, F, E, and D. The first end of the main support is fixedly connected to or separated from the frame through the connection point B and the connection point O, and the second end of the main support is slidably connected to the foot traction swing block. The first end of the vertical slide bar is slidably inserted into the main support, and the second end of the vertical slide bar is connected to the main track traveling unit. The vertical slide bar can extend to the short position, the middle position, and the long position. In response to the vertical slide bar being in the middle position and the main support being fixed to the frame at connection point B and connection point O, the front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the main track travel unit, the front auxiliary drive unit, and the rear auxiliary drive unit forming a circle, the first external power mechanism drives the main support and the vertical slide bar to rotate at connection point O, thereby realizing the wheeled travel state; In response to the vertical slide bar being in the short position, the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit unfold horizontally to form a multi-segment track, which, driven by the second external power mechanism, achieves track travel. In response to the vertical slide bar being in the extended position, the front auxiliary wheel travel unit, the rear auxiliary wheel travel unit, the front auxiliary drive unit, and the rear auxiliary drive unit converge inward, and the connection point D and the connection point G engage; in response to the main support separating from the frame, the third external power mechanism drives the foot traction crank at the connection point A to rotate the main support, thereby achieving a foot-based travel state.

2. The wheel-track-foot convertible locomotion device according to claim 1, characterized in that, The front auxiliary drive unit, the main track drive unit, and the rear auxiliary drive unit all include tracks, wheels A, B, and C, and track supports; wheels A, B, and C are hinged to the three corners of the track supports; the tracks are arranged around wheels A, B, and C; the track supports are in the shape of an isosceles triangle, wheels A and B are symmetrically arranged, and wheel C is engaged with the ground.

3. The wheel-track-foot convertible locomotion device according to claim 2, characterized in that, The vertical slide bar is connected to the track support.

4. The wheel-track-foot convertible locomotion device according to claim 3, characterized in that, The first end of the vertical slide bar is provided with three positioning pin holes, which are respectively pinned to the main bracket, so that the vertical slide bar is in the short position, the middle position, or the long position.

5. The wheel-track-foot convertible locomotion device according to claim 1, characterized in that, In wheeled or multi-tracked configuration, the main support is pinned to the frame at connection point O.

6. The wheel-track-foot convertible locomotion device according to claim 1, characterized in that, The device further includes a composite hinge shaft, which is hinged to the front auxiliary wheel travel unit and the rear auxiliary wheel travel unit; the composite hinge shaft is also hinged to the foot traction crank; in response to being in wheeled mode or multi-track mode, the clutch bearing controls the composite hinge shaft to disengage from the foot traction crank; in response to foot travel mode, the clutch bearing controls the composite hinge shaft to hinge to the foot traction crank.

7. A wheel-track-foot convertible locomotion device according to claim 2, characterized in that, In response to being in a multi-segment tracked state, wheel A is a drive wheel; When the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit all support the ground with wheel C, the second external power mechanism drives the wheels A of the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit to rotate, thereby driving the tracks of the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit to rotate.

8. A wheel-track-foot convertible locomotion device according to claim 2, characterized in that, In response to being in a multi-segment tracked state, wheel B is a drive wheel; When the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit all support the ground with wheel C, the second external power mechanism drives the wheels B of the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit to rotate, thereby driving the tracks of the main track travel unit, the front auxiliary travel unit, and the rear auxiliary travel unit to rotate.

9. A wheel-track-foot convertible locomotion device according to claim 1, characterized in that, In response to being in a legged walking state, the connection points D and G are engaged via an electromagnetic switch.

10. A wheel-track-foot convertible locomotion device according to any one of claims 1-9, characterized in that, The front auxiliary wheel travel unit and the rear auxiliary wheel travel unit are arranged in an arc shape.

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