Wheel-track interchanging structure for all-terrain robot

Abstract

The utility model relates to a wheel-track interchange structure for an all-terrain robot, which comprises a vehicle body, two groups of wheels are respectively connected to two sides of the vehicle body, each group of wheels is driven by a motor to operate, and each group of wheels is detachably connected with a track, and is characterized in that two tooth block groups are respectively arranged on two sides of the inner wall of each track; each tooth block set is composed of a plurality of convex tooth blocks arranged at equal intervals, and an embedding groove is formed between every two adjacent convex tooth blocks. Protruding lines are arranged on the surfaces of the wheels, the two sides of the lines extend towards the edges and form protruding strip parts matched with the caulking grooves in the two sides of the crawler belt, the wheels drive the crawler belt to operate through embedding of the protruding strip parts and the caulking grooves, and the robot can operate on various terrains through rapid switching between a wheeled vehicle and a crawler vehicle. And one robot can complete multiple functions, the requirement for different equipment in different terrains is reduced, and therefore the overall equipment cost is reduced.

Description

Technical Field

[0001] The utility model relates to a wheel-track interchange structure, in particular to a wheel-track interchange structure for an all-terrain robot. Background Art

[0002] An all-terrain wheeled robot refers to a robot that can travel on any terrain. It can move freely on terrains where ordinary vehicles are difficult to maneuver. All-terrain robots have multiple uses and are not restricted by road conditions. When all-terrain vehicles are used in special scenarios such as swamps or sand, traditional wheels cannot pass smoothly. Since the contact area of a single tire is small and the ground pressure is strong, the tire will sink into the swamp or sand. Chinese patent document: CN202410126068.8, discloses a mountain hybrid extended-range wheel-track interchangeable all-terrain tractor. This application uses a detachable matching track, with wheels as driving wheels, and drives the track to travel on complex terrain. When the electric steering mechanism is locked, the steering is achieved by the motor to control the forward and reverse direction of the wheel. The track can be disassembled on flat land such as dry land, and the electric steering mechanism is unlocked at the same time, and the wheels are used for walking. This application Figure 6 The interlocking structure shown in the figure drives the track displacement by interlocking the cone-shaped pattern structure in the middle of the wheel with the circular groove in the middle of the track. However, on gravel or deep snow sections, foreign objects may clog the track grooves, and the foreign objects in the grooves cannot be discharged by themselves, resulting in the cone being unable to be smoothly embedded in the grooves on the track, ultimately affecting the normal driving of the vehicle. Utility Model Content

[0003] In response to the above-mentioned problems, the utility model discloses a wheel-track interchangeable structure for an all-terrain robot. By quickly switching between a wheeled vehicle and a tracked vehicle, the robot can operate on various terrains; the convex strips on both sides of the tire cooperate with the embedded grooves on both sides of the track to realize the tire-driven track operation.

[0004] The specific technical solutions are as follows:

[0005] A wheel-track interchangeable structure for an all-terrain robot comprises a vehicle body, two sets of wheels connected to either side of the vehicle body, each set of wheels being driven by a motor, a track being detachably connected to each set of wheels, a set of tooth blocks being provided on either side of the inner wall of the track, each set of tooth blocks being composed of a plurality of convex tooth blocks arranged at equal intervals, with an embedding groove formed between two adjacent convex tooth blocks; raised patterns are arranged on the surfaces of the wheels, both sides of the patterns extending toward the edge to form convex strips that match the embedding grooves on both sides of the track, and the wheels drive the track to operate by engaging the convex strips with the embedding grooves.

[0006] Furthermore, both side surfaces of the convex tooth block are arranged as inclined surfaces, and both sides of the embedding groove are arranged to be gradually narrowed.

[0007] Furthermore, both sides of the convex tooth block and the end of the convex tooth block close to the tire are arranged in arc surfaces, so that one end of the convex tooth block is arranged in contact with the side surface of the tire.

[0008] Furthermore, each of the protruding tooth blocks is detachably mounted on the inner surface of the crawler track via fasteners.

[0009] Furthermore, the crawler is provided with at least one detachable position, and hinge groups are provided at both ends of the crawler at the detachable position. A number of hinge seats are arranged transversely on the hinge group, and the hinge seats on the two hinge groups are staggered, so that the two hinge components at both ends of the crawler are embedded with each other through the hinge seats and the pin rods pass through the pin holes on the two hinge groups transversely, thereby realizing the disassembly and connection of the crawler.

[0010] Furthermore, a plurality of raised anti-slip strips are arranged on the outer surface of the crawler track.

[0011] The beneficial effects of the present invention are as follows:

[0012] (1) Strong adaptability: By quickly switching between wheeled vehicles and tracked vehicles, the robot can operate on various terrains, from flat roads to rugged sandy or deep snow terrains.

[0013] (2) Improved efficiency: The wheeled mode is suitable for high-speed movement on hardened roads, while the tracked mode provides better traction and stability on soft or uneven ground.

[0014] (3) Reduce costs: One robot can perform multiple functions, reducing the need for different equipment for different terrains, thereby reducing the overall equipment cost.

[0015] (4) Flexible operation: The quick switching mechanism allows users to adjust the robot mode according to real-time needs, increasing the flexibility and efficiency of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of the robot crawler mode in the present utility model.

[0017] Figure 2 This is a schematic structural diagram of the robot tire mode in the present utility model.

[0018] Figure 3 This is the front view of the robot tire mode in this utility model.

[0019] Figure 4 It is a schematic diagram of the structure between the crawler and the tire in the present invention.

[0020] Figure 5 It is a side view of the present utility model.

[0021] Figure 6 This is a schematic diagram of the structure of the crawler when it is installed in the utility model.

[0022] Explanation of reference numerals: vehicle body 1 , wheel 2 , convex strip 21 , crawler track 3 , tooth block assembly 31 , convex tooth block 32 , embedding groove 33 , anti-slip strip 34 , hinge assembly 35 , hinge seat 36 , pin rod 37 , clamping tool 4 . DETAILED DESCRIPTION

[0023] To make the technical solution of the present invention clearer and more specific, the present invention is further described below with reference to the accompanying drawings. Any equivalent replacement of the technical features of the present invention and any solution derived from conventional reasoning shall fall within the scope of protection of the present invention. The fixed connections and fixed arrangements mentioned in the present invention are all common connection methods in the mechanical field, including welding, bolt and nut connections, and screw connections.

[0024] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] See also Figure 1-6This embodiment provides a wheel-tire interchangeable structure for an all-terrain robot, including a vehicle body 1, with two sets of wheels 2 connected to both sides of the vehicle body 1, each set of wheels 2 being driven by a separate motor, each set of tires including a front wheel and a rear wheel, wherein the front wheel can be steered by a steering system. The cam 32 is provided with a plurality of tooth blocks 31 on the inner wall of the track 3, and each tooth block 31 is detachably mounted on the inner surface of the track 3. The tooth blocks 31 are composed of a plurality of convex tooth blocks 32 arranged at equal intervals, and each convex tooth block 32 is detachably mounted on the inner surface of the track 3 by fasteners. A groove 33 is formed between two adjacent convex tooth blocks 32. The two side surfaces of the convex tooth blocks 32 are inclined surfaces, and the two sides of the groove 33 are gradually narrowed from the outside to the inside. The surfaces of the wheels 2 are arranged with raised patterns, and both sides of the patterns extend to the edge and form convex strips 21 that are adapted to the grooves 33 on both sides of the track 3. The convex strips 21 are engaged with the grooves 33 to realize the insertion and positioning of the wheels 2 and the track 3. The continuous rotation of the tire makes the convex strips 21 on the tire engage with the grooves 33 in turn, and finally the wheels 2 drive the track 3 to operate.

[0026] Both sides of the protruding tooth block 32 are arc surfaces for the end of the protruding tooth block 32 close to the tire, so that one end of the protruding tooth block 32 is fitted with the side of the tire and the protruding tooth block 32 is covered on the side of the tire to play a positioning and protection role.

[0027] Wheeled mode is suitable for high-speed movement on hardened roads, while Track 3 mode provides better traction and stability on soft or uneven ground. In Track 3 mode, steering is achieved by two drive motors controlling the two sets of wheels 2 to rotate in the forward and reverse directions respectively.

[0028] There is at least one detachable position on the crawler 3. Both ends of the crawler 3 at the detachable position are provided with a hinge group 35 made of metal material. A number of hinge seats are arranged horizontally on the hinge group 35. The hinge seats 36 on the two hinge groups are staggered, so that the two hinge components at both ends of the crawler 3 are embedded with each other through the hinge seats and the pin rod 37 passes horizontally through the pin holes on the two hinge groups 35 to realize the disassembly and connection of the crawler 3.

[0029] When installing the crawler 3, unfold the two crawlers 3 and place them flat on the ground. Then align the tires on both sides of the robot with the two crawlers 3 and drive onto the two crawlers 3 so that the convex strips are aligned with the embedded grooves. Then, put the crawler 3 on each set of tires. Then, use the clamping tool 4 to clamp the two ends of the crawler 3 and put them close together until the hinge seats on its hinge group 35 are aligned one by one, so that the pin holes of each hinge hole are aligned. Finally, insert the pin rod 37 from one side so that the pin rod 37 passes through each hinge seat. The end of the pin rod 37 can be tightened and positioned by a nut, and finally the installation connection between the crawler and the wheel is realized.

[0030] This quick installation / disassembly mechanism enables the conversion between wheels to be completed in a short time, avoiding long downtime.

[0031] This wheel-track interchange structure can be applied in the following fields:

[0032] -Military and Security: Perform reconnaissance and missions in various terrains, quickly switching modes to adapt to different battlefield environments.

[0033] -Rescue Operations: When conducting rescue operations in disaster areas, you may encounter various terrains. By quickly switching modes, you can complete the mission more efficiently.

[0034] -Agriculture and forestry: working in different terrain conditions, such as in fields or forests.

[0035] - Exploration and research: Used to explore extreme environments, such as snow-covered areas or desert regions.

[0036] Through this innovative design, the robot's adaptability and efficiency can be significantly improved, and its application scope can be expanded.

[0037] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wheel-track interchangeable structure for an all-terrain robot, comprising a vehicle body (1), two sets of wheels (2) connected to both sides of the vehicle body (1), each set of wheels (2) being driven by a motor, and each set of wheels (2) being detachably connected to a track (3), characterized in that: A group of tooth blocks (31) is respectively provided on both sides of the inner wall of the crawler (3), and each group of tooth blocks (31) is composed of a plurality of convex tooth blocks (32) arranged at equal intervals, and an embedding groove (33) is formed between two adjacent convex tooth blocks (32); the surface of the wheel (2) is provided with raised patterns, and both sides of the patterns extend toward the edge and form convex strips (21) adapted to the embedding grooves (33) on both sides of the crawler (3), and the wheel (2) drives the crawler (3) to operate by the engagement of the convex strips (21) with the embedding grooves (33).

2. The wheel-track interchange structure for an all-terrain robot according to claim 1, characterized in that: Both side surfaces of the convex tooth block (32) are arranged as inclined surfaces, and both sides of the embedding groove (33) are arranged to be gradually narrowed.

3. The wheel-track interchange structure for an all-terrain robot according to claim 2, characterized in that: Both sides of the convex tooth block (32) are provided with arc surfaces at one end of the convex tooth block (32) close to the tire, so that one end of the convex tooth block (32) is arranged in contact with the side surface of the tire.

4. The wheel-track interchangeable structure for an all-terrain robot according to claim 1, characterized in that: Each of the protruding tooth blocks (32) is detachably arranged on the inner surface of the crawler (3) via a fastener.

5. The wheel-track interchange structure for an all-terrain robot according to claim 1, characterized in that: At least one detachable position is provided on the crawler (3), and hinge groups (35) are provided at both ends of the crawler (3) at the detachable position. A plurality of hinge seats are arranged transversely on the hinge group (35), and the hinge seats (36) on the two hinge groups are staggered, so that the two hinge assemblies at both ends of the crawler (3) are mutually embedded through the hinge seats and the pin rod (37) transversely penetrates the pin holes on the two hinge groups (35), thereby realizing the disassembly and connection of the crawler (3).

6. The wheel-track interchange structure for an all-terrain robot according to claim 1, characterized in that: The outer surface of the crawler (3) is provided with a plurality of raised anti-slip strips (34).

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