Walking device and deformable wheel-track composite walking mechanism thereof

Abstract

The application relates to a walking device and a deformable wheel-track composite walking mechanism thereof in the technical field of all-terrain walking mechanisms and deformable tires, and the walking device comprises a transmission assembly, a wheel-track main frame and a linkage disc, the transmission assembly comprises a main shaft, a driving gear, a sleeve gear, a deformation gear set and a walking gear set, the driving gear is sleeved on the main shaft to rotate synchronously, the deformation gear set and the walking gear set are respectively sleeved on both sides of the driving gear, the sleeve gear is slidably engaged on the main gear, after the sleeve gear axially slides, the sleeve gear is respectively engaged with the main gear and the deformation gear set, or the sleeve gear is respectively engaged with the main gear and the walking gear set; the wheel-track main frame comprises a deformation wheel frame and the linkage disc, the deformation wheel frame is sleeved on the main shaft, the linkage disc is sleeved on the main shaft to drive the deformation wheel frame to deform, and the walking gear set is connected with the deformation wheel frame and drives the deformation wheel frame to rotate. The walking driving and deformation switching of the wheel frame are realized through a single sleeve power unit, and the application has the remarkable characteristics of simplicity, high efficiency, light weight, space saving and the like.

Description

Technical Field

[0001] This invention relates to the fields of all-terrain walking mechanisms and deformable tire technology, specifically to a walking device and its deformable wheel-track composite walking mechanism, which is suitable for special robots, light all-terrain operation vehicles, emergency inspection chassis, small off-road mobile equipment and other walking devices that need to balance high-speed driving and obstacle crossing in complex road conditions. Background Technology

[0002] As a mainstream integrated wheel-track deformable tire structure, the wheel-track composite deformable tire can switch between high-speed wheeled travel and low-speed tracked obstacle crossing, and is widely used in various special mobile equipment. Existing traditional wheel-track composite deformable tires rely entirely on the coordinated operation of multiple hydraulic cylinders for deformation drive and working condition switching, with separate power structures for travel drive and deformation drive.

[0003] Existing technologies have several inherent drawbacks: First, the large number of hydraulic cylinders and associated accessories such as hydraulic tanks, oil pipelines, electromagnetic control valve groups, and pressure sensors results in a bulky and redundant overall structure, occupying significant installation space on the chassis, greatly increasing the equipment's weight, leading to reduced vehicle load capacity, increased energy consumption, and complex structure. Second, hydraulic system seals are prone to aging, pipelines are prone to leakage, and hydraulic cylinders are prone to jamming, resulting in a high failure rate over long-term use, extremely poor reliability under complex field conditions, poor equipment operational stability, and complex maintenance procedures with high repair costs. Third, the split power output structure requires separate configuration of walking drive power and deformation drive power, resulting in low power system utilization, complex control programs, and synchronization errors in the coordinated action of multiple mechanisms, leading to stability failures such as incomplete wheel and track deformation, driving jerking, and failure to switch working conditions. Fourth, the high precision requirements for multi-cylinder synchronous control make it unsuitable for small and lightweight equipment, limiting its application scenarios and making it impossible to escape dependence on hydraulic auxiliary drive.

[0004] Currently available improved wheel-track composite tires still fail to solve core problems such as reliance on hydraulic systems, complex structures, and poor stability inherent in traditional wheel-track deformable structures. For example, CN112896351A discloses a deformable wheel-track composite walking mechanism, including a deformable wheel-track main frame for changing its external profile between a flat, elongated octagon and a near-circular shape; a track covering the outer edge of the deformable wheel-track main frame and capable of changing shape by the main frame; a track drive device located in the middle of the deformable wheel-track main frame for driving the track to rotate; and a wheel-track main frame drive device located in the middle of the outer surface of the deformable wheel-track main frame for driving the main frame to flip. Although this invention utilizes the multi-link motion principle to achieve the transformation of the deformable wheel-track main frame between a near-circular and flat, elongated configuration, the deformation of the wheel-track main frame and the walking drive still require two power systems, and structural complexity and other issues remain. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a walking device and its deformable wheel-track composite walking mechanism.

[0006] A deformable wheel-track composite walking mechanism provided by the present invention includes:

[0007] The transmission assembly includes a main shaft and a split transmission gear assembly connected to the main shaft. The split transmission gear assembly includes a drive gear, a sleeve gear, a deformable gear set, and a travel gear set. The drive gear is sleeved on the main shaft and rotates synchronously. The deformable gear set and the travel gear set are respectively sleeved on the main shaft on both sides of the drive gear in a clearance fit. The sleeve gear slides and meshes with the main gear. After the sleeve gear slides axially, the sleeve gear meshes with the main gear and the deformable gear set respectively, or the sleeve gear meshes with the main gear and the travel gear set respectively.

[0008] The tracked main frame includes a deformable wheel frame and a linkage disc. The deformable wheel frame is annular and waterwheel-shaped. The deformable wheel frame is fitted onto the main shaft with a clearance fit. The flow-diverting transmission gear assembly is located inside the deformable wheel frame. The linkage disc is fitted onto the main shaft with a clearance fit and is connected to the deformable gear assembly. The linkage disc is connected to the deformable wheel frame and drives the deformable wheel frame to deform. The travel gear assembly is connected to the deformable wheel frame and drives the deformable wheel frame to rotate.

[0009] In some embodiments, the deformable wheel frame includes a fixed plate, a first connecting rod, a second connecting rod, wheel rim pieces, and a support rod. Two fixed plates are fitted onto the main shaft with a clearance fit. Multiple first connecting rods are spaced apart along the circumferential direction on each fixed plate. The second connecting rod is radially slidably connected to the fixed plate between the two first connecting rods. Wheel rim pieces are hinged between adjacent first connecting rods and second connecting rods on each fixed plate. The support rod is connected between the front and rear wheel rim pieces on the two fixed plates and between the front and rear second connecting rods.

[0010] The linkage plate is located outside the fixed plate. The linkage plate has an arc-shaped sliding hole along the circumferential direction. The lug of the second connecting rod is slidably connected in the arc-shaped sliding hole. Rotating the linkage plate causes the second connecting rod to extend and retract radially.

[0011] In some embodiments, the first link has an overall Y-shaped structure, and the link body is connected to the fixed plate.

[0012] In some embodiments, the second link has an overall Y-shaped structure, and the link body is slidably connected to the groove of the fixed plate.

[0013] In some embodiments, the deformable gear set includes a sleeve shaft and a first driven gear sleeved on the sleeve shaft. The sleeve shaft is sleeved on the main shaft with a clearance fit, and the outer end of the sleeve shaft is connected to the linkage disc and rotates synchronously.

[0014] In some embodiments, the traveling gear set includes a second driven gear, a third driven gear, and a fourth driven gear. The second driven gear is sleeved on the main shaft with a clearance fit. The second driven gear is disposed adjacent to the main gear. One half of the second driven gear is used for meshing with the sleeve gear. The other half of the second driven gear, the third driven gear, and the fourth driven gear are sequentially meshed along the radial direction of the main shaft. The fourth driven gear is sleeved on the support rod between the two second connecting rods.

[0015] In some embodiments, there are multiple pairs of third driven gears and fourth driven gears, with multiple third driven gears simultaneously meshing with the large-diameter gear of the second driven gear, and each fourth driven gear correspondingly connected to the support rod between the front and rear second connecting rods.

[0016] In some embodiments, the diverter gear assembly consists of two sets, the linkage disc consists of two pieces, the two linkage discs synchronously drive the deformation wheel frame to deform, and the two sets of travel gears synchronously drive the deformation wheel frame to rotate.

[0017] In some embodiments, the transmission assembly further includes a drive unit, at least one drive unit connected between the two fixed plates. The drive unit includes a drive motor, a transmission screw, and a derailleur ring. The outer circumferential surface of the sleeve tooth forms an annular groove, and the derailleur ring is slidably connected in the annular groove. One end of the transmission screw passes through and is threadedly connected to the derailleur ring, and the other end is connected to the drive motor. The drive motor drives the transmission screw to rotate, and the derailleur ring moves along the transmission screw and drives the sleeve tooth to slide linearly.

[0018] The present invention also provides a walking device, which employs the aforementioned deformable wheel-track composite walking mechanism.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention adopts a gear-driven transmission structure design, which can realize the walking drive of the wheel frame and the deformation switching of the wheel frame between an approximate circle and a polygon through a single power unit. It effectively solves the technical problems of a large number of parts and complex pipelines under dual power unit drive, while avoiding the inherent defects of the industry such as leakage, jamming, and sealing failure in hydraulic systems. The mechanism design has significant features such as simplicity, efficiency, lightweight and space saving.

[0021] 2. This invention optimizes the design of the connecting rod in the deformable wheel assembly into a Y-shaped structure, so that there is a predetermined gap between adjacent wheel rims. This gap allows a limiting structure to be formed between the rubber track and the end of the wheel rim. Especially when the main frame of the wheel track is deformed into a polygon, the limiting contact between the end of the wheel rim and the inner surface of the rubber track can greatly improve the obstacle crossing ability.

[0022] 3. The present invention effectively improves the power transmission efficiency of the wheel track main frame deformation and walking drive by symmetrically setting two sets of split transmission gear assemblies on the main shaft and matching the linkage disc with two pieces.

[0023] 4. This invention improves the system's automation level by adding a unit that drives the linear sliding of the drive sleeve gear. Attached Figure Description

[0024] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a three-dimensional structural diagram of the deformable wheel-track composite walking mechanism of the present invention, which is circular.

[0026] Figure 2 This is a side view of the circular deformable wheel-track composite walking mechanism of the present invention.

[0027] Figure 3 for Figure 2 Enlarged structural diagram of section A in the middle;

[0028] Figure 4 This is a schematic diagram of the split-drive gear assembly of the deformable wheel-track composite walking mechanism of the present invention.

[0029] Figure 5 This is a top view of the deformable wheel-track composite walking mechanism of the present invention.

[0030] Figure 6 This is a schematic diagram of the deformable wheel-track composite walking mechanism of the present invention when the linkage disc is removed and the mechanism is circular;

[0031] Figure 7 This is an exploded view of the triangular lower part of the deformable wheel-track composite walking mechanism of the present invention;

[0032] Figure 8 This is a schematic diagram of the triangular three-dimensional structure of the deformable wheel-track composite walking mechanism of the present invention;

[0033] Figure 9 This is a schematic diagram of the deformable wheel-track composite walking mechanism of the present invention, which is equipped with a drive unit.

[0034] Figure 10 This is a schematic diagram of the structure of the gear sleeve forming an annular groove in the flow splitting transmission gear assembly of the present invention;

[0035] Figure 11 This is a schematic diagram of the connection between the drive unit and the gear sleeve of the present invention. Detailed Implementation

[0036] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0037] Example 1

[0038] This embodiment provides a deformable wheel-track composite walking mechanism, such as Figure 1-9 As shown, it mainly includes a transmission assembly 1 for transmitting driving force, and a wheeled track main frame 2 that is connected to the transmission assembly 1 for shape transformation and movement. The wheeled track main frame 2 moves on the ground through externally covered rubber tracks.

[0039] The transmission assembly 1 mainly consists of a main shaft 11 and a split-drive gear assembly connected thereto. The split-drive gear assembly mainly includes a drive gear 12, a sleeve gear 13, a modified gear set 14, and a travel gear set 15. In this embodiment, the split-drive gear assembly mounted on the main shaft 11 is a single set, as shown in the reference diagram. Figure 5As shown. The driving gear 12 is sleeved on the main shaft 11, and the two are connected by a keyway to achieve synchronous rotation. The sleeve gear 13 is sleeved on the driving gear 12 and meshes with the driving gear 12, and can slide axially linearly relative to the driving gear 12. The deformable gear set 14 mainly consists of a sleeve shaft 141 and a first driven gear 142. The sleeve shaft 141 is sleeved on the main shaft 11 with a clearance connection, and the sleeve shaft 141 can rotate freely relative to the main shaft 11. The first driven gear 142 is sleeved on the sleeve shaft 141 and rotates synchronously with the sleeve shaft 141. The first driven gear 142 is located close to the outer side of the driving gear 12, and the outer diameter, number of teeth and other parameters of the first driven gear 142 and the driving gear 12 are the same to facilitate the sliding meshing of the sleeve gear 13. The traveling gear set 15 mainly consists of a second driven gear 151, a third driven gear 152 and a fourth driven gear 153. The second driven gear 151 is also fitted onto the main shaft 11 with a clearance connection, allowing it to rotate freely relative to the main shaft 11. In this embodiment, the second driven gear 151 is a double gear, such as... Figure 4 As shown, the small-diameter gear 1510 serves as one half of the second driven gear 151, located inside and adjacent to the driving gear 12. The small-diameter gear of the second driven gear 151 has the same outer diameter and number of teeth as the driving gear 12, facilitating the sliding engagement of the sleeve gear 13. The large-diameter gear 1511 of the second driven gear 151 serves as the other half, meshing sequentially with the third driven gear 152 and the fourth driven gear 153 from bottom to top in a radial direction. By external force pushing the sleeve gear 13 to slide linearly back and forth, one half of the sleeve gear 13 engages with the driving gear 12, while the other half engages with either the first driven gear 142 or the second driven gear 151. When the sleeve 13 meshes with the driving gear 12 and the first driven gear 142 respectively, the driving gear 12 drives the deformable gear set 14 to rotate. When the sleeve 13 meshes with the small diameter gear 1510 of the driving gear 12 and the second driven gear 151 respectively, the driving gear 12 drives the travel gear set 15 to rotate.

[0040] The wheel track main frame 2 mainly includes a deformable wheel frame 21 and a linkage disc 22. The deformable wheel frame 21 mainly consists of a fixed plate 211, a first connecting rod 212, a second connecting rod 213, wheel rim pieces 214, and a support rod 215. (Refer to...) Figure 6As shown, in this embodiment, the fixing plate 211 is an equilateral triangular structure plate with its pointed top cut off. Two fixing plates 211 are rotatably connected to the main shaft 11 at a predetermined distance. For ease of description, the two fixing plates 211 rotatably connected to the main shaft 11 are referred to as the front fixing plate and the rear fixing plate, respectively. The flow-diverting transmission gear assembly is located between the front and rear fixing plates. Here, "flow-diverting transmission gear assembly located between the front and rear fixing plates 211" includes both cases where all components are located between the two fixing plates 211 and cases where most transmission components are located between the two fixing plates 211, but some components extend part of their structure to the outside of the fixing plates 211. Multiple first connecting rods 212 are fixedly connected circumferentially to the outer side of each fixing plate 211. The first connecting rods 212 are radially arranged on each fixing plate 211, and the first connecting rods 212 connected to the front and rear fixing plates 211 are symmetrically arranged. Preferably, multiple first connecting rods 212 are evenly distributed and connected to the outer side plate of each fixing plate 211. In this embodiment, there are three first connecting rods 212, with an included angle of approximately 120° between them. The rods of the three first connecting rods 212 are respectively fastened to the outer side plate of the fixing plate 211 perpendicular to the three sides of the fixing plate 211. A second connecting rod 213 is provided between two adjacent first connecting rods 212 on the same fixing plate 211. The second connecting rod 213 is slidably connected to a groove provided on the outer side plate of the fixing plate 211, and the second connecting rods 213 on the front and rear fixing plates 211 are symmetrically arranged. Preferably, the included angle between the second connecting rod 213 and the two adjacent first connecting rods 212 on both sides is the same. The linkage disc 22 is sleeved on the main shaft 11 with a clearance fit. In this embodiment, there is one linkage disc 22, and one linkage disc 22 is located on the outer side of the front fixing plate. The first driven gear 142 is positioned adjacent to the front fixed plate. The outer end of the sleeve shaft 141 is fastened to the linkage disc 22 through the shaft hole of the front fixed plate and rotates synchronously. The linkage disc 22 has the same number of arc-shaped sliding holes 221 as the second connecting rod 213. One end of the arc-shaped sliding hole 221 is close to the top circumferential surface of the linkage disc 22, and the other end is close to the center of the linkage disc 22. The outer surface of the second connecting rod 213 extends outward to form a lug 2130, which is slidably connected in the arc-shaped sliding hole 221. The wheel rim plate 214 is an arc-shaped plate. The two ends of the wheel rim plate 214 are respectively hinged to the upper ends of the first connecting rod 212 and the second connecting rod 213 on the same fixed plate 211. The wheel rim plate 214 hinged to the first connecting rod 212 and the second connecting rod 213 is in the shape of an arched blade. At least one support rod 215, preferably multiple rods, is rotatably connected between two wheel rim pieces 214 located on the front and rear sides of the front and rear fixed plates, respectively. A support rod 215 is rotatably connected between two second connecting rods 213 located on the front and rear sides of the front and rear fixed plates, respectively.Two wheel frames, formed by a fixed plate 211, a first connecting rod 212, a second connecting rod 213, and wheel rims 214, are rotatably connected to the main shaft 11. These frames are laterally connected by a support rod 215 to form a ring-shaped wheel track main frame 2. A fourth driven gear 153 is sleeved on the support rod 215 connecting the two second connecting rods 213. The lower part of the fourth driven gear 153 meshes with a third driven gear 152, and the upper part meshes with the inner teeth of the rubber track covering the wheel track main frame 2, driving the wheel track main frame 2 to rotate around the main shaft 11 and thus move. Preferably, each support rod 215 located between the two second connecting rods 213 is connected to a fourth driven gear 153 (see reference). Figure 7 As shown, the third driven gear 152 and the fourth driven gear 153 are arranged in pairs, and there are multiple pairs. Multiple third driven gears 152 mesh around the circumference of the large-diameter gear of the second driven gear 151. For example, in this embodiment, three support rods 215 connect the three sets of second connecting rods 213. Three fourth driven gears 153 are connected to these three support rods 215, and the corresponding three third driven gears 152 mesh with the circumference of the large-diameter gear of the second driven gear 151 at intervals. Through the multiple pairs of intermediate power transmission gears formed by the third driven gears 152 and the fourth driven gears 153, the drive of the wheel track main frame 2 can be effectively improved, especially the obstacle-crossing effect.

[0041] The deformable wheel-track composite walking mechanism provided in this embodiment is illustrated with the initial state of the second link 213 and the upper ends of the first link 212 being approximately at the same height as an example. (Refer to...) Figure 1As shown, at this time, the lug 2130 is located at the top of the arc-shaped sliding hole 221, that is, near the circumferential surface of the linkage disc 22. The wheel rim 214, which is hinged to the ends of the first connecting rod 212 and the second connecting rod 213, forms an approximately circular tire structure. When traveling on paved roads with the tire structure, the sleeve tooth 13 is first slid backward a predetermined distance, and then the sleeve tooth 13 simultaneously meshes with the driving gear 12 and the second driven gear 151. The external driving force drives the main shaft 11 to rotate, and then drives the second driven gear 151, the third driven gear 152 and the fourth driven gear 153 of the traveling gear set 15 to mesh and rotate in sequence through the sleeve tooth 13. Then, the fourth driven gear 153 drives the rubber track sleeved on the wheel track main frame 2 to drive the wheel track main frame 2 to rotate around the main shaft 11, realizing the wheeled rapid travel on paved roads. When obstacle crossing is required in mountainous or muddy terrain, the sleeve 13 is first slid forward a predetermined distance, simultaneously engaging with the drive gear 12 and the first driven gear 141, driving the main shaft 11 to rotate. This, in turn, drives the linkage disc 22 to rotate via the sleeve shaft 142, which rotates synchronously with the first driven gear 141. After rotating a predetermined angle, the lug 2130 slides from a position near the circumference of the linkage disc 22 to a predetermined position near the center. The lug 2130 then drives the second connecting rod 213 to slide downwards along the track of the fixed plate 211. The wheel rim 214 rotates a predetermined angle as the second connecting rod 213 moves downwards, changing the wheel track main frame 2 from a circular annular waterwheel shape to a triangular annular waterwheel shape. (Refer to...) Figure 8 As shown. Then the sleeve 13 is slid linearly to the rear side, and the sleeve 13 becomes engaged with the driving gear 12 and the second driven gear 151. Then, through the above process, the wheel track main shaft 2 is driven to rotate around the main shaft 11 to achieve obstacle crossing in this road condition.

[0042] This embodiment adopts a gear-driven transmission structure design, which can realize the walking drive of the wheel frame and the deformation switching between the wheel frame and the approximate circle and polygon through a single power unit. It effectively solves the technical problems of large number of parts and complex pipelines under dual power unit drive, while avoiding the inherent defects of the industry such as leakage, jamming and sealing failure of hydraulic system. The mechanism design has significant features such as simplicity, high efficiency, lightweight and space saving.

[0043] Example 2

[0044] This embodiment 2 is based on embodiment 1. By optimizing the connecting rod design in the deformable wheel assembly into a Y-shaped structure, a predetermined gap is created between adjacent wheel rim pieces. This gap allows a limiting structure to be formed between the rubber track and the ends of the wheel rim pieces. Especially when the main wheel frame deforms into a polygon, the limiting contact between the ends of the wheel rim pieces and the inner surface of the rubber track effectively improves obstacle-crossing ability. Specifically:

[0045] Reference Figure 6 As shown, the first connecting rod 212 has an overall Y-shaped structure. The lower straight rod-type support is connected to the fixed plate 211, and the upper V-shaped or U-shaped hinge is used to hinge to one end of each of the two wheel rim pieces 214. Furthermore, the second connecting rod 213 also has an overall Y-shaped structure. Its lower straight rod-type support is slidably connected to the fixed plate 211, and the upper V-shaped or U-shaped hinge is hinged to the other end of each of the two wheel rim pieces 214.

[0046] Example 3

[0047] This embodiment is based on Embodiment 1 or 2. By symmetrically arranging two sets of split-drive gear assemblies on the main shaft and configuring the linkage disc into two pieces, the power transmission efficiency of the wheel track main frame deformation and travel drive is effectively improved. Specifically:

[0048] In the transmission assembly 1, there are two sets of split-drive gear assemblies formed by the drive gear 12, sleeve gear 13, deformable gear set 14, and travel gear set 15. These two sets of split-drive gear assemblies are spaced apart and connected to the main shaft 11, respectively, and are positioned close to the front and rear fixed plates 211. Correspondingly, there are two linkage discs 22, located on the outer side of the fixed plate 211 and connected to two sleeve shafts 141. The two linkage discs 22 drive the second connecting rods 213 located on the front and rear fixed plates 211 to extend and retract synchronously. The two sets of travel gear sets 15 are interlocked with the main shaft 11 in a close proximity manner. Two fourth driven gears 153 are simultaneously rotatably connected to the support rod 215 and simultaneously mesh with the rubber track, driving the wheel track main frame 2 to roll.

[0049] Example 4

[0050] This embodiment 4 is based on any one of embodiments 1-3, and improves the system's automation level by adding a unit that drives the linear sliding of the drive sleeve gear. Specifically:

[0051] Reference Figure 9-11As shown, the transmission assembly 1 also includes a drive unit 16 disposed between two fixed plates 211, which mainly consists of a drive motor 161, a transmission screw 162, and a derailleur 163. In this embodiment, an annular groove 131 adapted to the derailleur 163 is formed on the outer circumferential surface of the sleeve tooth 13. The derailleur 163 can rotate circumferentially within the annular groove 131, but the two side walls of the annular groove 131 restrict the axial displacement of the derailleur 163 relative to it. The drive motor 161 is fastened to the inner plate of the right fixed plate 211. One end of the transmission screw 162 passes through the threaded hole of the derailleur 163 and is threadedly connected to it. At the same time, this end extends and is rotatably connected to the inner plate of the left fixed plate 211. The other end of the transmission screw 162 is connected to the drive shaft of the drive motor 161. The drive motor 161 is fixedly connected to the inner plate of the right fixed plate 211 by its housing or other fasteners. The drive motor 161 drives the transmission screw 162 to rotate, and the rotating transmission screw 162 drives the dial ring 163 to move linearly. In turn, the linear movement of the dial ring 163 drives the sleeve gear 13 to slide linearly, thereby realizing the meshing transmission with the deformable gear set 14 and the travel gear set 15 respectively. In a preferred embodiment, there are multiple drive units 16 located between the two fixed plates 211. The multiple drive units 16 are distributed at intervals between adjacent first connecting rods 212 and second connecting rods 213. The linear sliding of the sleeve gear 13 can be achieved more smoothly and efficiently through multiple drive units 16.

[0052] When there are two sets of split-drive gear assemblies on the main shaft 11, there are two drive screws 162. The two drive screws 162 are symmetrically connected to the drive motor 161, and the drive motor 161 drives the two drive screws 162 to rotate synchronously. The two drive screws 162 are threadedly connected to two rotatable rings 163 in the annular sliding grooves 131 on both sides. The drive motor 161 drives the two drive screws 162 to rotate simultaneously, and the two drive screws 162 drive the two rotatable rings 163 to move away from each other or towards each other. When they move away from each other, the sleeve teeth 13 mesh with the deformation gear set 14 to deform the wheel track main frame. When they move towards each other, the sleeve teeth 13 mesh with the travel gear set 15 to roll the wheel track main frame 2.

[0053] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0054] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A deformable wheel-track composite walking mechanism, characterized in that, include: The transmission assembly (1) includes a main shaft (11) and a split transmission gear assembly connected to the main shaft (11). The split transmission gear assembly includes a drive gear (12), a sleeve gear (13), a deformable gear set (14), and a travel gear set (15). The drive gear (12) is sleeved on the main shaft (11) and rotates synchronously. The deformable gear set (14) and the travel gear set (15) are respectively sleeved on the main shaft (11) on both sides of the drive gear (12) in a clearance fit. The sleeve gear (13) slides and meshes with the main gear (12). After the sleeve gear (13) slides axially, the sleeve gear (13) meshes with the main gear (12) and the deformable gear set (14) respectively, or the sleeve gear (13) meshes with the main gear (12) and the travel gear set (15) respectively. The wheel track main frame (2) includes a deformable wheel frame (21) and a linkage disc (22). The deformable wheel frame (21) is in the shape of an annular waterwheel. The deformable wheel frame (21) is sleeved on the main shaft (11) with a clearance fit. The split transmission gear assembly is located inside the deformable wheel frame (21). The linkage disc (22) is sleeved on the main shaft (11) with a clearance fit and is connected to the deformable gear set (14). The linkage disc (22) is connected to the deformable wheel frame (21) and drives the deformable wheel frame (21) to deform. The walking gear set (15) is connected to the deformable wheel frame (21) and drives the deformable wheel frame (21) to rotate.

2. The deformable wheel-track composite walking mechanism according to claim 1, characterized in that, The deformable wheel frame (21) includes a fixed plate (211), a first connecting rod (212), a second connecting rod (213), a wheel rim piece (214), and a support rod (215). The two fixed plates (211) are fitted onto the main shaft (11) with a clearance fit. Multiple first connecting rods (212) are connected at intervals along the circumferential direction on the plate body of each fixed plate (211). The second connecting rod (213) is radially slidably connected to the plate body of the fixed plate (211) between the two first connecting rods (212). The wheel rim piece (214) is hinged between the left and right adjacent first connecting rods (212) and the second connecting rod (213) on each fixed plate (211). The support rod (215) is connected between the front and rear wheel rim pieces (214) on the two fixed plates (211) and between the front and rear second connecting rods (213). The linkage disk (22) is located outside the fixed plate (211). The linkage disk (22) is provided with an arc-shaped sliding hole (221) along the circumferential direction. The lug (2130) of the second connecting rod (213) is slidably connected in the arc-shaped sliding hole (221). Rotating the linkage disk (22) drives the second connecting rod (213) to extend and retract radially.

3. The deformable wheel-track composite walking mechanism according to claim 2, characterized in that, The first connecting rod (212) has an overall Y-shaped structure, and the rod body of the first connecting rod (212) is connected to the fixed plate (211).

4. The deformable wheel-track composite walking mechanism according to claim 3, characterized in that, The second connecting rod (213) has an overall Y-shaped structure, and the rod body of the second connecting rod (213) is slidably connected in the groove of the fixed plate (211).

5. The deformable wheel-track composite walking mechanism according to claim 2, characterized in that, The deformable gear set (14) includes a sleeve shaft (141) and a first driven gear (142) sleeved on the sleeve shaft (141). The sleeve shaft (141) is sleeved on the main shaft (11) with clearance fit. The outer end of the sleeve shaft (141) is connected to the linkage disk (22) and rotates synchronously.

6. The deformable wheel-track composite walking mechanism according to claim 2 or 5, characterized in that, The traveling gear set (15) includes a second driven gear (151), a third driven gear (152), and a fourth driven gear (153). The second driven gear (151) is sleeved on the main shaft (11) with a clearance fit. The second driven gear (151) is arranged adjacent to the main gear (12). Half of the second driven gear (12) is used to mesh with the sleeve gear (13). The other half of the second driven gear (151), the third driven gear (152), and the fourth driven gear (153) are meshed in sequence along the radial direction of the main shaft (11). The fourth driven gear (153) is sleeved on the support rod (215) between the two second connecting rods (213).

7. The deformable wheel-track composite walking mechanism according to claim 6, characterized in that, The third driven gear (152) and the fourth driven gear (153) are multiple pairs. Multiple third driven gears (152) are simultaneously meshed and connected to the large diameter gear of the second driven gear (151). Each fourth driven gear (153) is respectively connected to the support rod (215) between the front and rear two second connecting rods (213).

8. The deformable wheel-track composite walking mechanism according to claim 1, characterized in that, The split transmission gear assembly consists of two sets, and the linkage disk (22) consists of two pieces. The two linkage disks (22) synchronously drive the deformation wheel frame (21) to deform, and the two sets of walking gears (15) synchronously drive the deformation wheel frame (21) to rotate.

9. The deformable wheel-track composite walking mechanism according to any one of claims 1-8, characterized in that, The transmission assembly (1) further includes a drive unit (16), at least one drive unit (16) is connected between two fixed plates (211), the drive unit (16) includes a drive motor (161), a transmission screw (162) and a dial ring (163), the outer circumferential surface of the sleeve tooth (13) forms an annular groove (131), the dial ring (163) is slidably connected in the annular groove (131), one end of the transmission screw (162) passes through and is threaded to the dial ring (163), and the other end is connected to the drive motor (161), the drive motor (161) drives the transmission screw (162) to rotate, the dial ring (163) moves along the transmission screw (162) and drives the sleeve tooth (13) to slide linearly.

10. A walking device, characterized in that, The deformable wheel-track composite walking mechanism as described in any one of claims 1-9 is adopted.

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