Deformable wheel-track composite walking mechanism

Abstract

The invention discloses a deformable wheel-track composite walking mechanism. The deformable wheel-track composite walking mechanism comprises a deformable wheel-track main frame used for enabling the outer contour to be transformed between a flat and long octagon and a quasi-circular shape; a track, wherein the outer edge of the deformable wheel track main frame is coated with the track, and the shape of the track can be changed under the driving of the deformable wheel track main frame; a track driving device which is arranged at the middle position in the deformable wheel-track main frame and is used for driving the crawler belt to rotate; a wheel-track main frame driving device which is arranged in the middle of the outer surface of the deformable wheel-track main frame and used for driving the deformable wheel-track main frame to turn over. According to the deformable wheel-track main frame, based on the multi-connecting-rod movement principle, the driving triangular wheel sets are driven by the deformation driving devices to slide in the corresponding groove holes of the limiting plates, then the triangular wheel sliding wheels and the longitudinal adjusting wheels are driven, and the deformable wheel-track main frame is converted between the quasi-circular configuration and the flat and long configuration; the maneuvering performance and the passing performance of the platform walking mechanism are enhanced, and maintenance and repair are easy.

Description

technical field [0001] The invention relates to the technical field of ground unmanned mobile platform walking mechanism, in particular to a deformable wheel-track composite walking mechanism. Background technique [0002] The walking mechanism of the ground unmanned mobile platform is an important guarantee for the mobility and passability of the platform to complete specific military tasks. It must be able to adapt to a variety of walking environments, including urban pavement, mud, snow, sand, soft and other roads situation. [0003] At present, the mainstream walking mechanisms of ground unmanned mobile platforms include pure wheel walking mechanism, pure crawler walking mechanism and reconfigurable deformable wheel-track walking mechanism. [0004] The independent wheel type has a simple structure, good high-speed driving performance under good road conditions, and more flexible steering. Its disadvantages are that the ground contact area is small, the ground contact p...

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Problems solved by technology

[0004] The independent wheel type has a simple structure, good high-speed driving performance under good road conditions, and more flexible steering. Its disadvantages are that the ground contact area is small, the ground contact pressure is large, and slipping, deep sinking and other out-of-control situations are prone to occur in wet and slippery terrain; The crawler-type walking mechanism has a small grounding specific pressure and high ground adhesion, and is suitable for sports in environments such as snow and muddy roads. The disadvantage is that due to the friction and energy consumption of the crawler, the movement flexibility is poorer than that of the wheel-type mechanism; based on the idea of ​​​​reconfigurable deformation The developed wheel-track composite walking mechanism can switch configurations between wheel-type and track-type, and can have the advantages of both wheel-type and track-type, but the structure is complex and the reliability is poor, which is its main technical bottleneck. It is also the main reason for the limited practical application

Considering the complexity of the mechanism, in the current reconfigurable wheel-shoe structure of the ground unmanned mobile platform, the triangle-like circular conversion structure is the mainstream, and this type of mechanism can realize the transformation between the shape of the wheel-shoe and the equilateral triangle. , and in the face of obstacles in complex road conditions, this configuration can provide two motion modes: wheeled rolling and triangular track sliding around the wheel frame. Because under the two configurations, the side length of the equilateral triangle is equivalent to the diameter of the quasi-circle, so the geometry In principle, the triangular wheel-shoe configuration does not have the advantage of overturning obstacles

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