Power driving mechanism and driving method for wheel-track deformation wheel and wheel-track deformation wheel system

Abstract

The invention belongs to the field of wheel bodies, and particularly relates to a power driving mechanism for a wheel-track deformation wheel, a driving method and a wheel-track deformation wheel system.The power driving mechanism for the wheel-track deformation wheel comprises a wheel carrier driving part and an input end driving part of an autorotation synchronous belt wheel set; the power driving mechanism for the wheel-track deformation wheels is used for driving the wheel-track deformation wheels, and running can be carried out in a deformation wheel rim revolution driving mode, a track driving mode and a self-adaptive driving mode. According to the invention, through one rotary driving mechanism, two kinds of driving such as crawler traveling driving and deformation rim revolution driving can be realized, and a self-adaptive driving mode of a deformation rim revolution driving mode and a crawler driving mode can also be realized, so that the possibility that the wheel-crawler deformation wheel is stuck when encountering an obstacle is reduced; and the obstacle crossing capability of the wheel-track deformation wheel can be greatly improved.

Description

Technical Field

[0001] The invention belongs to the field of wheel bodies, and in particular relates to a power drive mechanism for a wheel track deformable wheel, a drive method and a wheel track deformable wheel system. Background Art

[0002] At present, the requirements for robots to overcome obstacles are getting higher and higher. Therefore, a transformable wheel-track-leg composite robot has been developed. For details, please refer to the Chinese invention patent "CN105564148B-A transformable wheel-track-leg composite robot". It can be transformed into a track driving mode and a wheel rotation driving mode, thereby improving the road adaptability. However, the travel power device in this patent requires two motors, a round wheel drive motor and a track drive motor, and the round wheel drive and track drive cannot be adaptively adjusted. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a power drive mechanism, a drive method and a wheel-track deformable wheel system for realizing an adaptive drive mode.

[0004] The present invention provides a power drive mechanism for a wheel-track deformable wheel, comprising a wheel frame drive component and an input end drive component of a self-rotating synchronous belt pulley group; The wheel frame driving member includes an inner gear ring and an inner gear ring locking mechanism, one end of the inner gear ring is provided with a wheel frame fixing structure, a through hole I is provided in the middle of the wheel frame fixing structure, and the other end of the inner gear ring is provided with a through hole II, and the inner gear ring locking mechanism is used to control the inner gear ring to be locked or unlocked on the wheel mounting frame; The input end driving member of the self-rotating synchronous belt pulley group includes an input shaft, a sun gear, a planetary gear, a planetary carrier and a planetary carrier locking mechanism. One end of the input shaft is located outside the through hole II for rotational installation on the wheel mounting frame, and the other end extends into the through hole II and fixes the sun gear. The planetary carrier includes a frame body I that rotates with the through hole I and a frame body II that rotates with the through hole II. The gear shaft at one end of the planetary gear rotates with the frame body I, and the gear shaft at the other end rotates with the frame body II, and the planetary gear is meshed with the sun gear and the inner ring gear. The frame body I extends out of the through hole I and is provided with the input end driving shaft of the self-rotating synchronous belt pulley group. The planetary carrier locking mechanism is used to control the frame body II to be locked or unlocked on the wheel mounting frame.

[0005] Furthermore, the inner gear ring locking mechanism and the planet carrier locking mechanism adopt friction locking mechanisms.

[0006] Furthermore, a brake disc I is provided on the inner gear ring; The inner gear ring locking mechanism includes a brake caliper fixedly arranged on the wheel mounting frame and matched with the brake disc I.

[0007] Furthermore, one end of the frame body II passes through the through hole II and is connected to a brake disc II; The planet carrier locking mechanism includes a brake caliper fixedly arranged on the wheel mounting frame and matched with the brake disc II.

[0008] Furthermore, the frame I is also rotatably matched with the sun gear and the input shaft; The frame II is also rotatably matched with the sun gear and the input shaft.

[0009] Furthermore, the frame body II is provided with a through hole III coaxial with the through hole II, and the input shaft is arranged in the through hole III.

[0010] Furthermore, the inner gear ring includes a wheel connecting frame, inner teeth and a wheel mounting frame connecting frame which are fixedly connected in sequence; The wheel frame fixing structure and through hole I are arranged on the wheel connecting frame, and the through hole II is arranged on the wheel mounting frame connecting frame.

[0011] Furthermore, a rotation drive mechanism is connected to one end of the input shaft away from the sun gear, and the rotation drive mechanism is fixed on the wheel mounting frame.

[0012] The present invention provides a wheel track deformable wheel power driving method, using the above wheel track deformable wheel power driving mechanism to drive the wheel track deformable wheel, including a deformable wheel rim revolution driving mode, a crawler driving mode, an adaptive driving mode and a braking mode; In the deformation wheel rim revolution driving mode, the inner gear ring locking mechanism unlocks the inner gear ring, the planet carrier locking mechanism locks the frame II, the axis position of the planetary gear is locked, and the frame I is fixedly locked, the rotation of the input shaft drives the sun gear to rotate, the sun gear drives the planetary gears and the inner gear ring to rotate in turn, and the inner gear ring drives the wheel frame of the wheel track deformation wheel to rotate, so as to realize the deformation wheel rim revolution of the wheel track deformation wheel and lock the track; In the crawler track drive mode, the inner gear ring locking mechanism locks the inner gear ring, and the planet carrier locking mechanism unlocks the frame II, the planet carrier can rotate around the axis of the input shaft, and the axis of the planetary gear can revolve around the axis of the input shaft. The rotation of the input shaft drives the sun gear to rotate, and the sun gear drives the planetary gear to rotate along its axial direction and revolve around the axis of the input shaft, thereby driving the frame I and the input end drive shaft of the self-rotating synchronous belt pulley group to rotate around the axis of the input shaft. The input end drive shaft of the self-rotating synchronous belt pulley group drives the input end of the self-rotating synchronous belt pulley group of the wheel-track deformation wheel to rotate, thereby realizing the rotation of the crawler track of the wheel-track deformation wheel and locking the deformation wheel rim; In the adaptive driving mode, when the crawler track in the wheel-track deformable wheel is a quadrilateral, the inner gear ring locking mechanism unlocks the inner gear ring, the planet carrier locking mechanism unlocks the frame II, and the rotation of the input shaft drives the sun gear to rotate. When the wheel-track deformable wheel encounters an obstacle, the wheel frame fixing structure and the input end drive shaft of the self-rotating synchronous belt pulley group adaptively distribute the torque transmission force of the sun gear, thereby realizing the adaptive deployment of the deformable wheel rim revolution driving mode and the crawler track driving mode; In the braking mode, the inner gear ring locking mechanism locks the inner gear ring, the planet carrier locking mechanism locks the frame II, the input shaft stops rotating, and the deformable wheel rim and the track are locked synchronously.

[0013] The present invention also provides a wheel track deformable wheel system, comprising a wheel track deformable wheel and a power drive mechanism for the wheel track deformable wheel; The wheel frame of the wheel track deforming wheel is fixedly connected to the wheel frame fixing structure; The input end of the self-rotating synchronous belt pulley group of the wheel-track deforming wheel is fixedly connected to the input end driving shaft of the self-rotating synchronous belt pulley group.

[0014] The beneficial effect of the present invention is that the power drive mechanism for the wheel-track deformable wheel provided by the present invention can realize both track driving and deformable wheel rim revolution driving through a rotation drive mechanism. Compared with the travel power device in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", a rotation drive mechanism can be saved, thereby reducing costs. In addition, the power drive mechanism for the wheel-track deformable wheel can not only realize the deformable wheel rim revolution drive mode and the track drive mode, but also can perform adaptive drive modes of the deformable wheel rim revolution drive mode and the track drive mode, thereby reducing the possibility of the wheel-track deformable wheel getting stuck when encountering obstacles, and can greatly improve the obstacle crossing ability of the wheel-track deformable wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Attached Figure 1 It is a schematic structural diagram of a first angle when the wheel-track deformable wheel system of the present invention is in a circular state; Attached Figure 2 It is a second angle structural schematic diagram of the wheel-track deformable wheel system of the present invention when the wheel-track deformable wheel is in a circular state; Attached Figure 3 It is a front view of the wheel-track deformable wheel system of the present invention when the wheel-track deformable wheel is in a circular state; Attached Figure 4 For attachment Figure 3 Middle AA section view; Attached Figure 5 It is an exploded schematic diagram of the wheel-track deformable wheel system when the wheel-track deformable wheel is in a circular state; Attached Figure 6It is a schematic diagram of the structure when the track of the wheel-track deformable wheel in the wheel-track deformable wheel system is a quadrilateral.

[0016] In the figure, 1-wheel carrier driving member; 11-inner gear ring; 111-wheel carrier fixing structure; 112-through hole I; 113-through hole II; 114-brake disc I; 115-wheel connecting frame; 116-inner teeth; 117-wheel mounting frame connecting frame; 12-inner gear ring locking mechanism; 2-input end driving member of self-rotating synchronous belt pulley group; 21-input shaft; 22-sun gear; 23-planetary gear; 24-planet carrier; 241-frame I; 2411-input end driving shaft of self-rotating synchronous belt pulley group; 242-frame II; 2421-through hole III; 2422-brake disc II; 243-connecting rod; 25-planet carrier locking mechanism; 3-rotation driving mechanism; 4-wheel track deformation wheel; 41-wheel carrier; 42-input end of self-rotating synchronous belt pulley group; 43-deformed wheel rim; 44-track; 45-support rod; 5-wheel mounting frame. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0019] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] As attached Figure 1 -Attached Figure 6 As shown, the present invention provides a power drive mechanism for a wheel-track deformable wheel, which is used to drive the wheel frame, track driving wheel, track driven wheel, track supporting wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider, spring stretch rod and the combination of the above parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot". The combination of the above structures is equivalent to the wheel-track deformable wheel 4 of the present application. At this time, the power drive mechanism for the wheel-track deformable wheel of the present invention is used to replace the travel power device in the above patent. Of course, the present invention can also be used to drive wheel-track deformable wheels of other structures with the same principle as the above patent.

[0023] The power drive mechanism for the wheel track deformable wheel includes a wheel frame drive member 1 and an input end drive member 2 of a self-rotating synchronous belt pulley group. The wheel frame drive member 1 is used to drive the wheel frame 41 of the wheel track deformable wheel 4 to rotate, and is particularly suitable for when its deformable wheel rim 43 is circular and the wheel track deformable wheel 4 is in a circular wheel shape for revolution drive. The input end drive member 2 of the self-rotating synchronous belt pulley group is used to drive the input end 42 of the self-rotating synchronous belt pulley group of the wheel track deformable wheel 4 to rotate, thereby driving the output end of the self-rotating synchronous belt pulley group to drive the track driving wheel to rotate, and drive the track 44 to rotate, and is particularly suitable for when its deformable wheel rim 43 is irregular and the wheel track deformable wheel 4 uses the track 44 to travel.

[0024] The wheel carrier driving member 1 and the input end driving member 2 of the self-rotating synchronous belt pulley group form a planetary gear train; The wheel frame driving member 1 includes an inner gear ring 11 and an inner gear ring locking mechanism 12, one end of the inner gear ring 11 is provided with a wheel frame fixing structure 111, the wheel frame fixing structure 111 is used to be fixedly connected with the middle of the wheel frame 41 of the wheel track deformation wheel 4, and then when the inner gear ring 11 rotates, the wheel frame 41 can be driven to rotate, a through hole Ⅰ112 is provided in the middle of the wheel frame fixing structure 111, and a through hole Ⅱ113 is provided at the other end of the inner gear ring 11, and the inner gear ring locking mechanism 12 is used to control the inner gear ring 11 to be locked or unlocked on the wheel mounting frame 5, wherein the wheel mounting frame 5 is the body of the robot for installing the power driving mechanism for the wheel track deformation wheel and the installation part of the driving wheel track deformation wheel 4; The input end driving member 2 of the self-rotating synchronous belt pulley group includes an input shaft 21, a sun gear 22, a planetary gear 23, a planetary carrier 24 and a planetary carrier locking mechanism 25, wherein the input shaft 21, the sun gear 22, the planetary gear 23, the planetary carrier 24 and the inner ring gear 11 constitute a planetary gear system, one end of the input shaft 21 is located outside the through hole II 113 for rotational installation on the wheel mounting frame 5, and the other end extends into the through hole II 113 and fixes the sun gear 22. Preferably, the position of the sun gear 22 corresponds to the position of the inner teeth 116 of the inner ring gear 11, and the planetary carrier 24 includes a frame body I241 that is rotationally matched with the through hole I 112 and a frame body II 242 that is rotationally matched with the through hole II 113. The gear shaft at one end of the planetary gear 23 is rotationally matched with the frame body I241, and the gear shaft at the other end is rotationally matched with the frame body II 242, that is, the planetary gear 23 rotates the frame body I2 41 and frame body II 242 are connected as a whole that rotates synchronously. Preferably, frame body I 241 and frame body II 242 can also form a whole through a connecting rod 243 to further improve the integrity of frame body I 241 and frame body II 242, and the planetary gear 23 is meshed with the sun gear 22 and the inner ring gear 11. Specifically, the planetary gear 23 is meshed with the outer gear of the sun gear 22 and the inner tooth 116 of the inner ring gear 11. The frame body I 241 extends out of the through hole I 112 and is provided with an input end drive shaft 2411 of the self-rotating synchronous belt pulley group. The input end drive shaft 2411 of the self-rotating synchronous belt pulley group is used to be fixedly connected with the input end 42 of the self-rotating synchronous belt pulley group, so that when the planetary frame 24 rotates, the input end 42 of the self-rotating synchronous belt pulley group can be driven to rotate. The planetary frame locking mechanism 25 is used to control the frame body II 242 to be locked or unlocked on the wheel mounting frame 5.

[0025] The wheel-track deformable wheel power drive mechanism of the present invention is used to drive the wheel-track deformable wheel 4, so that four driving modes can be realized: a deformable wheel rim revolution driving mode, a track driving mode, an adaptive driving mode and a braking mode. Reference Figure 1 -Attached Figure 3In the deformable wheel rim revolution driving mode, the inner gear ring locking mechanism 12 unlocks the inner gear ring 11, and the planet carrier locking mechanism 25 locks the frame body II 242. Since the rotation of the frame body II 242 and the frame body I 241 is synchronized under the connection of the planetary gear 23, the planet carrier locking mechanism 25 will also lock the rotation of the frame body I 241. At the same time, the axis position of the planetary gear 23 is locked, and the frame body I 241 is fixedly locked. The rotation of the input shaft 21 drives the sun gear 22 rotates, the sun gear 22 drives the planetary gears 23 and the inner gear ring 11 to rotate in turn. At this time, the planetary gears 23 can only rotate along their own axis, but cannot revolve along the axis of the sun gear 22. Therefore, the sun gear 22 only drives the inner gear ring 11 to rotate, and the inner gear ring 11 drives the wheel frame 41 of the wheel track deformation wheel 4 to rotate, so that the deformation wheel ring 43 of the wheel track deformation wheel 4 revolves, while at this time, the frame body I 241 and the input end drive shaft 2411 of the self-rotating synchronous belt pulley group cannot rotate, and the crawler track 44 is locked; Reference Figure 6 In the crawler track drive mode, the inner gear ring locking mechanism 12 locks the inner gear ring 11. At this time, the position of the inner gear ring 11 is locked, and the planetary carrier locking mechanism 25 unlocks the frame body II 242. The planetary carrier 24 can rotate around the axis of the input shaft 21, and the axis of the planetary gear 23 can revolve around the axis of the input shaft 21. The rotation of the input shaft 21 drives the sun gear 22 to rotate, and the sun gear 22 drives the planetary gear 23 to rotate along its axial direction and revolve around the axis of the input shaft 21, thereby driving the frame body I 241 and the input end drive shaft 2411 of the self-rotating synchronous belt pulley group to rotate around the axis of the input shaft 21. The input end drive shaft 2411 of the self-rotating synchronous belt pulley group drives the input end 42 of the self-rotating synchronous belt pulley group of the wheel-track deformation wheel 4 to rotate, thereby realizing the rotation of the crawler track 44 of the wheel-track deformation wheel 4. At this time, since the position of the inner gear ring 11 is locked, the wheel frame 41 is fixed and the deformation wheel ring 43 is locked; In the adaptive driving mode, it is preferred that the adaptive driving mode is adopted when the track 44 in the wheel-track deformable wheel 4 is a quadrilateral. For example, the track 44 is used in a quadrilateral state, the inner ring gear locking mechanism 12 unlocks the inner ring gear 11, the planetary carrier locking mechanism 25 unlocks the frame body II 242, and the input shaft 21 rotates to drive the sun gear 22 to rotate. When the wheel-track deformable wheel 4 encounters an obstacle, the wheel frame fixing structure 111 and the input end drive shaft 2411 of the self-rotating synchronous pulley group adaptively distribute the torque transmission force of the sun gear 22, that is, if the rotation resistance of the track 44 is greater than the turnover resistance of the deformable wheel rim 43, the deformable wheel rim 43 rotates and the deformable wheel rim 43 rotates and moves, and if the rotation resistance of the track 44 is less than the turnover resistance of the deformable wheel rim 43, the track 44 rotates and moves, thereby realizing the adaptive deployment of the deformable wheel rim revolution drive mode and the track drive mode. In the adaptive driving mode, the off-road performance of the wheel-track deformable wheel 4 can be maximized to cope with the changing terrain scenes, and the stability and complex environment adaptability of the robot carried by the wheel-track deformable wheel 4 can be effectively improved; In the braking mode, the inner gear ring locking mechanism 12 locks the inner gear ring 11, the planet carrier locking mechanism 25 locks the frame body II 242, the input shaft 21 stops rotating, and the deformable wheel rim 43 and the track 44 are locked synchronously.

[0026] The power drive mechanism for the wheel-track deformable wheel provided by the present invention can realize both track driving and deformable wheel rim revolution driving through a rotation drive mechanism 3. Compared with the travel power device in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", it can save a rotation drive mechanism, thereby reducing costs. In addition, the power drive mechanism for the wheel-track deformable wheel can not only realize the deformable wheel rim revolution driving mode and the track driving mode, but also can perform adaptive driving modes of the deformable wheel rim revolution driving mode and the track driving mode, thereby reducing the possibility of the wheel-track deformable wheel 4 getting stuck when encountering obstacles, and can greatly improve the obstacle crossing ability of the wheel-track deformable wheel 4.

[0027] In one of the embodiments, the inner ring gear locking mechanism 12 and the planetary carrier locking mechanism 25 adopt a friction locking mechanism. With this arrangement, the locking force of the inner ring gear 11 and the planetary carrier 24 can be controlled, so that different locking damping can be achieved by adjusting the inner ring gear 11 and the planetary carrier 24, and then the priority of the deformable wheel rim revolution driving mode and the track driving mode in the adaptive driving mode can be actively controlled to realize an active dynamic adaptive driving mode.

[0028] In other embodiments, the inner gear ring locking mechanism 12 and the planet carrier locking mechanism 25 may also be fixedly locked by means of a pin or a hole.

[0029] In one of the preferred embodiments, a brake disc Ⅰ 114 is provided on the inner gear ring 11; The inner gear ring locking mechanism 12 includes a brake caliper fixedly disposed on the wheel mounting frame 5 and cooperating with the brake disc I 114 .

[0030] In one embodiment, one end of the frame II 242 passes through the through hole II 113 and is connected to a brake disc II 2422 ; The planet carrier locking mechanism 25 includes a brake caliper fixedly disposed on the wheel mounting frame 5 and cooperating with the brake disc II 2422 .

[0031] In this embodiment, locking is achieved by combining a brake caliper with a brake disc, which is convenient and quick to control, and the locking damping can be adjusted by controlling the caliper force of the brake caliper.

[0032] In one embodiment, the frame body I 241 is also rotatably matched with the sun gear 22 and the input shaft 21; The carrier II 242 is also rotationally matched with the sun gear 22 and the input shaft 21. Such an arrangement can improve the rotation stability of the planet carrier 24. Preferably, the rotational match of the planet carrier 24 is achieved through bearings to reduce friction resistance.

[0033] In one of the embodiments, the frame body II242 is provided with a through hole III2421 coaxial with the through hole II113, and the input shaft 21 is arranged in the through hole III2421. In this embodiment, the frame body II242 can avoid interfering with the installation of the input shaft 21. In the embodiment where the brake disc II242 is provided on the frame body II242, one end of the frame body II242 passes through the through hole II113, and the brake disc II2422 is arranged at the position where the frame body II242 passes through the through hole II113, so that the brake disc II2422 cooperates with the brake caliper located on the outside of the inner gear ring 11.

[0034] In one embodiment, the inner gear ring 11 includes a wheel connecting frame 115, an inner tooth 116 and a wheel mounting frame connecting frame 117 which are fixedly connected in sequence. In this embodiment, the inner tooth 116 is a cylindrical structure, and an inner gear is arranged on the inner wall of the cylinder, and the wheel connecting frame 115 and the wheel mounting frame connecting frame 117 both include an end face disc and an annular plate arranged on the outermost side of the end face disc, and the two annular plates are connected to the cylindrical wall of the inner tooth 116, so that the inner gear ring 11 can form an enclosing structure, that is, the inner gear ring 11 is not only a part of the planetary gear train, but also serves as the outer shell of the power drive mechanism for the wheel deformation wheel, and the planetary gear train is wrapped in the inner gear ring 11, so that the planetary gear train can be physically protected, and its service life and environmental adaptability can be improved; The wheel frame fixing structure 111 and the through hole I 112 are arranged on the wheel connecting frame 115 , specifically on the end face disc of the wheel connecting frame 115 ; the through hole II 113 is arranged on the wheel mounting frame connecting frame 117 , specifically on the end face disc of the wheel mounting frame connecting frame 117 .

[0035] In one embodiment, the end of the input shaft 21 away from the sun gear 22 is connected to a rotation drive mechanism 3, and the rotation drive mechanism 3 is fixed on the wheel mounting frame 5. The rotation drive mechanism 3 is used to drive the input shaft 21 to rotate, and preferably a motor is used.

[0036] The present invention also provides a wheel-track deformable wheel system, including a wheel-track deformable wheel 4 and a power drive mechanism for the wheel-track deformable wheel, wherein the wheel-track deformable wheel 4 can be consistent with the wheel frame, track driving wheel, track driven wheel, track support wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider, spring stretch rod and the combination of the above parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot"; In a preferred embodiment, the wheel-track deformable wheel 4 is consistent with the wheel frame, track driving wheel, track driven wheel, track support wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider and the combination of the above parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", but the spring stretching rod is replaced by two support rods 45 fixed on the wheel frame 41, the two support rods 45 are one long and one short, and are respectively arranged on the wheel frame 41 and the retractable long end of the wheel frame 41, and are used to support the track 44 when the deformable wheel rim 43 is deformed into an "∞" shape; The wheel frame 41 of the wheel track deforming wheel 4 is fixedly connected to the wheel frame fixing structure 111; The input end 42 of the self-rotating synchronous pulley group of the wheel-track deforming wheel 4 is fixedly connected to the input end driving shaft 2411 of the self-rotating synchronous pulley group, thereby realizing the connection between the wheel-track deforming wheel 4 and the power driving mechanism for the wheel-track deforming wheel.

[0037] The above is only an embodiment and does not limit the present invention in any way. Any person skilled in the art can use the above disclosed technical contents to make many possible changes, modifications or modifications to the technical solutions of the present invention into equivalent embodiments of equivalent changes without departing from the scope of the technical solutions of the present invention. Therefore, any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A power drive mechanism for a wheel-track deformable wheel, characterized in that: It comprises a wheel frame driving component (1) and an input end driving component (2) of a self-rotating synchronous belt pulley group; The wheel frame driving member (1) comprises an inner gear ring (11) and an inner gear ring locking mechanism (12); a wheel frame fixing structure (111) is provided at one end of the inner gear ring (11); a through hole I (112) is provided in the middle of the wheel frame fixing structure (111); a through hole II (113) is provided at the other end of the inner gear ring (11); and the inner gear ring locking mechanism (12) is used to control the inner gear ring (11) to be locked or unlocked on the wheel mounting frame (5); The input end driving member (2) of the self-rotating synchronous belt pulley group comprises an input shaft (21), a sun gear (22), a planetary gear (23), a planetary carrier (24) and a planetary carrier locking mechanism (25); one end of the input shaft (21) is located outside the through hole II (113) for rotationally mounting on the wheel mounting frame (5); the other end extends into the through hole II (113) and fixes the sun gear (22); the planetary carrier (24) comprises a frame body I (241) rotationally matched with the through hole I (112) and a planetary carrier locking mechanism (25) rotationally matched with the through hole II (113). The planetary gear (23) has a frame body II (242), a gear shaft at one end of the planetary gear (23) is rotationally matched with the frame body I (241), and a gear shaft at the other end is rotationally matched with the frame body II (242), and the planetary gear (23) is meshed with the sun gear (22) and the inner gear ring (11), the frame body I (241) extends out of the through hole I (112) and is provided with an input end drive shaft (2411) of a self-rotating synchronous belt pulley group, and the planetary frame locking mechanism (25) is used to control the frame body II (242) to be locked or unlocked on the wheel mounting frame (5).

2. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 1, characterized in that: The inner gear ring locking mechanism (12) and the planet carrier locking mechanism (25) adopt friction locking mechanisms.

3. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 2, characterized in that: A brake disc I (114) is provided on the inner gear ring (11); The inner gear ring locking mechanism (12) comprises a brake caliper fixedly arranged on the wheel mounting frame (5) and cooperating with the brake disc I (114).

4. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 2, characterized in that: One end of the frame II (242) passes through the through hole II (113) and is connected to a brake disc II (2422); The planet carrier locking mechanism (25) comprises a brake caliper fixedly arranged on the wheel mounting frame (5) and cooperating with the brake disc II (2422).

5. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 1, characterized in that: The frame body I (241) is also rotatably matched with the sun gear (22) and the input shaft (21); The frame II (242) is also rotatably matched with the sun gear (22) and the input shaft (21).

6. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 1, characterized in that: The frame body II (242) is provided with a through hole III (2421) coaxial with the through hole II (113), and the input shaft (21) is arranged in the through hole III (2421).

7. The power drive mechanism for a wheel-track deformable wheel as claimed in claim 1, characterized in that: The inner gear ring (11) comprises a wheel connecting frame (115), inner teeth (116) and a wheel mounting frame connecting frame (117) which are fixedly connected in sequence; The wheel frame fixing structure (111) and the through hole I (112) are arranged on the wheel connecting frame (115), and the through hole II (113) is arranged on the wheel mounting frame connecting frame (117).

8. The power drive mechanism for a wheel-track deformable wheel according to any one of claims 1 to 7, characterized in that: One end of the input shaft (21) facing away from the sun gear (22) is connected to a rotary drive mechanism (3), and the rotary drive mechanism (3) is fixed on the wheel mounting frame (5).

9. A method for driving a wheel-track deformable wheel by power, characterized in that: The wheel track deformable wheel (4) is driven by the power drive mechanism for the wheel track deformable wheel as claimed in any one of claims 1 to 8, including a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode and a braking mode; In the deformable wheel rim revolution driving mode, the inner gear ring locking mechanism (12) unlocks the inner gear ring (11), the planet carrier locking mechanism (25) locks the frame body II (242), the axis position of the planetary gear (23) is locked, and the frame body I (241) is fixedly locked, the input shaft (21) rotates to drive the sun gear (22) to rotate, the sun gear (22) in turn drives the planetary gear (23) and the inner gear ring (11) to rotate, the inner gear ring (11) drives the wheel frame (41) of the wheel track deformable wheel (4) to rotate, so that the deformable wheel rim (43) of the wheel track deformable wheel (4) revolves, and the crawler track (44) is locked; In the crawler drive mode, the inner gear ring locking mechanism (12) locks the inner gear ring (11), the planet carrier locking mechanism (25) unlocks the frame body II (242), the planet carrier (24) can rotate around the axis of the input shaft (21), the axis of the planetary gear (23) can revolve around the axis of the input shaft (21), the rotation of the input shaft (21) drives the sun gear (22) to rotate, the sun gear (22) drives the planetary gear (23) to rotate along its axial direction and revolve around the axis of the input shaft (21), thereby driving the frame body I (241) and the input end drive shaft (2411) of the self-rotating synchronous belt pulley group to rotate around the axis of the input shaft (21), the input end drive shaft (2411) of the self-rotating synchronous belt pulley group drives the input end (42) of the self-rotating synchronous belt pulley group of the wheel track deformation wheel (4) to rotate, thereby realizing the rotation of the crawler (44) of the wheel track deformation wheel (4), and locking the deformation wheel rim (43); In the adaptive driving mode, when the crawler track (44) in the wheel-track deformable wheel (4) is a quadrilateral, the inner gear ring locking mechanism (12) unlocks the inner gear ring (11), the planetary carrier locking mechanism (25) unlocks the frame body II (242), and the input shaft (21) rotates to drive the sun gear (22) to rotate. When the wheel-track deformable wheel (4) encounters an obstacle, the wheel frame fixing structure (111) and the input end drive shaft (2411) of the self-rotating synchronous belt pulley group adaptively distribute the torque transmission force of the sun gear (22), thereby realizing the adaptive allocation of the deformable wheel rim revolution driving mode and the crawler track driving mode; In the braking mode, the inner gear ring locking mechanism (12) locks the inner gear ring (11), the planetary carrier locking mechanism (25) locks the frame body II (242), the input shaft (21) stops rotating, and the deformable wheel rim (43) and the crawler track (44) are locked synchronously.

10. A wheel-track deformable wheel system, characterized in that: It comprises a track deforming wheel (4) and a power driving mechanism for the track deforming wheel as claimed in any one of claims 1 to 9; The wheel frame (41) of the wheel track deforming wheel (4) is fixedly connected to the wheel frame fixing structure (111); The input end (42) of the self-rotating synchronous belt pulley group of the wheel track deformation wheel (4) is fixedly connected to the input end drive shaft (2411) of the self-rotating synchronous belt pulley group.

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