Spiked wheel walking mechanism

Abstract

This utility model provides a spiked wheel-type walking mechanism, relating to the field of drive platform technology. It includes a vehicle body and spiked wheels. The spiked wheels are rotatably mounted on both sides of the vehicle body, with three sets of spiked wheels on each side. The vehicle body houses a worm gear reducer, with six sets of worm gear reducers. The output ends of the six sets of worm gear reducers are respectively connected to the six sets of spiked wheels for differential drive, enabling flexible steering. A height adjustment component is located at the front of the vehicle body, and a working platform is connected to the height adjustment component. This utility model uses spiked wheels as the walking mechanism; their conical spikes can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Furthermore, spiked wheels are simpler than tracked platforms, with no easily damaged or jammed parts, reducing maintenance costs and failure rates, balancing passability and structural simplicity. The output ends of the six sets of worm gear reducers are correspondingly connected to the six sets of spiked wheels, significantly reducing the turning radius through differential drive.

Description

Technical Field

[0001] This utility model relates to the field of drive platform technology, and in particular to a nail wheel type walking mechanism. Background Technology

[0002] In scenarios such as wetland cultivation, slope exploration, and engineering operations on soft ground, mobile drive platforms are needed to carry the work equipment and perform its functions. Currently, the mainstream drive platforms used in the industry are mainly divided into two categories: wheeled drive platforms and tracked drive platforms. Among them, wheeled drive platforms use wheel-axle transmission as the core structure, transmitting driving force through rigid wheel sets in contact with the ground. Due to their lower manufacturing cost and simpler assembly, they are widely used in scenarios with relatively flat ground conditions. Tracked drive platforms, on the other hand, distribute the load through the large contact area between the track plates and the ground. Their transmission system includes components such as drive wheels, guide wheels, support rollers, and track chains, aiming to improve the ability to pass through muddy and soft terrain. Therefore, they are more widely used in complex terrains where wheeled platforms are difficult to adapt to.

[0003] Existing wheeled drive platforms have key technical defects: First, the small ground contact area of ​​the wheel set leads to a high ground pressure, which makes the wheels prone to sinking in wet or soft terrain. Furthermore, slippery surfaces reduce the friction coefficient between the drive wheel and the contact surface, causing slippage and severely compromising the platform's stability and operational continuity. Second, the steering of wheeled structures relies on differential wheel speed or a dedicated steering mechanism, resulting in a large turning radius. This leads to poor operational flexibility in narrow, sloping terrain or work scenarios requiring frequent turning, directly resulting in low operational efficiency. While existing tracked drive platforms offer better off-road capability than wheeled platforms, they still have significant shortcomings: Firstly, tracked drive systems contain multiple moving parts, requiring high precision in their coordination, making them prone to malfunctions due to obstructions caused by rocks, weeds, and other debris in the terrain. Secondly, track plates wear down easily due to prolonged contact with rough ground, necessitating regular replacement of track plates and drive components, significantly increasing maintenance costs and downtime. Furthermore, their track-wrap structure results in a large turning radius, making it difficult to meet practical needs for maneuverability in complex terrain. Therefore, this invention proposes a spiked wheel walking mechanism to address the problems existing in the prior art. Utility Model Content

[0004] To address the aforementioned issues, this utility model proposes a spiked wheel-type walking mechanism. This mechanism uses spiked wheels as the walking mechanism, and their conical spikes can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Moreover, the spiked wheels are simpler than tracked platforms, with no easily damaged or jammed parts, reducing maintenance costs and failure rates, while balancing passability and structural simplicity.

[0005] To achieve the purpose of this utility model, the utility model is implemented through the following technical solution: a nail wheel type walking mechanism, including a vehicle body and nail wheels, wherein the nail wheels are rotatably disposed on both sides of the vehicle body, and three sets of the nail wheels are provided on each side; a worm gear reducer is provided inside the vehicle body, and there are six sets of worm gear reducers; the output ends of the six sets of worm gear reducers are respectively connected to the six sets of nail wheels to achieve flexible steering through differential drive;

[0006] The front end of the vehicle body is equipped with a height adjustment component, and a working platform is connected to the height adjustment component.

[0007] A further improvement is that the spiked wheel includes a wheel body and a conical spike, the conical spike being located on the outside of the wheel body, and multiple sets of the conical spike are provided.

[0008] A further improvement is that the vehicle body is equipped with a range extender and a battery. The range extender is used to power the battery, and the battery is used to power the worm gear reducer.

[0009] A further improvement is that the height adjustment assembly includes a connecting rod and an electric telescopic rod, both of which are hinged to both sides of one end of the vehicle body. The other end of the connecting rod is hinged to the work platform, and the output end of the electric telescopic rod is hinged to the work platform.

[0010] A further improvement is that: the bottom of the vehicle body is provided with a base plate, and a reducer mounting plate is provided on the base plate, the reducer mounting plate being used to support the worm gear reducer.

[0011] A further improvement is that a battery support plate is provided at one end of the base plate, and the battery support plate is used to support the battery.

[0012] A further improvement is that: the bottom of the vehicle body is provided with reinforcing ribs, and multiple sets of reinforcing ribs are provided; and connecting rod reinforcing plates are connected between the connecting rods on both sides.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. This utility model uses a spiked wheel as the walking mechanism. Its conical spikes can embed into the ground, effectively solving the problem of slippage and sinking of existing wheeled platforms, significantly improving traction. Moreover, the spiked wheel is simpler than the tracked platform, with no easily damaged or stuck parts, reducing maintenance costs and failure rate, and balancing passability and structural simplicity.

[0015] 2. The output end of the six-set worm gear reducer of this utility model is connected to six sets of nail wheels. The differential drive greatly reduces the turning radius, solving the problem of large turning radius of existing wheeled and tracked platforms and improving flexibility in narrow scenarios. At the same time, the self-locking function of the reducer can prevent the nail wheels from rotating accidentally, ensuring stable positioning.

[0016] 3. This utility model uses an electric telescopic rod to push the working platform, and the lifting is achieved by connecting rod hinge, which solves the limitation of the fixed working height of the existing platform and adapts to different working needs; the battery + range extender hybrid power system takes into account both short-term low-pollution operation and long-term endurance, reduces dependence on external power supply and improves the continuity of operation. Attached Figure Description

[0017] Figure 1 This is the front view of the present invention;

[0018] Figure 2 This is a side view of the present invention;

[0019] Figure 3 This is a bottom view of the present invention;

[0020] Figure 4 This is a schematic diagram of the internal structure of this utility model.

[0021] The components include: 1. Vehicle body; 2. Worm gear reducer; 3. Working platform; 4. Wheel body; 5. Conical spike; 6. Range extender; 7. Battery; 8. Connecting rod; 9. Electric telescopic rod; 10. Base plate; 11. Reducer mounting plate; 12. Battery support plate; 13. Reinforcing rib; 14. Connecting rod reinforcing plate. Detailed Implementation

[0022] To deepen the understanding of this utility model, the following detailed description will be provided in conjunction with embodiments. These embodiments are only used to explain this utility model and do not constitute a limitation on the scope of protection of this utility model.

[0023] Example 1

[0024] according to Figure 1 , 2 As shown in Figures 3 and 4, this embodiment proposes a nail wheel type walking mechanism, including a vehicle body 1 and nail wheels. The nail wheels are rotatably arranged on both sides of the vehicle body 1, and three sets of the nail wheels are provided on each side. The vehicle body 1 is equipped with a worm gear reducer 2, and there are six sets of worm gear reducers 2. The output ends of the six sets of worm gear reducers 2 are respectively connected to the six sets of nail wheels to achieve flexible steering through differential drive.

[0025] The front end of the vehicle body 1 is equipped with a height adjustment component, and a working platform 3 is connected to the height adjustment component. In use, spiked wheels are used as the walking mechanism. Their conical spikes (5) can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Furthermore, spiked wheels are simpler than tracked platforms, with no easily damaged or jammed parts, reducing maintenance costs and failure rates. They balance passability with structural simplicity. The three spiked wheels on the left are named L1, L2, and L3 from front to rear, and the three spiked wheels on the right are named R1, R2, and R3 from front to rear. Forward: The six wheels (L and R) rotate clockwise, and the vehicle moves forward. Reverse: The six wheels (L and R) rotate counter-clockwise, and the vehicle reverses. Left turn: The three wheels (L) rotate at low speed clockwise, and the three wheels (R) rotate at high speed clockwise; different speed differences create different turning radii. Right turn is similar. Stationary turn: The three wheels (L) rotate clockwise, and the three wheels (R) rotate counter-clockwise, turning clockwise around the geometric center of the vehicle's six wheels. To achieve a counter-clockwise stationary turn, the wheels (L) rotate counter-clockwise, and the wheels (R) rotate clockwise. The vehicle body has a built-in control system that uses a combination of manual remote control and all-terrain adaptive operation.

[0026] The spiked wheel includes a wheel body 4 and conical spikes 5. The conical spikes 5 are located on the outer side of the wheel body 4, and multiple sets of conical spikes 5 are provided. Using the spiked wheel as the walking mechanism, its conical spikes 5 can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Furthermore, the spiked wheel is simpler than tracked platforms, with no easily damaged or jamming parts, reducing maintenance costs and failure rates, while balancing passability and structural simplicity.

[0027] The vehicle body 1 houses a range extender 6 and a battery 7. The range extender 6 powers the battery 7, which in turn powers the worm gear reducer 2. This battery + range extender hybrid power system balances short-duration, low-pollution operation with long-duration range, reducing reliance on external power and improving operational continuity.

[0028] The height adjustment assembly includes a connecting rod 8 and an electric telescopic rod 9. Both the connecting rod 8 and the electric telescopic rod 9 are hinged to both sides of one end of the vehicle body 1. The other end of the connecting rod 8 is hinged to the working platform 3, and the output end of the electric telescopic rod 9 is hinged to the working platform 3. The electric telescopic rod 9 pushes the working platform 3, which, in conjunction with the hinged connection of the connecting rod 8, achieves lifting and lowering, overcoming the limitation of the fixed working height of existing platforms and adapting to different operational needs. The electric telescopic rod 9, as a diagonal of a parallelogram, extends or retracts, causing the working platform 3, extending outward from the front of the vehicle, to rise or fall in a parallel direction.

[0029] Example 2

[0030] according to Figure 1 , 2As shown in Figures 3 and 4, this embodiment proposes a nail wheel type walking mechanism, including a vehicle body 1 and nail wheels. The nail wheels are rotatably arranged on both sides of the vehicle body 1, and three sets of the nail wheels are provided on each side. The vehicle body 1 is equipped with a worm gear reducer 2, and there are six sets of worm gear reducers 2. The output ends of the six sets of worm gear reducers 2 are respectively connected to the six sets of nail wheels to achieve flexible steering through differential drive.

[0031] The front end of the vehicle body 1 is equipped with a height adjustment component, and a working platform 3 is connected to the height adjustment component. In use, spiked wheels are used as the walking mechanism. Their conical spikes (5) can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Furthermore, spiked wheels are simpler than tracked platforms, with no easily damaged or jammed parts, reducing maintenance costs and failure rates. They balance passability with structural simplicity. The three spiked wheels on the left are named L1, L2, and L3 from front to rear, and the three spiked wheels on the right are named R1, R2, and R3 from front to rear. Forward: The six wheels (L and R) rotate clockwise, and the vehicle moves forward. Reverse: The six wheels (L and R) rotate counter-clockwise, and the vehicle reverses. Left turn: The three wheels (L) rotate at low speed clockwise, and the three wheels (R) rotate at high speed clockwise; different speed differences create different turning radii. Right turn is similar. Stationary turn: The three wheels (L) rotate clockwise, and the three wheels (R) rotate counter-clockwise, turning clockwise around the geometric center of the vehicle's six wheels. To achieve a counter-clockwise stationary turn, the wheels (L) rotate counter-clockwise, and the wheels (R) rotate clockwise. The vehicle body has a built-in control system that uses a combination of manual remote control and all-terrain adaptive operation.

[0032] The vehicle body 1 houses a range extender 6 and a battery 7. The range extender 6 powers the battery 7, which in turn powers the worm gear reducer 2. This battery + range extender hybrid power system balances short-duration, low-pollution operation with long-duration range, reducing reliance on external power and improving operational continuity.

[0033] The height adjustment assembly includes a connecting rod 8 and an electric telescopic rod 9. Both the connecting rod 8 and the electric telescopic rod 9 are hinged to both sides of one end of the vehicle body 1. The other end of the connecting rod 8 is hinged to the working platform 3, and the output end of the electric telescopic rod 9 is hinged to the working platform 3. A base plate 10 is provided at the bottom of the vehicle body 1, and a reducer mounting plate 11 is provided on the base plate 10. The reducer mounting plate 11 supports the worm gear reducer 2. A battery support plate 12 is provided at one end of the base plate 10, and the battery support plate 12 supports the battery 7. Multiple sets of reinforcing ribs 13 are provided at the bottom of the vehicle body 1 to improve bottom strength. A connecting rod reinforcing plate 14 connects the connecting rods 8 on both sides to improve the synchronization of the connecting rods 8 on both sides.

[0034] This spiked wheel-type walking mechanism uses spiked wheels as its walking mechanism. The conical spikes 5 can embed into the ground, effectively solving the slippage and sinking defects of existing wheeled platforms, significantly improving traction. Furthermore, the spiked wheels are simpler than those of tracked platforms, with no easily damaged or jammed parts, reducing maintenance costs and failure rates, while balancing passability and structural simplicity. The outputs of six worm gear reducers 2 are connected to the six spiked wheels, and differential drive significantly reduces the turning radius, solving the problem of large turning radii in existing wheeled and tracked platforms, improving flexibility in narrow spaces. Simultaneously, the reducer's self-locking function prevents accidental rotation of the spiked wheels, ensuring stable positioning. Meanwhile, the working platform 3 is pushed by an electric telescopic rod 9, and lifting is achieved through hinged linkage 8, overcoming the limitation of fixed working height in existing platforms and adapting to different operational needs. The battery + range extender hybrid power system balances short-duration, low-pollution operation with long-duration endurance, reducing reliance on external power supply and improving operational continuity.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A pin-wheel walking mechanism comprising a vehicle body (1) and a pin-wheel, characterized in that: The rotatable pins are mounted on both sides of the vehicle body (1), and three sets of the pins are provided on each side. The vehicle body (1) is equipped with a worm gear reducer (2), and there are six sets of worm gear reducers (2). The output ends of the six sets of worm gear reducers (2) are respectively connected to the six sets of pins to achieve flexible steering through differential drive. The front end of the vehicle body (1) is provided with a height adjustment component, and a working platform (3) is connected to the height adjustment component.

2. The spike-wheeled walking mechanism of claim 1, wherein: The nail wheel includes a wheel body (4) and a conical spike (5), the conical spike (5) being located on the outside of the wheel body (4), and multiple sets of the conical spike (5) being provided.

3. The wheel-and-tine walking mechanism of claim 1, wherein: The vehicle body (1) is equipped with a range extender (6) and a battery (7) inside. The range extender (6) is used to supply power to the battery (7), and the battery (7) is used to supply power to the worm gear reducer (2).

4. The spike-wheeled walking mechanism of claim 1, wherein: The height adjustment assembly includes a connecting rod (8) and an electric telescopic rod (9). The connecting rod (8) and the electric telescopic rod (9) are both hinged to both sides of one end of the vehicle body (1). The other end of the connecting rod (8) is hinged to the working platform (3). The output end of the electric telescopic rod (9) is hinged to the working platform (3).

5. The wheel-and-tine walking mechanism of claim 3, wherein: The bottom of the vehicle body (1) is provided with a base plate (10), and a reducer mounting plate (11) is provided on the base plate (10). The reducer mounting plate (11) is used to support the worm gear reducer (2).

6. The wheel-and-tine walking mechanism of claim 5, wherein: A battery support plate (12) is provided at one end of the base plate (10), and the battery support plate (12) is used to support the battery (7).

7. The wheel-and-tine walking mechanism of claim 4, wherein: The bottom of the vehicle body (1) is provided with reinforcing ribs (13), and there are multiple sets of reinforcing ribs (13). The connecting rods (8) on both sides are connected by connecting rod reinforcing plates (14).

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