Wheel-track switching type variant wheel, wheel-track switching type driving walking mechanism and wheel-track switching method

Abstract

The invention discloses a wheel-track switching type variant wheel which comprises a rim, a deformable track arranged outside the rim and a wheel-track switching mechanism for connecting the rim and the deformable track into a whole. The wheel-track switching mechanism comprises a telescopic device connected to the rim, the telescopic end of the telescopic device is connected with a support, the support is rotationally connected with a telescopic track driving mechanism and a deformable retainer, and the deformable retainer is movably connected with the rim through a connecting piece. The telescopic device stretches out and draws back to drive the deformable retainer to deform so as to drive the deformable caterpillar band to be switched into a wheel type or a caterpillar band type, and the telescopic caterpillar band driving mechanism is used for being switched into the caterpillar band type deformable caterpillar band transmission. The invention further discloses a wheel-track switching type driving walking mechanism, a wheel-track switching method and a multi-axis unmanned combat platform. Based on the wheel-track switching mechanism, rapid wheel-track switching can be achieved, power conversion is achieved while switching is conducted, and rapid and stable wheel-track state and power switching can be achieved.

Description

technical field [0001] The invention relates to the technical field of vehicle traveling mechanisms, in particular to a wheel-track switching type variant wheel. Background technique [0002] In recent years, with the development of vehicle equipment and robot technology, the traveling mechanism as a key component has also achieved rapid development. At present, the walking mechanisms of traditional motor vehicles and mobile robots include wheeled, crawler, legged and composite forms of the above. [0003] In order to take into account the advantages of both wheeled and crawler-type, and improve the mobility of the traveling mechanism, the ability to overcome obstacles and climb slopes, etc., some wheel-track composite walking mechanisms have gradually come out in recent years, but there are still many problems in themselves, and the common problems mainly reflect In: The overall structure is extremely complex and heavy, resulting in increased cost and transportation capaci...

AI Technical Summary

Problems solved by technology

[0003] In order to take into account the advantages of both wheeled and crawler-type, and improve the mobility of the traveling mechanism, the ability to overcome obstacles and climb slopes, etc., some wheel-track composite walking mechanisms have gradually come out in recent years, but there are still many problems in themselves, and the common problems mainly reflect In: the overall structure is extremely complex and cumbersome, resulting in an increase in cost and transportation capacity; the wheel-shoe state switching is extremely inconvenient or incomplete, unable to achieve a good walking state, and still unable to meet the walking needs of some special road conditions; the power of wheel-shoe state switching The switching mechanism and system are relatively complicated, and there are problems such as stuck, time-consuming and delayed switching, which leads to the failure of the wheel-track state switching to meet the requirements of fast response and stable switching

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