All-terrain self-adaptive wheel-track composite advancing system

Abstract

The invention discloses an all-terrain self-adaptive wheel-track composite traveling system, and belongs to the technical field of engineering machinery. Comprising a pair of inner-layer track units, a plurality of conversion driving units and a plurality of tire assemblies. Wherein the inner layer track unit is composed of a main body support and a tensioning track, the conversion driving unit is installed on the outer side of the main body support and comprises a fixing frame, a connecting arm and a telescopic driver, the tire assembly comprises a tire body and a tire driving plate, and the tire driving plate is connected with the connecting arm of the conversion driving unit in a pivoted mode. And the telescopic driver can drive the tire driving plate and the tire body to rotate so as to realize conversion between wheel type driving and crawler belt driving. The system has the advantages that the driving mode is adjusted in real time through mechanical linkage, so that the system has wheel type maneuverability and crawler trafficability, the stability and trafficability under different terrains are ensured, and the operation efficiency and safety under the complex environment are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to an all-terrain adaptive wheel-track composite mobility system. Background Technology

[0002] Traditional tire-mounted vehicles often slip and get stuck on unpaved roads such as mud, snow, rocks, and sand due to insufficient ground contact pressure and small contact area. In complex terrain, the tires have poor dynamic stability, and the superposition of centrifugal and lateral forces can easily cause rollovers. Furthermore, when passing over raised obstacles at high speeds, the tire sidewall cords are prone to breakage, making them unable to meet the passage requirements of the aforementioned unpaved road scenarios. While pure tracked vehicles have excellent passability, they suffer from insufficient maneuverability and limited adaptability. Specifically, the track ground contact length is fixed, the turning radius is large, the vibration is severe at high speeds, and it can cause serious damage to paved roads such as asphalt. In complex terrain, the tracks are easily scratched by sharp objects, the traction decreases when wading through water, and it is difficult to adapt to extreme road conditions such as steep slopes and steps. In existing technologies, some publicly disclosed technologies have proposed the concept of wheel-track conversion, such as temporarily replacing tires on tracked vehicles. However, existing wheel-track hybrid solutions are mostly mechanically superimposed, with a single functional structure, resulting in problems such as structural interference, low switching efficiency, and poor reliability. Moreover, the wheel and track structures are independent, requiring manual disassembly and assembly during switching, which is time-consuming and labor-intensive. Furthermore, the hybrid structure does not achieve mechanical coupling, failing to simultaneously leverage the high-speed performance of tires and the gripping advantages of tracks. Therefore, the core contradiction of the current technological bottleneck lies in the fact that a single locomotive system cannot simultaneously achieve all-terrain adaptability, while the hybrid system is limited by structural complexity and control precision.

[0003] In view of the above, there is an urgent need for an all-terrain mobility system that can achieve automated conversion without human intervention, has a compact structure, and can dynamically integrate the advantages of wheeled and tracked vehicles, in order to resolve the contradiction between passability, mobility, and reliability in complex scenarios. To this end, the applicant has made a beneficial design, and the technical solution described below arose from this background. Summary of the Invention

[0004] The objective of this invention is to provide a compact, highly automated, and reliable all-terrain adaptive wheel-track hybrid mobility system. This system facilitates the automated switching between wheel drive and track drive modes through structural innovation and functional integration, thereby effectively improving scenario applicability, providing convenient control and efficient switching, and achieving superior passability and mobility in complex scenarios. It has significant potential for widespread application.

[0005] The objective of this invention is achieved as follows: an all-terrain adaptive wheeled-tracked hybrid mobility system, comprising: a pair of inner track units, each inner track unit including a main support and an annular track tensioned and mounted on the main support; multiple conversion drive units, each conversion drive unit mounted on the outer side of the main support of the inner track unit and having a fixed frame, a connecting arm mounted on the fixed frame, and a telescopic actuator; and multiple tire assemblies, each tire assembly connected to its corresponding conversion drive unit and including a tire body and a tire drive plate connected to the tire body. The tire drive plate is pivotally connected to the connecting arm of the conversion drive unit, and the telescopic end of the telescopic actuator is also connected to the tire drive plate and can drive the tire drive plate and the tire body to rotate to achieve a change in their longitudinal position, thereby realizing the conversion between wheeled drive and tracked drive.

[0006] In a specific embodiment of the present invention, the number of the conversion drive units is four, and they are installed in pairs on the main support of an inner track unit, and the two conversion drive units located on the same main support are arranged in a mirror symmetrical manner; the tire assembly is located on the outer side of one conversion drive unit and the other conversion drive unit that is symmetrical to it.

[0007] In another specific embodiment of the present invention, a pivot shaft is provided at the bottom position of the tire drive plate. The pivot shaft passes through the connecting arm of the conversion drive unit and is rotatably connected to the connecting arm, thereby realizing the pivotal connection between the tire assembly and the connecting arm. The telescopic end of the telescopic actuator is fixedly connected to the connecting plate at the top end of the tire drive plate and can drive the rotation of the tire drive plate and the tire body.

[0008] In another specific embodiment of the present invention, a tire protective cover is further provided on the tire body of the tire assembly. The tire protective cover is used to cover the top part of the tire body and to protect the upper part of the tire body.

[0009] In another specific embodiment of the present invention, the telescopic actuator is one of an electric push rod, a hydraulic cylinder, or a pneumatic actuator.

[0010] In another specific embodiment of the present invention, the main support frame is assembled from a bottom support rod, a main inclined rod, and a diagonal bracing connecting rod; wherein, the bottom support rod is horizontally disposed at the bottom position of the main support frame, and the main inclined rod is disposed at the upper position of the bottom support rod, and one end of the main inclined rod in the length direction is fixedly connected to one end of the bottom support rod in the length direction, while the other end of the main inclined rod in the length direction extends obliquely upward and is configured as an inclined end, and the diagonal bracing connecting rod is fixedly connected between the inclined end of the main inclined rod and the other end of the bottom support rod in the length direction.

[0011] In a further specific embodiment of the present invention, a plurality of guide roller brackets are installed on the body of the bottom support rod, and a plurality of guide rollers are installed on the guide roller brackets. The plurality of guide rollers slide in engagement with the annular track. Meanwhile, a plurality of upper load-bearing roller brackets extending upward are installed on the main inclined rod. Each of the plurality of upper load-bearing roller brackets is provided with an upper load-bearing roller at its top end. The plurality of upper load-bearing rollers slide in engagement with the annular track and are used to support the annular track.

[0012] In a further specific embodiment of the present invention, a main drive wheel is provided on the main support and at the connection end corresponding to the bottom support rod and the main body tilting rod. A bottom support rod drive wheel is provided at the other end of the bottom support rod away from the main drive wheel in the length direction. A main body tilting rod drive wheel is provided at the other end of the main body tilting rod away from the main drive wheel in the length direction. The main drive wheel, the bottom support rod drive wheel and the main body tilting rod drive wheel are connected to the annular track and can drive the annular track to rotate.

[0013] In yet another specific embodiment of the present invention, a meshing tooth groove is provided on the inner side of the annular track of the inner track unit, and meshing teeth matching the meshing tooth groove are provided on the main drive wheel, the bottom support rod drive wheel and the main body tilt rod drive wheel, thereby realizing the meshing of the main drive wheel, the bottom support rod drive wheel and the main body tilt rod drive wheel with the annular track.

[0014] In a more specific embodiment of the present invention, the main drive wheel, the bottom support rod drive wheel and the main body tilting rod drive wheel all adopt an involute gear meshing structure, and the surface of their gear teeth is provided with a nano-tungsten carbide coating.

[0015] The beneficial effects of adopting the above-described structure in this invention are as follows: First, the all-terrain adaptive wheel-track hybrid mobility system in this technical solution, through structural innovation and functional integration, utilizes the drive of the conversion drive structure to achieve the vertical movement of the tire assembly, thereby achieving automated switching between wheel drive and track drive modes. It switches to wheel drive mode on flat roads, and can efficiently and stably switch to track mode when encountering complex terrains such as mud, rocks, and snow. This effectively solves the performance contradiction between traditional wheeled and tracked vehicles in complex terrain, realizing all-terrain adaptability, dynamic mechanical coupling, and intelligent control. The breakthrough features superior passability and maneuverability in complex scenarios, significantly improving the applicability of different scenarios. Secondly, the main support adopts a triangular frame structure, which, together with the guide rollers and the upper load-bearing rollers, forms a multi-point support system, ensuring that the ring track maintains stable contact even on extreme slopes, enhancing its anti-rollover capability. In addition, the conversion drive unit adopts a mirror-symmetrical layout, with four conversion drive units integrated on both sides of the two main supports, resulting in a smaller overall size and lighter weight. This makes it suitable not only for special vehicles, emergency rescue equipment, and agricultural machinery, but also for mobile platforms such as light armored vehicles and rescue robots, demonstrating good adaptability. Attached Figure Description

[0016] Figure 1 This is a top view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the inner track unit in this invention; Figure 3 This is a schematic diagram of the structure of the present invention in a wheel-driven state; Figure 4 This is a schematic diagram of the structure of the present invention in tracked drive mode; In the diagram: 1. Inner track unit; 11. Main support frame; 111. Bottom support rod; 112. Main tilting rod; 113. Diagonal brace connecting rod; 114. Guide roller support frame; 1141. Guide roller; 115. Upper load-bearing roller support frame; 1151. Upper load-bearing roller; 116. Main drive wheel; 117. Bottom support rod drive wheel; 118. Main tilting rod drive wheel; 12. Annular track; 121. Meshing tooth groove; 2. Conversion drive unit; 21. Fixed frame; 22. Connecting arm; 23. Telescopic actuator; 3. Tire assembly; 31. Tire body; 311. Tire protective cover; 32. Tire drive plate; 321. Pivot shaft. Detailed Implementation

[0017] The following will provide a detailed description by way of embodiments. However, the description of the embodiments is not intended to limit the invention. Any formal but not substantive equivalent transformations made based on the inventive concept should be considered within the scope of the invention's technical solution.

[0018] In the following description, all directional or orientational concepts involving up, down, left, right, front, and back refer to the current situation. Figure 1 It refers to the position and state of the invention, and therefore cannot be understood as a special limitation on the technical solution provided by the invention.

[0019] Please see Figures 1 to 3 This illustrates an all-terrain adaptive wheeled track hybrid mobility system, comprising: a pair of inner track units 1, such as... Figure 1 As shown, two inner track units 1 are symmetrically spaced and fixedly connected by a connecting frame. Each inner track unit 1 includes a main support 11 and an annular track 12 tensioned and fitted on the main support 11. The main support 11 is preferably made of a high-strength alloy frame, which is lightweight and highly rigid. Multiple conversion drive units 2 are installed on the outer side of the main support 11 of the inner track unit 1. Each conversion drive unit 2 has a fixed frame 21, a connecting arm 22 installed on the fixed frame 21, and a telescopic actuator 23. Multiple tire assemblies 3 are connected to their respective conversion drive units 2 and include a tire body 31 and a tire drive plate 32 connected to the tire body 31. The tire drive plate 32 is pivotally connected to the connecting arm 22 of the conversion drive unit 2. The telescopic end of the telescopic actuator 23 is also connected to the tire drive plate 32 and can drive the tire drive plate 32 and the tire body 31 to rotate, thereby achieving longitudinal movement between the two and realizing the conversion between wheel drive and track drive. Through precise control of the telescopic actuator 23, zero-impact switching between the tire assembly 3 and the inner track unit 1 is achieved. When the telescopic actuator 23 extends outward, the tire body 31 can move downward. When the tire body 31 contacts the ground and the annular track 12 disengages from the ground, the travel system is in wheel drive mode. When encountering complex terrain such as mud or gravel, the telescopic actuator 23 retracts, which can drive the tire body 31 upward through the tire drive plate 32, causing the tire body 31 to disengage from the ground until it is retracted to the outside of the inner track unit 1. The annular track 12 contacts the ground and becomes the driving component of the travel system. The high friction between the track and the ground provides driving power. For example, in muddy fields, earthquake ruins, or mudslide disaster sites, the system can quickly switch to track mode to traverse complex obstacles. After arriving at the rescue point, it switches to wheel mode for material transportation, greatly improving the adaptability of the scene.

[0020] In this embodiment, four of the aforementioned conversion drive units 2 are mounted in pairs on the main support 11 of an inner track unit 1, and the two aforementioned conversion drive units 2 located on the same main support 11 are arranged in a mirror-symmetrical manner. The aforementioned tire assembly 3 is located on the outer side opposite to one of the aforementioned conversion drive units 2 and its symmetrical counterpart. The mirror-symmetrical layout allows the tire assembly 3 to be distributed at both ends of the main support 11, shortening the wheelbase and improving steering flexibility. At the same time, the symmetrical structure simplifies the transmission system design, reduces the number of irregularly shaped parts, and lowers manufacturing costs.

[0021] Please continue reading Figures 1 to 3 A pivot shaft 321 is provided at the bottom of the aforementioned tire drive plate 32. The pivot shaft 321 passes through the connecting arm 22 of the aforementioned conversion drive unit 2 and is rotatably connected to the connecting arm 22, thereby realizing the pivotal connection between the aforementioned tire assembly 3 and the connecting arm 22. The telescopic end of the aforementioned telescopic actuator 23 is fixedly connected to the connecting plate at the top end of the aforementioned tire drive plate 32 and can drive the aforementioned tire drive plate 32 and tire body 31 to rotate. This design allows the tire assembly 3 to turn freely, adapting to the steering requirements of complex terrain. When the telescopic actuator 23 extends or retracts, the telescopic actuator 23 can drive the tire drive plate 32 and tire body 31 to rotate around the pivot shaft 321, realizing efficient and stable switching of the driving mode of the travel system.

[0022] Furthermore, a tire protective cover 311 is also provided on the tire body 31 of the aforementioned tire assembly 3. The tire protective cover 311 is used to cover the top part of the tire body 31 and to protect the upper part of the tire body 31. The tire protective cover 311 can prevent mud, water or other dirt on the inner track unit 1 from splashing onto the tire body 31. In this embodiment, the aforementioned tire body 31 adopts a wide-base low-pressure design to increase the ground contact area and reduce the pressure. At the same time, it can build a shock-absorbing spring assembly to improve driving comfort.

[0023] In this embodiment, the aforementioned telescopic actuator 23 is one of an electric push rod, a hydraulic cylinder, or a pneumatic actuator.

[0024] Please pay close attention. Figure 2 and combined Figure 3 and Figure 4The aforementioned main support 11 is assembled from a bottom support rod 111, a main inclined rod 112, and a diagonal brace connecting rod 113. The bottom support rod 111 is horizontally positioned at the bottom of the main support 11, while the main inclined rod 112 is positioned above the bottom support rod 111. One end of the main inclined rod 112 is fixedly connected to one end of the bottom support rod 111 along its length, while the other end of the main inclined rod 112 extends upwards at an angle, forming an inclined end. The diagonal brace connecting rod 113 is fixedly connected between the inclined end of the main inclined rod 112 and the other end of the bottom support rod 111 along its length. The main support 11 adopts a triangular stable structure: the bottom support rod 111 serves as the load-bearing main body, and the main inclined rod 112 and the diagonal brace connecting rod 113 form a spatial truss, decomposing the vertical load into axial and shear forces. The rod connections are fixed using connecting frames or fasteners, resulting in strong structural stability and reliable operation.

[0025] Furthermore, multiple guide roller brackets 114 are installed on the body of the aforementioned bottom support rod 111, and multiple guide rollers 1141 are installed on the aforementioned guide roller brackets 114. The multiple guide rollers 1141 slide with the aforementioned annular track 12. The guide rollers 1141 can guide and constrain the movement trajectory of the annular track 12 and reduce the sagging and running resistance of the annular track 12, preventing its movement misalignment. On the aforementioned main inclined rod 112, multiple upper bearing roller brackets 115 extending upward are installed. Each of the multiple upper bearing roller brackets 115 has an upper bearing roller 1151 at its top. The multiple upper bearing rollers 1151 slide with the aforementioned annular track 12 and are used to support the annular track 12, preventing the annular track 12 from sinking excessively and maintaining transmission stability.

[0026] Please continue reading Figures 1 to 4A main drive wheel 116 is provided on the aforementioned main support 11 at the connection end corresponding to the aforementioned bottom support rod 111 and the aforementioned main tilting rod 112. A bottom support rod drive wheel 117 is provided at the other end of the aforementioned bottom support rod 111 away from the main drive wheel 116 in the length direction. A main tilting rod drive wheel 118 is provided at the other end of the aforementioned main tilting rod 112 away from the main drive wheel 116 in the length direction. The aforementioned main drive wheel 116, bottom support rod drive wheel 117 and main tilting rod drive wheel 118 are connected to the aforementioned annular track 12 and can drive the annular track 12 to rotate. The main drive wheel 116 is located at the connection end of the bottom support rod 111 and the main tilting rod 112. The bottom support rod drive wheel 117 is located at the far end of the bottom support rod 111 and the main tilting rod drive wheel 118 is located at the far end of the main tilting rod 112. The three of them work together to drive the annular track 12 to form a closed loop motion. To ensure stable power transmission, the three drive wheels form a triangular power layout, avoiding single-point overload, ensuring reliable traction output, and improving driving smoothness.

[0027] In this embodiment, a meshing groove 121 is provided on the inner side of the annular track 12 of the aforementioned inner track unit 1. The aforementioned main drive wheel 116, bottom support rod drive wheel 117, and main body tilt rod drive wheel 118 are all provided with meshing teeth that match the aforementioned meshing groove 121, thereby realizing the meshing of the main drive wheel 116, bottom support rod drive wheel 117, and main body tilt rod drive wheel 118 with the aforementioned annular track 12. The annular track 12 can adjust its tension by adjusting the size of the main drive wheel 116, bottom support rod drive wheel 117, and main body tilt rod drive wheel 118 to adapt to the track tension requirements of different terrains. The track surface is designed with multi-segment raised texture to enhance grip on muddy ground and reduce wear on hard surfaces. The aforementioned meshing groove 121 adopts a trapezoidal cross-section design, with the bottom width slightly larger than the top, forming a progressive mesh with the teeth of the three drive wheels: the main drive wheel 116, the bottom support rod drive wheel 117, and the main body tilt rod drive wheel 118. When the annular track 12 rotates, the inclined guide teeth of the meshing groove 121 gradually engage, reducing meshing impact and improving the smoothness of transmission.

[0028] Furthermore, the aforementioned main drive wheel 116, bottom support rod drive wheel 117, and main body tilting rod drive wheel 118 all adopt an involute gear meshing structure, and their gear tooth surfaces are coated with nano-tungsten carbide; the nano-tungsten carbide coating has better wear resistance, thereby effectively reducing the wear rate of the tooth surface and extending the service life.

[0029] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the invention, and these improvements and modifications should also be considered within the scope of protection of the invention.

[0030] In summary, the technical solution provided by this invention makes up for the shortcomings of the prior art, successfully completes the invention task, and accurately realizes the technical effects described by the applicant in the above technical effects column.

Claims

1. An all-terrain adaptive wheeled track hybrid mobility system, characterized in that, include: A pair of inner track units (1), each inner track unit (1) including a main support (11) and an annular track (12) tensioned and fitted on the main support (11); a plurality of conversion drive units (2), each conversion drive unit (2) being installed on the outer side of the main support (11) of the inner track unit (1) and having a fixing frame (21), a connecting arm (22) mounted on the fixing frame (21), and a telescopic actuator (23); a plurality of tire assemblies (3), each tire assembly (3) The device is connected to its corresponding conversion drive unit (2) and includes a tire body (31) and a tire drive plate (32) connected to the tire body (31). The tire drive plate (32) is pivotally connected to the connecting arm (22) of the conversion drive unit (2). The telescopic end of the telescopic drive (23) is also connected to the tire drive plate (32) and can drive the tire drive plate (32) and the tire body (31) to rotate to achieve a change in their longitudinal position, thereby realizing the conversion between wheel drive and track drive.

2. The all-terrain adaptive wheeled track hybrid mobility system according to claim 1, characterized in that: The number of the conversion drive units (2) is four, and they are installed in pairs on the main support (11) of an inner track unit (1). The two conversion drive units (2) located on the same main support (11) are arranged in a mirror symmetrical manner. The tire assembly (3) is located on the outer side of one of the conversion drive units (2) and the other conversion drive unit (2) that is symmetrical to it.

3. The all-terrain adaptive wheel-track hybrid mobility system according to claim 2, characterized in that: A pivot shaft (321) is provided at the bottom of the tire drive plate (32). The pivot shaft (321) passes through the connecting arm (22) of the conversion drive unit (2) and is rotatably connected to the connecting arm (22), thereby realizing the pivotal connection between the tire assembly (3) and the connecting arm (22). The telescopic end of the telescopic actuator (23) is fixedly connected to the connecting plate at the top end of the tire drive plate (32) and can drive the rotation of the tire drive plate (32) and the tire body (31).

4. The all-terrain adaptive wheel-track hybrid mobility system according to claim 1, characterized in that: A tire cover (311) is also provided on the tire body (31) of the tire assembly (3). The tire cover (311) is used to cover the top part of the tire body (31) and to protect the upper part of the tire body (31).

5. The all-terrain adaptive wheel-track hybrid mobility system according to claim 1, characterized in that: The telescopic actuator (23) is one of an electric push rod, a hydraulic cylinder or a pneumatic actuator.

6. The all-terrain adaptive wheel-track hybrid mobility system according to claim 1, characterized in that: The main support (11) is assembled from a bottom support rod (111), a main inclined rod (112), and a diagonal bracing connecting rod (113). The bottom support rod (111) is horizontally positioned at the bottom of the main support (11), while the main inclined rod (112) is positioned above the bottom support rod (111). One end of the main inclined rod (112) is fixedly connected to one end of the bottom support rod (111) along its length, while the other end of the main inclined rod (112) extends upward at an angle and forms an inclined end. The diagonal bracing connecting rod (113) is fixedly connected between the inclined end of the main inclined rod (112) and the other end of the bottom support rod (111) along its length.

7. The all-terrain adaptive wheel-track hybrid mobility system according to claim 6, characterized in that: Multiple guide roller brackets (114) are installed on the bottom support rod (111), and multiple guide rollers (1141) are installed on the guide roller brackets (114). The multiple guide rollers (1141) slide with the annular track (12). Multiple upper load-bearing roller brackets (115) extending upward are installed on the main inclined rod (112). Each of the multiple upper load-bearing roller brackets (115) has an upper load-bearing roller (1151) at its top. The multiple upper load-bearing rollers (1151) slide with the annular track (12) and are used to support the annular track (12).

8. The all-terrain adaptive wheel-track hybrid mobility system according to claim 6, characterized in that: A main drive wheel (116) is provided on the main support (11) at the connection end corresponding to the bottom support rod (111) and the main tilting rod (112). A bottom support rod drive wheel (117) is provided at the other end of the bottom support rod (111) away from the main drive wheel (116) in the length direction. A main tilting rod drive wheel (118) is provided at the other end of the main tilting rod (112) away from the main drive wheel (116) in the length direction. The main drive wheel (116), the bottom support rod drive wheel (117), and the main tilting rod drive wheel (118) are connected to the annular track (12) and can drive the annular track (12) to rotate.

9. The all-terrain adaptive wheel-track hybrid mobility system according to claim 8, characterized in that: The inner track unit (1) has a meshing groove (121) on the inner side of the annular track (12). The main drive wheel (116), the bottom support rod drive wheel (117) and the main body tilt rod drive wheel (118) are all provided with meshing teeth that match the meshing groove (121), so as to realize the meshing of the main drive wheel (116), the bottom support rod drive wheel (117) and the main body tilt rod drive wheel (118) with the annular track (12).

10. The all-terrain adaptive wheel-track hybrid mobility system according to claim 8, characterized in that: The main drive wheel (116), the bottom support rod drive wheel (117), and the main body tilting rod drive wheel (118) all adopt an involute gear meshing structure, and their gear teeth are coated with a nano-tungsten carbide coating.

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