CN109878582B - Magnetic driving crawler wheel capable of converting wheel type state and crawler type state - Google Patents

Abstract

The invention discloses a magnetic driving crawler wheel capable of converting a wheel type state and a crawler type state, which comprises a fixed-length crawler and a driving device for driving the fixed-length crawler to rotate, wherein the fixed-length crawler is arranged on the crawler; the drive device includes: the device comprises a retainer and a driving brake assembly, wherein the retainer comprises an inner bracket and outer fixing bracket devices, and the outer fixing bracket devices are symmetrically fixed on the left side and the right side of the inner bracket; the outer fixing frame device comprises a plurality of outer supports and support connecting sleeves, and the plurality of outer supports are uniformly distributed on the periphery of the support connecting sleeves; the outer bracket is connected with an actuator for switching the fixed-length crawler belt; the driving brake assembly comprises a magnetic rotor and a driving stator for driving the magnetic rotor to rotate, the driving stator is fixed on the inner support, and the magnetic rotor is rotatably connected between actuators on the left side and the right side of the inner support; the magnetic rotor is meshed with the fixed-length crawler belt to drive the fixed-length crawler belt to rotate; the invention can carry out the conversion between the wheel type and the crawler type according to the difference of road conditions and terrains, thereby improving the practicability.

Description

Magnetic driving crawler wheel capable of converting wheel type state and crawler type state

Technical Field

The invention relates to the technical field of vehicle traveling, in particular to a magnetic driving crawler wheel capable of converting a wheel type state and a crawler type state.

Background

The problems to be solved by all-terrain vehicles are as follows: the device has the advantages of adaptability to complex environments, good obstacle crossing capability and certain speed. The common driving mechanism of all-terrain vehicle at present is divided into leg type, wheel type, crawler type, composite type and the like. The leg type running mechanism has good adaptability and strong obstacle crossing capability, but also has the defects of too complicated structure, low moving efficiency, difficult control and the like; the composite running mechanism has multiple sets of driving systems, is complex in structure and control, and is suitable for some special environments. Therefore, both forms are less applicable. The wheels and the crawler belts are two main types of vehicles, namely wheel type running mechanisms and crawler belt type running mechanisms. However, the two walking modes also have advantages and disadvantages respectively. The main disadvantages of wheel-type running gear are: the wheels are in point-type or line-type contact with the ground, so the wheels have poor ground gripping performance and no anti-sinking capability; since the vertical wall passing capability of a round wheel is proportional to the wheel diameter, the off-road capability of the round wheel is limited by the limit of the height of the wheel body. Although the diameter of the wheel can be expanded to about two meters and five in the prior art, the huge wheel body occupies too much vehicle body space, and the larger problem is that the occupied vehicle body effective space of the wheel with the diameter of two meters and five is huge, the required steering space greatly reduces the effective space of the vehicle body, the weight of the wheel per se can be increased along with the increase of the wheel diameter, and the practicability of the large-diameter wheel is directly limited due to the defects. The crawler type has the main defects that: firstly, the oil consumption of the whole vehicle is large. When the tracked vehicle turns, the track can shear the ground, so that the soil scraping phenomenon is generated, and the steering torque is suddenly increased. When the crawler vehicle runs, the uneven ribs of the crawler and the spikes which scrape each other with the guide pulley to play a role in fixing the crawler inevitably increase the internal power consumption of the crawler due to sliding friction; secondly, the driving speed is low. When the crawler traveling device runs on a hard flat road at a high speed, the increased ground contact area for preventing sinking becomes a main source of running resistance, and becomes a power consumption burden for restricting the crawler traveling device to increase the speed; thirdly, the parts are worn out greatly, the noise is big, the use cost is high, and the supply guarantee difficulty is big.

In order to take the advantages of a wheel type and a crawler type into consideration, a great deal of research is carried out at home and abroad in recent years, various schemes are also provided, the structure of the crawler wheel which can realize the mutual conversion of the wheel type walking state and the crawler type walking state is provided, and a user can convert the walking mode into the crawler type walking according to the road condition, namely on a soft and wet slippery road surface, so that the grounding area is increased, the adhesive force and the traction force are improved, namely the trafficability is improved; on a flat hard road surface, the wheel type walking is converted, so that the power consumption is reduced, the running speed is improved, and the realization of high maneuverability is facilitated.

The wheel-track combined vehicle overcomes the defects of high energy consumption, weak obstacle crossing capability and the like of a common tracked vehicle and a tire vehicle, comprehensively improves the running performance of the vehicle, but the driving system of the vehicle mostly uses the driving system of the traditional fuel oil vehicle, and the power transmission and conversion efficiency of the vehicle are seriously influenced by energy loss of multiple links.

Disclosure of Invention

The invention aims to provide a magnetic drive crawler wheel capable of converting a wheel type state and a crawler type state, so as to solve one of the defects caused by the prior art.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme:

a magnetic driving crawler wheel capable of converting a wheel type state and a crawler type state comprises a fixed-length crawler and a driving device for driving the fixed-length crawler to rotate; the drive device includes: the device comprises a retainer and a driving brake assembly, wherein the retainer comprises an inner bracket and outer fixing bracket devices, and the outer fixing bracket devices are symmetrically fixed on the left side and the right side of the inner bracket; the outer fixing frame device comprises a plurality of outer supports and support connecting sleeves, and the plurality of outer supports are uniformly distributed on the periphery of the support connecting sleeves; the outer bracket is connected with an actuator for switching the fixed-length crawler belt; the driving brake assembly comprises a magnetic rotor and a driving stator for driving the magnetic rotor to rotate, the driving stator is fixed on the inner support, and the magnetic rotor is rotatably connected between actuators on the left side and the right side of the inner support; the magnetic rotor is meshed with the fixed-length crawler belt to drive the fixed-length crawler belt to rotate.

In this embodiment, the external fixation frame device further includes wing plate assemblies and auxiliary support rods, the auxiliary support rods are symmetrically fixed on the left and right sides of the external support, the wing plate assemblies include two wing plates symmetrically connected to the left and right ends of the actuator, and the auxiliary support rods are movably connected to the wing plates.

The invention has the advantages that:

1. the crawler wheel designed by the invention can perform wheel type and crawler type interconversion according to different road conditions and terrains. On muddy soft or unevenness's road surface, the wheel converts the athey wheel of triangle form into, and increase area to ground has improved stability, when meetting big obstacle, the characteristic of usable planet wheel again turns over the obstacle again simultaneously. On a hard and flat road surface, the wheels travel in a wheel type, so that the traveling speed is improved;

2. compared with other crawler wheels, the wheel structure is even in arrangement and is more stable in rolling. The electromagnetic technology adopted by the invention replaces the traditional fuel oil drive, has the advantage of energy saving, and the magnetic drive mode is selected, so that the abrasion of parts can be reduced, and the wheel is lighter, thereby improving the practicability and the economical efficiency of the wheel.

Drawings

FIG. 1 is a schematic diagram of a magnetically driven track wheel according to an embodiment of the present invention;

FIG. 2 is a schematic view of the magnetic driving track wheel according to the embodiment of the present invention;

FIG. 3 is a schematic view of a magnetic drive track wheel according to an embodiment of the present invention in a crawler travel state;

FIG. 4 is a schematic view of a magnetically driven track wheel according to an embodiment of the present invention in a wheeled walking state;

FIG. 5 is a schematic structural view of a drive unit of a magnetic drive crawler wheel in a crawler state according to an embodiment of the present invention;

FIG. 6 is a schematic view of a drive assembly and mounting train for a magnetic drive crawler wheel in a tracked state in accordance with an embodiment of the present invention;

FIG. 7 is a schematic structural view of a driving device of a magnetic driving crawler wheel in a wheeled state according to an embodiment of the present invention;

FIG. 8 is a schematic view of a drive assembly and mounting train for a magnetically driven crawler wheel in a wheeled position in accordance with an embodiment of the present invention;

FIG. 9 is a schematic view of a cage and its attachment portion in a magnetically driven track wheel in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of FIG. 9 in a different state;

FIG. 11 is a cross-sectional view of FIG. 4;

FIG. 12 is a cross-sectional view of FIG. 3;

FIG. 13 is a schematic view of a wing plate and a mounting wheel train of the magnetically driven crawler wheel in accordance with an embodiment of the present invention;

FIG. 14 is a partial schematic view of a road wheel mounting hole in a magnetic drive track wheel in accordance with an embodiment of the present invention;

fig. 15 is a schematic view of a stator seat and a driving stator in the magnetic driving crawler wheel according to the embodiment of the present invention.

Wherein: 1. a drive brake assembly; 2. a fixed-length crawler belt; 3. a holder; 6. an inducer; 7. a loading wheel; 8. an actuator; 9. a drive shaft; 10. a plate spring; 101. a driving stator; 102. a magnetic rotor; 1011. a stator base; 1012. a winding; 1013. an iron core; 201. an anti-drop inner convex edge; 202. the anti-drop convex edge; 203. a drive tooth; 301. a wing plate; 302. an inner support; 303. an outer support; 304. an auxiliary support bar; 305. a bracket connecting sleeve; 3011. an arc-shaped top plate; 3012. a first connecting plate; 3013. a second connecting plate; 801. a telescopic deformation rod; 802. an actuator body.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component. The terms "mounted" and "connected" are to be construed broadly and may, for example, be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

As shown in fig. 1 to 15, a magnetic drive crawler wheel capable of switching between a wheel state and a crawler state comprises a fixed-length crawler 2 and a drive device installed in the fixed-length crawler 2, wherein the drive device is used for driving the fixed-length crawler 2 to rotate, the drive device comprises a retainer 3, a drive brake assembly 1 and an actuator 8, and the retainer 3 is deformed by controlling the expansion and contraction of the actuator 8, so that the mutual switching between the two states of the crawler wheel is realized. Referring to fig. 1 and 2, the crawler-type wheel-track type road surface generator can perform wheel-type and crawler-type interconversion according to different terrains and road conditions, and is uniform and reasonable in structural arrangement, and high in comprehensive performance and practicability.

The holder 3 comprises an inner bracket 302 and outer fixing frame devices, the outer fixing frame devices are symmetrically fixed on the left side and the right side of the inner bracket 302, the outer fixing frame devices comprise outer brackets 303 and bracket connecting sleeves 305, each outer fixing frame device comprises three outer brackets 303, the three outer brackets 303 are uniformly distributed on the periphery of the bracket connecting sleeves 305, and the included angle between every two adjacent outer brackets 303 is 120 degrees. Furthermore, one end of the outer bracket 303 is integrally connected with the bracket connecting sleeve 305, and the other end is connected with the actuator 8, and the actuator 8 is used for enabling the fixed-length crawler to be switched into a wheel type state or a crawler type state.

The outer bracket device also comprises a wing plate component and auxiliary supporting rods 304, and two auxiliary supporting rods 304 are connected to each outer bracket 303; specifically, the auxiliary support rods 304 are symmetrically fixed on the left and right sides of the outer frame 303. The outer bracket 303 is a hollow structure and is communicated with the top, the actuator 8 comprises an actuator body 802 and a telescopic deformation rod 801, one end of the telescopic deformation rod 801 is fixed in the hollow part of the outer bracket 303, and the other end is connected with the actuator body 802. The wing plate assembly comprises two wing plates 301 which are symmetrically connected to the left end and the right end of the actuator body 802; one end of the auxiliary support bar 304 is connected to the outer bracket 303, and the other end is movably connected with the wing plate 301. Specifically, the wing plate 301 is triangular, the wing plate 301 includes an arc-shaped top plate 3011, a first connecting plate 3012 and a second connecting plate 3013, the top end of the first connecting plate 3012 and the top end of the second connecting plate 3013 are respectively connected to the left end and the right end of the arc-shaped top plate 3011, the bottom end of the first connecting plate 3012 is connected to the bottom end of the second connecting plate 3013, and a connecting hole is formed at the connecting position; the auxiliary support bar 304 is hinged with the wing plate 301, and the hinged point is a connecting hole. The actuator body 802 controls the extension of the telescopic deformation rod 801, the position of the actuator body 802 can be changed, the position of a wing plate 301 connected to the actuator body 802 is further driven to be changed, and the auxiliary support rod 304 is changed along with the position change of the wing plate 301; similarly, the actuator body 802 controls the telescopic deformation rod 801 to contract, and the positions of the actuator body 802 and the wing plate 301 are changed.

The driving brake assembly 1 comprises a magnetic rotor 102 and a driving stator 101 for driving the magnetic rotor 102 to rotate, the driving stator 101 is fixed on an inner bracket 302, and the magnetic rotor 102 is rotatably connected between actuators 8 on the left side and the right side of the inner bracket 302; the magnetic rotor 102 is engaged with the endless track 2, and the magnetic rotor 102 is used for driving the endless track 2 to rotate and realizing the brake stop of the endless track 2. In this embodiment, the number of the driving and braking assemblies 1 is three, and the number of the driving and braking assemblies 1 is half of the number of the actuators 8. The fixed-length crawler 2 is driven to play a role of a supporting wheel, and the vibration amplitude of the fixed-length crawler 2 in the running process is restrained. As shown in fig. 15, the driving stator 101 includes a stator holder 1011, a core 1013, and a winding 1012, and the driving stator 101 is used to drive the magnetic rotor 102. In this embodiment, the stator seat 1011 is arc-shaped, the stator seat 1011 is fixed on the inner bracket 302, the arc-shaped surface of the stator seat 1011 faces the magnetic rotor 102, three iron cores 1013 are arranged in each stator seat 1011, the three iron cores 1013 are uniformly distributed in the arc-shaped surface of the stator seat 1011, and the winding 1012 is connected to the iron cores 1013.

The magnetic driving crawler wheel further comprises an installation inducer 6 and a loading wheel 7, wherein an inducer installation hole and a loading wheel installation hole are formed in the arc-shaped top plate 3011, the inducer installation holes are formed in the left end and the right end of the arc-shaped top plate 3011, the loading wheel installation hole is formed between the two inducer installation holes, and the number of the loading wheel installation holes is multiple; the inducer 6 is arranged on the inducer mounting hole, and the loading wheel 7 is arranged on the loading wheel mounting hole. The fixed-length crawler 2 is in contact with the ground to bear the weight of the vehicle, and provides the force for driving the vehicle to run through the interaction with the ground. The wing plate 301, the inner bracket 302, the outer bracket 303, the auxiliary support bar 304 and the telescopic deformation bar 801 form a lever structure. Each actuator 8 and the connecting part thereof of the device form ten rotating pairs. As shown in fig. 1 and 2, 10 is a revolute pair including an aileron outer revolute pair a and an aileron outer revolute pair D formed at the joints of the actuator body 802 and the left and right wing plates 301, an aileron inner revolute pair B and an aileron inner revolute pair E formed by the left and right first connecting plates 3012 and the second connecting plates 3013, a frame-side revolute pair C and a frame-side revolute pair F formed by the left and right auxiliary support bars 304 themselves, and a wing-side revolute pair H, I, J, K formed at the left and right inducer 6; obviously, this lever structure is very desirable. The auxiliary supporting rod 304 is movably hinged, and aims to reduce the deformation of the telescopic deformation rod 801 and have the same deformation effect. In addition, the auxiliary support rod 304 in the structure is an elastic support rod, so that the vibration reduction capability of the track wheel is improved. In this embodiment, the retainer 3 is arranged in three directions of 120 °, the head end of the inner bracket 302 is welded to the tail end of the stator seat 1011, and in addition, the inner bracket 302 and the telescopic deformation rod 801 are arranged in the middle of the outer bracket 303, so that the stability of the track wheel is improved. The actuator 8 is used for driving the deformation of the retainer 3 and realizing the position locking after the deformation of the retainer 3. The actuator 8 is total three groups and is 120 three-dimensional arrangements, through predetermineeing flexible deformation pole 801 limitation of contraction, plays the effect of take-up pulley for ensure suitable rate of tension, thereby do benefit to and prevent that the track pine from taking off, actuator body 802 one end links to each other with flexible deformation pole 801, and the other end is articulated mutually with pterygoid lamina 301, has played the effect of supporting and restraint track wheel structure, is used for realizing carrying out the control that two kinds of state conversion warp of wheel track to holder 3. The inducer 6 is arranged on a wing-side rotating pair H, I, J, K of the retainer 3 and used for playing a role in guiding when the wheel type state is converted in the crawler type state, so that the conversion is favorably completed; meanwhile, in the running process of the vehicle, the inducer 6 also plays a role in stabilizing the fixed-length crawler 2. The bogie wheel 7 is used for bearing the vehicle weight, supporting the retainer 3, driving the brake assembly 1, the actuator 8 and the like, transmitting the vehicle weight to the fixed-length crawler 2 which is in contact with the ground, and transmitting the vehicle weight to the ground through the fixed-length crawler 2.

Based on the structure of the above embodiment, other different track wheel deformation structures can also be introduced, specifically: according to different situations, the diameter of the magnetic rotor 102 can be increased according to the actual driving force demand, so that the wrap angle of the magnetic rotor 102 and the crawler belt is increased; in this case, the bogie wheel 7 may be omitted by a partial number, and the inducer 6 may function to some extent.

As shown in fig. 3 and 15, a driving shaft 9 is further included, a shaft hole is provided in the center of the cradle connecting sleeve 305, the driving shaft 9 is connected to the shaft holes of the cradle connecting sleeves 305 on the left and right sides of the inner cradle 302, more specifically, the shaft hole is also provided in the inner cradle 302, and the driving shaft 9 is connected to the shaft holes in the centers of the cradle connecting sleeves 305 and the inner cradle 302 in a penetrating manner.

As shown in fig. 1, the process of the track wheel converting from the wheel state to the track state is: the actuator body 802 extends the length of the telescopic rod 801 by oil-filled or electric expansion adjustment, and drives the wing plate 301 of the holder 3 to contract under load. In the contraction process of the wing plate 301, the hinge point of the wing outer revolute pair a and D is taken as a theoretical support point, so that the retainer 3 is deformed. The deformation process of the retainer 3 drives the inducer 6 and the loading wheel 7 which are arranged on the retainer 3, so that the contact area between the fixed-length crawler 2 and the ground is continuously increased, the crawler wheel is finally converted into a near-triangular crawler type state, and the form change of the retainer 3 in the deformation process is shown in figures 5, 6, 7 and 8.

The process of the track wheel walking in the wheel state is as shown in figure 1: the track wheel carries and drives the vehicle through the drive shaft 9. If the vehicle is made to advance, the magnetic rotor 102 of the track wheel driving brake assembly 1 stops rotating, thereby stopping the fixed-length track 2 from rotating. Since the driving shaft 9 is rigidly connected with the position of the retainer 3, when the driving shaft 9 rotates counterclockwise, a force for driving the vehicle to move forward is generated, so that the vehicle is driven to move forward. If the vehicle is driven backward, the magnetic rotor 102 of the track wheel driving brake assembly 1 stops rotating, thereby stopping the fixed-length track 2 from rotating. Since the driving shaft 9 is rigidly connected with the position of the retainer 3, when the driving shaft 9 rotates clockwise, a force for driving the vehicle to retreat is generated, thereby driving the vehicle to run backwards.

As shown in fig. 1, the process of converting the track wheel from the track state to the wheel state is as follows: the actuator body 802 is adjusted by oil release or electric contraction to shorten the length of the telescopic deformation rod 801, thereby driving the wing plate 301 of the holder 3 to extend under load. In the extending process of the wing plate 301, the hinge point of the wing outer revolute pair A and D is taken as a theoretical supporting point, so that the retainer 3 is deformed. The inducer 6 and the loading wheel 7 which are arranged on the retainer 3 are driven in the deformation process, so that the contact area between the fixed-length crawler 2 and the ground is continuously reduced, the crawler wheel is finally converted into a wheel type state which is nearly circular, and the form change of the retainer 3 in the deformation process is shown in figures 5, 6, 7 and 8.

The process of the crawler wheel walking in the crawler type state is as shown in figure 1: the crawler wheel is rigidly connected with the driving shaft 9 through the driving stator 101 of the driving braking assembly 1 to realize the loading and driving of the vehicle. If the vehicle is driven forward, the driving stator 101 of the driving brake assembly 1 forms a counterclockwise rotating magnetic field after the alternating current is supplied, and the magnetic rotor 102 is dragged in the rotating magnetic field to form a driving force. The teeth on the magnetic rotor 102 are meshed with the driving teeth 203 of the fixed-length crawler 2, and the fixed-length crawler 2 is driven to rotate anticlockwise due to the anticlockwise rotation of the magnetic rotor 102, so that the fixed-length crawler 2 is contacted with the ground under the compression of the bogie wheels 7 to generate the force for driving the vehicle to move forwards, and the vehicle is driven to move forwards. When the vehicle is driven backward, the driving stator 101 of the driving brake assembly 1 forms a clockwise rotating magnetic field after the alternating current is supplied, and the magnetic rotor 102 is dragged in the rotating magnetic field to form a driving force. The teeth of the magnetic rotor 102 are engaged with the driving teeth 203 of the fixed-length crawler 2, and the fixed-length crawler 2 is driven to rotate clockwise due to the clockwise rotation of the magnetic rotor 102, and the fixed-length crawler 2 is in contact with the ground under the pressing of the bogie wheel 7, so that the force for driving the vehicle to move backward is generated, and the vehicle is driven to travel backward.

Specifically, when the track wheel is changed from the wheel state to the track state, as shown in fig. 1: the rotational speed of the drive shaft 9 of the track wheel decreases and the rolling speed of the track wheel decreases. In the process, the rotating speed and the torque of the magnetic rotor 102 are gradually increased under the driving of the rotating magnetic field formed by the driving stator 101, so that the rotating speed of the fixed-length crawler 2 is increased, when the rotating speed of the crawler is higher than the rolling speed, the driving shaft 9 stops rotating, and the deformation of the crawler wheel is realized by the actuator 8. After the deformation is completed, it is driven entirely by the driving stator 101.

Specifically, when the track wheels are changed from the track type state to the wheel type state, as shown in fig. 1: the magnetic rotor of the crawler wheel driven by the driving stator 101 is rotated at a reduced speed, thereby reducing the rotation speed of the crawler belt 2. In this process, the actuator 8 operates to change the crawler wheels from the crawler state to the wheel state. When the deformation is completed, the driving shaft 9 starts to rotate, so that the crawler wheels start to roll, and when the rolling speed is higher than the rotating speed of the fixed-length crawler 2, the driving stator 101 stops supplying power, and the rotating magnetic field stops rotating. At this time, the magnetic rotor 102 stops rotating. And then, the crawler wheels roll to continue advancing completely.

Specifically, when the track wheels are in a crawler type state for traveling, as shown in fig. 2, when the vehicle advances and meets an obstacle having a height less than L1, the track wheels quickly pass by the rotation of the fixed-length track 2. When the track wheels are in a crawler type state for traveling, as shown in fig. 2, when the vehicle advances and meets an obstacle having a height greater than L2, the track wheels roll through by the rotation of the drive shaft 9.

As shown in fig. 3 to 8 and 13, a plurality of the driving devices may be transversely disposed in the endless track 2 during actual design and use. Specifically, the number of the arranged driving devices is judged according to the width of the fixed-length crawler 2, and if the fixed-length crawler 2 is wider, two or more driving devices can be transversely arranged; thereby achieving more stable deformation and greater load bearing.

As shown in fig. 9 and 10, in the present embodiment, the auxiliary support rod 304 is hinged to the wing plate 301 and the holder 3, so that during the contraction of the wing plate 301, the angle between the auxiliary support rod 304 and the holder 3 is reduced around the holder-side revolute pair C, thereby reducing the expansion amount of the actuator 8 and reducing the deformation time. In addition, the auxiliary support rod 304 in the present embodiment has a certain amount of expansion and contraction, so that the angle between the auxiliary support rod 304 and the holder 3 is reduced more rapidly around the holder-side revolute pair C, thereby further reducing the amount of expansion and contraction of the actuator 8 to reduce the deformation time. The auxiliary support rod 304 in this embodiment has a certain elasticity due to its expansion and contraction, so as to achieve a better vibration damping effect.

As shown in fig. 11 and 12, a driving tooth 203 engaged with the magnetic rotor 102 is provided on the inner surface of the fixed-length crawler 2, and an anti-slip inner protruding edge 201 and an anti-slip outer protruding edge 202 are provided on the fixed-length crawler 2 to prevent the fixed-length crawler 2 from slipping off. The retaining-off inner ledge 201 is located on the side wall of the groove formed by the driving teeth 203, and the retaining-off outer ledge 202 is located on the side surface of the fixed-length crawler 2. Specifically, bogie wheel 7 and inducer 6 all include two runners, and one of them runner is located the outside of arc roof 3011, and another runner is located the inboard of arc roof 3011, and the runner in the outside is hugged closely with anticreep evagination along 202 mutually, and inboard runner is hugged closely with anticreep evagination along 201 mutually, under the combined action of the runner of both sides, has restricted fixed length track 2 axial displacement, has improved stability.

In the present embodiment, as shown in fig. 14, a plate spring 10 is provided between the road wheel 7 and the road wheel mounting hole for better vibration damping. When the vehicle weights are different, the number of the bogie wheels 7 can be different, and the specific number can be designed according to the actual use condition. The actuator 8 may be a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, among other actuators that may be telescopic.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (9)

1. A magnetic driving crawler wheel capable of converting a wheel type state and a crawler type state is characterized by comprising a fixed-length crawler belt (2) and a driving device for driving the fixed-length crawler belt (2) to rotate; the driving device includes:

the holder (3) comprises an inner support (302) and outer fixing frame devices, and the outer fixing frame devices are symmetrically fixed on the left side and the right side of the inner support (302); the external fixing frame device comprises a plurality of external supports (303) and support connecting sleeves (305), wherein the external supports (303) are uniformly distributed on the periphery of the support connecting sleeves (305); the outer bracket (303) is connected with an actuator (8) for switching the fixed-length crawler belt;

the driving and braking assembly (1), the driving and braking assembly (1) comprises a magnetic rotor (102) and a driving stator (101) for driving the magnetic rotor (102) to rotate, the driving stator (101) is fixed on the inner bracket (302), and the magnetic rotor (102) is rotatably connected between the actuators (8) on the left side and the right side of the inner bracket (302); the magnetic rotor (102) is meshed with the fixed-length crawler belt (2) to drive the fixed-length crawler belt (2) to rotate;

the external fixation frame device further comprises wing plate assemblies and auxiliary supporting rods (304), the auxiliary supporting rods (304) are symmetrically fixed to the left side and the right side of the external support (303), the wing plate assemblies are symmetrically connected to two wing plates (301) at the left end and the right end of the actuator (8), and the auxiliary supporting rods (304) are movably connected with the wing plates (301).

2. The magnetic drive crawler wheel capable of converting the wheel state into the crawler state according to claim 1, wherein the wing plate (301) is triangular, the wing plate (301) comprises an arc-shaped top plate (3011), a first connecting plate (3012) and a second connecting plate (3013), the top end of the first connecting plate (3012) and the top end of the second connecting plate (3013) are respectively connected to the left end and the right end of the arc-shaped top plate (3011), the bottom end of the first connecting plate (3012) and the bottom end of the second connecting plate (3013) are connected, and a connecting hole is formed at the connecting position; the auxiliary support rod (304) is hinged with the wing plate (301), and the hinged point is the connecting hole.

3. The magnetic drive crawler wheel capable of converting the wheel state into the crawler state according to claim 2, further comprising an inducer (6) and a bogie wheel (7) which are installed, wherein an inducer installation hole and a bogie wheel installation hole are formed in the arc-shaped top plate (3011), the inducer installation hole is located at the left end and the right end of the arc-shaped top plate (3011), the bogie wheel installation hole is located between the two inducer installation holes, and the number of bogie wheel installation holes is multiple; the inducer (6) is installed on the inducer installation hole, and the bogie wheel (7) is installed on the bogie wheel installation hole.

4. A convertible wheeled condition and tracked condition magnetically driven track wheel according to claim 3, characterised in that a leaf spring (10) is also provided between the bogie wheel (7) and the bogie wheel mounting hole.

5. The magnetic drive crawler wheel capable of converting the wheel state into the crawler state according to claim 1, wherein the outer bracket (303) is of a hollow structure and is communicated with the top, the actuator (8) comprises an actuator body (802) and a telescopic deformation rod (801), one end of the telescopic deformation rod (801) is fixed in the hollow part of the outer bracket (303), the other end of the telescopic deformation rod is connected with the actuator body (802), and the magnetic rotor (102) is rotatably connected between the actuator body (802) on the left side and the right side of the inner bracket (302).

6. A convertible wheeled condition and tracked condition magnetically driven track wheel according to claim 1, wherein said driving stator (101) comprises a stator frame (1011), a plurality of cores (1013), and windings (1012), said stator frame (1011) being fixed to said inner frame (302), said stator frame (1011) being an arc, said plurality of cores (1013) being uniformly distributed in said arc of said stator frame (1011), said windings (1012) being connected to said cores (1013).

7. A convertible wheeled and tracked magnetic drive crawler wheel according to claim 1, wherein the fixed-length crawler (2) is provided on its inner surface with drive teeth (203) engaging with the magnetic rotor (102), and the fixed-length crawler (2) is further provided with an anti-drop inner convex edge (201) and an anti-drop outer convex edge (202) for positioning.

8. A magnetic driving crawler wheel capable of converting a wheeled state and a crawler state according to claim 1, further comprising a driving shaft (9), wherein the support connecting sleeve (305) is provided with a shaft hole at the center, the driving shaft (9) is connected to the shaft holes of the support connecting sleeve (305) at the left and right sides of the inner support (302), and the inner support (302) is also provided with a shaft hole for connecting the driving shaft (9).

9. A convertible wheeled condition and tracked condition magnetically driven track wheel according to claim 1, wherein a plurality of said drive means are transversely positionable within said track (2).

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