Deformable wheel-track combined type advancing mechanism and working method thereof

Abstract

The invention relates to a deformable wheel-track combined type advancing mechanism which comprises a driving main shaft, a hub and a track arranged on the outer side of the hub, the driving main shaft is provided with a power switching driving part, and the power switching driving part drives the track to rotate through a track transmission assembly; the power switching driving piece can move leftwards along the driving main shaft, so that the power switching driving piece is separated from the crawler belt transmission assembly; crawler belt supporting pieces are arranged on the peripheral side of the hub and are driven by a deformation mechanism to stretch and deform in the radial direction of the hub, so that the crawler belt is supported to be in a circular state or a non-circular state; the hub is provided with a driven rotary meshing part, a driving rotary meshing part is arranged at the right end of the power switching driving part, and the power switching driving part drives the hub to rotate when moving leftwards till the driving rotary meshing part is meshed with the driven rotary meshing part. Free switching between a wheel type structure and a crawler type structure is achieved, the flexibility of the wheel type structure is included, the high trafficability of the crawler type structure is achieved, and the performance is stable when the robot deals with various road conditions.

Description

Technical Field

[0001] The invention relates to a deformable wheel-track composite traveling mechanism and a working method thereof. Background Art

[0002] In rescue scenarios, the traditional travel mechanisms of rescue robots are mainly divided into three types: wheeled, tracked, and legged. Wheeled robots have higher moving speeds and energy efficiency on flat ground. For example, wheeled robots have higher working efficiency on undamaged flat roads. Their structures are relatively simple, and their control algorithms are relatively mature, which can achieve more precise motion control. However, they have weak obstacle crossing capabilities under relatively harsh road conditions and are difficult to complete rescue missions. Tracked robots have good passability in complex terrains such as ruins, muddy ground, steep slopes, etc. The large contact area between the tracks and the ground can provide greater traction, but when driving on normal roads, due to the large contact area with the ground and the large friction, a large amount of unnecessary energy loss will be caused when driving. Legged robots have strong terrain adaptability and can cross various complex terrains. They have good flexibility and can reduce the pressure on the ground through the contact between the legs and the ground, but they still have relatively complex structures, greater control difficulties, and slow moving speeds.

[0003] With the development of technology, some wheel-track composite travel mechanisms have emerged. These mechanisms aim to combine the advantages of wheels and tracks to splice and combine them to evolve into a new wheel-track composite mechanism, which can adapt to complex rescue environments and has better passability than traditional single-type travel mechanisms. However, a simple spliced ​​structure means that there must be a complex transmission and control system. It needs to have at least two power systems or complex conversion mechanisms to ensure smooth operation in two modes. Therefore, it cannot meet actual needs well. Therefore, the deformable composite travel mechanism still has far-reaching research significance. Summary of the invention

[0004] The present invention makes improvements to the problems existing in the above-mentioned prior art, that is, the technical problem to be solved by the present invention is to provide a deformable wheel-track composite traveling mechanism and a working method thereof, which has a reasonable structural design, a fast deformation efficiency, and can realize the conversion of the power system while deforming in two modes.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a deformable wheel-track composite travel mechanism, including a driving spindle connected to a motor, a wheel hub installed on the driving spindle, and a track arranged around the outer peripheral side of the wheel hub, the driving spindle is provided with a power switching drive member that can rotate with the driving spindle, the power switching drive member is connected to the track through a track transmission assembly to drive the track to rotate; the power switching drive member can be pushed by a linear drive member to move left along the driving spindle to separate the power switching drive member from the track transmission assembly; a track support member for supporting the inner surface of the track is provided on the peripheral side of the wheel hub, the track support member is driven by the deformation mechanism to deform and expand along the radial direction of the wheel hub to support the track into a circular state or a non-circular state; the wheel hub is provided with a driven rotating meshing portion, and the right end of the power switching drive member is provided with an active rotating meshing portion, and the power switching drive member drives the wheel hub to rotate when it moves to the left until the active rotating meshing portion is engaged with the driven rotating meshing portion.

[0006] Furthermore, the driving main shaft is provided with a first shaft section and a second shaft section from left to right in sequence, the cross-section of the first shaft section is circular, and the cross-section of the second shaft section is a regular hexagon; the power switching driving component includes a driving gear installed on the second shaft section, and a transmission switching sleeve coaxially fixed to the right end of the driving gear, the center hole of the driving gear and the inner hole of the transmission switching sleeve are both regular hexagonal, and the outer peripheral side of the right end of the transmission switching sleeve is rotatably connected to a connecting sleeve for connecting to a linear driving component, and the linear driving component pushes the transmission switching sleeve and the driving gear to move to the left through the connecting sleeve.

[0007] Furthermore, a power switching sleeve is coaxially fixed to the middle part of the right end of the wheel hub, and the power switching sleeve is rotatably sleeved on the outside of the transmission switching sleeve, and the driven rotating engaging portion is a spline arranged on the outer peripheral side of the right end of the power switching sleeve; the outer peripheral side of the right end of the transmission switching sleeve is arranged on a sleeve tube portion for being sleeved on the outside of the right end of the power switching sleeve, and the active rotating engaging portion is a first spline groove arranged on the inner peripheral side of the sleeve tube portion, and the first spline groove corresponds to the spline position. When the sleeve tube portion is sleeved on the outside of the right end of the power switching sleeve, the first spline groove cooperates with the spline to transmit the rotational motion of the transmission switching sleeve to the power switching sleeve.

[0008] Furthermore, the wheel hub includes a driven wheel hub plate and a driving wheel hub plate which are distributed on the left and right and are both in the shape of an equilateral triangle. The driving wheel hub plate and the driven wheel hub plate are connected as a whole through a plurality of support rods distributed in an annular shape. The driving wheel hub plate is fixedly connected to the power switching sleeve. The circumferential sides of the driving wheel hub plate and the driven wheel hub plate are provided with a plurality of radial sliding grooves, each of which is slidably connected with a sliding member, and the sliding members corresponding to the positions on the driving wheel hub plate and the driven wheel hub plate are connected as a whole; the track support members include a plurality of pairs of track support frames, each pair of track support frames are distributed on the left and right and correspond to the positions of the driven wheel hub plate and the driving wheel hub plate respectively, and the two ends of each track support frame are respectively hinged to two sliding members; the deformation mechanism is arranged on the right side of the driving wheel hub plate, and the deformation mechanism drives the plurality of sliding members on the driving wheel hub plate to move, and the sliding directions of two adjacent sliding members along the circumference of the driving wheel hub plate are opposite.

[0009] Furthermore, the multiple radial slide grooves include three first radial slide grooves respectively arranged at three vertex corners, and a second slide groove is arranged between two adjacent first radial slide grooves; the sliding member in the first radial slide groove is a Y-shaped first sliding rod, the vertical section of the first sliding rod extends into the first radial slide groove, and the two oblique sections of the first sliding rod are respectively hinged to two adjacent track support frames; the sliding member in the second radial slide groove is a second sliding rod, one end of the second sliding rod extends out of the second radial slide groove and is hinged with two oppositely distributed connecting rods, the two connecting rods and the second sliding rod are distributed in a Y shape, and the ends of the two connecting rods away from the second sliding rod are respectively hinged to two adjacent track support frames.

[0010] Furthermore, a first pin is fixed to the right side of the first sliding rod, and the first pin penetrates the first radial sliding groove to the right; a second pin is fixed to the right side of the second sliding rod, and the second pin penetrates the second radial sliding groove to the right; the deformation mechanism includes a deformation turntable coaxially arranged with the active hub plate and rotatably mounted on the power transmission sleeve, and the deformation turntable is provided with three first arc-shaped sliding grooves uniformly distributed on the circumference, and the three first arc-shaped sliding grooves correspond to the positions of the three first radial sliding grooves, and each first arc-shaped sliding groove is respectively slidably matched with the first pin corresponding to the position, and the inner sides of the three first arc-shaped sliding grooves Three second arc-shaped slide grooves are evenly distributed around the circumference of the axis of the deformation turntable, each second arc-shaped slide groove is located between two adjacent first arc-shaped slide grooves, the arc mouth of the first arc-shaped slide groove faces inward, and the arc mouth of the second arc-shaped slide groove faces outward, the three second arc-shaped slide grooves correspond to the positions of the three second radial slide grooves, and each second arc-shaped slide groove is slidably matched with the second pin corresponding to the position; the deformation turntable is driven to rotate by the deformation power assembly, and when the deformation turntable rotates, the first sliding rod and the second sliding rod are respectively driven to move by the first pin and the second pin, and the movement directions of the first sliding rod and the second sliding rod are opposite.

[0011] Furthermore, the deformation power assembly includes a motor support seat, a self-locking motor, a first gear and a second gear. The motor support seat is provided with a mounting hole for facilitating the passage of the power switching sleeve, and the inner peripheral side of the mounting hole is provided with a second spline groove matching the spline; the self-locking motor is installed on the motor support seat, and the output shaft of the self-locking motor is connected to the first gear, and the second gear is coaxially fixed to the middle part of the right end of the deformation turntable, and the second gear is meshed with the first gear. The self-locking motor drives the deformation turntable to rotate through the first gear and the second gear.

[0012] Furthermore, the track support frame is in an arc shape, and two support wheels are circumferentially arranged inside the track support frame, and the circumferential sides of the two support wheels extend out of the track support frame and are used to contact the inner surface of the track.

[0013] Furthermore, the track transmission assembly includes three track driving wheels which are evenly distributed around the axis of the driving main shaft, the track driving wheels are meshed with the inner surface of the track, the three track driving wheels are located between the driving wheel hub plate and the driven wheel hub plate, and a first transmission gear is coaxially fixed on the right end of the track driving wheel; three second transmission gears are meshed on the outer peripheral side of the driving gear, the three second transmission gears correspond to the positions of the three track driving wheels, the second transmission gear is meshed with the first transmission gear on the track driving wheel with the corresponding position, and the first transmission gear and the second transmission gear are both connected to the first sliding rod through a support shaft.

[0014] Another technical solution adopted by the present invention is: a working method of a deformable wheel-track composite traveling mechanism, comprising the following steps: (1) From wheel type to crawler type: the self-locking motor drives the deformation turntable to rotate clockwise through the first gear and the second gear. The deformation turntable drives the first sliding rod to move outward through the first arc-shaped slide groove, and drives the second sliding rod to move inward through the second arc-shaped slide groove, thereby driving the crawler support frame to support the crawler into a triangular shape; then the linear drive member pulls the transmission switching sleeve and the driving gear to the right through the connecting sleeve, so that the first spline groove on the transmission switching sleeve is separated from the spline on the power switching sleeve, and the driving gear resumes meshing with the second transmission gear. At this time, the wheel hub no longer rotates with the driving spindle. The driving spindle drives the crawler driving wheel to rotate through the driving gear, the second transmission gear, and the first transmission gear, and the crawler driving wheel drives the crawler to rotate; (2) Track type becomes wheel type: the linear drive member pushes the transmission switching sleeve and the driving gear to the left through the connecting sleeve, so that the driving gear is separated from the second transmission gear, and the first spline groove on the transmission switching sleeve is meshed with the spline on the power switching sleeve; then the self-locking motor drives the deformation turntable to rotate counterclockwise through the first gear and the second gear, and the deformation turntable drives the first sliding rod to move inward through the first arc-shaped slide groove, and drives the second sliding rod to move outward through the second arc-shaped slide groove, thereby driving the crawler support frame to support the crawler into a circular shape, and finally the wheel hub rotates with the driving spindle, thereby driving the entire wheel structure to rotate.

[0015] Compared with the prior art, the present invention has the following effects: the structural design of the present invention is reasonable, and the free switching between wheeled and tracked types is convenient. It has both the flexibility of the wheeled structure and the high passability of the tracked structure, and the performance is relatively stable when dealing with various road conditions; at the same time, the deformation efficiency is relatively fast, and the power system can be converted while deforming in the two modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment of the present invention; Figure 2 is a schematic diagram of the main structure of an embodiment of the present invention; Figure 3 is a left-view structural schematic diagram of an embodiment of the present invention; Figure 4 is a schematic diagram of a rear cross-sectional structure of an embodiment of the present invention; Figure 5 is a connection diagram of a driving spindle in an embodiment of the present invention; Figure 6 1 is a schematic diagram of the main structure of a crawler-type embodiment of the present invention; Figure 7 1. is a schematic diagram of a crawler-type three-dimensional structure of an embodiment of the present invention; Figure 8 This is a schematic diagram of the main structure of the wheeled embodiment of the present invention; Fig. 9 is a schematic diagram of a three-dimensional structure of a wheeled embodiment of the present invention; Fig.10 is a schematic diagram of the state of a crawler support member when the embodiment of the present invention is a crawler type; Fig.11 is a schematic diagram of the state of the track support member when the embodiment of the present invention is a wheeled type; Fig.12 is a schematic diagram of a partial decomposition state of an embodiment of the present invention; Fig.13 is a schematic diagram of a disassembled state of a power switching driving member in an embodiment of the present invention; Fig.14Schematic diagram of the structure of the crawler drive assembly in an embodiment of the present invention; Fig.15 is a schematic diagram of the three-dimensional structure of the driving hub plate in an embodiment of the present invention; Fig.16 is a schematic diagram of the three-dimensional structure of a deformable turntable in an embodiment of the present invention; Fig.17 is a schematic diagram of the three-dimensional structure of a transmission switching sleeve in an embodiment of the present invention; Fig.18 is a schematic diagram of the three-dimensional structure of a power switching sleeve in an embodiment of the present invention; Fig.19 is a schematic diagram of a state in which the deformation mechanism controls the sliding member to move in an embodiment of the present invention; Fig. 20 It is a schematic diagram of the assembly of the embodiment of the present invention transformed into a crawler type on a chassis; Fig.21 It is a schematic diagram of the partial structure of the embodiment of the present invention cooperating with the chassis.

[0017] In the figure: 1-driving spindle; 2-wheel hub; 3-track; 4-power switching drive; 5-track support; 6-deformation mechanism; 7-first shaft section; 8-second shaft section; 9-driving gear; 10-transmission switching sleeve; 11-connecting screw hole; 12-connecting through hole; 13-connecting sleeve; 14-annular groove; 15-bearing outer ring; 16-bearing retainer; 17-bearing inner ring; 18-connecting ear; 19-power switching sleeve; 20-spline; 21-sleeve sleeve; 22-first spline groove; 23-driving hub plate; 24-driven hub plate; 25-adaptation groove; 26-connecting convex part; 27-track support frame; 28-first radial Slide groove; 29-second radial slide groove; 30-first sliding rod; 31-second sliding rod; 32-connecting rod; 33-connecting rod; 34-first pin; 35-second pin; 36-deformation turntable; 37-first arc slide groove; 38-second arc slide groove; 39-motor support seat; 40-self-locking motor; 41-first gear; 42-second gear; 43-second spline groove; 44-support wheel; 45-crawler drive wheel; 46-first transmission gear; 47-second transmission gear; 48-support shaft; 49-motor; 50-electric push rod; 51-chassis; 52-active rotating meshing part; 53-passive rotating meshing part; 54-support rod. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] like Figures 1 to 18 As shown, the present invention discloses a deformable wheel-track composite traveling mechanism for use with a rescue robot. When in use, the mechanism is installed on the chassis of the rescue robot, and is used to solve the problems of the existing deformable wheel-track composite traveling mechanism, such as a relatively complex mechanical structure, low deformation efficiency, and a complex power system that is difficult to apply under actual working conditions. The traveling mechanism comprises a driving spindle 2 for connecting to a motor on the chassis of the rescue robot, a wheel hub 3 rotatably mounted on the driving spindle 2, and a crawler track 3 arranged around the outer peripheral side of the wheel hub 3. The driving spindle is arranged transversely, and a power switching driving member 4 that can rotate with the driving spindle 1 is arranged on the driving spindle 1. The power switching driving member 4 is connected to the crawler track 3 through a crawler transmission assembly to drive the crawler track 3 to rotate. At this time, the crawler track travels. The power switching driving member 4 also slides with the driving spindle 1 in the axial direction. The power switching driving member 4 can be pushed by the linear driving member on the chassis of the rescue robot to move leftward along the axial direction of the driving spindle 1. When the power switching driving member 4 moves along the driving spindle 1 When moving to the left, the power switching drive member 4 is separated from the track transmission assembly, and the power switching drive member 4 no longer drives the track 3 to rotate; the peripheral side of the wheel hub 2 is provided with a track support member 5 for supporting the inner surface of the track 3, and the track support member 5 is driven by the deformation mechanism 6 to deform along the radial direction of the wheel hub 2 to support the track 3 into a circular state or a non-circular state. When the track is supported in a circular state, the entire travel mechanism is in a wheeled state, and when the track is supported in a non-circular state (for example, a triangular shape), the entire travel mechanism is in a tracked state; the wheel hub 2 is provided with a driven rotating meshing portion 53, and the right end of the power switching drive member 4 is provided with an active rotating meshing portion 52. When the power switching drive member 4 moves to the left until the active rotating meshing portion 52 meshes with the driven rotating meshing portion 53, the driving spindle drives the power switching drive member to rotate, the power switching drive member drives the entire wheel hub to rotate, and the wheel hub 2 drives the entire track to roll, forming a wheel structure, that is, the entire travel structure as a whole rotates as a wheel.

[0021] As can be seen from the above description, the deformable wheel-track composite traveling mechanism realizes the switching of the track 3 between a circular state and a non-circular state through a deformation mechanism. When the track 3 is in a circular state, the traveling structure is in a wheeled state, at which time the power switching drive member 4 is separated from the track transmission assembly, the power switching drive member 4 is meshed with the driven rotating meshing portion 53 through the active rotating meshing portion 52, the driving spindle 1 is driven to rotate by the motor on the chassis of the rescue robot, the driving spindle 1 drives the power switching drive member 4 to rotate synchronously, and the power switching drive member 4 drives the wheel hub 2 to rotate. When the track is in a non-circular state (for example, a triangular shape), the traveling structure is in a crawler state, at which time the power switching drive member 4 is meshed with the track transmission assembly, the active rotating meshing portion 52 is in a separated state from the driven rotating meshing portion 53, the driving spindle 1 drives the power switching drive member 4 to rotate synchronously, and the power switching drive member 4 drives the track 3 to rotate through the track transmission assembly. This deformable wheel-track composite travel mechanism has two travel states: tracked and wheeled. It has a stable switching function and can achieve two different operating modes with the same main axis. The switching response is fast and the operation is smooth, which can meet the application of rescue robots in complex scenarios.

[0022] In this embodiment, the driving main shaft 1 is provided with a first shaft section 7 and a second shaft section 8 in sequence from left to right. The cross section of the first shaft section 7 is circular, and the cross section of the second shaft section 8 is a regular hexagon.

[0023] In this embodiment, the power switching drive member 4 includes a driving gear 9 mounted on the second shaft section 8, and a transmission switching sleeve 10 coaxially fixed to the middle of the right end of the driving gear 9. The center hole of the driving gear 9 and the inner hole of the transmission switching sleeve 10 are both regular hexagonal shapes. The second shaft section 8 of the driving main shaft 1 passes through the center hole of the driving gear 9 and the inner hole of the transmission switching sleeve 10. The driving main shaft 1 uses the hexagonal structure to drive the driving gear 9 and the transmission switching sleeve 10 to rotate. Furthermore, the left end surface of the transmission switching sleeve 10 is evenly distributed with connecting screw holes 11, and the outer circumference of the center hole of the driving gear 9 is evenly distributed with connecting through holes 12. The driving gear 9 and the transmission switching sleeve 10 are locked and fixed by the bolts passing through the connecting through holes 12 and the connecting screw holes 11.

[0024] In this embodiment, the right end outer circumference of the transmission switching sleeve 10 is rotatably connected with a connecting sleeve 13 for connecting with a linear drive member, and the linear drive member pushes the transmission switching sleeve 10 and the driving gear 9 to move to the left through the connecting sleeve 13. Specifically, an annular groove 14 is provided on the right end outer circumference of the transmission switching sleeve 10, and the connecting sleeve 13 is rotatably connected with the transmission switching sleeve through a bearing installed in the annular groove 14. Further, the bearing adopts a two-half split bearing, that is, the bearing outer ring 15, the bearing retainer 16, and the bearing inner ring 17 are all two-half split structures. The connecting sleeve 13 is composed of two semicircular cylindrical units, the two cylindrical units are butt-jointed up and down, and both ends of each cylindrical unit have connecting ears 18, and the connecting ears have connecting holes. The linear drive member is connected to the connecting ears 18 by bolts. Preferably, the linear drive member is an electric push rod 50 installed on the chassis of the rescue robot.

[0025] In this embodiment, a power switching sleeve 19 is coaxially fixed to the middle part of the right end of the wheel hub 2, and the power switching sleeve 19 is rotatably sleeved on the outside of the transmission switching sleeve 10. The driven rotating engaging portion 53 is a spline 20 arranged on the outer peripheral side of the right end of the power switching sleeve 19, and the spline extends along the axial direction of the power switching sleeve; the outer peripheral side of the right end of the transmission switching sleeve 10 is arranged on a sleeve tube portion 21 for being sleeved on the outer side of the right end of the power switching sleeve 19, and the active rotating engaging portion 52 is a first spline groove 22 arranged on the inner peripheral side of the sleeve tube portion 21, and the first spline groove 22 corresponds to the position of the spline 20. When the sleeve tube portion 13 is sleeved on the outer side of the right end of the power switching sleeve 19, the first spline groove 22 cooperates with the spline 20 to transmit the rotational motion of the transmission switching sleeve 10 to the power switching sleeve 19, that is, the transmission switching sleeve drives the power switching sleeve to rotate, and the power switching sleeve drives the wheel hub to rotate together.

[0026] In this embodiment, the wheel hub 2 includes a driven wheel hub plate 24 and a driving wheel hub plate 23 distributed on the left and right. The driven wheel hub plate 24 and the driving wheel hub plate 23 are both in the shape of an equilateral triangle. The driving wheel hub plate 23 and the driven wheel hub plate 24 are connected as a whole through a plurality of support rods 54 distributed in a ring shape. The driven wheel hub plate 24 is installed on the first shaft section 7 of the driving spindle 1, and the driving wheel hub plate 23 is rotatably installed on the transmission switching sleeve 10. The driving wheel hub plate 23 is fixedly connected to the power switching sleeve 19. Specifically, an adapting groove 25 is provided in the middle of the right side surface of the driving hub plate 23, and a plurality of screw holes are opened in the circumferential direction of the adapting groove 25; a plurality of connecting protrusions 26 are evenly distributed on the circumference of the outer periphery of the left end of the power switching sleeve 19, and each connecting protrusion 26 is provided with a through hole. During installation: the left end of the power switching sleeve 19 extends into the adapting groove 25, and the through hole on the connecting protrusion 26 corresponds to the position of the screw hole. Bolts are passed through the through holes and the bolts cooperate with the screw holes, so as to fix the power switching sleeve 19 and the driving hub plate 23 together.

[0027] In this embodiment, the peripheral sides of the driving wheel hub plate 23 and the driven wheel hub plate 24 are provided with a plurality of radial slide grooves, each of which is slidably connected with a sliding member, and the sliding members at corresponding positions on the driving wheel hub plate and the driven wheel hub plate are connected as a whole, that is, the sliding members at corresponding positions on the driving wheel hub plate and the driven wheel hub plate move synchronously along the radial slide grooves; the track support member 5 includes a plurality of pairs of track support frames 27, each pair of track support frames 27 is distributed on the left and right and corresponds to the positions of the driven wheel hub plate 24 and the driving wheel hub plate 23, that is, the peripheral sides of the driving wheel hub plate 23 and the driven wheel hub plate 24 are provided with a plurality of track support frames 27. The two ends of the track support frame 27 on the peripheral side of each driving wheel hub plate 23 along the circumferential direction of the wheel hub are respectively hinged to the two sliding members on the driving wheel hub plate 23, and similarly, the two ends of the track support frame 27 on the peripheral side of each driven wheel hub plate 24 along the circumferential direction of the wheel hub are respectively hinged to the two sliding members on the driven wheel hub plate 24. The deformation mechanism 6 is arranged on the right side of the active hub plate 23. The deformation mechanism 6 drives multiple sliding members on the active hub plate 23 and the driven hub plate 24 to move, and the sliding directions of two adjacent sliding members along the circumference of the active hub plate 23 are opposite. The sliding members on the active hub plate and the driven hub plate move synchronously, that is, one moves inward and the other moves outward.

[0028] In this embodiment, the multiple radial slots on the driving wheel hub plate 23 and the driven wheel hub plate 24 include three first radial slots 28 respectively arranged at three vertices, and a second slot 29 is arranged between two adjacent first radial slots 28, that is, there are a total of six radial slots, three first radial slots and three second radial slots; the sliding member in the first radial slot 28 is a Y-shaped first sliding rod 30, the vertical section of the first sliding rod 30 extends into the first radial slot 28 and forms a sliding fit with the first radial slot 28, and the two oblique sections of the first sliding rod 30 extend out of the first radial slot 28 and are respectively hinged with two adjacent track support frames 27 The sliding member in the second radial slide groove 29 is a second slide rod 31, one end of the second slide rod 31 extends out of the second radial slide groove 29 and is hinged with two oppositely distributed connecting rods 32, the two connecting rods 32 and the second slide rod 31 are distributed in a Y shape, and the ends of the two connecting rods 32 away from the second slide rod 31 are respectively hinged to two adjacent track support frames 27, that is: in each track support frame 27, one end of the track support frame 27 is hinged to the oblique section on the first slide rod 30, and the other end of the track support frame 27 is hinged to the connecting rod 32 on the second slide rod 31. When the first slide rod and the second slide rod move in opposite directions, the track support frame can be driven to move.

[0029] In this embodiment, the first sliding rods 30 at corresponding positions on the driving hub plate 23 and the driven hub plate 24 are connected together by a connecting rod 33 at one end thereof extending out of the first radial slot 28; the second sliding rods 31 at corresponding positions on the driving hub plate 23 and the driven hub plate 24 are connected together by a connecting rod 33 at one end thereof extending out of the second radial slot 29, that is, the first sliding rods 30 at corresponding positions on the driving hub plate 23 and the driven hub plate 24 are connected as a whole, and the second sliding rods 31 at corresponding positions are connected as a whole, and can move synchronously.

[0030] In this embodiment, the left and right ends of the first radial slots 28 and the second radial slots 29 on the active hub plate 23 are open, and the right ends of the first radial slots 28 and the second radial slots 29 on the driven hub plate 24 are open. A first pin 34 is vertically fixed to the right side of the first sliding rod 30, and the first pin 34 penetrates the first radial slot 28 to the right; a second pin 35 is vertically fixed to the right side of the second sliding rod 31, and the second pin 35 penetrates the second radial slot 29 to the right; the deformation mechanism 6 includes a deformation turntable 36 coaxially arranged with the active hub plate 23 and rotatably mounted on the power transmission sleeve 19, and the deformation turntable 36 is provided with three first arc slots 37 uniformly distributed around the circumference, and the three first arc slots 37 correspond to the positions of the three first radial slots 28, and each first arc slot 37 is respectively slidably matched with the first pin 34 corresponding to the position, and the inner sides of the three first arc slots 37 There are three second arc-shaped slide grooves 38 uniformly distributed around the circumference of the axis of the deformation turntable 36, each second arc-shaped slide groove 38 is respectively located between two adjacent first arc-shaped slide grooves 37, the arc opening of the first arc-shaped slide groove 37 faces inward, and the arc opening of the second arc-shaped slide groove 38 faces outward, the three second arc-shaped slide grooves 38 correspond to the positions of the three second radial slide grooves 29, and each second arc-shaped slide groove 38 is respectively slidably matched with the second pin 35 corresponding to the position; the deformation turntable 36 is driven to rotate by the deformation power assembly, and when the deformation turntable 36 rotates, the first sliding rod 30 and the second sliding rod 31 are respectively driven to move by the first pin 34 and the second pin 35, and the moving directions of the first sliding rod 30 and the second sliding rod 31 are opposite. When the deformation mechanism is working: when the deformation turntable 36 rotates clockwise, the deformation turntable 36 drives the first sliding rod 30 to move outward through the first arc-shaped slide groove 37, and drives the second sliding rod 31 to move inward through the second arc-shaped slide groove 38; when the deformation turntable 36 rotates counterclockwise, the deformation turntable 36 drives the first sliding rod 30 to move inward through the first arc-shaped slide groove 37, and drives the second sliding rod 31 to move outward through the second arc-shaped slide groove 38.

[0031] In this embodiment, the deformation power assembly includes a motor support seat 39, a self-locking motor 40, a first gear 41 and a second gear 42. The motor support seat 39 is provided with a mounting through hole for the power switching sleeve 19 to pass through. The inner peripheral side of the mounting through hole is provided with a second spline groove 43 that cooperates with the spline 20. The second spline groove cooperates with the spline to achieve circumferential limitation so that the power switching sleeve can drive the motor support seat to rotate. Furthermore, the motor support seat 39 is composed of two parts spliced ​​together, and the two parts are fixed by bolts. By bolt locking, the two parts of the motor support seat firmly clamp the power switching sleeve, so that the motor support seat is fixed to the power switching sleeve. The self-locking motor 40 is mounted on the motor support seat 39, the output shaft of the self-locking motor 40 is connected to the first gear 41, the second gear 42 is coaxially fixed to the middle of the right end of the deformation rotating disk 36, the second gear 42 is meshed with the first gear 41, and the self-locking motor 40 drives the deformation rotating disk 36 to rotate through the first gear 41 and the second gear 42. The self-locking motor is used to control the rotation of the deformation rotating disk. When the self-locking motor is self-locked, the deformation rotating disk can be prevented from rotating and the relative position of the deformation rotating disk and the wheel hub can be maintained.

[0032] In this embodiment, the track support frame 27 is arc-shaped, and two support wheels 44 are circumferentially arranged inside the track support frame 27 . The circumferential sides of the two support wheels 44 extend out of the track support frame 27 and are used to contact the inner surface of the track 3 .

[0033] In this embodiment, the crawler drive assembly includes three crawler drive wheels 45 uniformly distributed around the axis of the driving main shaft 1, the crawler drive wheels 45 mesh with the inner surface of the crawler 3, the three crawler drive wheels 45 are installed between the driving wheel hub plate 23 and the driven wheel hub plate 24, and the right end of the crawler drive wheel 45 is coaxially fixed with a first transmission gear 46; the outer peripheral side of the driving gear 9 is meshed with three second transmission gears 47, the three second transmission gears 47 correspond to the positions of the three crawler drive wheels 45, the second transmission gear 47 meshes with the first transmission gear 46 on the crawler drive wheel 45 corresponding to the position, and the first transmission gear 46 and the second transmission gear 47 are connected to the first sliding rod 30 through the support shaft 48. When working, the driving main shaft drives the driving gear to rotate, the driving gear drives the three second transmission gears to rotate, the three second transmission gears drive the three first transmission gears to rotate, the first transmission gear drives the crawler drive wheel to rotate, and the crawler drive wheel drives the crawler to rotate.

[0034] In this embodiment, the crawler adopts a rubber crawler with a certain degree of stretchability, so that it can meet the requirements in the switch between wheel type and crawler type. The crawler is supported into a crawler type (non-circular shape) or a wheel type (circular shape) through the change of the deformation mechanism; the crawler type adopts a planetary gear transmission mechanism, and the wheel type directly drives the crawler to roll.

[0035] In this embodiment, Fig. 20 , 21 As shown, when in use, a pair of the deformable wheel-track composite traveling mechanisms are respectively arranged on the left and right sides of the chassis 51 of the rescue robot, and each pair of the deformable wheel-track composite traveling mechanisms are distributed frontally and rearwardly. The end of the driving spindle 1 close to the chassis 51 is connected to the motor 49 arranged on the chassis 51, and the driving spindle 1 is driven to rotate by the motor 49; and the electric push rod 50 (i.e., the linear drive component) on the chassis 51 is connected to the connecting sleeve 13 on the transmission switching sleeve 10, and the electric push rod 50 is used to push the transmission switching sleeve 10 and the driving gear 9 to move along the axial direction of the driving spindle 1.

[0036] In this embodiment, the working method of the deformable wheel-track composite traveling mechanism comprises the following steps: (1) The wheel type is changed to the crawler type: the self-locking motor 40 drives the deformation rotating disk 36 to rotate clockwise through the first gear 41 and the second gear 42. The deformation rotating disk 36 drives the first sliding rod 30 to move outward through the first arc-shaped slide groove 37 and drives the second sliding rod 31 to move inward through the second arc-shaped slide groove 38, thereby driving the crawler support frame 27 to support the crawler 3 into a triangular shape; then the linear drive member pulls the transmission switching sleeve 10 and the driving gear 9 to move rightward through the connecting sleeve 13, so that the first spline groove 22 on the transmission switching sleeve 10 is separated from the spline 20 on the power switching sleeve 19, and the driving gear 9 resumes meshing with the second transmission gear 47. At this time, the wheel hub 2 no longer rotates with the driving main shaft 1. The driving main shaft 1 drives the crawler driving wheel 45 to rotate through the driving gear 9, the second transmission gear 47, and the first transmission gear 46, and the crawler driving wheel 45 drives the crawler 3 to rotate; (2) The crawler type is changed into the wheel type: the linear drive member pushes the transmission switching sleeve 10 and the driving gear 9 to move to the left through the connecting sleeve 13, so that the driving gear 9 is separated from the second transmission gear 47, and the first spline groove 22 on the transmission switching sleeve 10 is meshed with the spline 20 on the power switching sleeve 19; then the self-locking motor 40 drives the deformation turntable 36 to rotate counterclockwise through the first gear 41 and the second gear 42, and the deformation turntable 36 drives the first sliding rod 30 to move inward through the first arc-shaped slide groove 37 and drives the second sliding rod 31 to move outward through the second arc-shaped slide groove 38, thereby driving the crawler support frame 27 to support the crawler 3 into a circular shape, and finally the wheel hub 2 rotates with the driving spindle 2, thereby driving the entire wheel structure to rotate.

[0037] The present invention designs a deformable wheel-track composite traveling mechanism, which does not combine the wheel type and the track type by simple addition and subtraction, but through the design of a new deformation mechanism, so that the traveling mechanism can achieve the purpose of free switching between wheels and tracks through the movement of the internal mechanism. This mechanism has both the flexibility of a wheel mechanism and the high passability of a track mechanism, and its performance is relatively stable when dealing with various road conditions.

[0038] If the present invention discloses or involves components or structures that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by one-piece molding using a casting process) (except when it is obviously impossible to use an one-piece molding process).

[0039] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the present invention include states or shapes that are approximate, similar, or close to them.

[0040] Any component provided by the present invention may be assembled from a plurality of separate components, or may be a separate component manufactured by an integral forming process.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A deformable wheel-track composite traveling mechanism, characterized in that: The wheel hub is provided with a driven rotating meshing portion, and an active rotating meshing portion is provided at the right end of the power switching driving member, and the wheel hub drives the wheel hub to rotate when the active rotating meshing portion and the driven rotating meshing portion are engaged with each other.

2. The deformable wheel-track composite traveling mechanism according to claim 1, characterized in that: The driving main shaft is provided with a first shaft section and a second shaft section from left to right in sequence, the cross-section of the first shaft section is circular, and the cross-section of the second shaft section is a regular hexagon; the power switching driving member includes a driving gear installed on the second shaft section, and a transmission switching sleeve coaxially fixed to the right end of the driving gear, the center hole of the driving gear and the inner hole of the transmission switching sleeve are both regular hexagonal, and the outer peripheral side of the right end of the transmission switching sleeve is rotatably connected with a connecting sleeve for connecting to a linear driving member, and the linear driving member pushes the transmission switching sleeve and the driving gear to move to the left through the connecting sleeve.

3. The deformable wheel-track composite traveling mechanism according to claim 2, characterized in that: A power switching sleeve is coaxially fixed to the middle part of the right end of the wheel hub, and the power switching sleeve is rotatably sleeved on the outside of the transmission switching sleeve, and the driven rotating engaging portion is a spline arranged on the outer peripheral side of the right end of the power switching sleeve; the outer peripheral side of the right end of the transmission switching sleeve is arranged on a sleeve tube portion for being sleeved on the outside of the right end of the power switching sleeve, and the active rotating engaging portion is a first spline groove arranged on the inner peripheral side of the sleeve tube portion, and the first spline groove corresponds to the spline position. When the sleeve tube portion is sleeved on the outside of the right end of the power switching sleeve, the first spline groove cooperates with the spline to transmit the rotational motion of the transmission switching sleeve to the power switching sleeve.

4. The deformable wheel-track composite traveling mechanism according to claim 3, characterized in that: The wheel hub comprises a driven wheel hub plate and a driving wheel hub plate which are distributed on the left and right and are both in the shape of an equilateral triangle. The driving wheel hub plate and the driven wheel hub plate are connected as a whole through a plurality of support rods distributed in an annular shape. The driving wheel hub plate is fixedly connected to the power switching sleeve. The circumferential sides of the driving wheel hub plate and the driven wheel hub plate are provided with a plurality of radial sliding grooves, each of which is slidably connected with a sliding member, and the sliding members corresponding to the positions of the driving wheel hub plate and the driven wheel hub plate are connected as a whole; the track support members comprise a plurality of pairs of track support frames, each pair of track support frames are distributed on the left and right and correspond to the positions of the driven wheel hub plate and the driving wheel hub plate respectively, and the two ends of each track support frame are respectively hinged to the two sliding members; the deformation mechanism is arranged on the right side of the driving wheel hub plate, and the deformation mechanism drives the plurality of sliding members on the driving wheel hub plate to move, and the sliding directions of two adjacent sliding members along the circumference of the driving wheel hub plate are opposite.

5. The deformable wheel-track composite traveling mechanism according to claim 4, characterized in that: The multiple radial slide grooves include three first radial slide grooves respectively arranged at three vertex corners, and a second slide groove is arranged between two adjacent first radial slide grooves; the sliding member in the first radial slide groove is a Y-shaped first sliding rod, the vertical section of the first sliding rod extends into the first radial slide groove, and the two oblique sections of the first sliding rod are respectively hinged to two adjacent track support frames; the sliding member in the second radial slide groove is a second sliding rod, one end of the second sliding rod extends out of the second radial slide groove and is hinged with two oppositely distributed connecting rods, the two connecting rods and the second sliding rod are distributed in a Y shape, and the ends of the two connecting rods away from the second sliding rod are respectively hinged to two adjacent track support frames.

6. The deformable wheel-track composite traveling mechanism according to claim 5, characterized in that: A first pin is fixed to the right side of the first sliding rod, and the first pin penetrates the first radial sliding groove to the right; a second pin is fixed to the right side of the second sliding rod, and the second pin penetrates the second radial sliding groove to the right; the deformation mechanism includes a deformation turntable coaxially arranged with the active hub plate and rotatably mounted on the power transmission sleeve, and the deformation turntable is provided with three first arc-shaped sliding grooves uniformly distributed on the circumference, the three first arc-shaped sliding grooves correspond to the positions of the three first radial sliding grooves, each first arc-shaped sliding groove is slidably matched with the first pin corresponding to the position, and the inner sides of the three first arc-shaped sliding grooves are provided with three The second arc-shaped slide grooves are evenly distributed around the circumference of the axis of the deformation turntable, each second arc-shaped slide groove is respectively located between two adjacent first arc-shaped slide grooves, the arc mouth of the first arc-shaped slide groove faces inward, and the arc mouth of the second arc-shaped slide groove faces outward, the three second arc-shaped slide grooves correspond to the positions of the three second radial slide grooves, and each second arc-shaped slide groove is respectively slidably matched with the second pin corresponding to the position; the deformation turntable is driven to rotate by the deformation power assembly, and when the deformation turntable rotates, the first sliding rod and the second sliding rod are respectively driven to move by the first pin and the second pin, and the movement directions of the first sliding rod and the second sliding rod are opposite.

7. The deformable wheel-track composite traveling mechanism according to claim 6, characterized in that: The deformation power assembly includes a motor support seat, a self-locking motor, a first gear and a second gear. The motor support seat is provided with a mounting hole for facilitating the passage of a power switching sleeve, and the inner peripheral side surface of the mounting hole is provided with a second spline groove matching with the spline; the self-locking motor is installed on the motor support seat, and the output shaft of the self-locking motor is connected to the first gear, and the second gear is coaxially fixed to the middle part of the right end of the deformation turntable, and the second gear is meshed with the first gear. The self-locking motor drives the deformation turntable to rotate through the first gear and the second gear.

8. The deformable wheel-track composite traveling mechanism according to claim 5, characterized in that: The crawler support frame is in an arc shape, and two supporting wheels are arranged circumferentially inside the crawler support frame. The circumferential sides of the two supporting wheels extend out of the crawler support frame and are used to contact the inner surface of the crawler track.

9. The deformable wheel-track composite traveling mechanism according to claim 5, characterized in that: The track transmission assembly includes three track driving wheels which are evenly distributed around the axis of the driving main shaft, the track driving wheels mesh with the inner surface of the track, the three track driving wheels are located between the driving wheel hub plate and the driven wheel hub plate, and a first transmission gear is coaxially fixedly arranged on the right end of the track driving wheel; three second transmission gears are meshed on the outer peripheral side of the driving gear, the three second transmission gears correspond to the positions of the three track driving wheels, the second transmission gear is meshed with the first transmission gear on the track driving wheel corresponding to the position, and the first transmission gear and the second transmission gear are both connected to the first sliding rod through a supporting shaft.

10. A method for operating the deformable wheel-track composite traveling mechanism according to any one of claims 1 to 9, characterized in that: The steps include: (1) From wheel type to crawler type: the self-locking motor drives the deformation turntable to rotate clockwise through the first gear and the second gear. The deformation turntable drives the first sliding rod to move outward through the first arc-shaped slide groove, and drives the second sliding rod to move inward through the second arc-shaped slide groove, thereby driving the crawler support frame to support the crawler into a triangular shape; then the linear drive member pulls the transmission switching sleeve and the driving gear to the right through the connecting sleeve, so that the first spline groove on the transmission switching sleeve is separated from the spline on the power switching sleeve, and the driving gear resumes meshing with the second transmission gear. At this time, the wheel hub no longer rotates with the driving spindle. The driving spindle drives the crawler driving wheel to rotate through the driving gear, the second transmission gear, and the first transmission gear, and the crawler driving wheel drives the crawler to rotate; (2) Track type becomes wheel type: the linear drive member pushes the transmission switching sleeve and the driving gear to the left through the connecting sleeve, so that the driving gear is separated from the second transmission gear, and the first spline groove on the transmission switching sleeve is meshed with the spline on the power switching sleeve; then the self-locking motor drives the deformation turntable to rotate counterclockwise through the first gear and the second gear, and the deformation turntable drives the first sliding rod to move inward through the first arc-shaped slide groove, and drives the second sliding rod to move outward through the second arc-shaped slide groove, thereby driving the crawler support frame to support the crawler into a circular shape, and finally the wheel hub rotates with the driving spindle, thereby driving the entire wheel structure to rotate.

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