The invention relates to a deformable wheel-track combined type advancing mechanism which comprises a driving main shaft, a hub and a track arranged on the outer side of the hub, the driving main shaft is provided with a power switching driving part, and the power switching driving part drives the track to rotate through a track transmission assembly; the power switching driving piece can move leftwards along the driving main shaft, so that the power switching driving piece is separated from the crawler belt transmission assembly; crawler belt supporting pieces are arranged on the peripheral side of the hub and are driven by a deformation mechanism to stretch and deform in the radial direction of the hub, so that the crawler belt is supported to be in a circular state or a non-circular state; the hub is provided with a driven rotary meshing part, a driving rotary meshing part is arranged at the right end of the power switching driving part, and the power switching driving part drives the hub to rotate when moving leftwards till the driving rotary meshing part is meshed with the driven rotary meshing part. Free switching between a wheel type structure and a crawler type structure is achieved, the flexibility of the wheel type structure is included, the high trafficability of the crawler type structure is achieved, and the performance is stable when the robot deals with various road conditions.
本发明涉及一种可变形轮履复合式行进机构,包括驱动主轴、轮毂、设在轮毂外侧履带,驱动主轴设有动力切换驱动件,动力切换驱动件通过履带传动组件驱动履带转动;动力切换驱动件可沿着驱动主轴向左移动,使动力切换驱动件与履带传动组件分离;轮毂的周侧设有履带支撑件,履带支撑件由变形机构驱动沿轮毂的径向伸缩变形,以将履带支撑成圆形状态或非圆形状态;轮毂设有从动旋转啮合部,动力切换驱动件右端设有主动旋转啮合部,动力切换驱动件向左移动至主动旋转啮合部与从动旋转啮合部啮合时带动轮毂旋转。本发明实现轮式、履带式的自由切换,包含了轮式结构的灵活性,又拥有履带式结构的高通过性,应对各种路况时性能较为稳定。
Deformable wheel-track combined type advancing mechanism and working method thereof
一种可变形轮履复合式行进机构及其工作方法
2025-02-28
Patent
Electronic Resource
Chinese
Hydraulically-driven deformable wheel-track combined type variant wheel
European Patent Office | 2020
|