Four-bar linkage wheel carrier suitable for diameter-variable semi-walking wheel

Abstract

The invention discloses a four-bar linkage wheel carrier suitable for a diameter-variable semi-walking wheel. The four-bar linkage wheel carrier comprises six caster assemblies with the same structure and a hub assembly; upper lifting lugs of the six caster assemblies are respectively arranged on a hydraulic cylinder sleeve, and lower lifting lugs of the six caster assemblies are respectively arranged on a connecting plate; and four link bars are connected by use of pin shafts. Under the condition of hydraulic driving force, the hydraulic cylinder sleeve moves along the axis direction of a drive axle shell, so that the four link bars stretch and shrink; and a slide block moves along the sliding line direction in a slide rail due to stretching and shrinking of the four link bars, so that the wheel provided with the four-bar linkage wheel carrier realizes reducing. When the six caster assemblies are opened or closed, the diameter of the diameter-variable semi-walking wheel is changed.

Description

technical field [0001] The invention relates to a variable-diameter semi-walking wheel, in particular to a four-link wheel frame used on a variable-diameter semi-walking wheel for a mechanical vehicle. Background technique [0002] Wheeled vehicles have the characteristics of stability, high speed, and maneuverability on relatively flat natural ground. In recent years, a variety of chassis and suspension systems that can adapt to complex terrains have appeared, which has made wheeled mobile systems the mainstream form of mobile systems for deep space roving probes. However, under soft soil and complex terrain conditions, the wheels sink into the soft soil to form ruts, which require continuous upward climbing during walking, and are prone to slipping and sinking deeper and deeper. [0003] The motion of the walking wheel is equivalent to the rolling of a polygonal wheel. What it leaves when it rolls across the ground is not a rut, but a tooth hole (the shape of the tooth h...

AI Technical Summary

Problems solved by technology

But the first thing to look at is the interaction between the casters and the soil

[0004] And this polygonal rolling inevitably causes the wheel center to fluctuate up and down

When multiple semi-walking wheels are used, it is difficult to ensure the synchronous fluctuation of the wheel center, and the vehicle itself will twist. Once the vehicle is transferred from the soft ground to the hard road, this twist will be unbearable for people and vehicles, thus Make the application of the wheel subject to certain restrictions

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