Tire-track integrated walking system and control method

Abstract

The invention discloses a tire-track integrated walking system and a control method, and belongs to the technical field of off-road vehicles. The system comprises a tire, a combined track sleeved outside the tire, a front driving wheel, a rear driving wheel and a motor, wherein the front driving wheel and the rear driving wheel are respectively meshed at two ends of the track. The combined track is composed of a left annular rubber track, a right annular rubber track and a plurality of U-shaped track plates connected between the left annular rubber track and the right annular rubber track, tires make contact with the inner surfaces of the track plates to form rolling friction, and the U-shaped structures can prevent the tires from disengaging. The vehicle speed is detected through the speed sensor, the control unit automatically coordinates and controls starting and stopping of the motor, separation and reunion of the coupler and rotation of tires according to the vehicle speed, and seamless dynamic switching among three modes of double-motor crawler belt, single-motor crawler belt and tire walking is achieved. The track is compact in structure, light in weight, high in reliability, continuous in power in the switching process and stable in vehicle, thrust wheels and tensioning mechanisms of a traditional track are omitted, and the track can be effectively protected in a tire mode.

Description

Technical Field

[0001] This invention relates to a tire-track integrated walking system and control method, belonging to the field of off-road vehicle technology. Background Technology

[0002] Traditional wheel-track hybrid vehicles have a common contradiction: in order to accommodate both modes, two independent running gears are often required, resulting in a large vehicle weight, complex structure, and low space utilization.

[0003] More importantly, traditional mode switching processes are cumbersome and inefficient. They typically require the vehicle to come to a complete stop, followed by a series of mechanical operations performed by the operator, such as raising the tires or lowering the tracks, disengaging or engaging the clutch, and tensioning or loosening the track chains. This process is not only time-consuming and causes power interruptions, severely impacting operational continuity and efficiency, but also poses safety risks in hazardous or emergency operating environments. In existing technologies, the operating modes of tracks and tires are completely independent and static, making dynamic and seamless switching based on real-time vehicle status and road conditions impossible.

[0004] Therefore, there is an urgent need for an integrated walking system that is compact, lightweight, and can automatically, smoothly, and without interruption switch between wheeled and tracked walking modes according to working conditions. Summary of the Invention

[0005] The purpose of this invention is to provide a tire-track integrated walking system and control method. Through innovative structural design, the system integrates the tire into a specially designed combined track, realizing a symbiotic structure of "wheel in track, track in wheel". The structure is extremely compact, eliminating the need for traditional track guide wheels, support wheels and complex tensioning systems. The entire walking mechanism is lighter, simpler in structure and more reliable.

[0006] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution.

[0007] On one hand, the present invention provides a tire-track integrated walking system, comprising:

[0008] Several tires are arranged along the length of the vehicle body. The tires are connected to the frame through rims and axles, and receive power from the engine to rotate through the gearbox, axle and coupling.

[0009] A combined track, which is ring-shaped and fitted over the tire, includes a left annular rubber track and a right annular rubber track, and a plurality of track plate assemblies arranged circumferentially between the left and right annular rubber tracks. Each track plate assembly includes a U-shaped track plate and fasteners. The two ends of the track plate are respectively connected to the left and right annular rubber tracks by fasteners, and the bottom of the track plate is in contact with the ground.

[0010] The front drive wheel and the rear drive wheel are respectively located on the inner sides of both ends of the combined track ring structure and mesh with the bottom of the track plate U-shaped structure so as to drive the combined track to rotate;

[0011] The front motor and the rear motor are connected to the front drive wheel and the rear drive wheel, respectively, and are used to drive the corresponding drive wheel to rotate.

[0012] And a control unit configured to control the start and stop of the front motor and the rear motor, the engagement and disengagement of the coupling and the rotation of the tires according to the vehicle's travel speed, so as to achieve dynamic switching between tire travel mode and track travel mode.

[0013] In tracked walking mode, the tire acts as a driven wheel, and its tread contacts the bottom inner surface of the U-shaped structure of the track plate to tension the combined track. At the same time, the motor drives the corresponding drive wheel to rotate the combined track through meshing.

[0014] In tire-walking mode, the coupling engages, the tire receives engine power to rotate as the drive wheel, and drives the combined track to follow suit. At this time, the track plates are in slight contact with or out of contact with the ground.

[0015] Furthermore, it also includes: a speed sensor, used to detect the vehicle's speed in real time;

[0016] The control unit coordinates and controls the rotation of the front motor, rear motor, and tires based on the driving speed detected by the speed sensor.

[0017] Furthermore, the U-shaped structure of the track plate has its bottom inner surface in contact with the tire tread to form rolling friction; its bottom outer surface is provided with a toothed structure that meshes with the drive wheel to transmit traction force.

[0018] Furthermore, there is a set height difference between the upper inner side and the bottom inner side of the U-shaped structure. When the combined track wraps around the tire, the upper part of the U-shaped structure can restrict the tire from above and prevent it from coming off the combined track.

[0019] Furthermore, each end of the track plate has a row of mounting holes along its length. The fasteners include bolts and nuts. The bolts pass through the left annular rubber track, the mounting hole at one end of the track plate, and the right annular rubber track in sequence, and are locked in place by the nuts.

[0020] Furthermore, the control unit includes a hydraulic control valve and a central controller; the hydraulic control valve is used to control the flow of hydraulic oil to the front motor and / or the rear motor; the central controller issues control commands to the hydraulic control valve according to the driving speed signal, and controls the engagement and disengagement of the coupling.

[0021] Secondly, the present invention provides a control method for the above-mentioned integrated tire and track walking system. When the vehicle starts to move forward, the front motor and the rear motor are controlled to work simultaneously to drive the front drive wheel and the rear drive wheel to rotate, thereby driving the combined track to walk. At this time, the tire is a driven component and the vehicle is in a dual-motor driven track walking mode.

[0022] When the vehicle's speed increases and reaches the first preset speed V1, the rear motor is controlled to stop working, while the front motor continues to work, so that the vehicle switches to a tracked walking mode with the front drive wheel driven by a single drive.

[0023] When the vehicle's speed continues to increase and reaches the second preset speed V2, the front motor and the rear motor are controlled to stop working, and the coupling is controlled to engage to transmit the engine's power to the tires, so that the vehicle switches to tire-based driving mode.

[0024] When the vehicle's speed drops to the second preset speed V2 in tire-driven mode, the coupling is disengaged to cut off the power transmitted to the tires, and the front motor is activated to switch the vehicle to a single-drive track-driven mode. When the vehicle's speed further drops to the first preset speed V1 in single-drive track-driven mode, the rear motor is activated to switch the vehicle back to a dual-motor-driven track-driven mode to improve the vehicle's traction.

[0025] Furthermore, when the vehicle starts to reverse and the travel speed reaches the first preset speed V1, the rear motor is controlled to work to drive the rear drive wheel to rotate, thereby driving the vehicle to move backward with the combined track.

[0026] Furthermore, the first preset speed V1 is the upper limit of the tracked mode speed at which the vehicle can travel stably under low traction requirements; the second preset speed V2 is the minimum speed required for the vehicle to smoothly switch from tracked mode to tire mode.

[0027] The working principle is as follows:

[0028] Tracked travel mode (low speed / off-road conditions): The control unit commands the coupling to disengage, cutting off power from the engine to the tires; simultaneously, it commands one or two motors to operate, driving the corresponding drive wheels; the drive wheels, through tooth engagement with the bottom of the track pads, drive the entire combined track to rotate around the tires; at this time, the tire's role changes from "drive wheel" to a driven wheel similar to the "track roller" in a traditional track system; the tire tread is in close contact with the bottom inner surface of the track pad's U-shaped structure, on the one hand tightly lifting the upper part of the track ring and pressing the lower part against the ground, thus naturally tensioning the entire track system without the need for an additional tensioning mechanism; on the other hand, the tire rolls within the track pad, forming rolling friction rather than sliding friction, greatly reducing running resistance and aiding movement; the height difference between the upper inner side and the bottom inner side of the track pad's U-shaped structure forms a "groove," which can restrict the tire from above, effectively preventing it from coming off the track rings during bumps or turns.

[0029] Tire travel mode (high speed / good road surface condition): When the speed reaches a certain threshold, the control unit instructs all motors to stop working and simultaneously instructs the coupling to engage; the engine's power is directly transmitted to the tires through the gearbox and axle, and the tires become the driving wheels, rolling on the ground; at this time, the combined track loses the active driving force from the drive wheels, but due to the U-shaped wrapping relationship between the track plates and the tires, it will be "dragged" along by the rotating tires; on good road surfaces, the track plates have slight or almost no contact with the ground, mainly serving to protect the tires and tracks themselves, prevent foreign objects from getting caught, and avoid unnecessary wear.

[0030] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This invention creatively replaces the support rollers and tensioning mechanisms of traditional tracks with tires themselves, and directly drives the track plates with a motor-drive wheel, eliminating the need for guide wheels and complex track systems; the number of parts in the entire walking mechanism is greatly reduced, the structure is compact, the weight is significantly reduced, the failure rate is lowered, and the reliability is greatly improved; moreover, this invention, based on speed-sensing automatic control, realizes dynamic and seamless switching between walking modes; the switching process is smooth, and the power transmission is basically uninterrupted, making it particularly suitable for scenarios with extremely high requirements for operational continuity, such as disaster relief and rescue. At the same time, using the tire mode on good road surfaces leverages the advantages of high efficiency and low resistance of wheeled walking; and the tracks are lifted and moved accordingly, avoiding hard friction and impact with the ground, effectively protecting the expensive rubber tracks and track plates, extending their service life, and reducing operating costs. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the tire-track integrated walking system of the present invention;

[0032] Figure 2 This is a partial structural schematic diagram of the combined track of the present invention;

[0033] Figure 3 This is a schematic diagram of the track plate structure of the present invention;

[0034] Figure 4 This is a schematic diagram of the composition of the control system of the present invention;

[0035] Figure 5 This is a logic flowchart of the control method of the present invention;

[0036] In the diagram: 1-1 Front motor, 1-2 Front drive wheel, 1-3 Tire, 1-4 Combined track, 1-5 Rear motor, 1-6 Rear drive wheel, 2-1 Left annular rubber track, 2-2 Right annular rubber track, 2-3 Track plate, 2-4 Pad, 2-5 Bolt, 2-6 Nut, Mounting hole 3-1, Track plate bottom inner surface 3-2. Detailed Implementation

[0037] It should be noted that:

[0038] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0039] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0040] Example 1

[0041] like Figures 1 to 3 One embodiment of the above describes a tire-track integrated walking system, comprising:

[0042] Several tires 1-3 are arranged along the length of the vehicle body. The tires 1-3 are connected to the frame through rims and axles, and receive power from the engine to rotate through the gearbox, axle and coupling. Two to four tires 1-3 are arranged on each side.

[0043] The combined track 1-4 is annular and fitted over the tire. The combined track includes a left annular rubber track 2-1 and a right annular rubber track 2-2, as well as a plurality of track plate assemblies spaced circumferentially between the left and right annular rubber tracks.

[0044] Each track plate assembly includes a U-shaped track plate 2-3 and fasteners. The track plate 2-3 is stamped into a U-shape from high-strength steel plate. It is wider at the bottom and has transverse reinforcing ribs and grip teeth cast on the outer surface. The inner surface is flat and is used to contact the tread of the tire 1-3. The upright plates (upper part) on both sides of the U-shape are bent inward to form a height difference with the bottom. The two ends of the track plate are respectively connected to the left and right annular rubber tracks by fasteners. The bottom of the track plate is in contact with the ground.

[0045] The front drive wheel 1-2 and the rear drive wheel 1-6 are respectively located on the inner sides of both ends of the annular structure of the combined track 1-4, and mesh with the bottom of the U-shaped structure of the track plate 2-3 so as to drive the combined track 1-4 to rotate.

[0046] The front motor 1-1 and the rear motor 1-5 are connected to the front drive wheel 1-2 and the rear drive wheel 1-6 respectively, and are used to drive the corresponding drive wheel to rotate. The two motors are fixed on the vehicle frame by brackets.

[0047] And a control unit, which is configured to control the start and stop of the front motor 1-1 and the rear motor 1-5, the engagement and disengagement of the coupling and the rotation of the tires 1-3 according to the vehicle's travel speed, so as to realize dynamic switching between tire travel mode and track travel mode.

[0048] In tracked walking mode, the tires 1-3 serve as driven wheels, with their treads contacting the bottom inner surface of the U-shaped structure of the track plates 2-3 and tensioning the combined track 1-4. At the same time, the motor drives the corresponding drive wheel to rotate the combined track 1-4 through meshing.

[0049] In tire-walking mode, the coupling engages, the tire 1-3 receives engine power as the drive wheel to rotate, and drives the combined track 1-4 to follow. At this time, the track plate 2-3 is in slight contact with or out of contact with the ground.

[0050] It also includes: a speed sensor, used to detect the vehicle's speed V in real time;

[0051] The control unit coordinates the rotation of the front motor 1-1, the rear motor 1-5, and the tire 1-3 based on the driving speed detected by the speed sensor.

[0052] The U-shaped structure of the track plate 2-3 allows the bottom inner surface 3-2 of the track plate to contact the tread of the tire 1-3 to form rolling friction;

[0053] There is a set height difference between the upper inner side and the bottom inner side of the U-shaped structure. When the combined track 1-4 wraps around the tire 1-3, the upper part of the U-shaped structure can restrict the tire 1-3 from above and prevent it from coming off the combined track.

[0054] The track plate 2-3 has a row of mounting holes 3-1 at both ends along its length. The fasteners include: a washer 2-4, a bolt 2-5 and a nut 2-6. The bolt 2-5 passes through the left annular rubber track 2-1, the mounting hole 3-1 at one end of the track plate 2-3 and the right annular rubber track 2-2 in sequence, and is locked and fixed by the washer 2-4 and the nut 2-6.

[0055] During installation, place the left and right annular rubber tracks 2-1 and 2-2 on both sides of the track plate 2-3, aligning the mounting holes 3-1. Then, pass the high-strength bolts 2-5 through the holes on the left rubber track, the track plate upright, and the right rubber track in sequence. Finally, tighten them with washers 2-4 and nuts 2-6. Multiple such track plate assemblies are installed at equal intervals along the circumference to form a combined track ring.

[0056] like Figure 4 As shown, the control unit includes a hydraulic control valve and a central controller; the hydraulic control valve is used to control the flow of hydraulic oil to the front motor and / or the rear motor; the central controller sends control commands to the hydraulic control valve according to the driving speed signal, and controls the engagement and disengagement of the coupling.

[0057] Example 2

[0058] like Figure 5 The embodiment shown provides a control method for the tire-track integrated walking system in Embodiment 1. When the vehicle starts to move forward, the front motor 1-1 and the rear motor 1-5 are controlled to work simultaneously, driving the front drive wheel 1-2 and the rear drive wheel 1-6 to rotate, thereby driving the combined track 1-4 to move. At this time, the tire 1-3 is a driven component, and the vehicle is in a dual-motor driven track walking mode.

[0059] When the vehicle's speed V increases and reaches the first preset speed V1, the rear motor 1-5 is controlled to stop working, while the front motor 1-1 continues to work, so that the vehicle switches to a tracked walking mode with single front drive wheel drive. The first preset speed V1 can be set to 2km / h.

[0060] When the vehicle's speed V continues to rise and reaches the second preset speed V2, the front motor 1-1 and the rear motor 1-5 are controlled to stop working, and the coupling is controlled to engage to transmit the engine's power to the tires 1-3, so that the vehicle switches to tire driving mode. The second preset speed V2 can be set to 5 km / h.

[0061] When the vehicle's speed V drops to the second preset speed V2 in tire-walking mode, the coupling is controlled to disengage to cut off the power transmitted to the tires, and the front motor 1-1 is controlled to start working, so that the vehicle switches to track-walking mode with single drive of the front drive wheel.

[0062] When the vehicle's speed V in single-drive tracked mode further decreases to the first preset speed V1, the rear motors 1-5 are also activated, causing the vehicle to switch back to dual-motor driven tracked mode to improve the overall traction of the vehicle.

[0063] When the vehicle starts to reverse and the driving speed V reaches the first preset speed V1, the rear motor 1-5 is controlled to work to drive the rear drive wheel 1-6 to rotate, thereby driving the vehicle to move backward with the combined track.

[0064] The first preset speed V1 is the upper limit of the tracked mode speed at which the vehicle can travel stably under low traction requirements; the second preset speed V2 is the minimum speed required for the vehicle to smoothly switch from tracked mode to tire mode.

[0065] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A tire-track integrated walking system, characterized in that, include: Several tires are arranged along the length of the vehicle body. The tires are connected to the frame through rims and axles, and receive power from the engine to rotate through the gearbox, axle and coupling. A combined track, which is ring-shaped and fitted over the tire, includes a left annular rubber track and a right annular rubber track, and a plurality of track plate assemblies arranged circumferentially between the left and right annular rubber tracks. Each track plate assembly includes a U-shaped track plate and fasteners. The two ends of the track plate are respectively connected to the left and right annular rubber tracks by fasteners, and the bottom of the track plate is in contact with the ground. The front drive wheel and the rear drive wheel are respectively located on the inner sides of both ends of the combined track ring structure and mesh with the bottom of the track plate U-shaped structure so as to drive the combined track to rotate; The front motor and the rear motor are connected to the front drive wheel and the rear drive wheel, respectively, and are used to drive the corresponding drive wheel to rotate. And a control unit configured to control the start and stop of the front motor and the rear motor, the engagement and disengagement of the coupling and the rotation of the tires according to the vehicle's travel speed, so as to achieve dynamic switching between tire travel mode and track travel mode. In tracked walking mode, the tire acts as a driven wheel, and its tread contacts the bottom inner surface of the U-shaped structure of the track plate to tension the combined track. At the same time, the motor drives the corresponding drive wheel to rotate the combined track through meshing. In tire-walking mode, the coupling engages, the tire receives engine power to rotate as the drive wheel, and drives the combined track to follow.

2. The tire-track integrated walking system according to claim 1, characterized in that, Also includes: Speed ​​sensor, used to detect the vehicle's speed in real time; The control unit coordinates and controls the rotation of the front motor, rear motor, and tires based on the driving speed detected by the speed sensor.

3. The tire-track integrated walking system according to claim 1, characterized in that, The U-shaped structure of the track plate has its bottom inner surface in contact with the tread of the tire to form rolling friction; Its bottom outer surface is provided with a toothed structure that meshes with the drive wheel to transmit traction force.

4. The tire-track integrated walking system according to claim 3, characterized in that, There is a set height difference between the upper inner side and the bottom inner side of the U-shaped structure. When the combined track wraps around the tire, the upper part of the U-shaped structure can restrict the tire from above and prevent it from coming off the combined track.

5. The tire-track integrated walking system according to claim 1, characterized in that, The track plate has a row of mounting holes at both ends along its length. The fasteners include bolts and nuts. The bolts pass through the left annular rubber track, the mounting hole at one end of the track plate, and the right annular rubber track in sequence, and are locked and fixed by the nuts.

6. The tire-track integrated walking system according to claim 1, characterized in that, The control unit includes a hydraulic control valve and a central controller; the hydraulic control valve is used to control the flow of hydraulic oil to the front motor and / or the rear motor; the central controller sends control commands to the hydraulic control valve according to the driving speed signal, and controls the engagement and disengagement of the coupling.

7. A control method for a tire-track integrated walking system according to any one of claims 1 to 6, characterized in that, When the vehicle starts moving forward, the front motor and the rear motor are controlled to work simultaneously, driving the front drive wheel and the rear drive wheel to rotate, thereby driving the combined track to move. At this time, the tires act as driven components, and the vehicle is in a dual-motor driven track walking mode. When the vehicle's speed increases and reaches the first preset speed V1, the rear motor is controlled to stop working, while the front motor continues to work, so that the vehicle switches to a tracked walking mode with the front drive wheel driven by a single drive. When the vehicle's speed continues to increase and reaches the second preset speed V2, the front motor and the rear motor are controlled to stop working, and the coupling is controlled to engage to transmit the engine's power to the tires, so that the vehicle switches to tire-based driving mode. When the vehicle's speed drops to the second preset speed V2 in tire-walking mode, the coupling is controlled to disengage to cut off the power transmitted to the tires, and the front motor is controlled to start working, so that the vehicle switches to track-walking mode with single front drive wheel drive. When the vehicle's speed further decreases to the first preset speed V1 in the single-drive tracked walking mode, the rear motor is also activated, causing the vehicle to switch back to the dual-motor driven tracked walking mode to improve the overall traction of the vehicle.

8. The control method according to claim 7, characterized in that, When the vehicle starts to reverse and the travel speed reaches the first preset speed V1, the rear motor is controlled to work to drive the rear drive wheel to rotate, thereby driving the vehicle to move backward with the combined track.

9. The control method according to claim 7, characterized in that, The first preset speed V1 is the upper limit of the tracked mode speed at which the vehicle can travel stably under low traction requirements; the second preset speed V2 is the minimum speed required for the vehicle to smoothly switch from tracked mode to tire mode.

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