CN109878582A - A kind of Magnetic driving Athey wheel of convertible wheeled state and crawler type state - Google Patents
A kind of Magnetic driving Athey wheel of convertible wheeled state and crawler type state Download PDFInfo
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- CN109878582A CN109878582A CN201910173799.7A CN201910173799A CN109878582A CN 109878582 A CN109878582 A CN 109878582A CN 201910173799 A CN201910173799 A CN 201910173799A CN 109878582 A CN109878582 A CN 109878582A
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Abstract
The invention discloses the Magnetic driving Athey wheels of a kind of convertible wheeled state and crawler type state, the driving device including fixed length crawler belt and driving fixed length crawler belt rotation；Driving device includes: retainer and driving brake assembly, and retainer includes inner support and external fixing rack device, and external fixing rack device is symmetrically fixed on the left and right sides of inner support；External fixing rack device includes support arm and bracket connector sleeve, and support arm has several, several support arms are evenly arranged on the periphery of bracket connector sleeve；The actuator for making fixed length crawler belt transition status is connected on support arm；Driving brake assembly includes the driving stator of magnet rotor and driving magnet rotor rotation, and driving stator is fixed on inner support, and magnet rotor is rotatably connected between the actuator at left and right sides of inner support；Magnet rotor and fixed length crawler belt are meshed, driving fixed length crawler belt rotation；The enough differences according to road conditions and landform of the present invention, carry out wheeled and caterpillar mutual conversion, improve practicability.
Description
Technical field
The present invention relates to vehicle to run technical fields, and in particular to a kind of magnetic of convertible wheeled state and crawler type state
Drive Athey wheel.
Background technique
All-terrain vehicle problem to be solved has: to the adaptability of complex environment, with good obstacle climbing ability and one
Fixed speed.All-terrain vehicle traveling mechanism common at present is divided into leg formula, wheeled, crawler type, combined type etc..Leg formula traveling mechanism
Although having good adaptability, obstacle climbing ability is strong, equally has structure too complex, there is mobile low efficiency, and control is tired
The disadvantages of difficult；Combined type traveling mechanism has more set drive systems, structure and control is more complicated, but is suitable for certain Special Rings
Border.Therefore both forms are using less.And taking turns becomes the most important two kinds of formulas of vehicle to run with crawler belt, i.e., wheeled traveling machine
Structure and crawler type traveling mechanism.But both walking manners also respectively have advantage and disadvantage.The major defect of wheeled traveling mechanism is: due to
Wheel is contacted with ground in point type or wire type, therefore the grip performance of wheel is poor, does not have anti-depression ability；Due to circular wheel
Mistake vertical wall ability it is directly proportional to wheel footpath size, therefore its cross-country power is limited by wheel body limit height.With regard to existing work
Though wheel diameter can be expanded to two meter five or so by skill technology, its huge wheel body has tied up excessive vehicle body space, more greatly
The problem of be one two meter five of diameter of wheel, the occupied car body useful space be it is huge, needed for steering space
The useful space for even more detracting car body significantly, with the increasing of wheel footpath, the weight of wheel itself can also be increased, above several scarce
Point directly limits the practicability of large diameter wheel.Crawler type major defect: one is causing complete-vehicle oil consumption big.Crawler
When turning to, crawler belt can shear ground, generate scraping phenomenon, increase steering moment suddenly.Caterpillar is being run over
Cheng Zhong, the rough rib of crawler belt itself, and the shoe mutually scraped with rotating tape guide admittedly with effect are perverse, all inevitably
The in-fighting power of crawler belt is increased because of sliding friction；The second is travel speed is low.When crawler unit is in hard flat road surface
At a relatively high speed when driving, the area that contacts to earth increased for anti-depression, even more at the main source of running resistance, at restriction
Crawler unit improves the power consumption burden of speed；The third is component wear is big, noise is big, and use cost is high, and supply ensures difficult
Degree is big.
It is wheeled with caterpillar advantage in order to balance, it has conducted extensive research both at home and abroad in recent years, it was also proposed that various sides
Case, a kind of structure that the Athey wheel that wheeled or two kinds of walking states of crawler type are mutually converted may be implemented of proposition, user can
It is converted into crawler travel that is, on soft wet-skid road surface with the conversion for carrying out walking manner according to road conditions, to increase ground plane
Product improves adhesive force and tractive force, i.e. raising passability；On flat hard road surface, it is converted into running on wheels, to reduce function
Rate consumption, improves travel speed, that is, is conducive to the realization of high maneuverability.
The wheel invented at present, which is carried out, combines vehicle to overcome common creeper truck and the energy consumption of tire vehicle are high, obstacle climbing ability is weak etc.
Disadvantage, the comprehensive driving performance for improving vehicle, but its drive system uses the drive system of conventional fuel oil automobile more, through excessive
The energy loss of link, the power transmitting of vehicle, transfer efficiency are received and are seriously affected.
Summary of the invention
The purpose of the present invention is to provide the Magnetic driving Athey wheels of a kind of convertible wheeled state and crawler type state, with solution
Certainly one of the above-mentioned defects caused by the prior art or defect.
In order to achieve the above objectives, the present invention adopts the following technical solutions realization:
A kind of Magnetic driving Athey wheel of convertible wheeled state and crawler type state, including fixed length crawler belt and driving fixed length crawler belt
The driving device of rotation；Driving device includes: retainer and driving brake assembly, and retainer includes inner support and external fixing rack dress
It sets, external fixing rack device is symmetrically fixed on the left and right sides of inner support；External fixing rack device includes support arm and bracket connector sleeve,
Support arm has several, several support arms are evenly arranged on the periphery of bracket connector sleeve；It is connected on support arm for making fixed length
The actuator of crawler belt transition status；Driving brake assembly includes the driving stator of magnet rotor and driving magnet rotor rotation, is driven
Dynamic stator is fixed on inner support, and magnet rotor is rotatably connected between the actuator at left and right sides of inner support；Magnet rotor and
Fixed length crawler belt is meshed, driving fixed length crawler belt rotation.
In the present embodiment, external fixing rack device further includes wing plate component and auxiliary support bar, and auxiliary support bar is symmetrically solid
It is scheduled on the left and right sides of support arm, wing plate component includes two wing plates for being symmetrically connected to actuator left and right ends, Auxiliary support
Bar and wing plate are flexibly connected.
The present invention has the advantages that
1, the enough differences according to road conditions and landform of the Athey wheel that the present invention designs, carry out wheeled and caterpillar mutual conversion.?
On muddy soft or rough road surface, wheel is converted to the Athey wheel of triangular form, increases contact area, improves stabilization
Property, while when encountering big barrier, but can using the characteristics of planetary gear come throwing over barrier.On the road surface of rigid planar
On, wheel is with running on wheels, to improve travel speed；
2, compared with other crawler type vehicle wheels, uniformly, when rolling, is more steady for this car wheel structure arrangement.The electromagnetism that the present invention uses
It is energy saving that technology replaces traditional fuel oil driving to have the advantages that, selects the mode of Magnetic driving that can reduce the abrasion of component,
Wheel can be made lighter again, to improve the practicability and economy of wheel.
Detailed description of the invention
Fig. 1 is the schematic illustration of specific embodiment of the invention Magnetic driving Athey wheel；
Operation schematic diagram when Fig. 2 is specific embodiment of the invention Magnetic driving Athey wheel moving obstacle-crossing；
Fig. 3 is schematic diagram of the specific embodiment of the invention Magnetic driving Athey wheel in crawler-type traveling state；
Fig. 4 is schematic diagram of the specific embodiment of the invention Magnetic driving Athey wheel in running on wheels state；
Fig. 5 is structural schematic diagram of the specific embodiment of the invention Magnetic driving Athey wheel in the driving device of crawler type state；
Fig. 6 is signal of the specific embodiment of the invention Magnetic driving Athey wheel in the driving device of crawler type state and installation train
Figure；
Fig. 7 is structural schematic diagram of the specific embodiment of the invention Magnetic driving Athey wheel in the driving device of wheeled state；
Fig. 8 is signal of the specific embodiment of the invention Magnetic driving Athey wheel in the driving device of wheeled state and installation train
Figure；
Fig. 9 is the schematic diagram of retainer and its interconnecting piece in specific embodiment of the invention Magnetic driving Athey wheel；
Schematic diagram when Figure 10 is Fig. 9 different conditions；
Figure 11 is the cross-sectional view of Fig. 4；
Figure 12 is the cross-sectional view of Fig. 3；
Figure 13 is wing plate and the schematic diagram of installation train in specific embodiment of the invention Magnetic driving Athey wheel；
Figure 14 is the partial schematic diagram of bogie wheel mounting hole in specific embodiment of the invention Magnetic driving Athey wheel；
Figure 15 is the schematic diagram of stator seat and driving stator in specific embodiment of the invention Magnetic driving Athey wheel.
Wherein: 1, driving brake assembly；2, fixed length crawler belt；3, retainer；6, inducer；7, bogie wheel；8, actuator；9,
Drive shaft；10, leaf spring；101, stator is driven；102, magnet rotor；1011, stator seat；1012, winding；1013, iron core；201,
Convex edge in anticreep；202, the outer convex edge of anticreep；203, sliding tooth；301, wing plate；302, inner support；303, support arm；304, it assists
Support rod；305, bracket connector sleeve；3011, curved roof；3012, the first connecting plate；3013, the second connecting plate；801, it stretches
Deformed rod；802, actuator ontology.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
It should be noted that in the description of the present invention, term "front", "rear", "left", "right", "upper", "lower", "inner",
The orientation or positional relationship of the instructions such as "outside" is to be merely for convenience of description originally based on orientation or positional relationship shown in the drawings
It invents rather than requires the present invention that must be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term "front", "rear" used in present invention description, "left", "right", "upper", "lower" refer to the direction in attached drawing, term
"inner", "outside" refer respectively to the direction towards or away from geometric center of specific component.Term " installation ", " connection " should do broad sense
Understand, for example, it may be being fixedly connected, may be a detachable connection, or the connection of one；It can be mechanical connection, it can also
To be electrical connection；It can be and be directly connected to, be also possible to be indirectly connected with by intermediary, can be the company inside two elements
It is logical.For the ordinary skill in the art, can understand depending on concrete condition above-mentioned term in the present invention specifically contain
Justice.
As shown in Fig. 1 to Figure 15, a kind of Magnetic driving Athey wheel of convertible wheeled state and crawler type state, including fixed length
Crawler belt 2 and the driving device being mounted in fixed length crawler belt 2, for driving fixed length crawler belt 2 to rotate, driving device includes driving device
Retainer 3, driving brake assembly 1 and actuator 8 deform retainer 3, to realize shoe by the flexible of control actuator 8
The mutual conversion of belt wheel two states.Shown in referring to Figures 1 and 2, the present invention can be taken turns according to landform and the difference of road conditions
Formula and caterpillar mutual conversion, structure of the invention arrangement is uniformly reasonable, has very high comprehensive performance and practicability.
Retainer 3 includes inner support 302 and external fixing rack device, and external fixing rack device is symmetrically fixed on inner support 302
The left and right sides, external fixing rack device include support arm 303 and bracket connector sleeve 305, and each external fixing rack device includes three outer
Bracket 303, three support arms 303 are evenly arranged on the periphery of bracket connector sleeve 305, and the angle between adjacent support arm 303 is 120
Degree.Further, one end of support arm 303 and bracket connector sleeve 305 are integrally formed connection, and the other end is connected with actuator 8
It connects, actuator 8 is for making fixed length crawler belt convert wheeled state or crawler type state.
Support arm device further includes wing plate component and auxiliary support bar 304, and there are two auxiliary for connection on each support arm 303
Support rod 304；Specifically, auxiliary support bar 304 is symmetrically fixed on the left and right sides of support arm 303.Support arm 303 is hollow knot
It structure and is penetrated through with top, actuator 8 includes actuator ontology 802 and dilatation bar 801, and one end of dilatation bar 801 is solid
It is scheduled in the hollow portion of support arm 303, the other end is connected with actuator ontology 802.Wing plate component includes being symmetrically connected to hold
Two wing plates 301 of 802 left and right ends of row device ontology；One end of auxiliary support bar 304 is connected on support arm 303, the other end
It is flexibly connected with wing plate 301.Specifically, wing plate 301 is triangle, wing plate 301 includes curved roof 3011, the first connecting plate
3012 and second connecting plate 3013, the top of the top of the first connecting plate 3012 and the second connecting plate 3013 is connected to arc
The left and right ends of top plate 3011, the bottom end of the first connecting plate 3012 is connected with the bottom end of the second connecting plate 3013, and junction
Equipped with connecting hole；Auxiliary support bar 304 and wing plate 301 are hinged, and hinge joint is connecting hole.The control of actuator ontology 802 is stretched
The position of the elongation of compression deformation bar 801, actuator ontology 802 can change, and be further driven to connect on actuator ontology 802
The position of wing plate 301 change, auxiliary support bar 304 changes with the change in location of wing plate 301；Likewise, executing
Device ontology 802 controls dilatation bar 801 and shrinks, and changes will occur for the position of actuator ontology 802 and wing plate 301.
Driving brake assembly 1 includes magnet rotor 102 and the driving stator 101 for driving the rotation of magnet rotor 102, and driving is fixed
Son 101 is fixed on inner support 302, and magnet rotor 102 is rotatably connected between the actuator 8 of 302 left and right sides of inner support；Magnetic
Property rotor 102 and fixed length crawler belt 2 be meshed, magnet rotor 102 for drive fixed length crawler belt 2 rotate and realize fixed length crawler belt 2
Braking stalling.In the present embodiment, the quantity of driving brake assembly 1 is three groups, and the quantity of driving brake assembly 1 is actuator 8
Quantity half.Driving fixed length crawler belt 2 plays the role of carrier wheel, inhibits the vibration width of fixed length crawler belt 2 in the process of moving
Degree.As shown in figure 15, driving stator 101 includes stator seat 1011, iron core 1013 and winding 1012, and driving stator 101 is for driving
Dynamic magnet rotor 102.In the present embodiment, stator seat 1011 is arc, and stator seat 1011 is fixed on inner support 302, stator seat
1011 arcwall face is set there are three iron core 1013, three iron cores 1013 are uniformly distributed in each stator seat 1011 towards magnet rotor 102
In the arcwall face of stator seat 1011, winding 1012 is connected on iron core 1013.
Magnetic driving Athey wheel further includes installation inducer 6 and bogie wheel 7, and curved roof 3011 is equipped with inducer mounting hole
With bogie wheel mounting hole, inducer mounting hole is located at the left and right ends of curved roof 3011, and bogie wheel mounting hole is located at two inductions
It takes turns between mounting hole, bogie wheel mounting hole has several；Inducer 6 is mounted on inducer mounting hole, and bogie wheel 7 is mounted on negative
On roller mounting hole.Fixed length crawler belt 2 realize with ground touch, carry car weight, by with ground phase separation, driving vehicle is provided
The power of traveling.Wing plate 301, inner support 302, support arm 303, auxiliary support bar 304 and dilatation bar 801 form lever knot
Structure.The each actuator 8 and its interconnecting piece of the present apparatus form ten revolutes altogether.As illustrated in fig. 1 and 2,10 be a revolute packet
It includes, the outer revolute A of the spinneron of actuator ontology 802 and the formation of 301 junction of left and right sides wing plate and the outer revolute D of the wing,
The spinneron inner rotation auxiliary B and wing inner rotation auxiliary E that the left and right sides the first connecting plate 3012 and the second connecting plate 3013 are formed, it is left
It is formed at the frame side revolute C and frame side revolute F and left and right sides inducer 6 that right two sides auxiliary support bar 304 itself is formed
Flank revolute H, I, J, K；It is apparent that the lever construction is ideal.Its auxiliary support bar 304 is to be movably hinged, it is intended to
The deflection of dilatation bar 801 is reduced, and possesses same deformation effect.In addition, auxiliary support bar 304 is bullet in the structure
Property support rod, to improve the damping capacity of Athey wheel.In the present embodiment, retainer 3 is in 120 ° of three-dimensional arrangements, inner support 302
Head end is welded on 1011 end of stator seat, in addition, inner support 302, dilatation bar 801 is arranged among support arm 303, improves
Athey wheel stability.Actuator 8 is used to drive the deformation of retainer 3, and realizes and lock to the deformed position of retainer 3.
Actuator 8 shares three groups and plays the role of tensioning wheel by default 801 shrinkage limit of dilatation bar in 120 ° of three-dimensional arrangements,
For ensureing suitable rate of tension, to be conducive to prevent crawler belt from loosening, 801 phase of 802 one end of actuator ontology and dilatation bar
Even, the other end is hinged with wing plate 301, plays the role of bearing and constrain crawler belt wheel construction, for realizing to retainer 3 into
Row wheel carries out the control of two states conversion deformation.Inducer 6 is installed on flank revolute H, I, J, K of retainer 3, is used for
Wheeled state plays guiding role when crawler type state is converted, conducive to the completion of conversion；Simultaneously in vehicle travel process, lure
Guide wheel 6 also functions to the effect of stable fixed length crawler belt 2.Bogie wheel 7 drives brake assembly 1 for carrying car weight, support retainer 3,
Actuator 8 etc., passes to the fixed length crawler belt 2 with ground face contact for car weight, and car weight is passed to ground by fixed length crawler belt 2.
Structure based on the above embodiment can also draw other different Athey wheel distressed structures, specifically: according to not
Same situation, the diameter of magnet rotor 102 can increase according to practical driving force demand, to increase magnet rotor 102 and crawler belt
Cornerite；In this case, bogie wheel 7 can save partial amt, the work that inducer 6 can play to a certain extent
With.
It further include drive shaft 9 as shown in Fig. 3 and 15, the center of bracket connector sleeve 305 is equipped with axis hole, and drive shaft 9 is connected to
In the axis hole of the bracket connector sleeve 305 of 302 left and right sides of inner support, more specifically, it also is provided with axis hole on inner support 302, drives
Axis 9, which runs through, to be connected in the axis hole at 302 center of bracket connector sleeve 305 and inner support.
As shown in Figure 1, Athey wheel is from the process that wheeled state is converted into crawler belt state: actuator ontology 802 is by filling
Oily or electronic extension is adjusted, and makes the length elongation of dilatation bar 801, to drive the wing plate of retainer 3 in weight bearing
301 shrink.In 301 contraction process of wing plate, with revolute A outside the wing, the hinge joint of D is theory support point, becomes retainer 3
Shape.The inducer 6 installed thereon, bogie wheel 7 are driven in 3 deformation process of retainer, to make contact of the fixed length crawler belt 2 with ground
Area is continuously increased, and Athey wheel is finally made to be converted into nearly triangle crawler type state, metamorphosis of the retainer 3 in deformation process
Such as Fig. 5, shown in 6,7,8.
Athey wheel is that Athey wheel is realized by drive shaft 9 to vehicle as shown in Figure 1: in the process that wheeled state is walked
Carrying and driving.If vehicle is made to advance, the magnet rotor 102 of the driving brake assembly 1 of Athey wheel stops rotating, to make
Fixed length crawler belt 2 stops rotating.Since drive shaft 9 and 3 position of retainer are rigidly connected, when the rotation counterclockwise of drive shaft 9, drive is generated
The power that motor-car advances, to drive forward travel.If making vehicle rollback, the magnetic of the driving brake assembly 1 of Athey wheel
Property rotor 102 stops rotating, so that fixed length crawler belt 2 be made to stop rotating.Since drive shaft 9 and 3 position of retainer are rigidly connected, when
Drive shaft 9 rotates clockwise, and the power of driving vehicle rollback is generated, to drive vehicle travel backwards.
As shown in Figure 1, Athey wheel is with the process that crawler belt state is converted into wheeled state: actuator ontology 802 is by putting
Oil or electric retractable are adjusted, and shorten 801 length of dilatation bar, to drive the wing plate 301 of retainer 3 in weight bearing
It stretches out.During wing plate 301 stretches out, with revolute A outside the wing, the hinge joint of D is theory support point, deforms retainer 3.It protects
The inducer 6 that installation has been driven in 3 deformation process of frame, bogie wheel 7 are held, to make the contact area of fixed length crawler belt 2 Yu ground
Constantly reduce, so that Athey wheel is converted into the wheeled state of subcircular, metamorphosis of the retainer 3 in deformation process is as schemed
Shown in 5,6,7,8.
Athey wheel is the drive that Athey wheel passes through driving brake assembly 1 as shown in Figure 1: in the process that crawler type state is walked
Dynamic stator 101 is rigidly connected with drive shaft 9 to realize the carrying and driving to vehicle.If vehicle is made to advance, driving braking is total
At 1 driving stator 101 after being passed through alternating current, rotating excitation field counterclockwise is formed, magnet rotor 102 is dragged in rotating excitation field
It is dynamic, form driving force.Tooth on magnet rotor 102 is meshed with the sliding tooth 203 of fixed length crawler belt 2, because of 102 inverse time of magnet rotor
Needle rotation, so that fixed length crawler belt 2 be driven to rotate counterclockwise, fixed length crawler belt 2 is touched under the compressing of bogie wheel 7 with ground, is produced
The power that raw driving vehicle advances, to drive forward travel.If making vehicle rollback, the driving of driving brake assembly 1 is fixed
Son 101 is after being passed through alternating current, and formation rotates clockwise magnetic field, and magnet rotor 102 is dragged in rotating excitation field, forms driving
Power.Tooth on magnet rotor 102 is meshed with the sliding tooth 203 of fixed length crawler belt 2, because magnet rotor 102 rotates clockwise, thus
Driving fixed length crawler belt 2 rotates clockwise, and fixed length crawler belt 2 touches under the compressing of bogie wheel 7 with ground, after generating driving vehicle
The power moved back, to drive vehicle travel backwards.
Particularly, when Athey wheel is by the process that wheeled state is changed into crawler type state, Athey wheel as shown in Figure 1:
The rotation speed of drive shaft 9 declines, so that the rolling speed of Athey wheel declines.Magnet rotor 102 is by driving in the process
Under the rotating excitation field driving that stator 101 is formed, revolving speed and torque are stepped up, so that 2 rotation speed of fixed length crawler belt is improved, when
When crawler belt rotation speed is greater than rolling speed, drive shaft 9 stops operating, and then realizes Athey wheel deformation by actuator 8 at this time.?
After deformation is completed, then driven completely by driving stator 101.
Particularly, when Athey wheel is by the process that crawler type state is changed into wheeled state, Athey wheel as shown in Figure 1:
The magnet rotor revolving speed decline driven by driving stator 101, so that 2 rotation speed of fixed length crawler belt be made to decline.In the process, it holds
Row device 8 acts, and Athey wheel is become wheeled state from crawler type state.After the completion of deformation, drive shaft 9 is started turning, thus
Athey wheel is set to start to roll, when rolling speed is greater than 2 rotation speed of fixed length crawler belt, driving stator 101 stops power supply, rotary magnetic
It stops rotating field.At this point, magnet rotor 102 stops operating.Later, then Athey wheel rolling is fully relied on to move on.
Particularly, when Athey wheel is in the walking of crawler type state, as shown in Fig. 2, when vehicle advance encounters barrier height
Degree be less than L1 when, Athey wheel then rely on the rotation of fixed length crawler belt 2 quickly through.When Athey wheel is in the walking of crawler type state,
As shown in Fig. 2, Athey wheel then relies on the rotation of drive shaft 9 when vehicle advance encounters obstacle height greater than L2, roll logical
It crosses.
As shown in Fig. 3-8 and Figure 13, in actual design with use process, can laterally it be arranged in fixed length crawler belt 2 multiple
The driving device.Specifically, judged according to the width of fixed length crawler belt 2 setting driving device number, if fixed length carry out
Two or more driving devices are laterally arranged in wider can be set of band 2；To realize more stable deformation and bigger weight bearing
Carrying.
Such as Fig. 9, shown in 10, in the present embodiment, auxiliary support bar 304 is hinged with wing plate 301 and retainer 3, make its
In 301 contraction process of wing plate, angle between auxiliary support bar 304 and retainer 3 is reduced around frame side revolute C, to subtract
The stroke of small actuator 8, with the Reducing distortion time.In addition, the auxiliary support bar 304 in the present embodiment has certain stretch
Amount so that the angle between auxiliary support bar 304 and retainer 3, around frame side revolute C reduce more quickly, from
And the stroke of actuator 8 is further decreased, with the Reducing distortion time.Auxiliary support bar 304 has in special the present embodiment
Stroke, assign its certain elasticity, realize better effectiveness in vibration suppression.
Such as Figure 11, shown in 12, the inner surface of fixed length crawler belt 2 is equipped with the sliding tooth being meshed with the magnet rotor 102
203, to prevent fixed length crawler belt 2 from falling off, convex edge 202 convex edge 201 and anticreep outside is additionally provided in anticreep on fixed length crawler belt 2.Anticreep
Interior convex edge 201 is located on the side wall of the slot of the formation of sliding tooth 203, and the outer convex edge 202 of anticreep is located at the side of fixed length crawler belt 2.Specifically
, bogie wheel 7 and inducer 6 all include two runners, and one of runner is located at the outside of curved roof 3011, another turn
Wheel is located at the inside of curved roof 3011, and the runner in outside is mutually close to the outer convex edge 202 of anticreep, the runner and anticreep convex of inside
It is close to along 201 phases, under the collective effect of the runner of two sides, limits the axial movement of fixed length crawler belt 2, improve stability.
In the present embodiment, as shown in figure 14, it to realize better vibration damping, is set between bogie wheel 7 and bogie wheel mounting hole
There is leaf spring 10.When car weight difference, the quantity of bogie wheel 7 may also be different, and particular number can be set according to actual use situation
Meter.Actuator 8 can be hydraulic cylinder, electric cylinder or pneumatic linear actuator and other actuators that can be stretched.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (10)
1. a kind of Magnetic driving Athey wheel of convertible wheeled state and crawler type state, which is characterized in that including fixed length crawler belt (2)
And the driving device of driving fixed length crawler belt (2) rotation；The driving device includes:
Retainer (3), the retainer (3) include inner support (302) and external fixing rack device, and the external fixing rack device is symmetrical
It is fixed on the left and right sides of the inner support (302)；The external fixing rack device includes support arm (303) and bracket connector sleeve
(305), the support arm (303) has several, several described support arms (303) are evenly arranged on the bracket connector sleeve (305)
Periphery on；The actuator (8) for making fixed length crawler belt transition status is connected on the support arm (303)；
It drives brake assembly (1), the driving brake assembly (1) includes magnet rotor (102) and the driving magnet rotor
(102) the driving stator (101) rotated, the driving stator (101) are fixed on the inner support (302), and described magnetic turn
Sub (102) are rotatably connected between the actuator (8) at left and right sides of the inner support (302)；The magnet rotor (102)
It is meshed with the fixed length crawler belt (2), the fixed length crawler belt (2) is driven to rotate.
2. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, which is characterized in that
The external fixing rack device further includes wing plate component and auxiliary support bar (304), and the auxiliary support bar (304) is symmetrically fixed on
The left and right sides of the support arm (303), the wing plate component include being symmetrically connected to the two of the actuator (8) left and right ends
A wing plate (301), the auxiliary support bar (304) and the wing plate (301) are flexibly connected.
3. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 2, which is characterized in that
The wing plate (301) is triangle, and the wing plate (301) includes curved roof (3011), the first connecting plate (3012) and the
Two connecting plates (3013), the top of first connecting plate (3012) and the top of second connecting plate (3013) are separately connected
In the left and right ends of the curved roof (3011), the bottom end of first connecting plate (3012) and second connecting plate
(3013) bottom end is connected, and junction is equipped with connecting hole；The auxiliary support bar (304) is mutually cut with scissors with the wing plate (301)
It connects, and hinge joint is the connecting hole.
4. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 3, which is characterized in that
It further include installation inducer (6) and bogie wheel (7), the curved roof (3011) is equipped with inducer mounting hole and bogie wheel is pacified
Hole is filled, the inducer mounting hole is located at the left and right ends of the curved roof (3011), and the bogie wheel mounting hole is located at two
Between the inducer mounting hole, the bogie wheel mounting hole has several；The inducer (6) is mounted on the inducer peace
It fills on hole, the bogie wheel (7) is mounted on the bogie wheel mounting hole.
5. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 4, which is characterized in that
Leaf spring (10) are additionally provided between the bogie wheel (7) and bogie wheel mounting hole.
6. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, which is characterized in that
The support arm (303) is hollow structure and penetrates through with top that the actuator (8) includes actuator ontology (802) and stretches
One end of deformed rod (801), the dilatation bar (801) is fixed in the hollow portion of the support arm (303), the other end and
The actuator ontology (802) is connected, and the magnet rotor (102) is rotatably connected at left and right sides of the inner support (302)
The actuator ontology (802) between.
7. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, which is characterized in that
The driving stator (101) includes stator seat (1011), iron core (1013) and winding (1012), and the stator seat (1011) is fixed
On the inner support (302), the stator seat (1011) is arc panel, and the iron core (1013) has several, several institutes
It states iron core (1013) to be evenly arranged in the arcwall face of the stator seat (1011), the winding (1012) and the iron core (1013) phase
Connection.
8. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, which is characterized in that
The sliding tooth (203) that the inner surface of the fixed length crawler belt (2) is equipped with and the magnet rotor (102) are meshed, the fixed length
Convex edge (201) and the outer convex edge (202) of anticreep in anticreep used for positioning are additionally provided on crawler belt (2).
9. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, which is characterized in that
It further include drive shaft (9), the center of the bracket connector sleeve (305) is equipped with axis hole, and the drive shaft (9) is connected to the interior branch
In the axis hole of the bracket connector sleeve (305) at left and right sides of frame (302), it also is provided on the inner support (302) for connecting
The axis hole of drive shaft (9).
10. the Magnetic driving Athey wheel of convertible wheeled state and crawler type state according to claim 1, feature exist
In the fixed length crawler belt (2) is interior can be laterally arranged several described driving devices.
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| CN201910173799.7A CN109878582B (en) | 2019-03-08 | 2019-03-08 | Magnetic driving crawler wheel capable of converting wheel type state and crawler type state |
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| CN201910173799.7A CN109878582B (en) | 2019-03-08 | 2019-03-08 | Magnetic driving crawler wheel capable of converting wheel type state and crawler type state |
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| CN109878582B CN109878582B (en) | 2021-07-09 |
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| CN110450868A (en) * | 2019-09-18 | 2019-11-15 | 中国科学院合肥物质科学研究院 | A kind of restructural wheel |
| CN110497972A (en) * | 2019-08-26 | 2019-11-26 | 燕山大学 | Single-degree-of-freedom wheel/restructural the walking mechanism of shoe form |
| CN110510017A (en) * | 2019-09-17 | 2019-11-29 | 北京理工大学 | A kind of wheel for being able to carry out wheel and carrying out transformation |
| CN110843413A (en) * | 2019-11-26 | 2020-02-28 | 哈尔滨工业大学 | Obstacle-crossing wheel applied to field severe environment |
| CN111114663A (en) * | 2019-12-25 | 2020-05-08 | 鞠昌金 | Anti-skid hub mechanism for snow shoveling vehicle |
| CN112793679A (en) * | 2021-02-25 | 2021-05-14 | 常熟理工学院 | Full-deformation wheel device capable of being switched into track structure |
| CN112848792A (en) * | 2021-02-01 | 2021-05-28 | 吉林大学 | Wheel-track combined type reconfigurable wheel |
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| CN110497972A (en) * | 2019-08-26 | 2019-11-26 | 燕山大学 | Single-degree-of-freedom wheel/restructural the walking mechanism of shoe form |
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| CN112848792A (en) * | 2021-02-01 | 2021-05-28 | 吉林大学 | Wheel-track combined type reconfigurable wheel |
| CN112793679A (en) * | 2021-02-25 | 2021-05-14 | 常熟理工学院 | Full-deformation wheel device capable of being switched into track structure |
| CN113460180A (en) * | 2021-08-20 | 2021-10-01 | 常州工业职业技术学院 | Wheel-track reconfigurable wheel based on rocker-slider mechanism |
| CN113460180B (en) * | 2021-08-20 | 2023-01-31 | 常州工业职业技术学院 | Wheel-track reconfigurable wheel based on rocker-slider mechanism |
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