A deformable wheel-track composite walking mechanism

Abstract

The invention discloses a deformable wheel-shoe composite walking mechanism, which comprises a deformable wheel-shoe main frame for changing the outer contour between a prolate octagon and a circle; The outer edge of the frame and can be driven by the deformable wheel-track main frame to change the shape of the track; the track driving device is arranged in the middle position inside the deformable wheel-track main frame to drive the track to rotate; and is arranged on the deformable wheel-track main frame The middle part of the outer surface of the deformable shoe main frame is used to drive the wheel shoe main frame driving device to turn over the deformable wheel shoe main frame. The main frame of the deformable wheel shoe of the present invention is based on the principle of multi-link movement. The deformation driving device drives the triangular wheel group to slide in the corresponding slot hole of the limit plate, and then drives the triangular wheel slipper and the longitudinal adjustment wheel to be driven to realize the deformable wheel. The main track frame can be converted between a circular and prolate configuration, which enhances the maneuverability and passing performance of the platform running mechanism, and is easy to maintain and repair.

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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