Power drive mechanism and drive method for track-deformable wheel and track-deformable wheel system

Abstract

The present invention belongs to the field of wheel bodies, and specifically relates to a power drive mechanism, drive method, and wheel-track deformable wheel system for a wheel track deformable wheel. The power drive mechanism for the wheel track deformable wheel includes a wheel frame drive member and an input end drive member of a self-rotating synchronous pulley assembly. The wheel track deformable wheel is driven by the power drive mechanism for the wheel track deformable wheel, and can be driven in a deformable wheel rim revolution drive mode, a track drive mode, and an adaptive drive mode. The present invention can achieve both track travel drive and deformable wheel rim revolution drive through a single rotation drive mechanism, and can also achieve an adaptive drive mode between 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 greatly improving the obstacle-crossing capability of the wheel track deformable wheel.

Description

Technical Field

[0001] The present invention belongs to the field of wheel bodies, and in particular relates to a power drive mechanism for a track-deformable wheel, a drive method and a 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 that can realize an adaptive drive mode.

[0004] The present invention provides a power drive mechanism for a wheel track deformation wheel, comprising a wheel frame drive member and an input end drive member of a self-rotating synchronous belt pulley group;

[0005] 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;

[0006] The input end driving member of the self-rotating synchronous 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 rotationally mounting 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 pulley group. The planetary carrier locking mechanism is used to control the frame body II to lock or unlock on the wheel mounting frame.

[0007] Furthermore, the inner gear ring locking mechanism and the planet carrier locking mechanism adopt friction locking mechanisms.

[0008] Furthermore, a brake disc I is provided on the inner gear ring;

[0009] The inner gear ring locking mechanism includes a brake caliper fixedly arranged on the wheel mounting frame and cooperating with the brake disc I.

[0010] Furthermore, one end of the frame II passes through the through hole II and is connected to a brake disc II;

[0011] The planet carrier locking mechanism includes a brake caliper fixedly arranged on the wheel mounting frame and cooperating with the brake disc II.

[0012] Furthermore, the frame I is also rotatably engaged with the sun gear and the input shaft;

[0013] The frame II is also in rotational cooperation with the sun gear and the input shaft.

[0014] 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.

[0015] 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;

[0016] 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.

[0017] Furthermore, the end of the input shaft facing away from the sun gear is connected to a rotation drive mechanism, and the rotation drive mechanism is fixed on the wheel mounting frame.

[0018] The present invention provides a power driving method for a track deformable wheel, which uses the above-mentioned power driving mechanism for the track deformable wheel to drive the track deformable wheel, including a deformable wheel rim revolution driving mode, a track driving mode, an adaptive driving mode and a braking mode;

[0019] In the deformable wheel rim revolution drive 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 gears is locked, and the frame I is fixed and locked. The rotation of the input shaft drives the sun gear to rotate, and the sun gear in turn drives the planetary gears and the inner gear ring to rotate. The inner gear ring drives the wheel carrier of the track deformable wheel to rotate, thereby realizing the orbital rotation of the deformable wheel rim of the track deformable wheel and locking the track.

[0020] In the crawler drive mode, the inner gear ring locking mechanism locks the inner gear ring, and the planetary carrier locking mechanism unlocks the frame II, the planetary 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 driving shaft of the self-rotating synchronous pulley group to rotate around the axis of the input shaft. The input end driving shaft of the self-rotating synchronous pulley group drives the input end of the self-rotating synchronous 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;

[0021] In the adaptive drive mode, when the track of the deformable wheel is a quadrilateral, the inner gear ring locking mechanism unlocks the inner gear ring, the planetary carrier locking mechanism unlocks the frame body II, and the rotation of the input shaft drives the sun gear to rotate. When the deformable wheel encounters an obstacle, the wheel frame fixing structure and the input end drive shaft of the self-rotating synchronous pulley set adaptively distribute the torque transmission force of the sun gear, thereby realizing the adaptive deployment of the deformable wheel rim revolution drive mode and the track drive mode;

[0022] In the braking mode, the inner ring gear locking mechanism locks the inner ring gear, the planetary carrier locking mechanism locks the frame II, the input shaft stops rotating, and the deformable wheel rim and the track are locked synchronously.

[0023] The present invention also provides a track-deformable wheel system, comprising a track-deformable wheel and a power drive mechanism for the track-deformable wheel;

[0024] The wheel frame of the wheel track deforming wheel is fixedly connected to the wheel frame fixing structure;

[0025] The input end of the self-rotating synchronous pulley set of the wheel track deforming wheel is fixedly connected to the input end driving shaft of the self-rotating synchronous pulley set.

[0026] The beneficial effect of the present invention is that the power drive mechanism for the deformable wheel of the wheel track provided by the present invention can realize both crawler travel drive and deformable wheel rim revolution drive through a rotary drive mechanism. Compared with the travel power device in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", it can save a rotary drive mechanism, thereby reducing costs. In addition, the power drive mechanism for the deformable wheel of the wheel track can not only realize the deformable wheel rim revolution drive mode and the crawler drive mode, but also can perform an adaptive drive mode of the deformable wheel rim revolution drive mode and the crawler drive mode, thereby reducing the possibility of the deformable wheel of the wheel track getting stuck when encountering obstacles, and can greatly improve the obstacle crossing ability of the deformable wheel of the wheel track. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Attachment Figure 1This 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;

[0028] Attachment Figure 2 A schematic diagram of the second angle structure of the wheel track deformable wheel system of the present invention when the wheel track deformable wheel is in a circular state;

[0029] Attachment Figure 3 This is a front view of the track-deformable wheel system of the present invention when the track-deformable wheel is in a circular state;

[0030] Attachment Figure 4 For attachment Figure 3 Middle AA section view;

[0031] Attachment Figure 5 Schematic diagram of the explosion when the wheel-track deformable wheel system is in a circular state;

[0032] Attachment Figure 6 This is a structural schematic diagram of the wheel-track deformable wheel system when the track is a quadrilateral.

[0033] In the figure, 1-wheel carrier drive member; 11-inner ring gear; 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 ring gear locking mechanism; 2-input end drive member of the self-rotating synchronous pulley group; 21-input shaft; 22-sun gear; 23-planetary gear; 24-planet carrier; 241-frame I; 2411-input end drive shaft of the self-rotating synchronous pulley group; 242-frame II; 2421-through hole III; 2422-brake disc II; 243-connecting rod; 25-planet carrier locking mechanism; 3-rotation drive mechanism; 4-wheel track deformation wheel; 41-wheel carrier; 42-input end of the self-rotating synchronous pulley group; 43-deformation wheel rim; 44-track; 45-support rod; 5-wheel mounting frame. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0037] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] 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 this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] 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-shaped wheel rim piece, track, deformation slider, spring tension rod and the combination of the above-mentioned parts in the Chinese invention patent "CN105564148B-A deformable wheel-track leg composite robot". The combination of the above-mentioned 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-mentioned 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-mentioned patent.

[0040] The power drive mechanism for the deformable wheel of the present invention includes a wheel frame drive member 1 and an input end drive member 2 of a self-rotating synchronous pulley group. The wheel frame drive member 1 is used to drive the wheel frame 41 of the deformable wheel 4 to rotate, and is particularly suitable for when the deformable wheel rim 43 thereof is circular and the deformable wheel 4 is driven to revolve in a circular wheel shape. The input end drive member 2 of the self-rotating synchronous pulley group is used to drive the input end 42 of the self-rotating synchronous pulley group of the deformable wheel 4 to rotate, thereby causing the output end of the self-rotating synchronous pulley group to drive the track drive wheel to rotate, driving the track 44 to rotate. This is particularly suitable for when the deformable wheel rim 43 is irregularly shaped and the deformable wheel 4 is driven by the track 44.

[0041] 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;

[0042] The wheel frame driving member 1 includes an inner ring gear 11 and an inner ring gear locking mechanism 12. One end of the inner ring gear 11 is provided with a wheel frame fixing structure 111. The wheel frame fixing structure 111 is used to be fixedly connected to the middle of the wheel frame 41 of the wheel track deformable wheel 4, so that when the inner ring gear 11 rotates, the wheel frame 41 can be driven to rotate. A through hole I 112 is provided in the middle of the wheel frame fixing structure 111, and a through hole II 113 is provided at the other end of the inner ring gear 11. The inner ring gear locking mechanism 12 is used to control the inner ring gear 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 drive mechanism for the wheel track deformable wheel and the installation part of the driving wheel track deformable wheel 4;

[0043] 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 rotationally mounting 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, the planetary carrier 24 includes a frame body I 241 that rotates with the through hole I 112 and a frame body II 242 that rotates with the through hole II 113, the gear shaft at one end of the planetary gear 23 rotates with the frame body I 241, and the gear shaft at the other end rotates with the frame body II 242, that is, the planetary gear 23 rotates with the frame body I 2 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 engaged with the sun gear 22 and the inner ring gear 11. Specifically, the planetary gear 23 is engaged 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 pulley group. The input end drive shaft 2411 of the self-rotating synchronous pulley group is used to be fixedly connected to the input end 42 of the self-rotating synchronous pulley group, so that when the planetary frame 24 rotates, the input end 42 of the self-rotating synchronous pulley group can be driven to rotate. The planetary frame locking mechanism 25 is used to control the frame body II 242 to lock or unlock on the wheel mounting frame 5.

[0044] The wheel track deformable wheel power drive mechanism of the present invention is used to drive the wheel track deformable wheel 4, which can realize four driving modes: deformable wheel rim revolution driving mode, crawler driving mode, adaptive driving mode and braking mode.

[0045] Reference Attachment Figure 1 -Attached Figure 3In the deformed wheel rim revolution drive mode, the inner gear ring locking mechanism 12 unlocks the inner gear ring 11, and the planetary 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 planetary 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 fixed and locked. The input shaft 21 rotates to drive the sun gear 22 rotates, and the sun gear 22 drives the planetary gears 23 and the inner ring gear 11 to rotate in turn. At this time, the planetary gears 23 can only rotate along their own axes, but cannot revolve along the axis of the sun gear 22. Therefore, the sun gear 22 only drives the inner ring gear 11 to rotate, and the inner ring gear 11 drives the wheel frame 41 of the track deforming wheel 4 to rotate, so that the deformed wheel rim 43 of the track deforming wheel 4 revolves. At this time, the frame body I 241 and the input end drive shaft 2411 of its self-rotating synchronous pulley group cannot rotate, and the track 44 is locked;

[0046] Reference Attachment Figure 6 In the crawler 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 driving shaft 2411 of the self-rotating synchronous pulley group to rotate around the axis of the input shaft 21. The input end driving shaft 2411 of the self-rotating synchronous pulley group drives the input end 42 of the self-rotating synchronous 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;

[0047] In the adaptive drive mode, it is preferred that the adaptive drive mode be 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. 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 variable terrain scenes, effectively improving the stability of the robot carried by the wheel-track deformable wheel 4 and its ability to adapt to complex environments;

[0048] In the braking mode, the inner ring gear locking mechanism 12 locks the inner ring gear 11 , the planetary carrier locking mechanism 25 locks the frame II 242 , the input shaft 21 stops rotating, and the deformable wheel rim 43 and the crawler track 44 are locked synchronously.

[0049] The power drive mechanism for the wheel-track deformable wheel provided by the present invention can realize both track driving and deformed 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 deformed wheel rim revolution drive mode and the track drive mode, but also perform an adaptive drive mode of the deformed wheel rim revolution drive mode and the track drive mode, 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.

[0050] In one embodiment, the inner ring gear locking mechanism 12 and the planetary carrier locking mechanism 25 adopt a friction locking mechanism. Such a configuration can control the locking force of the inner ring gear 11 and the planetary carrier 24, so that different locking damping can be achieved by adjusting the inner ring gear 11 and the planetary carrier 24, thereby actively controlling the priority of the deformable wheel rim revolution driving mode and the track driving mode in the adaptive driving mode, thereby realizing an active dynamic adaptive driving mode.

[0051] 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 and a hole.

[0052] In one of the preferred embodiments, a brake disc I 114 is provided on the inner gear ring 11;

[0053] The inner gear ring locking mechanism 12 includes a brake caliper fixedly mounted on the wheel mounting frame 5 and cooperating with the brake disc I 114 .

[0054] 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 ;

[0055] The planet carrier locking mechanism 25 includes a brake caliper fixedly mounted on the wheel mounting frame 5 and cooperating with the brake disc II 2422 .

[0056] 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.

[0057] In one embodiment, the frame I 241 is also rotatably engaged with the sun gear 22 and the input shaft 21 ;

[0058] The carrier II 242 is also rotatably coupled with the sun gear 22 and the input shaft 21 . This configuration can improve the rotational stability of the planet carrier 24 . Preferably, the rotational coupling of the planet carrier 24 is achieved through bearings to reduce frictional resistance.

[0059] In one embodiment, 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. In this embodiment, the frame body II 242 can avoid interfering with the installation of the input shaft 21. In the embodiment where the brake disc II 242 is provided on the frame body II 242, one end of the frame body II 242 passes through the through hole II 113, and the brake disc II 2422 is provided at the position where the frame body II 242 passes through the through hole II 113, so that the brake disc II 2422 cooperates with the brake caliper located on the outside of the inner gear ring 11.

[0060] In one embodiment, the inner gear ring 11 includes a wheel connecting frame 115, inner teeth 116 and a wheel mounting frame connecting frame 117 which are fixedly connected in sequence. In this embodiment, the inner teeth 116 is a cylindrical structure, and an inner gear is provided on the inner wall of the cylinder. The wheel connecting frame 115 and the wheel mounting frame connecting frame 117 both include an end disc and an annular plate provided on the outermost side of the end disc. The two annular plates are connected to the cylindrical wall of the inner teeth 116. In this way, the inner gear ring 11 can form an enclosing structure, that is, the inner gear ring 11 is not only part of the planetary gear train, but also serves as the outer shell of the power drive mechanism for the wheel deformation wheel. The planetary gear train is wrapped in the inner gear ring 11, thereby providing physical protection for the planetary gear train and improving its service life and environmental adaptability.

[0061] The wheel frame fixing structure 111 and the through hole I 112 are arranged on the wheel connecting frame 115 , specifically on the end 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 disc of the wheel mounting frame connecting frame 117 .

[0062] In one embodiment, the end of the input shaft 21 away from the sun gear 22 is connected to a rotation drive mechanism 3 , which is fixed to the wheel mounting frame 5 . The rotation drive mechanism 3 is used to drive the input shaft 21 to rotate, and preferably adopts a motor.

[0063] 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, deformable power device, deformable drive motor, gear reducer, lead screw, deformable wheel rim, arc-shaped wheel rim piece, track, deformable slider, spring tension rod and the combination of the above components in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot";

[0064] 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-shaped wheel rim piece, crawler track, deformation slider and the combination of the above components in the Chinese invention patent "CN105564148B-A deformable wheel-track leg composite robot", but the spring tension rod is replaced by two support rods 45 fixed to 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, for supporting the crawler track 44 when the deformable wheel rim 43 is deformed into an "∞" shape;

[0065] The wheel frame 41 of the track-deforming wheel 4 is fixedly connected to the wheel frame fixing structure 111;

[0066] 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 drive shaft 2411 of the self-rotating synchronous pulley group, thereby realizing the connection between the wheel track deforming wheel 4 and the power drive mechanism for the wheel track deforming wheel.

[0067] The above description is merely an embodiment and does not limit the present invention in any way. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make many possible changes, modifications, or modifications to the technical solution of the present invention into equivalent embodiments with equivalent changes using the technical content disclosed above. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A power drive mechanism for a wheel track deformation wheel, characterized in that: It includes a wheel frame driving member (1) and an input end driving member (2) of a self-rotating synchronous belt pulley group; 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), a through hole I (112) is provided in the middle of the wheel frame fixing structure (111), and the other end of the inner gear ring (11) is provided with a through hole II (113), 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 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), one end of the input shaft (21) is located outside the through hole II (113) for rotationally mounting on the wheel mounting frame (5), and the other end extends into the through hole II (113) and fixes the sun gear (22), and the planetary carrier (24) includes a frame body I (241) that rotates with the through hole I (112) and a planetary carrier body (241) that rotates with the through hole II (113). The frame body II (242) is provided with a gear shaft at one end of the planetary gear (23) in rotational cooperation with the frame body I (241), and a gear shaft at the other end in rotational cooperation with the frame body II (242), and the planetary gear (23) is meshed with the sun gear (22) and the inner gear ring (11), and 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 pulley set, 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); The inner gear ring locking mechanism (12) and the planet carrier locking mechanism (25) adopt friction locking mechanisms; 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).

2. The power drive mechanism for a track-deformable wheel according to claim 1, wherein: 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 arranged on the wheel mounting frame (5) and cooperating with the brake disc II (2422).

3. The power drive mechanism for a track-deformable wheel according to claim 1, wherein: The frame body I (241) is also rotatably engaged with the sun gear (22) and the input shaft (21); The frame II (242) is also rotatably engaged with the sun gear (22) and the input shaft (21).

4. The power drive mechanism for a track-deformable wheel according to claim 1, wherein: The frame 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).

5. The power drive mechanism for a track-deformable wheel according to claim 1, wherein: 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).

6. The power drive mechanism for a track-deforming wheel according to any one of claims 1 to 5, 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).

7. A power driving method for a wheel track deforming wheel, characterized in that: The wheel track deformable wheel (4) is driven by the power drive mechanism for the wheel track deformable wheel according to any one of claims 1 to 6, including a deformable wheel rim revolution drive mode, a crawler drive mode, an adaptive drive mode and a braking mode; In the said deformable wheel rim revolution driving mode, the said inner gear ring locking mechanism (12) unlocks the said inner gear ring (11), the said planetary carrier locking mechanism (25) locks the said frame body II (242), the said planetary gear (23) axis position is locked, and the said frame body I (241) is fixed and locked, the said 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 (44) is locked; In the crawler drive mode, the inner gear ring locking mechanism (12) locks the inner gear ring (11), the planetary frame locking mechanism (25) unlocks the frame body II (242), the planetary frame (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 pulley group to rotate around the axis of the input shaft (21), the input end drive shaft (2411) of the self-rotating synchronous pulley group drives the input end (42) of the self-rotating synchronous 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 frame 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), 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 ring gear locking mechanism (12) locks the inner ring gear (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.

8. A wheel track deformation wheel system, characterized in that: It comprises a track deforming wheel (4) and a power drive mechanism for the track deforming wheel as claimed in any one of claims 1 to 6; The wheel frame (41) of the 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 deformation wheel (4) is fixedly connected to the input end drive shaft (2411) of the self-rotating synchronous pulley group.

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