Wheel-track composite drive all-terrain loader

Abstract

The utility model discloses a kind of all terrain loaders of wheel-track composite drive, it is related to engineering technical field, comprising: vehicle body and at least one group wheel-track switching walking mechanism, wherein each group wheel-track switching walking mechanism includes: driving shaft, for receiving power input;Multiple tensioning wheel hubs, by multiple tensioning hydraulic devices and multiple wheel-track switching telescopic hydraulic devices are installed on the support;Track, it is arranged at the outside of tensioning wheel hub, annular protrusion or groove is arranged in its inside side;Tensioning hydraulic device and wheel-track switching telescopic hydraulic device are used to drive tensioning wheel hub to realize displacement and attitude change.The utility model sets up tensioning hydraulic device and wheel-track switching telescopic hydraulic device to drive the tensioning wheel hub to realize displacement and attitude change by being arranged as wheel-track switching walking mechanism, make track switch between circle and polygon, to reach the purpose of wheel-track switching of walking mechanism.

Description

Technical Field

[0001] This utility model relates to the field of engineering technology, specifically to an all-terrain loader with wheel-track hybrid drive. Background Technology

[0002] A loader is a type of earthmoving machinery widely used in engineering construction, mining, road maintenance, and port loading and unloading. It is mainly used for shoveling, transporting, stacking, and loading bulk materials such as soil, sand, gravel, and coal. Its structure typically consists of a power system, transmission system, running gear, steering system, working device, and hydraulic system. Based on their mode of movement, loaders can be divided into two main categories: wheeled loaders and tracked loaders. Wheeled loaders offer good maneuverability and high speed, suitable for flat, hard surfaces; tracked loaders have high traction and strong passability, suitable for soft or rugged terrain.

[0003] In recent years, loaders have been rapidly developing towards higher mobility, adaptability to multiple working conditions, and intelligence. Traditional wheeled loaders are fast and maneuverable on flat, hard surfaces, but they are prone to getting stuck or slipping in soft, muddy, or rugged terrain, resulting in a significant decrease in work efficiency. Tracked loaders have strong stability and traction in complex terrain, but they are slow on hard surfaces, consume a lot of energy, and suffer from severe track wear and high maintenance costs. Existing single-drive modes cannot simultaneously meet the dual requirements of speed and maneuverability, limiting the loader's ability to operate under varying working conditions. Based on this situation, there is an urgent need for a simple, reliable, and efficient wheel-track switching mechanism to meet the high-efficiency operation requirements in complex working environments.

[0004] In view of the above, this application is hereby submitted. Utility Model Content

[0005] The purpose of this utility model is to provide an all-terrain loader with wheel-track hybrid drive, in which the wheel-track switching walking mechanism is set up to be driven by a tensioning hydraulic device and a wheel-track switching telescopic hydraulic device to achieve displacement and attitude changes, so that the track can switch between circular and polygonal shapes, thereby solving the problem that the single drive mode in the prior art cannot simultaneously meet the dual requirements of speed and passability.

[0006] This utility model embodiment is achieved through the following technical solution: This utility model embodiment provides an all-terrain loader with wheel-track hybrid drive, including: a vehicle body and at least one set of wheel-track switching travel mechanism, wherein the wheel-track switching travel mechanism is connected to the vehicle body;

[0007] Each set of wheel-track switching travel mechanisms includes:

[0008] Drive shaft;

[0009] The bracket is connected to the drive shaft via bearings;

[0010] Multiple tensioning hubs are indirectly mounted on the bracket via multiple tensioning hydraulic devices and multiple wheel-track switching telescopic hydraulic devices. The outer ring of each tensioning hub is provided with an annular groove / or protrusion.

[0011] The track is located on the outside of the tensioner hub, and its inner side is provided with annular protrusions or grooves. The outer ring of the tensioner hub is used to mesh with the inner side of the track.

[0012] The hydraulic cylinders of the tensioning hydraulic device and the track switching telescopic hydraulic device are respectively connected to the tensioning hub, which is used to drive the tensioning hub to achieve displacement and attitude changes, so that the track can switch between circular and polygonal shapes.

[0013] Optionally, each tensioning hub has multiple wheel sets inside, and the outer surface of each wheel set has toothed protrusions or grooves, so that the outer surface of the wheel set can mesh with the inner side of the track.

[0014] Optionally, each tensioning hub has four wheel sets inside, each wheel set including two drive wheels. Each drive wheel is mounted on a fixed shaft inside the tensioning hub via a built-in bearing, and the fixed shaft is fixedly connected to the inner wall of the tensioning hub via the bearing.

[0015] Optionally, the tensioning hydraulic device includes a first hydraulic cylinder, the piston rod end of the first hydraulic cylinder is hinged to the central shaft of the tensioning hub through an end bushing, the end bushing is connected to the piston rod end of the first hydraulic cylinder through a pin, and the axis of the pin is perpendicular to the piston rod axis of the first hydraulic cylinder.

[0016] Optionally, the wheel-track switching telescopic hydraulic device includes a second hydraulic cylinder. The piston rod end of the second hydraulic cylinder is connected to the outer edge of the tensioning hub through a linkage mechanism. The linkage mechanism includes at least two links, one end of each link is hinged to the piston rod end of the second hydraulic cylinder, and the other end is hinged to the outer edge of the tensioning hub.

[0017] Optionally, the bracket has a triangular structure, and the drive shaft is mounted at the center of the bracket by bearing support.

[0018] Optionally, a wheel is provided on the drive shaft, and the wheel is provided with multiple V-grooves, the two side walls of each V-groove being configured to mate with the wedge-shaped contact surface of the V-belt.

[0019] Optionally, the support is also equipped with an outer protective plate, the center of which coincides with the center of the support, and multiple tensioning hydraulic devices and multiple wheel-track switching telescopic hydraulic devices are arranged around the circumference of the support.

[0020] Optionally, the first hydraulic cylinder is connected to the first hydraulic pump via a first hydraulic pipeline, and the first hydraulic pipeline is equipped with a pressure sensor and a solenoid valve.

[0021] Optionally, the second hydraulic cylinder is connected to the second hydraulic pump via a second hydraulic pipeline, and the second hydraulic pipeline is equipped with a flow sensor and a solenoid valve.

[0022] Compared with the prior art, the embodiments of this utility model have the following advantages and beneficial effects:

[0023] The loader provided in this embodiment of the invention introduces a deformable wheel hub structure and a matching hydraulic drive device to achieve rapid switching between tracked and wheeled modes. In tracked mode, the tracks transform into a polygonal (triangular, for example) support structure, increasing the track contact area to adapt to soft or slippery surfaces and improving traction and passability. In wheeled mode, the tracks revert to a circular structure, reducing rolling resistance and improving travel speed and maneuverability.

[0024] In general, the loader provided in the embodiments of this utility model sets the wheel-track switching walking mechanism as a tensioning hydraulic device and a wheel-track switching telescopic hydraulic device jointly driving the tensioning wheel hub to achieve displacement and posture changes, so that the track switches between circles and polygons, thereby achieving the purpose of wheel-track switching of the walking mechanism. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the loader structure provided for an embodiment of this utility model;

[0027] Figure 2 A side view of a loader provided in an embodiment of this utility model;

[0028] Figure 3 A structural schematic diagram of the track state of the wheel-track switching walking mechanism provided in an embodiment of this utility model;

[0029] Figure 4 A structural schematic diagram of the tire state of the wheel-track switching walking mechanism provided in an embodiment of this utility model;

[0030] Figure 5 This is a schematic diagram of the internal structure of the wheel-track switching walking mechanism provided in an embodiment of the present utility model.

[0031] The attached diagram shows the markings and corresponding component names:

[0032] 1-Bucket, 2-Bucket tipping hydraulic device, 3-Lever, 4-Camera module, 5-Body, 6-Control system module, 7-LiDAR, 8-Multi-functional light assembly, 9-GNSS antenna, 10-Lever end armor, 11-Lever lifting and lowering hydraulic device, 12-Wheel-track switching walking mechanism, 13-Body side ladder, 14-Work warning light, 15-Rubber track, 16-Outer protective plate, 17-Tensioning hub No. 1, 18-Tensioning hub No. 2; 19-Tensioning hub No. 3; 20-Tensioning hub No. 4; 21-Tensioning hub No. 5; 22-Tensioning hub No. 6; 23-Wheel-track switching telescopic hydraulic device; 24-Tensioning hydraulic device; 25-Drive shaft; 26-Triangular bracket; 27-Wheel set. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this utility model, it should be noted that the terms "first", "second", "third", etc. are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Example

[0037] Combined with reference Figures 1-5As shown, this utility model provides an all-terrain loader with a wheel-track hybrid drive system. A lidar 7 is mounted high on the top of the loader body 5. Four camera modules 4 are located at the front of the body 5, two camera modules 4 on each side, and two camera modules 4 on the upper rear side. Two multi-functional light groups 8 and two GNSS antennas 9 are located on the rear top of the body 5. A control system module 6 is centrally located inside the body 5 to optimize wiring and heat dissipation. A removable cover is provided on its upper side, allowing operators to easily access the interior of the body via a side ladder 13 during equipment maintenance or debugging to inspect, adjust parameters, and test the control system. A boom end protective armor 10 is provided at the rear of the body 5 to protect the loading operation area. The loading operation module includes a bucket 1, which is hinged to the boom 3 via two sets of rotating joints and two sets of bucket tilting hydraulic devices 2. A work warning light 14 is installed above the boom 3 to improve operational safety. The boom 3 is hinged to the vehicle body 5 via two sets of rotating joints and two sets of boom lifting and lowering hydraulic devices 11 to achieve bucket lifting and lowering control. Four sets of wheel-track switching travel mechanisms 12 are arranged on both sides of the vehicle body 5. Four sets of wheel-side motors at the bottom of the vehicle body transmit power to the corresponding wheel-track switching travel mechanism 12 through reducers to realize drive and mode switching functions.

[0038] In this embodiment of the utility model, specifically: the four sets of wheel-track switching walking mechanisms 12 are identical in form, and one set is described below as an example. The output shaft of the reducer transmits power to the drive shaft 25 of the walking mechanism. A coaxial wheel with an annular groove structure is installed on the drive shaft 25 to achieve stable meshing with transmission components such as V-belts. The drive shaft 25 is supported and mounted on a triangular bracket 26 by bearings. Six tensioning hydraulic devices 24 and three wheel-track switching telescopic hydraulic devices 23 are evenly arranged around the circumference of the bracket 26. The outer protective plate 16 of the wheel-track switching walking mechanism 12 is symmetrically arranged, and six tensioning hydraulic devices 24 and three wheel-track switching telescopic hydraulic devices 23 are also installed around its circumference to ensure mechanical balance and structural rigidity. The six tensioning hubs are numbered clockwise from one side of the triangular bracket 26 as: tension hub 17, tension hub 28, tension hub 39, tension hub 40, tension hub 51, and tension hub 62. The extension and retraction of the hydraulic cylinders in the tensioning hydraulic device 24 and the wheel-track switching telescopic hydraulic device 23 drive the six tensioning hubs to achieve corresponding displacement and posture changes, thereby completing the switching between wheeled (circular) and tracked walking modes (polygonal, taking a triangle as an example). Each tensioning hub has an annular groove structure on its outer ring, and the outer surface of its inner wheel assembly 27 has toothed protrusions, which can precisely mesh with the corresponding grooves or protrusions on the inner side of the rubber track 15, effectively preventing the rubber track 15 from deviating during operation and ensuring the stability and accuracy of power transmission.

[0039] In a preferred embodiment of this utility model, all tensioning hubs have the same structural form. The following description uses tensioning hub 17 (No. 1) as an example. Each tensioning hub has four sets of wheel groups 27 arranged inside. Each set of wheel groups 27 includes two drive wheels. Each drive wheel is mounted on a fixed shaft inside the tensioning hub via a built-in bearing to ensure smooth rotation and load-bearing performance. Specifically, the wheel groups 27 inside tensioning hubs 17 and 2 are drive wheel groups. These drive wheel groups are connected to a coaxial pulley on the drive shaft 25 via a V-belt. The power output from the drive shaft 25 is transmitted to the drive wheel groups via a belt drive mechanism, realizing the active drive function of the track. The wheel groups 27 inside tensioning hubs 4 (No. 4) and 5 (No. 5) are support wheel groups, mainly used to support the track and maintain its tension and stability during operation. The belt drive adopts a V-belt structure. The V-belt fits tightly with the groove of the pulley through a wedge-shaped contact surface to increase the friction transmission capacity and reduce slippage. At the same time, it has good buffering and vibration reduction performance, thereby improving the power transmission efficiency and service life of the whole machine's walking mechanism.

[0040] Furthermore, the hydraulic cylinder of the tensioning hydraulic device 24 is hinged to the central shaft of the tensioning hub via an end bushing, forming a mechanism that can rotate relative to each other. This ensures that the movement trajectories of each component do not interfere with each other during hub shape changes and track switching. The main function of the tensioning hydraulic device 24 is to maintain appropriate track tension during vehicle travel and switching, preventing track slack, slippage, or derailment. The main driving force for track switching is provided by the track switching telescopic hydraulic device 23. The extension and retraction of its hydraulic cylinder causes changes in the geometry of the outer edges of multiple tensioning hub combinations: when in track mode, the outer edges of multiple tensioning hub combinations transform into an approximately triangular structure, making tensioning hub 4 20 and tensioning hub 5 21 form bottom support, thereby increasing the contact area between the track and the ground and improving the off-road traction of the loader; when switching to wheel mode, the outer edges of multiple tensioning hub combinations return to a circular outer contour, making the track form a continuous circumferential contact with the ground, reducing rolling resistance and improving ride comfort and steering flexibility. Throughout the entire shape change process, the tensioning hydraulic device adjusts the track tension in real time to ensure stable engagement and continuous power transmission.

[0041] Preferably, in terms of the control system, the central control system module 6 of the vehicle body 5 integrates the existing main control computing unit (MCU), hydraulic control unit (HCU), power management module, and communication interface module. The MCU connects to the hydraulic control unit via a CAN-FD bus and establishes data links with the GNSS antenna 9, lidar 7, and multiple camera modules 4 to collect real-time information on vehicle position, attitude, surrounding obstacles, and terrain features. When the MCU determines that a change in the walking mode is needed based on task planning or terrain analysis, it sends a wheel hub shape switching command to the hydraulic control unit. The hydraulic control unit drives the electromagnetic reversing valve group according to the command, adjusting the hydraulic oil flow to the hydraulic cylinders of the wheel track switching telescopic hydraulic device 23 and the tensioning hydraulic device 24 to achieve the corresponding telescopic action. During the switching process, an angle sensor installed on the tensioning wheel hub shaft monitors the wheel hub shape change in real time, a pressure sensor monitors the track tension, and a displacement sensor built into the hydraulic cylinder collects the telescopic position of the hydraulic cylinder. The above data is transmitted back to the MCU via the CAN-FD bus to achieve closed-loop control. The main control computing unit dynamically adjusts the output of the hydraulic control unit based on sensor feedback to ensure that the tensioned hub switches accurately and smoothly between tracked and wheeled modes, avoiding any motion interference or abnormal tension. For example, the tensioning hydraulic device includes a first hydraulic cylinder, and the track-wheel switching telescopic hydraulic device includes a second hydraulic cylinder. The first hydraulic cylinder is connected to a first hydraulic pump via a first hydraulic line, which is equipped with a pressure sensor and a solenoid valve. The second hydraulic cylinder is connected to a second hydraulic pump via a second hydraulic line, which is equipped with a flow sensor and a solenoid valve.

[0042] The loader bucket boom 3 and the loader bucket 1 move in tandem, and are hinged together by two sets of rotating joints and corresponding hydraulic cylinder systems. The boom lifting and lowering hydraulic device 11 drives the boom 3 to rise and fall along a vertical plane, while the bucket tilting hydraulic device 2 drives the bucket 1 to tilt around its hinge point. The control system coordinates the actions of the two hydraulic devices to ensure the bucket remains stable during lifting, tilts quickly during unloading, and cuts smoothly during material handling, thus meeting the needs of loading, transporting, and unloading operations.

[0043] For example, the loader's steering control is achieved through an existing differential drive system. The wheel-track switching travel mechanisms 12 on the left and right sides of the vehicle are each driven by an independent wheel-side motor. The main control computing unit adjusts the speed and direction of rotation of the left and right wheel-side motors according to the steering command, thereby generating steering torque and realizing functions such as turning on the spot, turning at a fixed radius, and fine-tuning the attitude. This steering method has a simple structure, rapid response, and is suitable for all-terrain working conditions in wheel-track switching mode.

[0044] To ensure the safe operation of the unmanned loader in flammable, explosive, and low-visibility environments, multiple explosion-proof lighting fixtures have been added to the vehicle body 5 in addition to the existing warning lights. Specifically, a forward-facing explosion-proof work light is installed at the upper front of the vehicle body 5 to illuminate the working area of ​​the loader bucket 1; a rearward explosion-proof warning light is installed at the rear of the vehicle body 5 to alert personnel and machinery behind to take evasive action; and side explosion-proof lights are installed on both sides of the vehicle body 5 to extend the lateral visibility range and ensure safe operation in low-light environments such as at night, in tunnels, or in mines. These explosion-proof lights are electrically connected to the control system module 6 via explosion-proof cables, and their activation, deactivation, and illumination adjustment are uniformly controlled by the central control unit, thereby providing stable and reliable safety lighting under complex working conditions.

[0045] Preferably, the loader employs a cooling system combining air convection and localized forced cooling. Ventilation grilles are installed at the rear of the vehicle body 5 and the triangular support 26 to form airflow channels. The control system module 6 and the power system are equipped with explosion-proof air-cooled fans to expel hot air. The hydraulic system uses an air-cooled hydraulic oil radiator and is equipped with a temperature-controlled electric fan to regulate oil temperature. High thermal conductivity heat dissipation fins are installed on the outer surface of the electric drive and power electronics modules to improve heat transfer efficiency, thereby ensuring the thermal stability of the entire machine under high-load operation.

[0046] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model. It should be noted that the structures or components illustrated in the accompanying drawings are not necessarily drawn to scale, and descriptions of well-known components, processing techniques, and processes are omitted to avoid unnecessarily limiting the utility model.

Claims

1. An all-terrain loader with wheel-track hybrid drive, characterized in that, include: The vehicle body and at least one set of wheel-track switching travel mechanisms, wherein the wheel-track switching travel mechanisms are connected to the vehicle body; Each set of wheel-track switching travel mechanisms includes: Drive shaft; The bracket is connected to the drive shaft via a bearing; Multiple tensioning hubs are indirectly mounted on the bracket via multiple tensioning hydraulic devices and multiple wheel-track switching telescopic hydraulic devices. The outer ring of each tensioning hub is provided with an annular groove / or protrusion. The track is located on the outside of the tensioning hub, and its inner side is provided with an annular protrusion or groove. The outer ring of the tensioning hub is used to mesh with the inner side of the track. The hydraulic cylinders of the tensioning hydraulic device and the track switching telescopic hydraulic device are respectively connected to the tensioning wheel hub, and are used to drive the tensioning wheel hub to achieve displacement and attitude changes, so that the track switches between circles and polygons.

2. The all-terrain loader with wheel-track hybrid drive according to claim 1, characterized in that, Each tensioning hub has multiple wheel sets inside, and the outer surface of each wheel set has toothed protrusions or grooves, and the outer surface of the wheel set can mesh with the inner side of the track.

3. The all-terrain loader with wheel-track hybrid drive according to claim 2, characterized in that, Each tensioning hub has four wheel sets inside, and each wheel set includes two drive wheels. Each drive wheel is mounted on a fixed shaft inside the tensioning hub via an internal bearing. The fixed shaft is fixedly connected to the inner wall of the tensioning hub via the bearing.

4. The all-terrain loader with wheel-track hybrid drive according to claim 1, characterized in that, The tensioning hydraulic device includes a first hydraulic cylinder. The piston rod end of the first hydraulic cylinder is hinged to the central shaft of the tensioning hub via an end bushing. The end bushing is connected to the piston rod end of the first hydraulic cylinder via a pin, and the axis of the pin is perpendicular to the piston rod axis of the first hydraulic cylinder.

5. The all-terrain loader with wheel-track hybrid drive according to claim 4, characterized in that, The wheel-track switching telescopic hydraulic device includes a second hydraulic cylinder. The piston rod end of the second hydraulic cylinder is connected to the outer edge of the tensioning hub through a linkage mechanism. The linkage mechanism includes at least two links. One end of each link is hinged to the piston rod end of the second hydraulic cylinder, and the other end is hinged to the outer edge of the tensioning hub.

6. The all-terrain loader with wheel-track hybrid drive according to claim 1, characterized in that, The bracket has a triangular structure, and the drive shaft is mounted at the center of the bracket by bearing support.

7. The all-terrain loader with wheel-track hybrid drive according to claim 1, characterized in that, A wheel is provided on the drive shaft, and a plurality of V-shaped grooves are provided on the wheel. The two side walls of each V-shaped groove are configured to cooperate with the wedge-shaped contact surface of the V-belt.

8. The all-terrain loader with wheel-track hybrid drive according to claim 1, characterized in that, The support is also provided with an outer protective plate, the center of which coincides with the center of the support. The multiple tensioning hydraulic devices and the multiple wheel-track switching telescopic hydraulic devices are arranged around the circumference of the support.

9. An all-terrain loader with wheel-track hybrid drive according to claim 4, characterized in that, The first hydraulic cylinder is connected to the first hydraulic pump via a first hydraulic pipeline, and the first hydraulic pipeline is equipped with a pressure sensor and a solenoid valve.

10. An all-terrain loader with wheel-track hybrid drive according to claim 5, characterized in that, The second hydraulic cylinder is connected to the second hydraulic pump via a second hydraulic pipeline, which is equipped with a flow sensor and a solenoid valve.

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