Deformable wheel-track combined type advancing mechanism

Abstract

The utility model relates to a deformable wheel-track combined type advancing mechanism which comprises a driving main shaft, a hub and a track arranged on the outer side of the hub, the driving main shaft is provided with a power switching driving piece, and the power switching driving piece drives the track to rotate through a track transmission assembly. The power switching driving piece can move leftwards along the driving main shaft, so that the power switching driving piece is separated from the crawler belt transmission assembly; crawler belt supporting pieces are arranged on the peripheral side of the hub and are driven by a deformation mechanism to stretch and deform in the radial direction of the hub, so that the crawler belt is supported to be in a circular state or a non-circular state; the hub is provided with a driven rotary meshing part, a driving rotary meshing part is arranged at the right end of the power switching driving part, and the power switching driving part drives the hub to rotate when moving leftwards till the driving rotary meshing part is meshed with the driven rotary meshing part. Free switching between a wheel type structure and a crawler type structure is achieved, the flexibility of the wheel type structure is achieved, the high trafficability of the crawler type structure is achieved, and the performance is stable when various road conditions are coped with.

Description

TECHNICAL FIELD

[0001] The utility model relates to a deformable wheel-track composite travelling mechanism. BACKGROUND

[0002] In the rescue scene, the traditional rescue robot travelling mechanism is mainly divided into three kinds of wheel type, track type and leg type. The wheel type robot has higher moving speed and energy efficiency on the flat ground, such as the wheel type robot has higher work efficiency on the flat road which is not damaged, the structure is relatively simple, the control algorithm is also relatively complete, and relatively accurate motion control can be realized, but its obstacle crossing ability is weak in the relatively severe road condition and is difficult to complete the rescue task. The track type robot has good passability in the complex terrain such as ruins, muddy ground, steep slope and the like, the track has large contact area with the ground and can provide larger traction, but when driving on the normal road, the friction is large due to the large contact area with the ground, and a large amount of unnecessary energy loss is caused when driving. The leg type robot has strong terrain adaptability and can cross various complex terrains, has good flexibility and can reduce the ground pressure by contacting the ground through the legs, but it still has problems such as relatively complex structure, large control difficulty and slow moving speed.

[0003] With the development of technology, some wheel-track composite travelling mechanisms appear, these mechanisms aim to combine the advantages of wheel type and track type and splice and combine them to evolve a new wheel-track composite mechanism, which can adapt to complex rescue environment and has better passability than the traditional single type travelling mechanism, but the simple splicing structure means that a complex transmission and control system is needed, which needs to have at least two sets of power systems or a complex conversion mechanism to ensure smooth operation in two modes, so it cannot well meet the actual demand, therefore the deformable composite travelling mechanism still has far-reaching research significance. UTILITY MODEL CONTENTS

[0004] The utility model makes improvement in view of the above prior art problem, that is, the technical problem to be solved by the utility model is to provide a deformable wheel-track composite travelling mechanism, which has reasonable structure design, fast deformation efficiency, and can realize power system conversion while deforming in two modes.

[0005] In order to achieve the above object, the utility model adopts the technical scheme: a deformable wheel-track composite travelling mechanism, including drive spindle for being connected with motor, wheel hub being installed on drive spindle, track being annularly arranged on the outer circumferential side of wheel hub, the drive spindle is provided with power switching driving part that can rotate along with drive spindle, the power switching driving part is connected with track through track transmission assembly, so as to drive track to rotate, the power switching driving part can be pushed to move left along drive spindle by linear driving part, so that power switching driving part is separated from track transmission assembly, the circumferential side of wheel hub is provided with track support for supporting the inner surface of track, the track support is driven to stretch and contract radially along wheel hub by deformation mechanism, so as to support track into circular state or non-circular state, the wheel hub is provided with driven rotary engagement part, the right end of power switching driving part is provided with driving rotary engagement part, when driving rotary engagement part and driven rotary engagement part are engaged when power switching driving part moves left, wheel hub is driven to rotate.

[0006] Further, the drive spindle is sequentially provided with a first shaft section and a second shaft section from left to right, the cross section of the first shaft section is circular, and the cross section of the second shaft section is a regular hexagon; the power switching driving part includes a driving gear installed on the second shaft section, and a transmission switching sleeve coaxially fixed to the right end of the driving gear, the central hole of the driving gear and the inner hole of the transmission switching sleeve are both regular hexagonal, and the right end of the transmission switching sleeve is rotatably connected with a connecting sleeve for connecting with the linear driving part, and the linear driving part pushes the transmission switching sleeve and the driving gear to move left through the connecting sleeve.

[0007] Further, the right end of the wheel hub is coaxially fixed with a power switching sleeve, the power switching sleeve is rotatably sleeved outside the transmission switching sleeve, the driven rotary engagement part is a spline annularly arranged on the outer circumferential side of the right end of the power switching sleeve, the right end of the transmission switching sleeve is annularly provided with a sleeve joint part for sleeving outside the right end of the power switching sleeve, the driving rotary engagement part is a first spline groove provided on the inner circumferential side of the sleeve joint part, the first spline groove corresponds to the position of the spline, when the sleeve joint part is sleeved outside the right end of the power switching sleeve, the first spline groove cooperates with the spline to transmit the rotary motion of the transmission switching sleeve to the power switching sleeve.

[0008] Further, the hub comprises left and right distributed and each being a regular triangle shaped driven hub plate and driving hub plate, the driving hub plate and driven hub plate are connected as a whole by a plurality of annularly distributed support rods, the driving hub plate is fixedly connected with the power switching sleeve, the driving hub plate and driven hub plate are each provided with a plurality of radial sliding grooves, each radial sliding groove is slidably connected with a sliding piece, the sliding pieces corresponding in position on the driving hub plate and driven hub plate are connected as a whole; the track support comprises a plurality of pairs of track support frames, each pair of track support frames is left and right distributed and respectively corresponds in position to the driven hub plate and driving hub plate, and the two ends of each track support frame are respectively hingedly connected with two sliding pieces; the transformation mechanism is arranged on the right side of the driving hub plate, the transformation mechanism drives the plurality of sliding pieces on the driving hub plate to move, and the sliding directions of adjacent two sliding pieces on the driving hub plate are opposite.

[0009] Further, the plurality of radial sliding grooves comprises three first radial sliding grooves respectively arranged at the three top corners, and a second radial sliding groove is arranged between adjacent two first radial sliding grooves; the sliding piece in the first radial sliding groove is a Y-shaped first sliding rod, the vertical section of the first sliding rod extends into the first radial sliding groove, and the two inclined sections of the first sliding rod are respectively hingedly connected with two adjacent track support frames; the sliding piece in the second radial sliding groove is a second sliding rod, one end of the second sliding rod extends out of the second radial sliding groove and is hingedly connected with two oppositely distributed connecting rods, the two connecting rods and the second sliding rod are Y-shapedly distributed, and the ends of the two connecting rods away from the second sliding rod are respectively hingedly connected with two adjacent track support frames.

[0010] Further, the right side surface of the first sliding rod is fixedly provided with a first pin, the first pin penetrates the first radial sliding groove to the right; the right side surface of the second sliding rod is fixedly provided with a second pin, the second pin penetrates the second radial sliding groove to the right; the transformation mechanism comprises a transformation disc coaxially arranged with the driving hub plate and rotatably installed on the power transmission sleeve, the transformation disc is provided with three circumferentially distributed first arc-shaped sliding grooves, the three first arc-shaped sliding grooves correspond in position to the three first radial sliding grooves, each first arc-shaped sliding groove is slidably matched with the position corresponding first pin, the inner side of the three first arc-shaped sliding grooves is provided with three second arc-shaped sliding grooves circumferentially distributed around the axis of the transformation disc, each second arc-shaped sliding groove is located between adjacent two first arc-shaped sliding grooves, the arc opening of the first arc-shaped sliding groove faces the inner side, the arc opening of the second arc-shaped sliding groove faces the outer side, the three second arc-shaped sliding grooves correspond in position to the three second radial sliding grooves, and each second arc-shaped sliding groove is slidably matched with the position corresponding second pin; the transformation disc is driven to rotate by the transformation power assembly, and when the transformation disc rotates, the first sliding rod and the second sliding rod are respectively driven to move by the first pin and the second pin, and the moving directions of the first sliding rod and the second sliding rod are opposite.

[0011] Further, the deformation power assembly comprises a motor support seat, a self-locking motor, a first gear and a second gear, the motor support seat is provided with a mounting through hole facilitating the penetration of the power switching sleeve, and a second spline groove matched with the spline is arranged on the inner circumferential side of the mounting through hole; the self-locking motor is mounted on the motor support seat, the output shaft of the self-locking motor is connected with the first gear, the second gear is coaxially fixed in the middle part of the right end of the deformation turntable, the second gear is engaged with the first gear, and the self-locking motor drives the deformation turntable to rotate through the first gear and the second gear.

[0012] Further, the track support frame is in an arc shape, two support wheels are arranged in the track support frame in a circumferential direction, and the circumferential side parts of the two support wheels protrude out of the track support frame and are used for being in contact with the inner surfaces of the tracks.

[0013] Further, the track transmission assembly comprises three track driving wheels which are uniformly distributed in a circumferential direction around the axis of the driving main shaft, the track driving wheels are engaged with the inner surfaces of the tracks, the three track driving wheels are located between the driving hub plate and the driven hub plate, and the right ends of the track driving wheels are coaxially fixedly provided with first transmission gears; the outer circumferential side of the driving gear is engaged with three second transmission gears, the three second transmission gears correspond to the positions of the three track driving wheels, the second transmission gears are engaged with the first transmission gears on the track driving wheels corresponding in position, and the first transmission gears and the second transmission gears are connected to the first sliding rod through support shafts.

[0014] Compared with the prior art, the utility model has the following effects: the utility model discloses the structure design is reasonable, and the free switching of wheeled and tracked is convenient to realize, contains the flexibility of wheeled structure, has the high passability of tracked structure, and the performance is stable when responding to various road conditions, and the deformation efficiency is fast, and the power system can be converted while deforming under two modes. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the three-dimensional structure schematic diagram of the embodiment of the utility model, and the embodiment of the utility model is shown in the figure.

[0016] Figure 2 It is the front view structure schematic diagram of the embodiment of the utility model, and the embodiment of the utility model is shown in the figure.

[0017] Figure 3 It is the left view structure schematic diagram of the embodiment of the utility model, and the embodiment of the utility model is shown in the figure.

[0018] Figure 4 It is the rear view cross section structure schematic diagram of the embodiment of the utility model, and the embodiment of the utility model is shown in the figure.

[0019] Figure 5 It is the connection schematic diagram of the driving main shaft in the embodiment of the utility model, and the embodiment of the utility model is shown in the figure.

[0020] Figure 6 is a main view structure schematic diagram of the embodiment of the utility model for track type;

[0021] Figure 7 is a three-dimensional structure schematic diagram of the embodiment of the utility model for track type;

[0022] Figure 8 is a main view structure schematic diagram of the embodiment of the utility model for wheel type;

[0023] Figure 9 is a three-dimensional structure schematic diagram of the embodiment of the utility model for wheel type;

[0024] Figure 10 is a state schematic diagram of the track support piece when the embodiment of the utility model is track type;

[0025] Figure 11 is a state schematic diagram of the track support piece when the embodiment of the utility model is wheel type;

[0026] Figure 12 is a local partial exploded state schematic diagram of the embodiment of the utility model;

[0027] Figure 13 is an exploded state schematic diagram of the power switching driving piece in the embodiment of the utility model;

[0028] Figure 14 is a structure schematic diagram of the track transmission assembly in the embodiment of the utility model;

[0029] Figure 15 is a three-dimensional structure schematic diagram of the driving wheel hub plate in the embodiment of the utility model;

[0030] Figure 16 is a three-dimensional structure schematic diagram of the deformation turntable in the embodiment of the utility model;

[0031] Figure 17 is a three-dimensional structure schematic diagram of the transmission switching sleeve in the embodiment of the utility model;

[0032] Figure 18 is a three-dimensional structure schematic diagram of the power switching sleeve in the embodiment of the utility model;

[0033] Figure 19 is a state schematic diagram of the deformation mechanism control sliding piece after moving in the embodiment of the utility model;

[0034] Figure 20 is an assembly schematic diagram of the embodiment of the utility model being transformed into track type on the chassis;

[0035] Figure 21 is a local structure schematic diagram of the embodiment of the utility model cooperating with the chassis.

[0036] Fig.:

[0037] 1-driving main shaft; 2-hub; 3-track; 4-power switching driving piece; 5-track support; 6-deformation mechanism; 7-first shaft section; 8-second shaft section; 9-driving gear; 10-transmission switching sleeve; 11-connecting screw hole; 12-connecting through hole; 13-connecting sleeve; 14-annular groove; 15-bearing outer ring; 16-bearing retainer; 17-bearing inner ring; 18-connecting lug; 19-power switching sleeve; 20-spline; 21-sleeve cylinder part; 22-first spline groove; 23-driving hub plate; 24-driven hub plate; 25-adapting groove; 26-connecting protrusion; 27-track support frame; 28-first radial sliding slot; 29-second radial sliding slot; 30-first sliding rod; 31-second sliding rod; 32-connecting rod; 33-connecting rod; 34-first pin; 35-second pin; 36-deformation turntable; 37-first arc-shaped sliding slot; 38-second arc-shaped sliding slot; 39-motor support seat; 40-self-locking motor; 41-first gear; 42-second gear; 43-second spline groove; 44-support wheel; 45-track driving wheel; 46-first transmission gear; 47-second transmission gear; 48-support shaft; 49-motor; 50-electric push rod; 51-chassis; 52-driving rotary engagement part; 53-driven rotary engagement part; 54-support rod. DETAILED DESCRIPTION

[0038] The utility model will be made further detailed description in combination with the drawings and specific implementation.

[0039] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore can not be understood as a limitation on the utility model.

[0040] As Figures 1-18The utility model discloses a deformable wheel track composite type advancing mechanism for rescue robot use, installs on the chassis of rescue robot when using, is used to solve the problem that the mechanical structure of existing deformable wheel track composite advancing mechanism is more complex, and the problem of low deformation efficiency, complex power system is difficult to apply in actual working condition, the advancing mechanism includes the drive spindle 2 for connecting with the motor on the chassis of rescue robot, the wheel hub 3 rotatable installation in drive spindle 2, the track 3 of ring and set in the outer circumferential side of wheel hub 3, drive spindle transverse arrangement is provided with the power switching drive piece 4 rotatable along with drive spindle 1, the power switching drive piece 4 is connected with track 3 through track transmission assembly to drive track 3 rotation, at this time is track type advancing, the power switching drive piece 4 still is along the axial sliding fit with drive spindle 1, and power switching drive piece 4 can be along the axial left movement of drive spindle 1 when being pushed along the linear drive piece on the chassis of rescue robot, when power switching drive piece 4 moves left along drive spindle 1, power switching drive piece 4 is separated with track transmission assembly, at this time power switching drive piece 4 no longer drive track 3 rotation, the circumferential side of wheel hub 2 is provided with the track support 5 for supporting in the inner surface of track 3, the track support 5 is driven along the radial telescopic deformation of wheel hub 2 by deformation mechanism 6 to support track 3 into circular state or non-circular state, when track is supported into circular state, at this time entire advancing mechanism is wheel type state, when track is supported into non-circular state (for example triangular shape), entire advancing mechanism is track type state, wheel hub 2 is provided with driven rotary engagement part 53, and the right end of power switching drive piece 4 is provided with driving rotary engagement part 52, when power switching drive piece 4 moves left to driving rotary engagement part 52 and driven rotary engagement part 53 engage, drive spindle drives power switching drive piece rotation, and power switching drive piece drives entire wheel hub rotation, and wheel hub 2 drives entire track rolling, forms wheel structure, that is, entire advancing structure rotates as the wheel as a whole.

[0041] As can be seen from the above description, the deformable wheel-track composite traveling mechanism realizes switching of the track 3 between the circular state and the non-circular state through the deformation mechanism. When the track 3 is in the circular state, the traveling mechanism is in the wheel state, at this time, the power switching driving part 4 is separated from the track transmission assembly, the power switching driving part 4 is engaged with the driven rotating engagement part 53 through the driving rotating engagement part 52, the driving main shaft 1 is driven to rotate by the motor on the rescue robot chassis, the driving main shaft 1 drives the power switching driving part 4 to rotate synchronously, and the power switching driving part 4 drives the wheel hub 2 to rotate. When the track is in the non-circular state (for example, triangular shape), the traveling mechanism is in the track state, at this time, the power switching driving part 4 is engaged with the track transmission assembly, the driving rotating engagement part 52 is separated from the driven rotating engagement part 53, the driving main shaft 1 drives the power switching driving part 4 to rotate synchronously, and the power switching driving part 4 drives the track 3 to rotate through the track transmission assembly. The deformable wheel-track composite traveling mechanism has two traveling states of the track type and the wheel type, has stable switching function, and can realize the same main shaft to realize two different operating modes, has fast switching response and stable operation, and can meet the application of the rescue robot in complex scenes.

[0042] In the embodiment, the driving main shaft 1 is sequentially provided with the first shaft section 7 and the second shaft section 8 from left to right, the cross section of the first shaft section 7 is circular, and the cross section of the second shaft section 8 is a regular hexagon.

[0043] In the embodiment, the power switching driving part 4 includes the driving gear 9 installed on the second shaft section 8 and the transmission switching sleeve 10 coaxially fixed to the middle part of the right end of the driving gear 9, the central hole of the driving gear 9 and the inner hole of the transmission switching sleeve 10 are both regular hexagonal, the second shaft section 8 of the driving main shaft 1 penetrates the central hole of the driving gear 9 and the inner hole of the transmission switching sleeve 10, and the driving main shaft 1 drives the driving gear 9 and the transmission switching sleeve 10 to rotate through the hexagonal structure. Further, the left end surface of the transmission switching sleeve 10 is uniformly distributed with the connecting screw holes 11, the central hole of the driving gear 9 is uniformly distributed with the connecting through holes 12, and the driving gear 9 and the transmission switching sleeve 10 are locked and fixed through cooperation of the bolts penetrating the connecting through holes 12 and the connecting screw holes 11.

[0044] The right end of the transmission switching sleeve 10 is rotatably connected with a connecting sleeve 13 for connecting with a linear driving member. The linear driving member pushes the transmission switching sleeve 10 and the driving gear 9 to move leftward through the connecting sleeve 13. Specifically, the right end of the transmission switching sleeve 10 is provided with an annular groove 14, and the connecting sleeve 13 is rotatably connected with the transmission switching sleeve through a bearing installed in the annular groove 14. Further, the bearing is a two-half split bearing, i.e., the bearing outer ring 15, the bearing retainer 16 and the bearing inner ring 17 are all two-half split structures. The connecting sleeve 13 is composed of two half-cylindrical sleeve units which are butted together. Each sleeve unit has a connecting lug 18 at each end, and the connecting lug has a connecting hole. The linear driving member is connected with the connecting lug 18 through a bolt. Preferably, the linear driving member is an electric push rod 50 installed on the chassis of the rescue robot.

[0045] In the embodiment, the right end of the hub 2 is coaxially fixed with a power switching sleeve 19, the power switching sleeve 19 is rotatably sleeved outside the transmission switching sleeve 10, the driven rotary engagement part 53 is a spline 20 annularly arranged on the right end outer circumferential surface of the power switching sleeve 19, and the spline extends along the axis direction of the power switching sleeve; the right end outer circumferential surface of the transmission switching sleeve 10 is annularly provided with a sleeve connecting sleeve part 21 for sleeving outside the right end of the power switching sleeve 19, the driving rotary engagement part 52 is a first spline groove 22 arranged on the inner circumferential surface of the sleeve connecting sleeve part 21, the first spline groove 22 corresponds in position to the spline 20, when the sleeve connecting sleeve part 13 is sleeved outside the right end of the power switching sleeve 19, the first spline groove 22 cooperates with the spline 20 to transmit the rotary motion of the transmission switching sleeve 10 to the power switching sleeve 19, i.e., the transmission switching sleeve drives the power switching sleeve to rotate, and the power switching sleeve drives the hub to rotate.

[0046] In the embodiment, the hub 2 comprises left and right distributed driven hub plates 24 and driving hub plates 23, the driven hub plates 24 and the driving hub plates 23 are all in the shape of an equilateral triangle, the driving hub plates 23 and the driven hub plates 24 are connected as a whole by a plurality of annularly distributed supporting rods 54, the driven hub plates 24 are installed on the first shaft section 7 of the driving main shaft 1, the driving hub plates 23 are rotatably installed on the transmission switching sleeve 10, and the driving hub plates 23 are fixedly connected with the power switching sleeve 19. Specifically, the right side of the middle part of the driving hub plate 23 is provided with an adaptive groove 25, a plurality of screw holes are formed in the adaptive groove 25 along the circumferential direction; a plurality of connecting convex parts 26 are uniformly distributed on the outer circumferential part of the left end of the power switching sleeve 19, a through hole is formed on each connecting convex part 26, and during installation, the left end of the power switching sleeve 19 extends into the adaptive groove 25, the through hole on the connecting convex part 26 corresponds to the position of the screw hole, a bolt is arranged in the through hole and cooperates with the screw hole, so as to realize the fixation of the power switching sleeve 19 and the driving hub plate 23.

[0047] In the embodiment, the circumferential sides of the driving hub plates 23 and the driven hub plates 24 are all provided with a plurality of radial sliding grooves, a sliding piece is slidably connected in each radial sliding groove, the sliding pieces on the driving hub plates and the driven hub plates in position are connected as a whole, that is, the opposite sliding pieces on the driving hub plates and the driven hub plates are synchronously moved along the radial sliding grooves; the track support 5 comprises a plurality of pairs of track support frames 27, each pair of track support frames 27 is distributed left and right and corresponds to the position of the driving hub plate 23 and the driven hub plate 24, that is, the circumferential sides of the driving hub plates 23 and the driven hub plates 24 are all provided with a plurality of track support frames 27. The track support frames 27 on the circumferential side of each driving hub plate 23 are respectively hinged to two sliding pieces on the driving hub plate 23 at both ends along the hub circumferential direction, and the track support frames 27 on the circumferential side of each driven hub plate 24 are respectively hinged to two sliding pieces on the driven hub plate 24 at both ends along the hub circumferential direction. The deformation mechanism 6 is arranged on the right side of the driving hub plate 23, the deformation mechanism 6 drives the plurality of sliding pieces on the driving hub plate 23 and the driven hub plate 24 to move, and the sliding directions of the adjacent two sliding pieces on the driving hub plate 23 are opposite, the sliding pieces on the driving hub plate and the driven hub plate are synchronously moved, that is, one moves inward and the other moves outward.

[0048] The plurality of radial sliding grooves on the driving hub plate 23 and the driven hub plate 24 in the embodiment each comprises three first radial sliding grooves 28 respectively arranged at three top corners, and a second radial sliding groove 29 is arranged between two adjacent first radial sliding grooves 28, i.e. there are totally six radial sliding grooves, three first radial sliding grooves and three second radial sliding grooves; the sliding member in the first radial sliding groove 28 is a first sliding rod 30 in Y shape, the vertical section of the first sliding rod 30 extends into the first radial sliding groove 28 and forms a sliding fit with the first radial sliding groove 28, and the two inclined sections of the first sliding rod 30 extend out of the first radial sliding groove 28 and are respectively hinged to two adjacent track support frames 27; the sliding member in the second radial sliding groove 29 is a second sliding rod 31, one end of the second sliding rod 31 extends out of the second radial sliding groove 29 and is hinged to two oppositely distributed connecting rods 32, the two connecting rods 32 and the second sliding rod 31 are in Y shape, and the other ends of the two connecting rods 32 away from the second sliding rod 31 are respectively hinged to two adjacent track support frames 27, i.e. in each track support frame 27, one end of the track support frame 27 is hinged to the inclined section of the first sliding rod 30, and the other end of the track support frame 27 is hinged to the connecting rod 32 of the second sliding rod 31, when the first sliding rod and the second sliding rod move in opposite directions, the track support frame can be driven to move.

[0049] In the embodiment, the first sliding rods 30 corresponding in position on the driving hub plate 23 and the driven hub plate 24 are connected together at one end extending out of the first radial sliding groove 28 by a connecting rod 33; the second sliding rods 31 corresponding in position on the driving hub plate 23 and the driven hub plate 24 are connected together at one end extending out of the second radial sliding groove 29 by a connecting rod 33, i.e. the first sliding rods 30 corresponding in position on the driving hub plate 23 and the driven hub plate 24 are connected as a whole, and the second sliding rods 31 corresponding in position are connected as a whole, and can move synchronously.

[0050] The first radial sliding groove 28 and the second radial sliding groove 29 on the driving wheel hub plate 23 are both open at both ends, and the first radial sliding groove 28 and the second radial sliding groove 29 on the driven wheel hub plate 24 are open at the right end. The right side of the first sliding rod 30 is vertically fixed with a first pin 34, and the first pin 34 penetrates the first radial sliding groove 28 to the right. The right side of the second sliding rod 31 is vertically fixed with a second pin 35, and the second pin 35 penetrates the second radial sliding groove 29 to the right. The deformation mechanism 6 comprises a deformation turntable 36 coaxially arranged with the driving wheel hub plate 23 and rotatably installed on the power transmission sleeve 19. The deformation turntable 36 is provided with three first arc-shaped sliding grooves 37 circumferentially distributed, and the three first arc-shaped sliding grooves 37 correspond to the positions of the three first radial sliding grooves 28. Each first arc-shaped sliding groove 37 is in sliding fit with the corresponding first pin 34. The inner side of the three first arc-shaped sliding grooves 37 is provided with three second arc-shaped sliding grooves 38 circumferentially distributed around the axis of the deformation turntable 36. Each second arc-shaped sliding groove 38 is located between two adjacent first arc-shaped sliding grooves 37. The first arc-shaped sliding groove 37 has an arc opening facing the inner side, and the second arc-shaped sliding groove 38 has an arc opening facing the outer side. The three second arc-shaped sliding grooves 38 correspond to the positions of the three second radial sliding grooves 29. Each second arc-shaped sliding groove 38 is in sliding fit with the corresponding second pin 35. The deformation turntable 36 is driven to rotate by the deformation power assembly. When the deformation turntable 36 rotates, the first sliding rod 30 and the second sliding rod 31 are driven to move by the first pin 34 and the second pin 35 respectively, and the moving directions of the first sliding rod 30 and the second sliding rod 31 are opposite. When the deformation turntable 36 rotates clockwise, the first sliding rod 30 is driven to move outward by the first arc-shaped sliding groove 37, and the second sliding rod 31 is driven to move inward by the second arc-shaped sliding groove 38. When the deformation turntable 36 rotates counterclockwise, the first sliding rod 30 is driven to move inward by the first arc-shaped sliding groove 37, and the second sliding rod 31 is driven to move outward by the second arc-shaped sliding groove 38.

[0051] In this embodiment, the deformation power assembly includes a motor support seat 39, a self-locking motor 40, a first gear 41 and a second gear 42. The motor support seat 39 is provided with a mounting through hole for facilitating the penetration of the power switching sleeve 19. The inner circumferential side of the mounting through hole is provided with a second spline groove 43 matched with the spline 20. The second spline groove is matched with the spline to limit the position in the circumferential direction, so that the power switching sleeve can drive the motor support seat to rotate. Further, the motor support seat 39 is composed of two parts which are fixed by bolts. The bolts tightly hold the two parts of the motor support seat to the power switching sleeve, so as to fix the motor support seat to the power switching sleeve. The self-locking motor 40 is installed on the motor support seat 39. The output shaft of the self-locking motor 40 is connected with the first gear 41. The second gear 42 is coaxially fixed on the right end of the middle part of the deformation turntable 36. The second gear 42 is engaged with the first gear 41. The self-locking motor 40 drives the deformation turntable 36 to rotate through the first gear 41 and the second gear 42. The self-locking motor is used to control the rotation of the deformation turntable. When the self-locking motor is self-locked, the deformation turntable cannot rotate, and the relative position between the deformation turntable and the hub is maintained.

[0052] In this embodiment, the track support frame 27 is in an arc shape. Two support wheels 44 are arranged in the circumferential direction inside the track support frame 27. The circumferential side of the two support wheels 44 extends out of the track support frame 27 and is used to contact the inner surface of the track 3.

[0053] In this embodiment, the track transmission assembly includes three track drive wheels 45 which are uniformly distributed in the circumferential direction around the axis of the driving main shaft 1. The track drive wheels 45 are engaged with the inner surface of the track 3. The three track drive wheels 45 are installed between the driving hub plate 23 and the driven hub plate 24. The right end of the track drive wheel 45 is coaxially fixed with a first transmission gear 46. The outer circumferential side of the driving gear 9 is engaged with three second transmission gears 47. The three second transmission gears 47 correspond to the positions of the three track drive wheels 45. The second transmission gear 47 is engaged with the first transmission gear 46 on the position corresponding track drive wheel 45. The first transmission gear 46 and the second transmission gear 47 are connected to the first sliding rod 30 through a support shaft 48. When working, the driving main shaft drives the driving gear to rotate. The driving gear drives the three second transmission gears to rotate. The three second transmission gears drive the three first transmission gears to rotate. The first transmission gears drive the track drive wheels to rotate. The track drive wheels drive the track to rotate.

[0054] In this embodiment, the track is made of a rubber track with certain stretchability, which can meet the requirements in the switching between the wheel type and the track type. The track is supported by the deformation mechanism to be in the track type (non-circular shape) or the wheel type (circular shape). The planetary gear transmission mechanism is used in the track type. The whole internal structure directly drives the track to roll in the wheel type.

[0055] In this embodiment, as shown in Figure 20 , 21 , when in use, the chassis 51 of the rescue robot is provided with a pair of deformable wheel-track composite traveling mechanisms on each of the left and right sides, each pair of deformable wheel-track composite traveling mechanisms is distributed in front and back, one end of the driving spindle 1 close to the chassis 51 is connected with the motor 49 arranged on the chassis 51, and the driving spindle 1 is driven to rotate by the motor 49; and the electric push rod 50 (i.e. a linear driving member) on the chassis 51 is connected with the connecting sleeve 13 on the transmission switching sleeve 10, and the electric push rod 50 is used to push the transmission switching sleeve 10 and the driving gear 9 to move along the axial direction of the driving spindle 1.

[0056] In this embodiment, the working method of the deformable wheel-track composite traveling mechanism includes the following steps:

[0057] (1) Wheel type to track type: the self-locking motor 40 drives the deformation turntable 36 to rotate clockwise through the first gear 41 and the second gear 42, the deformation turntable 36 drives the first sliding rod 30 to move outward through the first arc-shaped sliding groove 37 and drives the second sliding rod 31 to move inward through the second arc-shaped sliding groove 38, so as to drive the track support frame 27 to support the track 3 into a triangular shape; then the linear driving member pulls the transmission switching sleeve 10 and the driving gear 9 to move to the right through the connecting sleeve 13, so that the first spline groove 22 on the transmission switching sleeve 10 is separated from the spline 20 on the power switching sleeve 19, and the driving gear 9 is restored to engage with the second transmission gear 47, at this time the hub 2 no longer rotates with the driving spindle 1, the driving spindle 1 drives the track driving wheel 45 to rotate through the driving gear 9, the second transmission gear 47 and the first transmission gear 46, and the track driving wheel 45 drives the track 3 to rotate;

[0058] (2) Track type to wheel type: the linear driving member pushes the transmission switching sleeve 10 and the driving gear 9 to move to the left through the connecting sleeve 13, so that the driving gear 9 is separated from the second transmission gear 47, and the first spline groove 22 on the transmission switching sleeve 10 engages with the spline 20 on the power switching sleeve 19; then the self-locking motor 40 drives the deformation turntable 36 to rotate counterclockwise through the first gear 41 and the second gear 42, the deformation turntable 36 drives the first sliding rod 30 to move inward through the first arc-shaped sliding groove 37 and drives the second sliding rod 31 to move outward through the second arc-shaped sliding groove 38, so as to drive the track support frame 27 to support the track 3 into a circular shape, and finally the hub 2 rotates with the driving spindle 2, thereby driving the entire wheel type structure to rotate.

[0059] The utility model discloses a deformable wheel-track composite type advancing mechanism, which is not simply combined wheel type and track type together through addition and subtraction, but is designed through a new deformation mechanism, so that the advancing mechanism can move through internal mechanism, thereby achieving the purpose of freely switching wheel and track.

[0060] If the utility model discloses or involves mutually fixed connecting parts or structural members, then, except for another declaration, fixed connection can be understood as: detachable fixed connection (for example, using bolt or screw connection), and also can be understood as: undetachable fixed connection (for example, riveting, welding), of course, mutual fixed connection can also be replaced by integral structure (for example, integrally formed by using casting process) (obviously, integral forming process cannot be adopted except for another declaration).

[0061] In addition, the meaning of the term for indicating position relationship or shape applied in any technical scheme of the utility model disclosed above includes approximate, similar or close state or shape except for another declaration.

[0062] Any part provided by the utility model can be assembled by multiple individual components, or can be an individual component manufactured by integral forming process.

[0063] Finally, it should be explained that: the above embodiments are only used to illustrate the technical scheme of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: the specific implementation of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical scheme of the utility model, it should be covered in the technical scheme range of the utility model claimed in the utility model.

Claims

1. A deformable wheel-track hybrid travelling mechanism, characterized in that: The application relates to a driving main shaft connected with a motor, a hub mounted on the driving main shaft, a track arranged on the outer circumferential side of the hub, a power switching driving piece arranged on the driving main shaft and capable of rotating with the driving main shaft, a track transmission assembly connected with the track through the power switching driving piece to drive the track to rotate, the power switching driving piece being pushed to move leftwards along the driving main shaft through a linear driving piece to separate the power switching driving piece from the track transmission assembly, a track support piece arranged on the circumferential side of the hub and used for supporting the inner surface of the track, the track support piece being driven by a deformation mechanism to stretch and contract in the radial direction of the hub to support the track in a circular state or a non-circular state, the hub being provided with a driven rotary engagement part, the right end of the power switching driving piece being provided with a driving rotary engagement part, and the power switching driving piece driving the hub to rotate when the driving rotary engagement part is engaged with the driven rotary engagement part after the power switching driving piece moves leftwards.

2. The variable wheel-track hybrid locomotion mechanism of claim 1, wherein: The driving main shaft is sequentially provided with a first shaft section and a second shaft section from left to right, the cross section of the first shaft section is circular, and the cross section of the second shaft section is hexagonal; the power switching driving piece comprises a driving gear mounted on the second shaft section and a transmission switching sleeve coaxially fixed on the right end of the driving gear, the central hole of the driving gear and the inner hole of the transmission switching sleeve are hexagonal, and the right end of the transmission switching sleeve is rotatably connected with a connecting sleeve used for connecting with the linear driving piece, the linear driving piece pushes the transmission switching sleeve and the driving gear to move leftwards through the connecting sleeve.

3. The variable wheel-track hybrid locomotion mechanism of claim 2, wherein: The right end of the hub is coaxially fixed with the power switching sleeve, the power switching sleeve is rotatably sleeved on the outer side of the transmission switching sleeve, the driven rotary engagement part is a spline arranged on the outer circumferential side of the right end of the power switching sleeve, the right end of the transmission switching sleeve is annularly provided with a sleeve part used for sleeving on the outer side of the right end of the power switching sleeve, the driving rotary engagement part is a first spline groove arranged on the inner circumferential side of the sleeve part, the first spline groove is corresponded with the spline, when the sleeve part is sleeved on the outer side of the right end of the power switching sleeve, the first spline groove is matched with the spline to enable the rotary motion of the transmission switching sleeve to be transmitted to the power switching sleeve.

4. The variable wheel-track hybrid locomotion mechanism of claim 3, wherein: The hub comprises left and right distributed driving hub plates and driving hub plates which are all in the shape of a regular triangle, the driving hub plates and the driving hub plates are connected into a whole through a plurality of annularly distributed supporting rods, the driving hub plates are fixedly connected with the power switching sleeve, the circumferential sides of the driving hub plates and the driving hub plates are all provided with a plurality of radial sliding grooves, each radial sliding groove is slidably connected with a sliding piece, the sliding pieces corresponding in position on the driving hub plates and the driving hub plates are connected into a whole, the track support piece comprises a plurality of track support frames, each track support frame is left and right distributed and corresponded with the driving hub plates and the driving hub plates in position, and the two ends of each track support frame are respectively hingedly connected with two sliding pieces, and the deformation mechanism is arranged on the right side of the driving hub plates, the deformation mechanism drives the plurality of sliding pieces on the driving hub plates to move, and the sliding directions of adjacent two sliding pieces on the circumferential side of the driving hub plates are opposite.

5. The variable wheel-track hybrid locomotion mechanism of claim 4, wherein: The plurality of radial sliding grooves include three first radial sliding grooves respectively arranged at the three top corners, and a second radial sliding groove is arranged between two adjacent first radial sliding grooves; the sliding member in the first radial sliding groove is a first sliding rod in Y shape, a vertical section of the first sliding rod extends into the first radial sliding groove, and two inclined sections of the first sliding rod are respectively hinged to two adjacent track support frames; the sliding member in the second radial sliding groove is a second sliding rod, one end of the second sliding rod extends out of the second radial sliding groove and is hinged to two oppositely distributed connecting rods, the two connecting rods and the second sliding rod are in Y shape, and the ends of the two connecting rods away from the second sliding rod are respectively hinged to two adjacent track support frames.

6. The variable wheel-track hybrid locomotion mechanism of claim 5, wherein: The right side of the first sliding rod is fixed with a first pin which penetrates the first radial sliding groove to the right; the right side of the second sliding rod is fixed with a second pin which penetrates the second radial sliding groove to the right; the deformation mechanism includes a deformation turntable coaxially arranged with the driving hub plate and rotatably installed on the power transmission sleeve, the deformation turntable is provided with three first arc-shaped sliding grooves which are circumferentially distributed, the three first arc-shaped sliding grooves correspond to the positions of the three first radial sliding grooves, each first arc-shaped sliding groove is in sliding fit with the first pin corresponding in position, the inner sides of the three first arc-shaped sliding grooves are provided with three second arc-shaped sliding grooves which are circumferentially distributed around the axis of the deformation turntable, each second arc-shaped sliding groove is located between two adjacent first arc-shaped sliding grooves, the arc opening of the first arc-shaped sliding groove faces the inner side, the arc opening of the second arc-shaped sliding groove faces the outer side, the three second arc-shaped sliding grooves correspond to the positions of the three second radial sliding grooves, and each second arc-shaped sliding groove is in sliding fit with the second pin corresponding in position; the deformation turntable is driven to rotate by the deformation power assembly, and the first sliding rod and the second sliding rod are driven to move by the first pin and the second pin respectively when the deformation turntable rotates, and the moving directions of the first sliding rod and the second sliding rod are opposite.

7. The variable wheel-track hybrid locomotion mechanism of claim 6, wherein: The deformation power assembly includes a motor support seat, a self-locking motor, a first gear and a second gear, the motor support seat is provided with a mounting through hole through which the power switching sleeve penetrates, and the inner circumferential side of the mounting through hole is provided with a second spline groove matched with the spline; the self-locking motor is installed on the motor support seat, the output shaft of the self-locking motor is connected with the first gear, the second gear is coaxially fixed in the middle part of the right end of the deformation turntable, the second gear is engaged with the first gear, and the self-locking motor drives the deformation turntable to rotate through the first gear and the second gear.

8. The variable wheel-track hybrid locomotion mechanism of claim 6, wherein: The track support frame is in arc shape, and two support wheels are circumferentially arranged in the inside of the track support frame, and the circumferential side parts of the two support wheels extend out of the track support frame and are used to contact the inner surface of the track.

9. The variable wheel-track hybrid locomotion mechanism of claim 5, wherein: The track drive assembly comprises three track drive wheels which are evenly distributed around the axis of the driving main shaft, the track drive wheels are engaged with the inner surface of the track, the three track drive wheels are located between the driving hub plate and the driven hub plate, and the right end of the track drive wheel is coaxially fixedly provided with a first transmission gear; the outer periphery side of the driving gear is engaged with three second transmission gears, the three second transmission gears correspond to the positions of the three track drive wheels, and the second transmission gear is engaged with the first transmission gear on the position corresponding track drive wheel.

10. The variable wheel-track hybrid locomotion mechanism of claim 9, wherein: The first transmission gear and the second transmission gear are connected to the first sliding rod through the support shaft.

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