CN114516242A - Reconfigurable rubber crawler walking system - Google Patents

Abstract

The invention relates to the technical field of vehicles, in particular to a reconfigurable rubber crawler traveling system which comprises a wheel train, a rubber crawler and a control system, and has two forms of a tire and a crawler wheel, wherein the traveling system is circular in tire form and can rotate integrally; when the crawler wheel is in a shape, the walking system is approximately triangular, the wheel train drives the rubber crawler belt, so that the rubber crawler belt rotates around the wheel train, and the grounding area is adjustable; the walking system can realize form conversion or ground contact area adjustment during the walking, and the stability of the circumference of the rubber track is maintained in the processes of form conversion and ground contact area adjustment. The running system has the advantages of both a tire and a rubber crawler running system, is free of damage to a road surface and tire burst risk, can still run normally under the condition that a control system fails, and has the advantages of being strong in terrain adaptability and high in reliability.

Description

Reconfigurable rubber crawler walking system

Technical Field

The invention relates to the technical field of vehicles, in particular to a reconfigurable rubber crawler traveling system.

Background

The prior vehicles generally adopt tires or crawler traveling systems, wherein the former is suitable for high-speed maneuvering of the vehicles on paved roads, and the latter can ensure that the vehicles maintain good trafficability and traction performance on off-road terrain. However, the applicability and advantages of the tire and the crawler are functions that are difficult to achieve by the other.

In order to combine the advantages of the two, deformable traveling systems have appeared in recent years, which have a tire shape and a track wheel shape, and are classified into two types from their structural features: one is an elastic retractable rubber track type structure, as disclosed in the patent: (1) the wheel-track composite deformation rubber track robot has the application number of 201210089271. X; (2) a wheel-track composite deformable wheel, application No. 201611113617. X; (3) a wheel-track composite deformable chassis, application No. 201910365957.9; (4) a hydraulically driven deformable wheel-track composite type variant wheel, application number 202010381600.2; (5) a wheel-track type reconfigurable deformable wheel, application number 202010902369.7 and the like. When the traveling systems are reconstructed into two forms, the circumference of the rubber track cannot be guaranteed to be unchanged, namely the circumference of the rubber track required by the form of the track wheel is obviously longer than that of the tire. During design, the expansion range of the crawler belt is determined by accurately calculating the circumferences of the rubber crawler belts in the two forms. This type of walking system has the following drawbacks:

(a) the risk of belt release is large, and the rubber track stretching process is unreliable. The surface of the rubber track needs structures such as patterns and the like to improve the ground gripping capability, and the intervals of the bulges such as the patterns and the like can be changed in the stretching or deforming process of the elastic telescopic rubber track. When the running system runs on a bad terrain in the form of a crawler wheel, sand, gravel, mud and the like inevitably adhere to the rubber crawler and are embedded in the intervals of patterns and the like of the rubber crawler, which increases the resistance of the rubber crawler to shrinkage, even makes the rubber crawler not retractable and difficult to convert into the form of a tire. The running system runs in a mode of integrally rotating at a high speed in the tire shape, and the rubber crawler at the outermost side of the running system is easily thrown out under the action of centrifugal force, so that the crawler is loosened, and the risk of belt release is increased. Meanwhile, the sand, stone, mud and the like can be attached, stacked and embedded on the crawler and can also act with the centrifugal force at the same time, so that the elongation of the crawler is continuously increased, the loosening of the crawler is aggravated, and the belt-removing risk is further improved.

(b) The steering stability is poor and it is difficult to provide a high and reliable traction. The traction force provided by the rubber track walking system is based on the tensile force borne by the rubber track, and the length of the elastic telescopic rubber track is correspondingly increased when the elastic telescopic rubber track bears the load. When the traveling system travels, the variation of the bearing of the crawler belt can be caused by different ground conditions, the unevenness degree of the terrain, obstacles, the variation of the vehicle speed and the like, the length of the crawler belt can be unexpectedly changed, the matching of the crawler belt and other components of the traveling system is influenced, and the operation stability of the vehicle is reduced. The elastic telescopic rubber track has the advantages of complex structure, difficult process manufacturing, and lower elastic modulus and tensile strength than those of the conventional rubber track due to the requirement of having a telescopic function, and does not have practicability in occasions requiring larger traction force.

The other is an arc swing arm type structure, as disclosed in the patent: (1) a wheel-track deformation mechanism, a walking device and a vehicle, with the application number of 201811182452.0; (2) the patent name: an all-terrain adaptive wheel-track and application thereof, application number 201910034000.6; (3) a crawler wheel walking device capable of realizing wheel-track conversion, with application number of 201910324215.1; (4) a reconfigurable variant wheel capable of realizing wheel-track switching, application number 201922303041.9; (5) a novel wheel-track composite variable structure wheel, application number 202010382090.0; (6) a wheel-track two-mode deformed wheel, application number 202110380082.7. The walking system can keep the circumference of the rubber track consistent when the tire and the crawler wheel are in two forms, the loading wheel is fixedly connected to the arc-shaped swing arm, and the wheel system controls the swing and the like of the arc-shaped swing arm so as to realize the tire form and the crawler wheel form. This kind of traveling system can adopt conventional rubber track, has overcome the defect of the scalable rubber track structure of elasticity to a certain extent, nevertheless also has following defect:

(a) The load is concentrated, the grounding pressure is unevenly distributed, and the trafficability characteristic is poor. Because the loading wheels are uniformly arranged on the arc-shaped swing arm, the wheel centers cannot be positioned on the same straight line. When the crawler wheels are in the shape, one arc-shaped swing arm can only ensure that one or at most two loading wheels at different positions are rolled on the rubber crawler belt, and other loading wheels are difficult to contact the rubber crawler belt, so that the load is concentrated on the previous loading wheel, namely the grounding pressure below the loading wheel is higher, the average maximum pressure (MMP) value of a walking system is improved, the trafficability is reduced, and the service lives of related components such as the loading wheels are also reduced.

(b) The deformation driving elements are more, and the control is complex. The structure needs to use a plurality of driving elements to realize the form conversion, for example, patent 201821653217.2 needs four hydraulic cylinders or air cylinders, the scheme of patent 201920059085.9 needs at least three hydraulic cylinders, patent 201922303041.9 needs to adopt six driving oil cylinders, patent 201922303041.9 and 202010382090.0 need three hydraulic cylinders, and patent 202110380082.7 needs two oil cylinders and six air cylinders. The driving elements need to be controlled and cooperated to realize the form conversion of the walking system, so that the control complexity is increased, and the reliability of the system is reduced. The basic reason for adopting a plurality of driving elements is that the degree of freedom which needs to be controlled in the deformation process of the wheel train is large, and in order to realize the cooperative control of the degree of freedom, a plurality of driving elements which are controlled in a cooperative mode are needed, so that the cost is increased, and the control difficulty is increased.

Disclosure of Invention

The invention aims to overcome the defects of the technology and provide a reconfigurable rubber crawler traveling system.

A reconfigurable rubber crawler traveling system is provided with two forms of a tire and a crawler wheel, and the traveling system is circular in the tire form and can integrally rotate; when the crawler wheel is in a shape, the wheel system drives the rubber crawler, so that the rubber crawler rotates around the outer periphery of the wheel system, and the grounding area is adjustable; the conversion between the two forms and the adjustment of the ground contact area in the form of the crawler wheel are collectively called form reconstruction; the walking system can realize form reconstruction during the process of traveling, and the periphery of the rubber track is kept stable during the form reconstruction process.

Preferably, the traveling system includes a rubber crawler, a wheel train, and a control system for controlling relative movement of components in the wheel train and movement of the wheel train with respect to the vehicle body.

Preferably, the wheel train comprises a support frame assembly, a rubber track positioning device, a central shaft assembly, a coordination mechanism assembly, a driving wheel adjusting mechanism, a driving wheel power transmission device, a loading wheel chain assembly and a clutch assembly;

The support frame assembly penetrates through the whole gear train, and the main body of the support frame assembly is a support frame assembly body used for supporting other components of the gear train;

the rubber track positioning device is arranged on the support frame assembly, and when the walking system is in a tire shape, the rubber track positioning device contacts the rubber track to prevent the outer peripheral side of the rubber track ring gear train from rotating; when the traveling system is in the form of crawler wheels, the rubber crawler positioning device is separated from contact with the rubber crawler;

the central shaft assembly is hinged with the support frame assembly and connected with a vehicle power output part, and the main body of the central shaft assembly is a central shaft and used for providing walking power for the whole walking system;

the cooperative mechanism assembly is arranged on the support frame assembly and connected with the clutch assembly, the main body of the cooperative mechanism assembly is a cooperative mechanism, the driving wheel adjusting mechanism and the multiple loading wheel chain assembly bodies are arranged on the cooperative mechanism assembly, and the driving wheel adjusting mechanism, the clutch assembly and the multiple loading wheel chain assembly bodies move relatively under the coordination action of the cooperative mechanism assembly;

the driving wheel adjusting mechanism is provided with a driving wheel assembly body, and the driving wheel adjusting mechanism adjusts the position of the driving wheel assembly body under the action of the cooperative mechanism assembly to enable the driving wheel assembly body to be separated from or contacted with the rubber track; the driving wheel power transmission device is connected with the central shaft assembly body and transmits the power of the central shaft assembly body to the driving wheel assembly body; under the form of a crawler wheel, the driving wheel assembly is contacted with the rubber crawler under the action of the driving wheel adjusting mechanism and is meshed with the rubber crawler under the action of the driving wheel power transmission device to drive the outer peripheral side of the rubber crawler ring gear train to rotate; under the tire form, the driving wheel assembly is separated from the rubber track under the action of the driving wheel adjusting mechanism;

The loading wheel chain assembly is formed by sequentially connecting and connecting a plurality of components for mounting loading wheels in series in a hinged mode, and the loading wheels on the loading wheel chain assembly can support or roll the rubber crawler and play a role in guiding the rubber crawler to rotate around the outer periphery of the wheel system;

the clutch assembly is connected with the support frame assembly and the central shaft assembly, and the central shaft assembly is separated from or connected with the support frame assembly under the action of the cooperative mechanism assembly.

Preferably, the rubber track positioning device comprises a positioning shaft and a track positioning plate, the positioning shaft is fixedly connected to the track positioning plate, and the track positioning plate is fixedly connected to the support frame assembly body.

Preferably, the positioning shaft is sleeved with a rubber sleeve or a rubber round pad or a flat washer.

Preferably, the track positioning plate is of a bent thin plate-shaped structure.

Preferably, at least one positioning shaft is installed at the bottom of the track positioning plate, and the distance between the positioning shafts can be matched with the pitch of the rubber track.

Preferably, the cooperative mechanism includes a plurality of link mechanisms and a rotary table, the link mechanisms and the rotary table are mounted on the support frame assembly, the rotary table is hinged to the support frame assembly, each link mechanism is provided with a transverse pull rod, and the transverse pull rods perform translational motion when the rotary table rotates.

Preferably, the turntable and the central shaft assembly are coaxially hinged on the support frame assembly.

Preferably, the support frame assembly limits the rotation range of the turntable.

Preferably, the inner side of the support frame assembly is provided with a plurality of limiting bosses, the limiting boss is annularly distributed around the axis of the rotating disc relative to the support frame assembly, and the rotating disc is provided with limiting protrusions which are positioned between adjacent limiting bosses, so that the rotating range of the rotating disc relative to the support frame is limited.

Preferably, the link mechanism comprises a turntable pull rod, a transverse pull rod and an anti-overturning mechanism; one end of the rotary table pull rod is hinged with the rotary table, the other end of the rotary table pull rod is hinged with the transverse pull rod, and the transverse pull rod is hinged with the anti-overturning mechanism; the support frame assembly body, the rotary table, the single rotary table pull rod, the single transverse pull rod and the single anti-overturning mechanism form a salusis link mechanism, so that the transverse pull rod can translate when the rotary table rotates, the support frame assembly body and the rotary table are shared by the plurality of link mechanisms to form the plurality of salusis link mechanisms, and the plurality of transverse pull rods can translate linearly when the rotary table rotates.

Preferably, the anti-overturning mechanism consists of a positioning base, a base connecting rod and a flat dragging connecting rod, and the positioning base is fixedly connected to the support frame assembly body; one end of the base connecting rod is hinged with the positioning base, the other end of the base connecting rod is hinged with one end of the horizontal dragging connecting rod, and the other end of the horizontal dragging connecting rod is hinged with the transverse pull rod.

Preferably, the cooperative mechanism further comprises a plurality of suspension rods, and the suspension rods are connected with the connecting rod mechanism or hinged with the support frame assembly.

Preferably, the suspension links comprise synchronous suspension links which are hinged in pairs to the transverse link, the two synchronous suspension links being connected by a gear pair.

Preferably, one of the synchronous suspension links and the turntable link are coaxially articulated to the transverse link.

Preferably, the tie rods limit the range of motion of the sync suspension tie rods relative to the tie rods.

Preferably, the synchronous suspension pull rod is fixedly connected with a positioning pin, the transverse pull rod is provided with a limiting hole, and the positioning pin moves in the range of the limiting hole.

Preferably, the synchronous suspension strut has a cogged portion.

Preferably, the support frame assembly has two support frame assemblies, which are an inner support frame assembly and an outer support frame assembly; the inner side support assembly body is fixedly connected with the outer side support assembly body; the cooperative mechanism assembly is provided with two cooperative mechanisms, the two cooperative mechanisms are respectively arranged on the support frame assembly bodies on the two sides, and the two cooperative mechanisms are connected through a synchronous component to realize synchronous motion of the corresponding components of the two cooperative mechanisms.

Preferably, the inboard support assemblies and the outboard support assemblies are secured together by support frame connectors.

Preferably, corresponding transverse tie rods of the two cooperating mechanisms are connected together by a synchronizing assembly.

Preferably, the driving wheel guiding mechanism comprises a driving wheel mounting shaft and a swing arm, the driving wheel assembly is hinged to the driving wheel mounting shaft, one end of the swing arm is hinged to the driving wheel mounting shaft, and the other end of the swing arm is mounted on the cooperating mechanism assembly.

Preferably, the other end of the swing arm is hinged with a rotary disc on the cooperative mechanism assembly.

Preferably, the driving wheel installation shaft is provided with a guide block, a limiting plate is fixed on the support frame assembly body, the limiting plate is provided with a guide groove, and the guide block of the driving wheel installation shaft is arranged in the guide groove and forms a sliding pair with the guide groove.

Preferably, the swing arm is coaxially hinged to the drive wheel mounting shaft with the drive wheel assembly.

Preferably, a sealing ring is installed between the swing arm and the driving wheel assembly.

Preferably, the drive wheel power transmission means employs a chain drive.

Preferably, drive wheel power transmission device includes center pin sprocket, carousel sprocket, drive sprocket, swing arm chain and carousel chain, and the center pin sprocket links firmly on the center pin assembly body, and the carousel sprocket is articulated with the carousel, and drive sprocket links firmly on the drive wheel assembly body, and the carousel chain is installed on center pin sprocket and carousel sprocket, and the swing arm chain is installed on carousel sprocket and drive sprocket.

Preferably, the swing arm is coaxially hinged with the turntable sprocket on the turntable.

Preferably, a sealing ring is arranged between the swing arm and the turntable chain wheel.

Preferably, the turntable sprocket is hinged to the turntable by a sprocket mounting shaft.

Preferably, the drive wheel assembly body includes integral key shaft and drive wheel, the integral key shaft is articulated with drive wheel installation axle, the drive wheel links firmly with the integral key shaft, the drive sprocket suit is on the integral key shaft, and the integral key shaft tip links firmly the end cover, and the end cover restriction drive wheel and drive sprocket's removal to make both link firmly with the integral key shaft.

Preferably, the driving wheel mounting shaft passes through a through hole in the middle of the end cover, and a sealing ring is mounted between the swing arm and the end cover.

Preferably, the bogie wheel chain assembly comprises a bogie wheel and a bogie wheel suspension, the bogie wheel is mounted on the bogie wheel suspension, and the bogie wheel suspension is sequentially hinged in series.

Preferably, the bogie wheel suspension is articulated in turn with a suspension link.

Preferably, the suspension rod further comprises a bottom suspension rod and a top suspension rod hinged to the support frame assembly, the bogie wheel suspension is hinged to the bottom suspension rod, the synchronous suspension rod and the top suspension rod in sequence, or the bogie wheel suspension is hinged to the bottom suspension rod, the synchronous suspension rod and the bottom suspension rod in sequence, so that the bogie wheel chain assembly is connected with the cooperating mechanism, under the action of the cooperating mechanism, the form of the bogie wheel chain assembly can be gradually straightened from being bent into an arc shape to being completely straightened, the arc shape is bent into a tire form corresponding to the walking system, the complete straightening is in a limit state corresponding to the crawler wheel form of the walking system, the gradual straightening process is gradually increased corresponding to the crawler wheel form, and vice versa, so that conditions are provided for adjusting the grounding area of the walking system.

Preferably, the truck wheel suspension has a plug structure at both ends or a plug structure at one end and a plug structure at the other end, the suspension is defined as a middle truck wheel suspension, or the truck wheel suspension has a plug structure at one end and a male-end truck wheel suspension, or the truck wheel suspension has a plug structure at one end and a female-end truck wheel suspension, the two or more truck wheel suspensions are hinged to each other through the plug structures and the plug structures at the ends to form a truck wheel chain assembly, wherein the male-end truck wheel suspension or the female-end truck wheel suspension is located at one of both ends of the truck wheel chain assembly.

Preferably, the bogie wheel is connected to the bogie wheel suspension by a bogie wheel mounting shaft.

Preferably, the bogie wheel is hinged at two ends of a bogie wheel mounting shaft, and the bogie wheel mounting shaft is fixedly connected with the bogie wheel suspension.

Preferably, the bogie wheel may be replaced by a sector, the bogie wheel suspension limiting the movement of the sector.

Preferably, the segments are connected to the bogie wheel suspension by a bogie wheel mounting shaft.

Preferably, the fan-shaped blocks are arranged at two ends of the loading wheel mounting shaft, the fan-shaped blocks at the two ends are fixedly connected together through a connecting plate, and the connecting plate penetrates through a cavity structure of the loading wheel suspension frame, so that the movement of the connecting plate is limited.

Preferably, the clutch assembly comprises a clutch disc and a rotating key, the clutch disc is fixedly connected with the central shaft assembly, the rotating key is hinged to the support frame assembly, and the rotating key is controlled by the cooperation mechanism assembly to rotate relative to the support frame assembly, so that the central shaft assembly is jointed with or separated from the support frame assembly.

Preferably, the rotating disc of the cooperative mechanism controls the rotation of the rotary key.

Preferably, the turntable is fixedly connected with a control pin; the rotary key is provided with an inner groove, the inner groove can be in inserted connection and matching with the control pin, the rotary disc is inserted into the inner groove through the control pin when rotating, and the rotary key is shifted to control the rotation angle of the rotary key.

Preferably, the rotary key is connected with the support frame assembly through an elastic element, and when the rotary key is not acted by the rotary disc, the elastic element presses the rotary key on a position fixed relative to the support frame assembly body.

Preferably, a turnkey positioning pin is fixedly connected to the support frame assembly, a limit pin is fixedly connected to the turnkey, one end of the elastic element is connected with the limit pin, the other end of the elastic element is connected with the turnkey positioning pin, and the limit pin is pressed on the turnkey positioning pin when the turnplate does not act on the turnkey.

Preferably, a plurality of semicircular grooves are uniformly distributed on the outer circumference of the clutch disc, and a turnkey groove structure is arranged at the position corresponding to the clutch disc after the turnkey is installed.

Preferably, the clutch assembly is provided with two rotary keys, and the installation positions of the two rotary keys on the support frame assembly are symmetrical, and the installation directions are opposite.

Preferably, the support frame assembly further comprises a turnkey mounting frame, the turnkey mounting frame is fixed on the support frame assembly, and the turnkey is mounted on the turnkey mounting frame.

Preferably, the rotating key mounting frame is fixedly connected to the support frame connecting piece.

Preferably, the position of the turnkey mounting frame corresponding to the clutch disc is provided with an inner groove of the turnkey mounting frame, and the inner groove of the turnkey mounting frame enables the clutch disc not to interfere with the turnkey mounting frame when rotating relative to the support frame assembly.

Preferably, the control system is provided with a form control device, the form control device is a controllable force or displacement output device, and is installed between any two of the support frame assembly, the cooperative mechanism assembly, the multiple weight-bearing wheel chain assemblies and the driving wheel adjusting mechanism, or is installed between internal components of the cooperative mechanism assembly, or is installed between internal components of the driving wheel adjusting mechanism, and form reconstruction of the traveling system is achieved by controlling movement of the cooperative mechanism assembly, the weight-bearing wheel chain assemblies and the driving wheel adjusting mechanism.

Preferably, the control system is provided with a form control device, the form control device comprises a controllable hydraulic power unit, a hydraulic cylinder, a hydraulic rotary joint, a pipeline and a hydraulic valve, and pressure oil is transmitted to the hydraulic cylinder through the hydraulic rotary joint arranged at the end part of the central shaft and the pipeline; or the form control device comprises an electric control unit, an electric cylinder and a conductive sliding ring, the conductive sliding ring is arranged at the end part of the central shaft, and the electric control unit supplies power to the electric cylinder and controls the action of the electric cylinder through a lead and the conductive sliding ring.

Preferably, the central shaft is a hollow structure.

Preferably, the hollow structure is an oil passage or an air passage or a wire passage.

Preferably, the control system has a form control means consisting of a base force assist means capable of storing and releasing potential energy, the load being at its lowest potential energy position when it is at its maximum, capable of outputting a force large enough but insufficient to displace the load, and a control force output means; the control force output device provides a controllable force or displacement output, enabling the position adjustment of the load with a smaller force on the basis of the force provided by the basic force assisting device.

Preferably, the basic force assisting device comprises an energy accumulator, a hydraulic cylinder mounting frame and an oil pipe, wherein the energy accumulator is fixed on the support frame connecting piece and connected with the hydraulic cylinder, and the hydraulic cylinder is installed between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or installed between internal components of the cooperative mechanism assembly, or installed between internal components of the driving wheel adjusting mechanism.

Preferably, the control force output device is composed of a cylinder connected with a central inflation and deflation system of the vehicle, the output force or displacement of the cylinder is controlled by controlling the output pressure of the central inflation and deflation system, and the cylinder is installed between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or installed between internal components of the cooperative mechanism assembly, or installed between internal components of the driving wheel adjusting mechanism.

Preferably, the control system further comprises a positioning anti-overturning system, wherein the positioning anti-overturning system comprises a positioning block telescoping mechanism and a positioning block escapement mechanism, and the positioning block telescoping mechanism and the form reconstruction process of the traveling system cooperate with each other to enable the positioning block to rapidly extend when the tire form is converted into the track wheel form, keep the extending length stable when the track wheel form is converted, and rapidly retract when the track wheel form is converted into the tire form; the positioning block telescoping mechanism is matched with a positioning block escapement mechanism fixed on the frame or the wheel-side reducer shell in a telescoping and inserting mode, and after a positioning block of the positioning block telescoping mechanism extends out of a certain length, the positioning block escapement mechanism receives the positioning block and locks the movement range of the positioning block, so that the walking system is prevented from overturning.

Preferably, the locating piece telescopic machanism includes swinging arms, anti-overturning rod and locating piece, and the one end of swinging arms is articulated with the epaxial guide block of installing of traveling system's drive wheel, the other end of swinging arms with the one end of anti-overturning rod is articulated, anti-overturning rod forms the sliding pair with the support frame assembly, the other end of anti-overturning rod with the locating piece links firmly.

Preferably, the positioning block escapement mechanism comprises a swinging plate, a swinging plate bracket, a return spring and a buffer spring; the swing plate support is fixedly connected to the positions of the wheel-side reducer shell or the frame and other vehicle bodies; the two swing plates are respectively positioned at two sides of the swing plate bracket and hinged with the swing plate bracket; the return spring and the buffer spring define an initial position of the swing plate, the return spring is used for providing restoring force after the swing plate is pressed down by the positioning block, and the buffer spring is used for providing buffer force when the swing plate is picked up by the positioning block.

Preferably, the swing plate support is fixedly connected to a mounting seat, and the mounting seat is fixedly connected to a vehicle body position such as a hub reduction gear shell or a vehicle frame.

Preferably, the swing plate is hinged to the swing plate support by a pin.

Preferably, the return spring is a spring piece, one end of the spring piece is fixed on the swing plate bracket, and the other end of the spring piece is matched with a return pin fixed on the swing plate.

Preferably, the buffer spring is a spring piece which is fixedly arranged on the swing plate bracket and can be contacted with the swing plate.

Preferably, the return spring is a torsion spring, and is sleeved on the pin shaft, one end of the torsion spring is fixed on the swinging plate, and the other end of the torsion spring is fixed on the swinging plate support.

The beneficial effects of the invention are: compared with the prior structure, when the tire is in a tire shape, the walking system integrally rotates, the power consumption caused by internal friction and bending of the rubber track is avoided, the tire is suitable for high-speed maneuvering on the terrains such as paved road surfaces, and the vehicle can realize the same running speed and basically equal oil consumption as a wheeled vehicle; when the crawler wheels are in the shape, the ground contact area of the walking system can be adjusted, and the crawler wheels are suitable for soft off-road terrain or off-road terrain with low adhesion coefficient, so that the vehicle can be optimally matched with trafficability, traction, maneuvering speed and the like; the traveling system has the advantages of both a tire and a rubber crawler traveling system, has no damage to the road surface and no tire burst risk, can still normally travel under the condition that a control system fails, and has the advantages of stronger terrain adaptability and higher reliability;

rubber track positioner guarantees that when traveling system is in the tire form, the rubber track can't rotate around the wheel system, can produce when the track rolls ground and warp when fixing a position rubber track, plays the effect of buffering.

The coordination mechanism assembly is free of moving pairs, all components are mainly hinged through rotating pairs, and the form of the reconfigurable rubber track walking system can be reconfigured into a single-degree-of-freedom controllable process, so that the walking system is simple to control, reliable to operate, convenient to maintain, applicable to muddy and heavy-load environments, and the reliability of the system is improved;

the clutch assembly has a compact structure, and can quickly realize the connection or separation of the central shaft assembly body and the support frame assembly; the clutch assembly is of a double-rotary-key structure, the clutch assembly can reliably lock the central shaft assembly and the support frame assembly under the condition that the central shaft assembly is jointed with the support frame assembly, and no idle return exists when the vehicle changes the running direction;

the loading wheel chain assembly is flexible in shape, conditions can be provided for adjusting the grounding area of the walking system, the walking system can obtain the largest grounding area when the loading wheel chain assembly is completely straightened, and the grounding area of the walking system is the smallest when the loading wheel chain assembly is bent into an arc shape;

the basic force auxiliary device of the form control device can provide most of the force required by form reconstruction, so that the control force output device can control the form reconstruction by smaller force, and the form reconstruction control can be realized by using a central inflation and deflation system of an original vehicle;

When upset system is prevented in the location can make running system be in the athey wheel form, the drive wheel assembly body is stably located running system upper portion and keeps away from ground, reduces granule impurity, mud bits etc. and piles up in drive wheel and rubber track meshing department, stabilizes the meshing of drive wheel assembly body and rubber track, avoids this department rubber track and ground collision or roll simultaneously, protects drive wheel assembly body and rubber track.

Drawings

FIG. 1 is a schematic view of the tire configuration of the present invention;

FIG. 2 is a state diagram of the track wheel configuration of the present invention;

FIG. 3 is a view of another embodiment of the track wheel of the present invention;

FIG. 4 is a schematic view of the track wheel of the present invention in its extreme configuration;

FIG. 5 is a structural view of a rubber crawler of the present invention;

FIG. 6 is a diagram of a rubber track pattern of the present invention;

FIG. 7 is a view showing the internal structure of a train wheel according to the present invention;

FIG. 8 is a perspective view of a wheel train of the present invention;

FIG. 9 is a block diagram of the support frame assembly and rubber track positioning device of the present invention;

FIG. 10 is a diagram showing the relationship between the rubber track positioning device and the rubber track in the tire configuration of the present invention;

FIG. 11 is a diagram showing the relationship between the rubber track positioning device and the rubber track when the crawler wheel is in the form of the crawler wheel according to the present invention;

FIG. 12 is a structural view of a central shaft assembly of the present invention;

FIG. 13 is an assembly view of the central shaft assembly and the support bracket assembly of the present invention;

FIG. 14 is a block diagram of the cooperating mechanism assembly of the present invention;

FIG. 15 is a reference axis diagram in the present invention;

FIG. 16 is a front view of the cooperating structure of the present invention;

FIG. 17 is a view showing the relationship of the reference axes in the present invention;

FIG. 18 is a structural view of a pair of synchronous suspension links according to the present invention;

FIG. 19 is an enlarged view of a portion of the anti-tipping mechanism of FIG. 16;

FIG. 20 is a view showing the construction of the turntable lever connecting shaft according to the present invention;

FIG. 21 is a view showing an assembling relationship between a stopper protrusion and a stopper boss in the present invention;

FIG. 22 is a diagram showing the positional relationship between the components of the gear train at the clockwise limit position of the turntable according to the present invention;

FIG. 23 is a diagram showing the relationship between the components of the gear train at the counterclockwise extreme position of the turntable according to the present invention;

FIG. 24 is a structural view of a driving wheel adjusting mechanism in the present invention;

FIG. 25 is a position view of a driving wheel assembly in a tire form according to the present invention;

FIG. 26 is a position view of the driving wheel assembly in a track wheel configuration limit state according to the present invention;

FIG. 27 is a schematic view of a single side drive wheel alignment mechanism of the present invention in a tire configuration;

FIG. 28 is a perspective view of a stopper plate of the present invention;

FIG. 29 is a schematic view of a single drive wheel adjustment mechanism of the present invention in a track wheel configuration;

FIG. 30 is a structural view of a driving wheel power transmission device of the present invention;

FIG. 31 is a schematic view of the mounting of the turntable, swing arm and turntable sprocket of the present invention;

FIG. 32 is an enlarged view of FIG. 31 at N;

FIG. 33 is a schematic view of spline shafts in the present invention;

FIG. 34 is a schematic view of a drive wheel of the present invention;

FIG. 35 is a schematic view of the drive wheel assembly and drive sprocket assembly of the present invention;

FIG. 36 is a cross-sectional view of the mounting of the drive wheel assembly and drive sprocket of the present invention;

FIG. 37 is an assembly view of the drive wheel assembly, drive sprocket, drive wheel mounting shaft and swing arm of the present invention;

FIG. 38 is an enlarged view at P of FIG. 37;

FIG. 39 is a block diagram of a load bearing chain assembly of the present invention;

FIG. 40 is a structural view (with fan-shaped blocks) of the loading chain assembly of the present invention;

FIG. 41 is an installation view of the weight-bearing chain assembly of the present invention;

FIG. 42 is a structural view of the female end bogie suspension assembly of the present invention;

FIG. 43 is a block diagram of a female end bogie suspension assembly with segments according to the present invention;

FIG. 44 is a structural view of a center bogie suspension assembly of the present invention;

FIG. 45 is a structural view of a male end bogie suspension assembly according to the present invention;

FIG. 46 is a block diagram of a male end bogie suspension assembly with segments according to the present invention;

FIG. 47 is a structural view of the clutch assembly of the present invention;

FIG. 48 is a structural view of a jog key in accordance with the present invention;

FIG. 49 is a schematic view of a slot structure having symmetrical inner slots;

FIG. 50 is a schematic view of a slot structure having asymmetric inner slots;

FIG. 51 is a schematic view of a protrusion structure having a single-sided inner groove according to the present invention;

FIG. 52 is a schematic view of the inner groove of the present invention having a chamfered structure on one side;

FIG. 53 is a view showing the construction of a rotary key with a torsion spring and a stopper pin according to the present invention;

FIG. 54 is a block diagram of the mounting bracket for the turnkey of the present invention;

FIG. 55 is a block diagram of a key fob mounting bracket of the present invention with a key fob locating pin;

FIG. 56 is a view showing the installation relationship of the rotary plate, the rotary key and the rotary key mounting bracket according to the present invention;

FIG. 57 is a perspective view of a turntable in accordance with the present invention;

FIG. 58 is a perspective view of the turntable of the present invention in another orientation;

FIG. 59 is a schematic view of the central shaft assembly and the support bracket assembly of the present invention in an engaged state;

FIG. 60 is a schematic view of the central shaft assembly of the present invention shown separated from the support frame assembly;

FIG. 61 is a schematic view of the load wheel chain assembly of the present invention with the control pin removed from the turnkey;

FIG. 62 is a schematic view of the load bearing chain assembly of the present invention with the control pin tumblers in proximity;

FIG. 63 is a schematic view of the load chain assembly of the present invention as soon as the control pin enters the turnkey;

FIG. 64 is a pictorial view of the load wheel chain assembly of the present invention with the control pin fully inserted into the turnkey;

FIG. 65 is a schematic diagram illustrating an embodiment of a morphology control apparatus according to the present invention;

FIG. 66 is a schematic view in section of the central shaft of FIG. 65;

FIG. 67 is an assembly view of the synchronizing assembly and hydraulic cylinder of the present invention;

FIG. 68 is an exploded view of FIG. 67;

FIG. 69 is a cross-sectional view of the synchronizing shaft positioning sleeve of FIG. 67;

FIG. 70 is a schematic structural view of another embodiment of a morphology control apparatus according to the present invention;

FIG. 71 is a schematic illustration of the control force output device of FIG. 70 with the cylinder retracted;

FIG. 72 is a perspective view of FIG. 71 in another orientation;

FIG. 73 is a schematic view of the basic force assisting device of FIG. 70;

FIG. 74 is a schematic view of FIG. 70 taken along the central axis thereof;

FIG. 75 is a perspective view of a positioning anti-roll system of the present invention;

FIG. 76 is an enlarged partial view of the positioning anti-roll system of FIG. 75;

FIG. 77 is a block diagram of the detent escapement of the present invention;

fig. 78 is an operational view of the detent escapement of the present invention;

FIG. 79 is a structural view of a swing plate bracket of the present invention;

FIG. 80 is a schematic view of the relative positions of the locating piece telescoping mechanism and the locating piece escapement in the track wheel configuration of the present invention;

FIG. 81 is a schematic view of a positioning block depressing a wobble plate in accordance with the present invention;

FIG. 82 is a schematic view of a positioning block between two swing blocks in the present invention;

FIG. 83 is a schematic view of a positioning block raising swing plate according to the present invention;

in the figure: 1. a rubber track; 010. a rubber track; 011. a drive tooth; 012. rolling a track surface; 013. pattern;

2. a wheel train;

3. a support frame assembly; 30. an inner support frame assembly; 301. a through hole; 31. an outboard support frame assembly; 32. a support frame connecting piece; 33. a rubber track positioning device; 331. a track positioning plate; 332. a rubber round pad; 333. positioning the shaft; 34. a connecting seat; 35. a central shaft mounting sleeve; 36. a limiting boss;

4. a central shaft assembly; 40. a central shaft; 41. a positioning sleeve; 42. a seal ring; 43. a flange; 44. an oil passage;

5. a cooperating mechanism assembly; 51. a coordination mechanism; 510. a turntable; 5101. a first rotating arm; 5102. a second rotating arm; 511. a turntable pull rod; 512. a turntable pull rod connecting shaft; 5120. a limiting protrusion; 513. a transverse pull rod; 514. a synchronous suspension rod; 515. an anti-overturning mechanism; 5150. a positioning base; 5151. a base connecting rod; 5152. a horizontal towing connecting rod; 516. a bottom suspension link; 517. a top suspension link; 518. positioning pins; 52. a synchronization component; 520. a synchronizing shaft; 521. a synchronizing shaft positioning sleeve; 522. an auxiliary mounting sleeve;

6. A drive wheel assembly; 61. a spline shaft; 62. a drive wheel; 63. a driving wheel end cover; 64. a second rolling bearing; 65. a second sliding bearing; 66. a bearing positioning sleeve; 67. a thrust washer; 68. a flat washer; 69. a second seal ring; 610. sealing gaskets;

7. a drive wheel adjustment mechanism; 71. a driving wheel mounting shaft; 72. swinging arms; 73. a limiting plate; 74. a guide groove; 75. a first sliding bearing; 76. a first rolling bearing; 77. a sprocket end cover; 78. a first seal ring;

8. a drive wheel power transmission device; 80. a central shaft sprocket; 81. a turntable sprocket; 82. a drive sprocket; 83. a turntable chain; 84. a swing arm chain; 85. a chain wheel mounting shaft;

9. a load wheel chain assembly; 90. a female end bogie wheel suspension assembly; 901. a female end bogie wheel suspension; 902. a loading wheel; 91. a middle bogie wheel suspension assembly; 910. a middle bogie wheel suspension; 92. a male end bogie wheel suspension assembly; 920. a male end bogie wheel suspension; 93. a sector block; 94. a sector block connecting plate; 95. a loading wheel mounting shaft; 96. a cavity structure;

10. a clutch assembly; 101. a clutch plate; 1010. a semicircular groove; 102. key rotation; 1020. a key-rotating groove structure; 1021. a cambered surface; 1022. an inner tank; 1023. a cylindrical solid; 1024. a through groove; 1025. a protrusion; 1026. chamfering; 103. a key rotating mounting rack; 1031. a key rotating installation sleeve; 1032. a groove in the turnkey mounting frame; 104. a control pin; 105. a rotating key positioning pin; 106. a spacing pin; 107. a torsion spring;

11. A form control device; 110. a hydraulic cylinder; 111. a hydraulic swivel joint; 112. a pipeline; 113. an accumulator; 114. a ball valve; 115. a hydraulic cylinder mounting frame; 116. an oil pipe; 117. a cylinder; 118. an air cylinder upper mounting frame; 119. a cylinder lower mounting frame; 1110. an air tube; 1111. an airway; 1112. a support frame end cover; 1113. a pneumatic rotary joint;

12. positioning an anti-overturning system; 1201. a guide block; 1202. a swing lever; 1203. an anti-roll bar; 1204. positioning blocks; 1205. a swing plate; 1206. a swing plate bracket; 1207. a return spring; 1208. a buffer spring; 1209. a reset pin; 1210. a mounting seat; 1211. a hub reduction gear housing; 1213. and (7) a pin shaft.

Detailed Description

It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixedly connected," and "fixedly connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.

As shown in fig. 1-4, a reconfigurable rubber crawler traveling system, which is used for matching with wheeled vehicles or replacing tires thereof, mainly comprises a rubber crawler 1, a wheel system 2 and a control system, wherein the rubber crawler 1 surrounds the outer peripheral side of the wheel system 2 and is in contact with the ground. Under the action of the output force or displacement provided by the control system, the outer periphery of the wheel train 2 can be continuously and smoothly changed, so that the walking system is in a tire shape or a nearly triangular crawler wheel shape. As shown in figure 1, the running system is circular when in a tire shape, the wheel system 2 limits the rubber track 1 to ensure that the rubber track and the rubber track do not move relatively, and the running system realizes vehicle maneuvering in an integral rotating mode; when the crawler wheel is in a shape of the crawler wheel, the wheel system 2 drives the rubber crawler 1 to enable the rubber crawler to rotate around the wheel system, the ground contact area of the walking system can be adjusted at the moment, the process that the ground contact area is gradually increased is shown in fig. 2 to 4, and vice versa, fig. 4 is a schematic diagram of a limiting state of the shape of the crawler wheel, and the ground contact area is the largest at the moment. The conversion between the two forms and the adjustment of the contact patch in the track wheel form are collectively referred to as form reconstruction. In the form reconstruction process, the rubber track 1 is stable in tensioning degree and stable in perimeter. The circumference of the crawler is stable, namely the difference value between the maximum value and the minimum value of the circumference of the crawler in the form reconstruction process is not more than 2% of the average value, and the typical circumference of the crawler can be within 1 per thousand.

When the tire is in a shape, the whole walking system rotates, so that internal friction power consumption, rubber track bending power consumption and the like can be avoided, the tire is suitable for paving a road surface or other hard road surfaces, and the tire can realize the same running speed and the basically same oil consumption as the tire. When the crawler wheel is in a form, the ground contact area of the walking system can be adjusted according to the terrain condition, so that the optimal matching of trafficability, maneuvering speed, traction performance and the like of the vehicle can be obtained under the soft or low-adhesion-coefficient terrain condition. In addition, under the form of the crawler wheel, the walking system is provided with an approaching angle and a departing angle so as to be beneficial to obstacle crossing.

As shown in fig. 5 and 6, the rubber crawler 1 includes a rubber crawler body 010, a driving tooth 011, a raceway surface 012, and a pattern 013. The driving teeth 011 are uniformly distributed on the inner side of the rubber track body 010, the flat part on the inner side where the driving teeth 011 are not distributed is a raceway surface 012, and the pattern 013 is in contact with the ground.

As shown in fig. 7 and 8, the wheel train 2 is mainly composed of a support frame assembly 3, a rubber crawler positioning device 33, a central shaft assembly 4, a cooperating mechanism assembly 5, a driving wheel assembly 6, a driving wheel adjusting mechanism 7, a driving wheel power transmission device 8, a loading wheel chain assembly 9, and a clutch assembly 10. The control system comprises a form control device 11 and a positioning anti-overturning system 12.

Specifically, the support frame assembly 3 extends through the entire wheel train 2 to provide a foundation support for other components of the wheel train 2. As shown in fig. 9, the main body of the support frame assembly 3 is a support frame assembly, which can be divided into an inner support frame assembly 30 and an outer support frame assembly 31, and the inner support frame assembly 30 and the outer support frame assembly 31 are fixedly connected together by a support frame connecting member 32.

As shown in fig. 9 to 11, the rubber crawler positioning device 33 is used for restricting the rubber crawler 1 so that the rubber crawler 1 cannot rotate around the wheel train 2 when the running system is in the tire form.

As shown in fig. 9 to 11, the rubber track positioning device 33 is fixedly connected to the inner and outer support frame assemblies, specifically, the rubber track positioning device 33 is composed of two track positioning plates 331, a plurality of rubber round pads 332 (the rubber round pads may be replaced by flat washers, or a rubber sleeve or a combination of several components), and a plurality of positioning shafts 333, or a positioning shaft may be used for positioning. Two track locating plates 331 are respectively fixedly connected on the connecting seat 34 of the bottom of the assembly body of the support frames at two sides, the locating shaft 333 is fixedly connected between the track locating plates 331 at two sides, and the rubber round pad 332 is sleeved on the locating shaft. At least one positioning shaft is arranged at the bottom of the track positioning plate 331, and the distance between the positioning shafts can be matched with one pitch or a plurality of pitches of the rubber track, so that the positioning shaft 333 can enter the groove between the driving teeth 011 of the rubber track for positioning.

Specifically, the support frame assembly 3 is provided with two sets of rubber crawler positioning devices 33, which are symmetrically arranged at positions away from the driving wheel assembly 6. When the walking system is in a tire shape, the two positioning shafts of the rubber track positioning device 33 provided with the rubber round pads enter the grooves between the driving teeth of the rubber track to clamp the driving teeth, so that the rubber track 1 cannot rotate around the outer periphery of the wheel train 2. The track positioning plate is of a bent thin plate-shaped structure, so that the track positioning plate can longitudinally deform under the action of external force while keeping high transverse rigidity, the high transverse rigidity ensures that the rubber track is not easy to slide when the rubber track is positioned, and the track positioning plate can longitudinally deform when the track rolls the ground, so that the impact on the ground is buffered. As shown in fig. 9, the direction indicated by the arrow X is a longitudinal direction and is parallel to the thickness direction of the crawler at the rubber crawler positioning device, and the direction indicated by the arrow Y is a transverse direction and is parallel to the tangential direction of the crawler circulating wheel train at that position.

As shown in fig. 9 and 13, the inner support frame assembly 30 and the outer support frame assembly 31 each have a center shaft mounting sleeve 35 on the inner side thereof, and the center shaft mounting sleeves 35 are coaxial with each other. A plurality of stop bosses 36 are provided on the inner side of the inner support frame assembly 30 and the outer support frame assembly 31, respectively, and are evenly distributed about the axis a.

As shown in fig. 12 and 13, the main body of the center shaft assembly 4 is a center shaft 40, and further includes a positioning sleeve 41, a seal ring 42, and the like. The central shaft 40 is hinged to the support frame assemblies on the two sides through bearings and can rotate around a fixed axis A on the support frame assembly. The positioning sleeve 41 and the sealing ring 42 are installed on the central shaft 40 and used for axial positioning of parts on the shaft, bearing sealing and the like. The end of the central shaft 40 having the flange 43 is fixedly connected to a vehicle power take-off, such as a half shaft or drive shaft, to transmit vehicle power to the traveling system.

As shown in fig. 14, the cooperating mechanism assembly 5 is mounted on the support frame assembly 3, on which the driving wheel adjusting mechanism 7 and a plurality of weight-bearing wheel chain assemblies 9 are mounted, and is connected to the clutch assembly 10, and these components move relatively under the cooperation of the cooperating mechanism assembly 5. By optimizing the size, the installation position and the like of each component, the components of the walking system can always keep the tension degree of the rubber track 1 surrounding the outer periphery of the wheel system 2 unchanged and the circumference is stable while the components move cooperatively.

As shown in fig. 14, the cooperating mechanism assembly 5 is mainly composed of two cooperating mechanisms 51 and a synchronizing member 52 on both sides of the gear train 2. The cooperative mechanisms 51 on the two sides are respectively installed on the support frame assembly body on the corresponding side of the support frame assembly 3, and the synchronization component 52 connects the two cooperative mechanisms 51 to realize the synchronous motion of the two cooperative mechanisms 51.

As shown in fig. 15 and 16, the cooperative mechanism 51 is mainly composed of a turntable 510, a turntable link 511, a lateral link 513, an anti-roll mechanism 515, and a plurality of suspension links including a synchronization suspension link 514, a bottom suspension link 516, and a top suspension link 517, and the like. The components of the cooperating structure 51 are mounted identically on the two side support frame assemblies. The rotary table is hinged with the support frame assembly, the rotation axis of the rotary table is coincident with the axis A, the rotary table pull rod is hinged with the rotary table through a rotary table pull rod connecting shaft 512, the transverse pull rod is hinged with the rotary table pull rod and is simultaneously hinged and installed on the anti-overturning mechanism, and the anti-overturning mechanism is installed on the support frame assembly. Through the installation relation, the support frame assembly, the rotary disc pull rod, the transverse pull rod and the anti-overturning mechanism form a Saurus connecting rod (Sarrus linking) mechanism, so that the rotation of the rotary disc around the axis A is converted into the translation of the transverse pull rod along the direction vertical to the axis A. Three turntable pull rods are arranged on the turntable of the cooperative mechanism, and a transverse pull rod and an anti-overturning mechanism are also sequentially arranged on each turntable pull rod, so that the three transverse pull rods are synchronously controlled to move horizontally by the rotation of the turntable. And all components of the cooperative mechanism are installed on the assembly bodies of the support frames on the two sides in the same way and are opposite in position. As shown in fig. 15 and 17, for convenience, the translational directions of the transverse tie rods in the cooperating mechanisms mounted on the outer support frame assembly are respectively identified as B, C and D, and the translational directions of the transverse tie rods in the cooperating mechanisms mounted on the inner support frame assembly are respectively identified as B ', C ', D '; B. c, D are all perpendicular to the axis A, the included angle of the three axes is 120 degrees; the same applies to B ', C ', D '. Due to the opposite position of the two cooperating means, the aforesaid axes B, C, D are parallel to the axes C ', B ', D ', respectively.

Taking the example of the installation of the cooperating mechanism 51 on the outer support frame assembly 31, as shown in fig. 16, the turntable 510 is hinged on the central shaft 40, and its rotation axis coincides with the axis a; three rotary table pull rods 511 are uniformly arranged on the rotary table 510, each rotary table pull rod 511 is hinged with the rotary table 510 through a rotary table pull rod connecting shaft 512, and the hinge axis is parallel to the shaft A; the three transverse pull rods 513 are respectively hinged with the corresponding rotary table pull rods 511, the hinge axes are parallel to the shaft A, meanwhile, one end of each transverse pull rod 513, which is far away from each rotary table pull rod 511, is hinged with the anti-overturning mechanism 515, and the hinge axes are perpendicular to the shaft A and are perpendicular to the translation axes (B, C or D) of the transverse pull rods; each transverse tie rod 513 is provided with a pair of synchronous suspension tie rods 514 in a hinged manner, the hinge axes of the synchronous suspension tie rods are parallel to the axis A, one synchronous suspension tie rod 514 is coaxially hinged with the turntable tie rod 511, the synchronous suspension tie rod 514 is provided with a gear tooth part, as shown in fig. 18, the gear teeth of the two synchronous suspension tie rods 514 are mutually meshed to form a gear pair, the gear tooth part can be a complete gear or an incomplete gear structure, and the incomplete gear structure is shown in fig. 18; a locating pin 518 is attached to the synchronizing suspension strut 514. Bottom suspension pull rod 516, top suspension pull rod 517 all articulate with outside support frame assembly body 31, and the axis of articulation all is parallel with axle A, and wherein two top suspension pull rods 517 are close to drive wheel assembly body 6, and in the bilateral symmetry installation of axis F, four bottom suspension pull rods 516 are two pairs, are close to two rubber track positioner 33 respectively, and two bottom suspension pull rods 516 in every pair are respectively in axis B (or C) bilateral symmetry installation. The anti-roll mechanism 515 is used to further limit the freedom of movement of the transverse tie-rod 513, and as shown in fig. 19, the anti-roll mechanism 515 is mainly composed of a positioning base 5150, a base link 5151 and a flat trailing link 5152. The positioning base 5150 is fixedly connected to the outer support frame assembly 31; the base connecting rod 5151 is hinged with the positioning base 5150; one end of the horizontal dragging link 5152 is hinged with the base link 5151, and the other end is hinged with the transverse pull rod 513, and the axes of the hinges are perpendicular to the axis A. Through the mounting relationship of the turntable 510, the turntable pull rod 511, the transverse pull rod 513 and the anti-overturning mechanism 515, the transverse pull rod 513 can only translate along the axis B (or C or D).

The synchronizing assembly 52 fixedly connects the opposite transverse tie rods 513 in the two cooperating mechanisms 51 to ensure that the two cooperating mechanisms 51 move synchronously, and as shown in fig. 15, the synchronizing assembly 52 is composed of a synchronizing shaft 520 and a synchronizing shaft positioning sleeve 521. The synchronizing shaft 520 is fixedly connected with the transverse pull rod 513, the synchronizing shaft positioning sleeve 521 is sleeved on the synchronizing shaft 520 with two opposite sides, and as shown in fig. 67 to 69, the transverse pull rods on two sides are fixedly connected together under the action that the support frame connecting piece is fixedly connected with the support frame assembly bodies on two sides. Further, due to the synchronous movement of the transverse pull rods opposite to the two sides, the other components of the two cooperative mechanisms can also move synchronously, for example, the turntables on the two sides can rotate synchronously.

As the turntable 510 rotates, the turntable lever 511 pulls the cross-links 513, and the three cross-links 513 can only translate along the axes B, C, D (or B ', C ', D '), respectively, toward or away from the axis a, under the combined action of the anti-roll mechanisms 515. One end of the turntable pull rod connecting shaft 512 is provided with a limiting protrusion 5120, as shown in fig. 20, after installation, the limiting protrusion 5120 is located between two adjacent limiting bosses 36, as shown in fig. 21, during the rotation process of the turntable 510, the movement range of the limiting protrusion 5120 is limited by the two adjacent limiting bosses 36, so that the rotation range of the turntable 510 is limited. As shown in fig. 22, when the two side turntables 510 rotate clockwise (hereinafter, simply referred to as clockwise rotation of the turntables, and counterclockwise rotation of the turntables is corresponding to reverse rotation) as viewed from the middle of the support frame assembly 3 along the axis a toward the two side support frame assemblies, the transverse tie bar 513 gradually gets away from the axis a, and when the limiting protrusion 5120 is attached to the limiting boss 36, the transverse tie bar 513 gets farthest from the axis a; as shown in fig. 23, when the two side turntables 510 rotate counterclockwise, the transverse tie 513 gradually approaches the axis a until the limit projection 5120 abuts against another adjacent limit projection 36, at which time the transverse tie 513 is closest to the axis a. The two engaged synchronous suspension rods 514 can rotate synchronously, the rotation range is limited by the range of the gear teeth, and a positioning pin 518 is fixedly connected to the synchronous suspension rods 514, and the positioning pin 518 is limited by the structure of the transverse pull rod 513 when moving along with the synchronous suspension rods 514, and the relative rotation range of the two synchronous suspension rods 514 can also be limited.

As shown in fig. 24, the driving wheel adjusting mechanism 7 is connected to two cooperating mechanisms 51, on which the driving wheel assemblies 6 are mounted, and under the coordination of the cooperating mechanism assembly 5, the driving wheel adjusting mechanism 7 makes the driving wheel assemblies 6 translate along the fixed axis F of the support frame assembly 3. The axis F is perpendicular to the axis A and has the same included angle with the translation axes of two adjacent transverse pull rods. Typically, axis F is at an angle of 60 ° to axis B or C (axes B 'or C'), is coplanar with axis D, D ', and is equidistant from axes D and D', as shown in FIGS. 15, 16, and 17.

The driving wheel adjusting mechanism 7 can adjust the position of the driving wheel assembly 6 to be away from or in contact with the rubber crawler 1 by the cooperation mechanism assembly 5. As shown in fig. 24, the drive wheel adjusting mechanism 7 includes a drive wheel mounting shaft 71, and two swing arms 72. Each swing arm 72 is hinged at one end to the inner or outer turntable 510 and at the other end to the drive wheel mounting shaft 71 via a bearing. The drive wheel assembly 6 is mounted on the drive wheel mounting shaft 71 by a bearing. The two side turntables 510 rotate synchronously, and when the swing arms 72 hinged to the two side turntables 510 rotate therewith, the driving wheel mounting shaft 71 and the driving wheel assembly 6 are made to translate along the axis F so as to approach or depart from the axis a. Specifically, two turntables are coaxially hinged on the support frame assembly, two swing arms are coaxially hinged on the driving wheel mounting shaft, the two turntables and the two swing arms form a four-bar mechanism, because the mounting sizes of the turntables on the two sides and the corresponding swing arms are the same, the lengths of the swing arms are the same, the two cooperative mechanisms are connected by a synchronizing assembly, the turntables on the two sides can only synchronously rotate by the same angle, and the driving wheel mounting shaft can only be enabled to move horizontally along the axis F. The position of the drive wheel assembly 6 in the tire form and track wheel form limit states of the running system is shown in fig. 25 and 26.

As shown in fig. 27, 28 and 29, as a specific example, the driving wheel adjusting mechanism is connected with the single-side cooperative mechanism to achieve the function, and the specific composition thereof includes a driving wheel mounting shaft and a swing arm, and the mounting relationship is the same as that described above, except that a limit plate 73 is added on the support frame assembly to ensure the driving wheel mounting shaft to translate along the direction F, as shown in fig. 28. The structure of the support frame assembly is that the outer end of a driving wheel mounting shaft is connected with a guide block 1201, a limiting plate is fixed on the inner side of the support frame assembly, a guide groove 74 is formed in the limiting plate, and the direction of the guide groove is parallel to the direction F. After the driving wheel mounting shaft is mounted, one side of the guide block is arranged in the guide groove and forms a sliding pair with the guide block. When the rotary table rotates, the guide block can only move in the guide groove, so that the driving wheel mounting shaft hinged on the swing arm can only translate along the direction F.

When the turntable 510 rotates clockwise (as defined above) to the limit, the driving wheel adjusting mechanism 7 pulls back the driving wheel assembly 6, and at this time, the driving wheel assembly 6 is closest to the axis a and is far away from the rubber track 1, so as to provide a condition for the overall rotation of the traveling system in the tire shape, that is, to avoid that when the traveling system is impacted by the ground, the rigid driving wheel assembly 6 rolls and impacts the rubber track 1, so that the rubber track 1 is damaged.

After the rotating disc 510 rotates counterclockwise by a certain angle from the above-mentioned limit position, the driving wheel adjusting mechanism 7 pushes out the driving wheel assembly 6 to make it away from the axis a and contact the rubber crawler 1, providing a condition for the driving wheel assembly 6 to drive the rubber crawler 1 to rotate around the wheel train 2.

To achieve articulation of the turntable with the turntable lever and the swing arm, the turntable 510 has two swivel arms, one being a first swivel arm 5101 connected to the turntable lever and the other being a second swivel arm 5102 connected to the drive wheel adjustment mechanism for mounting the swing arm 72, etc., as shown in fig. 57 and 58.

The driving wheel power transmission device 8 connects the driving wheel assembly 6 and the center shaft assembly 4, and transmits the power of the center shaft assembly 4 to the driving wheel assembly 6. As shown in fig. 30, 31 and 32, taking the example of using chain transmission as a power transmission method, the driving wheel power transmission device 8 mainly includes two central shaft sprockets 80, two turntable sprockets 81, two driving sprockets 82, two turntable chains 83, two swing arm chains 84, two sprocket mounting shafts 85, and the like. The central shaft sprocket 80 is keyed to the central shaft and a locating sleeve or the like axially locates the central shaft sprocket 80 on the central shaft, thereby securing the two. Carousel sprocket 81 passes through the bearing and is articulated with sprocket installation axle 85, sprocket installation axle is installed on carousel 510, and drive sprocket 82 links firmly on drive wheel assembly body 6, and carousel chain 83 is installed on center pin sprocket 80 and carousel sprocket 81, and swing arm chain 84 is installed on carousel sprocket 81 and drive sprocket 82.

When the driving wheel adjusting mechanism is connected to the single-side cooperating mechanism, the driving wheel power transmission device 8 mainly includes a central shaft sprocket 80, a turntable sprocket 81, a driving sprocket 82, a turntable chain 83, a swing arm chain 84, and the like, and the installation relationship is still the same as above.

When the traveling system is in a track wheel shape, the central shaft assembly 4 can rotate relative to the support frame assembly 3, the central shaft sprocket 80 fixedly connected with the central shaft 40 rotates along with the central shaft 40, power is transmitted to the driving wheel assembly 6 through the turntable sprocket 81 and the driving sprocket 82 through chain transmission, the driving wheel assembly 6 rotates around the driving wheel mounting shaft 71, and the rubber track 1 is engaged with the rubber track 1, so that the rubber track 1 rotates around the outer periphery of the wheel train 2.

As shown in fig. 31 and 32, the swing arm 72 is hinged to the turntable 510 through a first sliding bearing 75, the turntable sprocket is hinged to the sprocket mounting shaft 85 through a first rolling bearing 76, one end of the turntable is fixedly connected to the sprocket end cover 77, and a first sealing ring 78 is installed between the other end and the swing arm, so that sealing of the first rolling bearing is realized, and the sealing ring is typically a V-shaped ring sealing member. The chain wheel mounting shaft is screwed on the rotary table by adopting the circular nut and the stop washer matched with the circular nut, so that the first rolling bearing inner ring, the chain wheel mounting shaft and the rotary table are fixedly connected together.

As shown in fig. 33 to 36, the drive wheel assembly 6 is mainly composed of a spline shaft 61, a drive wheel 62, a drive wheel cover 63, and the like. The two sides of the spline shaft 61 are hinged to a driving wheel mounting shaft 71 through a second rolling bearing 64, the driving wheel 62 and the two driving chain wheels are sleeved on the spline shaft 61 through key connection, and the two driving chain wheels are located on the two sides of the driving wheel. The two ends of the spline shaft are fixedly connected with the driving wheel end covers 63 through bolts, sealing gaskets 610 are installed between the two side driving wheel end covers 63 and the two side driving chain wheels, and after the two side end covers and the spline shaft are fastened, the sealing gaskets are tightly pressed on the driving chain wheels, so that the driving wheel, the driving chain wheels and the spline shaft 61 are fixedly connected together. As shown in fig. 37 and 38, the two-sided swing arm 62 is hinged to the driving wheel mounting shaft through a second sliding bearing 65, and is located on both sides of the driving wheel assembly, and one side of the swing arm is connected to a bearing positioning sleeve 66 through a thrust washer 67, and the other side is connected to a flat washer 68 through a thrust washer. Second seal rings 69 are mounted between the swing arms on both sides and the driving wheel end cover 63, and are used for sealing the second rolling bearing, and the second seal rings 69 are typically V-shaped ring seals. For preventing not hard up, the driving wheel installation axle adopts lock washer for the round nut cooperation round nut to establish ties swing arm, driving wheel assembly body articulated together, compresses tightly the inner circle of both sides second antifriction bearing.

The loading wheel chain assembly 9 is formed by sequentially connecting and connecting a plurality of components for mounting loading wheels in a hinged mode, the loading wheels on the loading wheel chain assembly are uniformly distributed, the rubber track 1 can be supported or rolled, and a guiding effect is realized on the rotation of the rubber track 1 around the outer periphery of the wheel system 2. The structure of the load-bearing wheel chain assembly is shown in fig. 39-41, and a single load-bearing wheel chain assembly 9 is composed of a female-end load-bearing wheel suspension assembly 90, two middle load-bearing wheel suspension assemblies 91, and a male-end load-bearing wheel suspension assembly 92 which are sequentially hinged in series. The female-end loading wheel suspension assembly 90 and the male-end loading wheel suspension assembly 92 are respectively located at two ends of the loading wheel chain assembly 9, and the hinged axis positions of the two middle loading wheel chain assemblies 9 are the middle parts of the loading wheel chain assemblies 9.

Each bogie wheel suspension is fixedly connected with a bogie wheel mounting shaft 95, and the bogie wheels are mounted at two ends of the bogie wheel mounting shaft 95 in pairs through bearings. As shown in fig. 42 and 43, the female-end bogie wheel suspension assembly 90 is composed of a female-end bogie wheel suspension 901, a bogie wheel 902, and a bogie wheel mounting shaft 95. As shown in fig. 44, the center bogie suspension assembly 91 is composed of a center bogie suspension 910, a bogie 902, and a bogie mounting shaft 95. As shown in fig. 45 and 46, the male bogie suspension assembly 92 is composed of a male bogie suspension 920, a bogie wheel 902, and a bogie wheel mounting shaft 95.

In addition, the bogie wheel can be replaced by the sector blocks 93, as shown in fig. 43 and 46, specifically, the sector blocks are directly installed at two ends of a bogie wheel installation shaft 95 in pairs, the two sector blocks are fixedly connected through a sector block connecting plate 94 penetrating through a cavity structure 96 of a male end bogie wheel suspension 920 or a female end bogie wheel suspension 901, and the cavity structure 96 limits the swinging of the sector block connecting plate 94, so that the arc-shaped outer peripheral sides of the sector blocks face towards the fixed direction.

As shown in fig. 41, the load-bearing chain assembly is attached to a pair of synchronous suspension links of the cooperative mechanism and a bottom suspension link or a top suspension link on both sides of the pair of synchronous suspension links. Specifically, two middle bogie wheel suspensions 910 are respectively hinged with two corresponding synchronous suspension pull rods 514, a female bogie wheel suspension 901 and a male bogie wheel suspension 920 are hinged with a corresponding top suspension pull rod 517 or bottom suspension pull rod 516, and the hinge axes are parallel to the axis a. After the installation, because two synchronous suspension pull rods are meshed with each other and rotate synchronously, the middle part of the loading wheel chain assembly is always positioned on the translation axis of the transverse pull rod.

As shown in fig. 8 and 41, three weight-bearing chain assemblies 9 are mounted on each of the two cooperating mechanisms 51 at opposite positions. As the turntable 510 rotates, the synchronized suspension links 514 engaged in pairs rotate synchronously and at the same rotational angle under the translational thrust of the transverse link 513, and the two intermediate bogie wheel suspensions 910 connected thereto also move synchronously, so that the intermediate portions of each bogie wheel suspension assembly translate along the translation axes B, C, D or B ', C ', D ' of the respective transverse links. The motion of the two side load bearing chain assemblies 9 is synchronized due to the synchronizing assembly 52. In the process of coordinating the motion of each load-bearing wheel chain by the cooperative mechanism assembly, the load-bearing wheel chain assembly 9 has two limit states, namely bending into an arc shape and completely straightening: when the load wheel chain assembly is bent into an arc shape, the wheel centers of all load wheels (or fan-shaped blocks) on the load wheel chain assembly are positioned on the same arc; when the assembly is completely straightened, the wheel centers of all the loading wheels (or the fan-shaped blocks) on the loading wheel chain assembly are positioned on the same straight line. The weight-bearing wheel chain assembly 9 is in a generally bent state in a non-limit state.

Specifically, when the turntable 510 rotates clockwise (defined as above) to the limit, each loading wheel chain assembly 9 is bent to an arc shape, and the center of the arc shape coincides with the axis a, so that the outer periphery of the wheel train 2 is a complete circle, which provides a basic condition for reconstructing a walking system into a tire shape, as shown in fig. 22; when the turntable 510 rotates counterclockwise to the limit, each of the weight-bearing wheel chain assemblies 9 is completely straightened, which provides a basic condition for the reconfiguration of the traveling system to the limit state of the track wheel configuration, as shown in fig. 23.

Between the extreme positions of the turntable 510, when the turntable 510 is rotated clockwise (as defined above), the cross braces 513 are spaced from the axis a, the middle portion of each weight wheel chain assembly 9 is spaced from the axis a along the axes B, C, D, B ', C ', D ', respectively, and the male and female weight wheel suspension assemblies 92, 90 at each end of each weight wheel chain assembly 9 are progressively closer to the axis a. The process is vice versa. This provides the basic condition for the running system reconfiguration for the track wheel form that the area of contact is different.

In the above process, when the loading wheel chain assembly is bent into an arc shape, the two ends are closest to the axis a, when the loading wheel chain assembly is gradually straightened, the two ends are gradually far away from the axis a, and when the loading wheel chain assembly is completely straightened, the two ends are farthest from the axis a. The rubber track positioning device utilizes the above distance variation to achieve the effect of jamming the rubber track to restrict its rotation about the wheel train when the running system is in the tire configuration, as shown in fig. 10 and 22, and disengaging the rubber track to not restrict its movement when the running system is in the track wheel configuration, as shown in fig. 11 and 23.

In addition, in the track wheel configuration, since the drive wheel assembly 6 is brought into contact with the rubber crawler 1 at a position away from the axis a and is engaged with the rubber crawler 1, and the rubber crawler 1 is not brought into contact with the segment at the position, the male-end bogie wheel suspension assembly 92 or the female-end bogie wheel suspension assembly 90 mounted on the top suspension link 517 is replaced with a segment. The sector is located at the end of the weight-bearing chain assembly 9, and is mounted in such a manner that the arc-shaped outer circumferential side of the sector faces the rubber crawler belt at all times after mounting. The sector blocks are more simplified and economical than a bogie wheel, and are convenient for adjusting the dynamic balance of a walking system in the tire form.

After the loading wheel chain assembly body 9 and the cooperative mechanism assembly 5 are installed, a single-degree-of-freedom controllable motion device is formed together with the support frame assembly 3. When the turntable 510 on any side rotates, the cooperative motion of all the loading wheel chain assemblies 9 and the driving wheel adjusting mechanism 7 can be realized, so that the tension degree of the rubber track 1 is always kept unchanged and the perimeter of the walking system is stable in the form reconstruction process. Further, the side surface of the bogie wheel can be brought into contact with the end surface of the driving tooth 11 of the rubber crawler 1 to guide the rubber crawler 1 to avoid the belt release.

The clutch assembly 10 is connected to the support frame assembly 3 and the central shaft assembly 4, and can realize the separation or engagement of the central shaft assembly 4 and the support frame assembly 3 under the action of the cooperative mechanism assembly 5. The clutch assembly mainly comprises a clutch disc 101, a turnkey 102 and the like. The clutch plate 101 is fixedly connected to the central shaft assembly 4. The rotary key is hinged with the support frame assembly and is connected with the support frame assembly through an elastic element, the elastic element presses the rotary key on a fixed position of the support frame assembly to enable the rotary key to be incapable of freely rotating relative to the support frame assembly, and the rotary key is in an initial state at the moment. The dial 510 has a control pin 104 attached thereto. When the rotary disc 510 rotates, the control pin 104 on the rotary disc drives the rotary key to rotate, so that the rotary key is contacted with or separated from the clutch disc, and the central shaft assembly 4 is connected with or separated from the support frame assembly 3.

Specifically, as shown in fig. 47, the support frame assembly 3 further includes a rotating key mounting bracket 103, and the rotating key mounting bracket 103 is fixed on the support frame connecting member 32. A plurality of semicircular grooves 1010 are uniformly distributed on the outer circumference of the clutch plate 101. As shown in fig. 48, the main structure of the said rotary key is a cylindrical solid 1023 with a rotary key groove structure 1020, one end of the rotary key has an internal groove 1022, the internal groove structure can take various forms, as shown in fig. 48, the internal groove structure can be a single-sided internal groove 1022, as shown in fig. 49, a bilaterally symmetrical through groove 1024, as shown in fig. 50, a bilaterally asymmetrical through groove 1024, as shown in fig. 51, a projection 1025 with only a single-sided structure, as shown in fig. 52, or a chamfer 1026 on one side to facilitate the control of the pin entry. In short, the internal groove structure can take various forms as long as the control of the pin entering and the key turning can be conveniently carried out. The radius of the cylindrical solid 1023 is slightly smaller than the radius of the semicircular groove of the clutch disc, the radius of the cambered surface 1021 of the turnkey groove structure is slightly larger than the radius of the clutch disc, and the width of the internal groove 1022 is slightly larger than the diameter of the control pin 104. As shown in fig. 54, the said mounting rack is provided with a mounting sleeve 1031 and an inner groove 1032 of the mounting rack, which passes through the mounting sleeve and has a radius slightly larger than that of the clutch plate.

As shown in fig. 48-56, the cylindrical body 1023 of the turnkey is hinged with the turnkey mounting sleeve 1031 through a sliding bearing, the clutch plate 101 is connected with the central shaft 40 in a key way, and the axial displacement of the clutch plate along the central shaft is limited through the positioning sleeve 41 on the central shaft, so that the clutch plate is fixedly connected with the central shaft. The edge portion of the clutch plate 101 having the semi-circular recess 1010 passes through the key mount inner recess. The turnkey mounting bracket is fixedly connected with a turnkey positioning pin 105, the turnkey is fixedly connected with a limit pin 106, a torsion spring 107 is sleeved on the turnkey, one end of the torsion spring is fixedly connected with the limit pin 106, the other end of the torsion spring leans against the turnkey positioning pin 105, the limit pin can be pressed on the turnkey positioning pin, and therefore the position of the turnkey relative to the turnkey mounting bracket is fixed, the axis of the cambered surface 1021 coincides with the axis A, the turnkey groove structure faces the clutch disc, the rotation of the clutch disc is not interfered, and the central shaft assembly body and the support frame assembly are in a separation state at the moment, as shown in figure 60.

The process of dialing the jog key by the jog dial 510 is shown in fig. 61 to 64. When the rotary plate 510 rotates to a certain angle, the control pin 104 thereon will be inserted into the inner groove 1022 of the rotary key, so as to shift the rotary key, and the corresponding entity of the rotary key groove structure 1020 enters the semicircular groove of the clutch disc, thereby limiting the rotation of the clutch disc relative to the rotary key mounting frame, and further realizing the joint of the central shaft assembly and the support frame assembly, as shown in fig. 59. When the rotary plate 510 rotates in the opposite direction and the control pin 104 thereon is disengaged from the inner groove 1022 of the rotary key, the entity corresponding to the groove structure 1020 of the rotary key is disengaged from the semicircular groove 1010 of the clutch plate, and under the action of the torsion spring 107, the limit pin 106 on the rotary key is pressed on the positioning pin 105 of the rotary key again, so as to ensure that the entity corresponding to the groove structure 1020 of the rotary key is disengaged from the semicircular groove 1010 of the clutch plate, and at this time, the central shaft assembly and the support frame assembly are in a separated state, as shown in fig. 60. In the above process, the entity corresponding to the groove structure of the rotary key can rapidly enter or leave the semicircular groove on the outer circumference of the clutch disc only by rotating the rotary disc 510 by a small angle, thereby realizing agile engagement and disengagement.

The clutch assembly 10 is of a double-turning-key structure, so that when the central shaft assembly 4 and the support frame assembly 3 are connected, the central shaft assembly changes the rotation direction, namely, when the traveling system changes the traveling direction, no idle return exists, and the connection is reliable. Specifically, by using the above mode, two turnkeys are mounted on the turnkey mounting frame, the mounting positions of the two turnkeys are symmetrical, and the mounting directions are opposite. The two rotary keys are respectively matched with the rotary discs of the two cooperating mechanisms. When the turntables on the two sides rotate synchronously, the two turnkeys rotate synchronously, but the directions are opposite, so that the joint between the central shaft assembly 4 and the support frame assembly 3 is reliable. When the walking system is in a crawler wheel shape and the two control pins are separated from the inner grooves of the corresponding rotary keys, the two torsion springs 107 can enable the two limiting pins to be respectively pressed on the corresponding rotary key positioning pins, the positions of the two rotary keys are fixed relative to the rotary key mounting frame, the axes of the two cambered surfaces 1021 are coincident with the axis A and coaxial with the clutch disc 101, the clutch disc 101 is driven by the central shaft 40 to rotate relative to the rotary key mounting frame, and the central shaft assembly and the support frame assembly are in a separation state. In the process of switching the running system to the tire form, as the two turntables 510 rotate clockwise (defined as above), the two control pins 104 are synchronously inserted into the inner grooves 1022 of the corresponding turnkeys 102 and turn the turnkeys 102, the two turnkeys 102 rotate synchronously, and the entities corresponding to the corresponding turnkey groove structures 1020 rotate into the semicircular grooves 1010 of the clutch disc 101, so that the clutch disc 101 is engaged with the turnkey mounting frame 103, the central shaft assembly 4 is engaged with the support frame assembly 3, and the whole running system rotates. The positions of the various components of the clutch assembly in the different configurations are shown in FIGS. 61-64. Under the coordination action of the cooperative mechanism assembly 5, along with the rotation of the turntable 510, the clutch assembly 10 can realize the engagement and disengagement of the central shaft assembly 4 and the support frame assembly 3, when the central shaft assembly 4 and the support frame assembly 3 are disengaged, the central shaft assembly 4 can rotate relative to the support frame assembly 3, the drive wheel assembly 6 is driven to rotate through the drive wheel power transmission device 8, and a power condition is provided for the drive wheel assembly 6 to drive the rubber track 1 when the traveling system is in a track wheel shape; when the two are engaged, the driving wheel power transmission device 8 will not transmit power to the driving wheel assembly 6 any more because the central shaft assembly 4 has no relative movement with respect to the support frame assembly 3.

The mutual connection of the components of the walking system enables the shape of the walking system to be reconstructed into a controllable single-degree-of-freedom motion process.

The control system of the walking system comprises a form control device and a positioning anti-overturning system. The form control device 11 is a force-controllable or displacement output device, and controls the form of the wheel train 2 by controlling the movement of the cooperative mechanism assembly 5, the load-bearing wheel chain assembly 9, the drive wheel adjusting mechanism 7, and the like. Because the form reconstruction is a controllable single-degree-of-freedom motion process, the form reconstruction device can be arranged between any relatively-moving components of the wheel train, namely between any two of the support frame assembly 3, the cooperating mechanism assembly 5, the multiple loading wheel chain assemblies 9 and the driving wheel adjusting mechanism 7, between relatively-moving components in the cooperating mechanism assembly 5 or between relatively-moving components in the driving wheel adjusting mechanism 7.

As shown in fig. 65 and 66, as one embodiment of the present invention, the form control device is composed of a controllable hydraulic power unit, two hydraulic cylinders 110, a hydraulic rotary joint 111, a pipeline 112, a hydraulic valve, and the like. The central shaft 40 has a through oil passage 44 in the middle, the center line of the oil passage 44 coincides with the axis a, and the oil passage receives the pressure oil output from the hydraulic power unit, and the pressure oil is divided into 2 paths via a hydraulic rotary joint 111 mounted on the end of the central shaft 40, and then transmitted to the hydraulic cylinder 110 through a pipeline 112 and the like, thereby controlling the output force of the hydraulic cylinder 110 or the piston extension. The cylinder and piston rod of each cylinder 110 are respectively hinged to a synchronizing shaft 520 on the transverse tie 513 on either side of the bottom suspension tie 516, as shown in fig. 67-69, with an auxiliary mounting sleeve 522 for axially locating the cylinder or piston rod of the cylinder on the synchronizing shaft. The two hydraulic cylinders are arranged oppositely and are staggered in space, so that the dynamic balance of the walking system in the tire shape can be maintained; the change of the extension amount of the piston rod of the hydraulic cylinder 110 is realized by controlling the oil pressure or the flow of pressure oil output by the hydraulic power unit, so that the transverse pull rod 513 is far away from or close to the central shaft assembly 4 along the axes B (B '), C (C '), D (D '), to drive the rotary table 510 and other components of the cooperative mechanism assembly 5 to be coordinated and linked, and under the coordination action of the cooperative mechanism assembly 5, the states or positions of the load bearing wheel chain assembly 9, the driving wheel assembly 6, the rubber track 1 and the like are changed, thereby realizing the reconstruction of the form of the walking system.

During the configuration reconfiguration control, the maximum and minimum extension of the piston rod of the hydraulic cylinder 110 is determined by the rotation range of the turntable 510. When the form control device 11 increases the output pressure or flow of the pressure oil, the piston rod of the hydraulic cylinder 110 extends, and the turntable 510 rotates clockwise (as defined above), and when the turntable 510 rotates to the limit, the transverse tie bar 513 is farthest from the axis a, the extension amount of the piston rod of the hydraulic cylinder 110 is also maximized, and at this time, the traveling system is in the tire form. When the form control device 11 reduces the output pressure of the pressure oil or reduces the output quantity of the pressure oil, the piston rod gradually retracts, the rotating disc 510 rotates counterclockwise until the limiting protrusion 5120 is attached to another adjacent limiting boss 36, at this time, the rotating disc 510 stops rotating, the transverse pull rod 513 is closest to the axis a, the extending amount of the piston rod of the hydraulic cylinder 110 reaches the minimum, and at this time, the traveling system is in the limit state of the track wheel form.

The vehicle transmits power to a central shaft assembly 4 of the traveling system, and the traveling system drives the vehicle to advance. During the vehicle running process, the configuration of the traveling system can be reconfigured by controlling the pressure of the pressure oil output by the configuration control device 11 or the piston rod extension of the flow adjusting hydraulic cylinder 110.

When the traveling system is in a tire shape, under the coordination action of the coordination mechanism assembly 5, the shape control device 11 maximizes the extension amount of the piston rod, the turntable 510 is at the limit position of clockwise rotation (defined above), the drive wheel assembly 6 is pulled back by the drive wheel adjustment mechanism 7, and is closest to the center shaft assembly 4, the clutch assembly 10 joins the center shaft assembly 4 to the support frame assembly 3, the center shaft 40 is stationary relative to the support frame assembly 3, the drive wheel assembly 6 does not rotate, the load wheel chain assembly 9 is bent into an arc, the rubber crawler 1 is integrated with the support frame assembly 3 under the guiding and positioning action of the load wheel chain assembly 9 and the rubber crawler positioning device 33, and the traveling system rotates integrally.

The form control device 11 reduces the output pressure or flow of the pressurized oil or retracts the piston rod, and the turntable rotates counterclockwise. After rotating a certain angle, the clutch assembly 10 separates the central shaft assembly 4 from the support frame assembly 3, the driving wheel assembly 6 is pushed out by the driving wheel adjusting mechanism 7 to contact the rubber track 1, the two ends of the load bearing wheel chain assembly 9 are far away from the rotation axis a of the central shaft assembly 4, the rubber track 1 is pushed out of the rubber track positioning device 33, when the central shaft 40 rotates, the driving wheel power transmission device 8 transmits power to the driving wheel assembly 6, the driving wheel assembly 6 is meshed with the rubber track 1 to drive the rubber track to rotate around the wheel train 2, and therefore the traveling system enters the track wheel form. The form controller 11 continues to reduce the pressure output or further retract the piston rod, the turntable 510 continues to rotate counterclockwise, the weight wheel chain assembly 9 continues to straighten, and the ground contact area of the traveling system gradually increases. When the form control device 11 outputs no pressure or the pressure is sufficiently small, the piston rod will retract under the action of the self weight of the vehicle and the load, etc., until the turntable 510 rotates counterclockwise to the limit position, at which time the load wheel chain assembly 9 is completely straightened, and the ground contact area of the traveling system is the largest.

The form control device 11 may also be an electric device, and mainly includes an electric control unit, an electric cylinder, a conductive slip ring, an electric control circuit, and the like. The electric rod and the conductive slip ring are installed similarly to the hydraulic cylinder and the hydraulic rotary joint respectively, and the electric control circuit penetrates through the central shaft through hole to be connected with the conductive slip ring and then further provides power and control signals for the electric cylinder. The form reconstruction of the walking system can be realized by controlling the output force or displacement of the electric cylinder.

As another embodiment of the form control device according to the present invention, the form control device can realize form control of the traveling system with a small control force. In the process of reconstructing the track wheel form into the tire form, if the lifting force is applied to the central shaft mounting body 4 through the middle position of the load-bearing wheel chain assembly 9, the lifting force is basically stable and unchanged due to the unchanged vehicle weight, and the lifting force can be expressed as the total lifting force. Because the form reconstruction device can be installed between any components which relatively move in the wheel train, the effect of the output force can be equivalent to the effect of the lifting force, and the relationships such as the magnitude and the like are equivalent to the effect relationship after the equivalence. By utilizing the characteristic that the overall lifting force is basically unchanged in the form reconstruction process, as shown in fig. 70-72, the form control device consists of a basic force auxiliary device and a control force output device:

(1) The basic force auxiliary device provides basic force required by form reconstruction by using an element with elastic potential energy, such as a spring, an energy accumulator and the like, and the magnitude of the basic force is as close as possible to the magnitude of the overall lifting force.

(2) The control force output device can adjust the output magnitude of the control force, and devices such as a central inflation and deflation system and the like can be adopted, and the sum of the output control force and the basic force is not less than the total lifting force.

The basic force auxiliary device is connected with the support frame assembly and the load-bearing wheel chain assembly body, so that the middle part of the load-bearing wheel chain assembly body has a trend of being far away from the central shaft; the control force output device is composed of a cylinder connected with the central inflation and deflation system, the cylinder is controlled to provide output force by controlling the output pressure of the central inflation and deflation system, and the cylinder is arranged between the support frame assembly and the cooperative mechanism assembly. As shown in fig. 73, the foundation force assisting device is composed of an accumulator 113, a ball valve 114, a hydraulic cylinder 110, a cylinder mount 115, an oil pipe 116, and the like. The accumulator 113 is fixed to the support frame connection member 32 and is connected to the hydraulic cylinder 110 through an oil pipe 116 and a ball valve 114. Hydraulic cylinder barrel is articulated with pneumatic cylinder mounting bracket 115, and pneumatic cylinder mounting bracket 115 links firmly on support frame connecting piece 32, and pneumatic cylinder piston rod is articulated with the heavy burden wheel chain assembly body 9 of installing between the suspension pull rod in the bottom, and the pin joint is close to the middle part position of heavy burden wheel chain assembly body 9. The energy accumulator and the hydraulic cylinders are arranged on two sides of the gear train in the same mode, and the hydraulic cylinders on the two sides are arranged in a staggered mode in space.

The accumulator 113 provides a certain output force to the hydraulic cylinder 110, and the middle portion of the bottom load bearing chain assembly 9 tends to move away from the center shaft assembly 4. By combining with actual requirements and optimizing design, parameters such as the volume of the energy accumulator 113, initial pressure, the diameter of a piston of the hydraulic cylinder and the like are reasonably selected, so that a stable and good linear relation is kept between the extension amount of the piston rod of the hydraulic cylinder and the lifting height of the central shaft assembly 4, and the output basic force is stably close to and smaller than the total lifting force.

Normally, the ball valve 114 is in an open state, so that the accumulator 113 is in oil communication with the hydraulic cylinder 110 for normal operation. When the traveling system fails or needs maintenance, the ball valve 114 can be closed to interrupt the flow of the oil between the accumulator 113 and the hydraulic cylinder 110, so that the form is fixed.

As shown in fig. 71, the control force output device is composed of a central inflation and deflation system, a cylinder 117, an upper cylinder mounting rack 118, a lower cylinder mounting rack 119, an air pipe 1110, a pneumatic rotary joint 1113 and the like. The mounting bracket is articulated with the synchronizing component of the cooperative mechanism on the cylinder, the mounting bracket is articulated with the support frame connecting piece of the support frame assembly under the cylinder, and both ends of the cylinder 117 are fixedly connected with the mounting bracket on the cylinder and the mounting bracket under the cylinder respectively. As shown in fig. 74, an air channel 1111 is formed in the center of the center shaft 40. Pneumatic rotary joint 1113 one end links firmly with the center pin assembly body, and the other end links firmly with the support frame assembly, specifically is that pneumatic rotary joint 1113 one end links firmly at the center pin tip through the bolt, communicates with air flue 1111, and the other end links firmly with support frame end cover 1112 through the bolt, and support frame end cover 1112 links firmly on the assembly body of outside support frame through the bolt, and cylinder 117 passes through trachea 1110 and pneumatic rotary joint 1113 intercommunication.

As shown in fig. 74, the central inflation/deflation system outputs compressed gas which passes through gas passages 1111 in the central shaft 40 and is distributed to the cylinders 117 through pneumatic rotary joints 1113 at the top end of the central shaft assembly 4. The output force of the cylinder 117 is positively correlated with the output air pressure of the central inflation and deflation system, thereby providing a control force.

The basic force provided by the basic force auxiliary device is combined with the control force provided by the control force output device, so that the form reconstruction of the walking system can be realized. By using the basic force assisting device, the control force required to be provided by the control force output device is greatly reduced, for example, when the load of the walking system is 2t, the maximum output force required by the control force output device is only 1200N, and is less than 10% of the basic force provided by the basic force assisting device.

In the process of reconstructing the tire form to the track wheel form, the walking system reduces the output force of the cylinder by reducing the output air pressure of the central inflation and deflation system, and under the actions of the self weight of the vehicle, the load and the like, the piston rod of the hydraulic cylinder 110 retracts into the cylinder barrel, the cylinder 117 retracts, and the energy accumulator 113 accumulates energy until the track wheel form is reconstructed.

In the process that the track wheel form is reconstructed into the tire form, the air cylinder 117 is inflated by increasing the output air pressure of the central inflation and deflation system, so that the output force is increased; the accumulator 113 releases energy and the hydraulic cylinder 110 piston rod extends from the cylinder until the tire configuration is reconfigured.

The form reconstruction of the walking system is continuously controllable corresponding to the pressure output by the central inflation and deflation system.

In short, under the action of the form control device 11, the loaded wheel chain assemblies 9 are synchronously and gradually bent or straightened under the coordination of the cooperation mechanism assembly 5, so that the form of the outer peripheral side of the wheel train 2 is changed, and the driving wheel adjusting mechanism 7 adjusts the position of the driving wheel assembly 6, so that the driving wheel assembly 6 is brought into contact with or separated from the rubber crawler 1. In the above process, the cooperating mechanism assembly 5 controls the clutch assembly 10 to separate or engage the central shaft assembly 4 from the support frame assembly 3 at an appropriate timing, specifically: when the driving wheel assembly body 6 is contacted with the rubber track 1, the central shaft assembly body 4 is separated from the support frame assembly 3; when the drive wheel assembly 6 is disengaged from the rubber crawler 1, the center shaft assembly 4 is engaged with the support frame assembly 3. When the rubber crawler 1 is separated, the central shaft assembly 4 can rotate around the axis a under the supporting effect of the support frame assembly 3, and power is transmitted to the driving wheel assembly 6 through the driving wheel power transmission device 8, so that the driving wheel assembly 6 can be meshed with the rubber crawler 1, and the outer peripheral side of the circular gear train 2 of the rubber crawler 1 is driven to rotate. When the walking system is jointed, the central shaft assembly body 4 is fixedly connected with the support frame assembly 3, and the walking system integrally rotates. In the above process, due to the coordination of the coordination mechanism assembly 5, the tension degree of the rubber crawler 1 is unchanged, the circumference is stable, and the rubber crawler 1 cannot be separated from the wheel train 2 under the guiding action of the loading wheel chain assembly 9.

When the traveling system is in a tire shape, under the coordination effect of the coordination mechanism assembly 5, the load-bearing wheel chain assembly 9 is bent into an arc shape, at the moment, the load-bearing wheels are uniformly distributed on the circumference of the outer circumference of the wheel train 2, the driving wheel adjusting mechanism 7 enables the driving wheel assembly 6 to be separated from the rubber crawler 1, the clutch assembly 10 enables the central shaft assembly 4 to be connected with the support frame assembly 3 together, at the moment, the rubber crawler positioning device 33 limits the rubber crawler 1 to rotate around the outer circumference of the wheel train 2, and simultaneously, under the guiding effect of the load-bearing wheel chain assembly 9, the rubber crawler 1 is fixedly connected with the wheel train 2, so that the traveling system integrally rotates under the driving of a vehicle power output component such as a half shaft or a driving shaft.

When the traveling system is in a track wheel form, under the coordination action of the coordination mechanism assembly 5, the load-bearing wheel chain assembly 9 is in a generally bent or completely straightened state, so that the load-bearing wheels are arranged in an approximately triangular shape on the periphery of the wheel train 2, the driving wheel adjusting mechanism 7 enables the driving wheel assembly 6 to contact the rubber track 1, the clutch assembly 10 separates the central shaft assembly 4 from the support frame assembly 3, the rubber track positioning device 33 no longer limits the rubber track 1, the central shaft assembly 4 transmits power to the driving wheel assembly 6 through the driving wheel power transmission device 8, and the rubber track 1 rotates around the periphery of the wheel train 2 through the meshing of the driving wheel assembly 6 and the rubber track 1.

Under the coordination action of the control of the form control device 11 and the coordination mechanism assembly 5, in the process that the load-bearing wheel chain assembly 9 is gradually bent from a general bending state or a completely straightened state, two ends of the load-bearing wheel chain assembly 9 are gradually close to the rotation axis a of the central shaft assembly 4, the middle part of the load-bearing wheel chain assembly 9 is gradually far away from the axis a, the grounding area of the rubber crawler 1 surrounding the outer side of the gear train 2 is gradually reduced, and at the moment, the walking system is in a crawler wheel form; when the load-bearing chain assembly 9 is bent into an arc shape, the traveling system is in a tire shape, and the ground contact area of the rubber crawler 1 is minimized. In the process that the load-bearing wheel chain assembly 9 is gradually straightened from an arc shape, the walking system enters the track wheel shape from the tire shape, and the grounding area is gradually increased. In short, the form control device 11 can control the traveling system in the tire form or the track wheel form, and can adjust the ground contact area of the traveling system by adjusting the degree of bending of the load wheel chain assembly 9 in accordance with the terrain conditions in the track wheel form.

The form control device 11 can reconstruct the form of the traveling system by adjusting the force or displacement output thereof so as to be in the track wheel form or the tire form. When the tire is in a shape, the walking system integrally rotates, no internal friction and no power consumption caused by bending of the rubber track exist, the tire is suitable for high-speed motor on the terrains such as paved road surfaces and the like, and the vehicle can realize the same running speed and basically equal oil consumption as a wheeled vehicle; when the crawler wheels are in the shape, the ground contact area of the walking system can be adjusted, and the crawler wheels are suitable for soft off-road terrain with low adhesion coefficient, so that the vehicle can obtain optimal matching of trafficability, traction, maneuvering speed and the like. The running system has the advantages of both a tire and a rubber crawler running system, and has no damage to the road surface and no tire burst risk. Under the condition that the form control device 11 fails and loses control power, if the control system can be self-locked, the traveling system can keep the existing form to continue traveling, and if the control system cannot be self-locked, the traveling system is reconstructed into the limit state of the track wheel form to normally travel under the action of self weight and load, so that the form control device has the advantages of stronger terrain adaptability and higher reliability.

The control system also includes a positioning anti-tip system, as shown in fig. 75 and 76, which includes a positioning block telescoping mechanism and a positioning block escapement mechanism. The positioning block telescopic mechanism is connected with one end of the driving wheel mounting shaft and matched with a positioning block escapement mechanism fixed on the frame or the wheel reducer shell in a telescopic splicing manner. Specifically, the positioning block telescoping mechanism mainly comprises a guide block 1201, a swing rod 1202, an anti-overturning rod 1203 and a positioning block 1204. One end of the guide block is hinged or fixedly connected with the driving wheel mounting shaft 71 and moves up and down along with the driving wheel mounting shaft, the other end of the guide block is hinged with one end of the oscillating rod, the other end of the oscillating rod is hinged with one end of the anti-overturning rod, the anti-overturning rod penetrates through a through hole 301 in the inner support frame assembly body and forms a sliding pair with the anti-overturning rod, and the other end of the anti-overturning rod is fixedly connected with the positioning block.

In the process of reconstructing the shape of the traveling system, the driving wheel mounting shaft is far away from or close to the central shaft 40 along the axis F, the guide block 1201 moves along with the driving wheel mounting shaft to drive the swing rod 1202 to move, so that the anti-overturning rod 1203 and the positioning block 1204 are close to (extend out of) or far away from (retract into) the positioning block escapement mechanism along the through hole on the inner side support frame assembly 30, and the extending or retracting direction of the positioning block is parallel to the axis A.

In the tire configuration, the drive wheel assembly 6 is closest to the center axle 40, and the positioning block 1204 is away from the positioning block escapement mechanism, and the traveling system as a whole rotates along with the center axle 40.

When the tire mode is switched to the track wheel mode, the drive wheel mounting shaft 71 and the guide block 1201 are moved away from the traveling system center shaft 40 to move the swing lever 1202, so that the anti-roll lever 1203 and the positioning block 1204 are rapidly extended to approach the positioning block escapement.

When the positioning block 1204 extends a sufficient length to enter the range of action of the positioning block escapement, its overall rotation with the traveling system is restricted by the positioning block escapement, which now enters the track wheel configuration. Due to the limiting effect, the rotation of the support frame assembly 3 around the central shaft assembly 4 is limited, and the support frame assembly can only swing within a certain range to adapt to different topographic undulations. In the form of the track wheel, the extended length of the positioning block 1204 is stable, and the positioning block is kept within the action range of the positioning block escapement mechanism, so that the form of the traveling system is ensured not to be overturned.

When the traveling system is switched from the track wheel mode to the tire mode, the driving wheel mounting shaft 71 approaches the traveling system central shaft 40 to drive the guide block 1201 to move, so that the anti-overturn lever 1203 and the positioning block 1204 are rapidly retracted away from the positioning block escapement mechanism. And the positioning block is quickly separated from the positioning block escapement mechanism for constraint at the moment when the traveling system is adjacent to the tire shape, and the traveling system enters the tire shape at the moment.

The difference between the maximum value and the minimum value of the extending length of the positioning block in the form reconstruction process is L, and the extending length of the positioning block is stable, namely the extending length of the positioning block is changed to be within 25% of L when the track wheel is in the form, and typically the extending length of the positioning block can be within 16%. Specifically, when the tire form is changed to the track wheel form, the extension length of the positioning block is minimum, when the tire form is changed to the track wheel form, the extension length of the positioning block is rapidly increased, and when the extension length of the positioning block is increased by 84% of L, the extension length of the positioning block is M, the positioning block escapement mechanism can receive the positioning block, the traveling system is also changed to the track wheel form, and in the track wheel form, the extension length of the positioning block is not less than M. On the contrary, when the extension length of the positioning block is less than M, the positioning block is separated from the limitation of the positioning block escapement mechanism, the walking system has the condition of integral rotation, and when the positioning block is completely retracted, namely the extension length is the minimum, the walking system is converted into the tire shape at the moment.

As shown in fig. 77 and 78, the positioning block escapement mechanism is composed of a swing plate 1205, a swing plate holder 1206, a return spring 1207, and a buffer spring 1208. The swing plate bracket 1206 is fixedly connected to a mounting seat 1210, and the mounting seat 1210 is fixedly connected to a position away from the ground, such as the hub reduction gear case 1211 or the frame. The swing plates 1205 are hinged to a swing plate support 1206 through pin shafts 1213, two swing plates 1205 are hinged to two ends of the swing plate support 1206 respectively, and reset pins 1209 are fixedly connected to the swing plates 1205. The return spring 1207 is a spring piece, one end of which is fixed to the end of the swing plate holder 1206 by a bolt, and the other end of which is fitted with a return pin 1209 fixed to the swing plate 1205. The return spring can also be a torsion spring, specifically, the torsion spring is sleeved on the pin 1213, one end of the torsion spring is connected with the swinging plate, the other end of the torsion spring is connected with the swinging plate bracket, and the function of the torsion spring is the same as that of the spring piece. The number of the return springs is four, two return springs are respectively arranged at two ends of the swing plate bracket 1206, the number of the return springs can also be two, and one return spring is respectively arranged at two ends of the swing plate bracket 1206; the buffer spring 1208 is a spring piece, the middle part of the spring piece is fixed on the front end face of the swing plate bracket 1206 through a bolt, and two ends of the spring piece can respectively contact with the two swing plates 1205 and are in sliding fit with the two swing plates. As shown in fig. 79, the swing plate bracket 1206 provides a swing limit for the swing plate 1205, and specifically, the middle of the two ends of the swing plate bracket has a concave structure to limit the rotation range of the swing plate when the swing plate rotates. The return spring 1207 and the buffer spring 1208 define an initial position of the swing plate 1205, and the return spring 1207 provides a restoring force to restore the swing plate 1205 when the swing plate 1205 swings. The damper spring 1208 provides a damping force when the swing plate 1205 is lifted.

When the traveling system is in the tire form, the positioning block retracting mechanism is far away from the positioning block escapement mechanism mounted on the hub reduction gear casing 1211, the extending length of the positioning block is minimum, and the positioning block retracting mechanism integrally rotates with the traveling system. When the state is switched to the track wheel state, the positioning block 1204 rapidly extends to be close to the positioning block escapement mechanism, and when the positioning block 1204 enters between the two swinging plates 1205, namely the action range of the positioning block escapement mechanism, the traveling system is switched to the track wheel state. There are two ways for the locating block 1204 to enter between the two swing plates 1205 depending on the extension of the locating block when it rotates with the travel system to the vicinity of the locating block escapement:

(1) the positioning block 1204 presses down the swinging plate 1205 at one side, the swinging plate 1205 rotates relative to the swinging plate support 1206, the reset pin 1209 fixedly connected to the swinging plate 1205 shifts the reset spring 1207 to deform, then the positioning block 1204 enters between the two swinging plates 1205, the swinging plate 1205 at the pressed side recovers the initial position under the action of the reset spring 1207, the positioning block 1204 continues to rotate along with the walking system and contacts with the swinging plate 1205 at the other side, the swinging plate 1205 is further lifted to rotate relative to the swinging plate support 1206, the buffer spring 1208 deforms in the process of lifting the swinging plate to buffer the swinging plate 1205 and prevent the rotation of the positioning block, the maximum rotation angle of the swinging plate is limited by the swinging plate support 1206, and the positioning block 1204 is finally limited by the swinging plate 1205 at the side to continue to rotate. Similarly, the swing plate 1205 on the side previously depressed further restricts the reverse rotation of the positioning block 1204, and the above-described process is illustrated in fig. 81 to 83.

(2) The positioning block 1204 does not hit the swing plate 1205 but directly enters between the two swing plates 1205, is restricted by the swing plate 1205 on one side in the direction of rotation of the traveling system to continue to rotate, and is restricted by the swing plate 1205 on the other side to rotate in the opposite direction, as shown in fig. 80 or 82.

In the two modes, the extension length of the positioning block of the former is slightly larger than that of the positioning block of the latter, but the final effect is the same. No matter the rotation direction of the traveling system is any, namely no matter the vehicle moves forwards or backwards in the traveling process, as long as the traveling system is switched from the tire form to the track wheel form, the positioning block escapement mechanism can accurately capture and receive the positioning block 1204, and the rotation of the positioning block can be limited within a certain range.

When the traveling system is in the form of the crawler wheel, the extending length of the positioning block is stable, so that the positioning block is always positioned in the action range of the positioning block escapement mechanism. When the walking system swings relative to the vehicle body due to topographic relief or obstacles in the process of traveling, the positioning block swings along with the positioning block and further contacts the swing plate, the swing plate is lifted to rotate relative to the swing plate support, and the buffer spring deforms at the same time to prevent the swing plate from rotating, so that the buffer is provided for the swinging of the walking system. Since the swing plate bracket 1206 limits the maximum rotation angle of the swing plate, the swing range of the traveling system with respect to the vehicle body is further limited. In addition, because locating piece escapement is in the position of keeping away from ground on automobile bodies such as wheel reduction gear casing, can ensure that the drive wheel is located running system upper portion and keeps away from ground, reduces granule impurity, mud bits etc. and piles up in drive wheel and rubber track meshing department to do benefit to drive wheel and rubber track and stably mesh, the circumstances such as drive wheel or track damage appear after having avoided the drive wheel to be in running system bottom with the track of drive wheel meshing.

When the traveling system is switched from the track wheel form to the tire form, the positioning block 1204 retracts toward the inner support frame assembly 30, the positioning block 1204 disengages from the positioning block escapement mechanism when being adjacent to the tire form, the traveling system can rotate as a whole, and when the positioning block is completely retracted, the traveling system is switched to the tire form.

The positioning anti-overturning system is separated from coordination of reconstruction of the form of the traveling system through extension and retraction of the positioning block, integral rotation of the traveling system in the form of a tire is not interfered, the driving wheel of the traveling system is positioned on the upper part of the traveling system and far away from the ground when the traveling system is in the form of a crawler wheel, overturning is avoided, internal components are protected, stable meshing of the driving wheel and a crawler is facilitated, meanwhile, the traveling system can swing according to the terrain, and the smoothness of the traveling system is improved. The system does not need a sensor and an electronic control element, can stably, accurately and repeatedly play a role in the advancing process of the walking system, and has high reliability.

It should be further noted that, in the present invention, the support frame assembly, the cooperating mechanism assembly, the driving wheel adjusting mechanism, the driving wheel power transmission device, the clutch assembly, and the form control device adopt a single-side part to still realize all functions of the traveling system. The clutch assembly can adopt a rotary key, and the form control device can adopt a single hydraulic cylinder, or a single electric cylinder, or a single energy accumulator, a single hydraulic cylinder and a single air cylinder.

The foregoing is only a preferred embodiment of the invention and it should be noted that modifications and embellishments could be made by those skilled in the art without departing from the principle of the invention and should be considered as the scope of the invention.

Claims (68)

1. The reconfigurable rubber crawler traveling system is characterized in that: the traveling system has two forms of a tire and a crawler wheel, and is circular in shape when in the tire form and can rotate integrally; when the crawler wheel is in a shape, the wheel system drives the rubber crawler, so that the rubber crawler rotates around the outer periphery of the wheel system, and the grounding area is adjustable; the conversion between the two forms and the adjustment of the ground contact area in the form of the track wheel are collectively called form reconstruction; the walking system can realize form reconstruction in the process of traveling, and the circumference of the rubber track is kept stable in the form reconstruction process.

2. The reconfigurable rubber crawler travel system of claim 1, wherein: the walking system comprises a rubber crawler, a wheel system and a control system, wherein the rubber crawler surrounds the periphery of the wheel system, and the control system is used for controlling the relative movement of all components in the wheel system and the movement of the wheel system relative to a vehicle body.

3. The reconfigurable rubber crawler travel system of claim 2, wherein: the wheel train comprises a support frame assembly, a rubber track positioning device, a central shaft assembly body, a cooperation mechanism assembly, a driving wheel assembly body, a driving wheel adjusting mechanism, a driving wheel power transmission device, a loading wheel chain assembly body and a clutch assembly;

the support frame assembly penetrates through the whole gear train, and the main body of the support frame assembly is a support frame assembly body used for supporting other components of the gear train;

the rubber track positioning device is arranged on the support frame assembly, and when the walking system is in a tire shape, the rubber track positioning device contacts the rubber track to prevent the outer peripheral side of the rubber track ring gear train from rotating; when the traveling system is in the form of crawler wheels, the rubber crawler positioning device is separated from contact with the rubber crawler;

the central shaft assembly is hinged with the support frame assembly and connected with a vehicle power output part, and the main body of the central shaft assembly is a central shaft and used for providing walking power for the whole walking system;

the cooperative mechanism assembly is arranged on the support frame assembly and connected with the clutch assembly, the main body of the cooperative mechanism assembly is a cooperative mechanism, the driving wheel adjusting mechanism and the multiple loading wheel chain assembly bodies are arranged on the cooperative mechanism assembly, and the driving wheel adjusting mechanism, the clutch assembly and the multiple loading wheel chain assembly bodies move relatively under the coordination action of the cooperative mechanism assembly;

The driving wheel adjusting mechanism is provided with a driving wheel assembly, and the driving wheel adjusting mechanism adjusts the position of the driving wheel assembly under the action of the cooperative mechanism assembly so as to enable the driving wheel assembly to be separated from or contact with the rubber track; the driving wheel power transmission device is connected with the central shaft assembly body and transmits the power of the central shaft assembly body to the driving wheel assembly body; under the form of a crawler wheel, the driving wheel assembly is contacted with the rubber crawler under the action of the driving wheel adjusting mechanism and is meshed with the rubber crawler under the action of the driving wheel power transmission device to drive the outer peripheral side of the rubber crawler ring gear train to rotate; under the tire form, the driving wheel assembly is separated from the rubber track under the action of the driving wheel adjusting mechanism;

the loading wheel chain assembly is formed by sequentially connecting and connecting a plurality of components for mounting loading wheels in series in a hinged mode, and the loading wheels on the loading wheel chain assembly can support or roll the rubber crawler and play a role in guiding the rubber crawler to rotate around the outer periphery of the wheel system;

the clutch assembly is connected with the support frame assembly and the central shaft assembly, and the central shaft assembly is separated from or connected with the support frame assembly under the action of the cooperative mechanism assembly.

4. The reconfigurable rubber track walking system of claim 3, wherein: the rubber track positioning device comprises a positioning shaft and a track positioning plate, the positioning shaft is fixedly connected to the track positioning plate, and the track positioning plate is fixedly connected to the support frame assembly body.

5. The reconfigurable rubber crawler travel system of claim 4, wherein: the positioning shaft is sleeved with a rubber sleeve or a rubber round pad or a flat washer.

6. The reconfigurable rubber crawler travel system of claim 4, wherein: the track positioning plate is of a bent thin plate-shaped structure.

7. The reconfigurable rubber crawler travel system of claim 4, wherein: at least one positioning shaft is arranged at the bottom of the track positioning plate, and the distance between the positioning shafts can be matched with the pitch of the rubber track.

8. The reconfigurable rubber crawler travel system of claim 3, wherein: the cooperation mechanism comprises a plurality of connecting rod mechanisms and turntables, the connecting rod mechanisms and the turntables are installed on a support frame assembly body, the turntables are hinged with the support frame assembly body, each connecting rod mechanism is provided with a transverse pull rod, and the transverse pull rods move in a translation mode when the turntables rotate.

9. The reconfigurable rubber track walking system of claim 8, wherein: the turntable is coaxially hinged with the central shaft assembly body on the support frame assembly.

10. The reconfigurable rubber track walking system of claim 8, wherein: the support frame assembly limits the rotation range of the turntable.

11. The reconfigurable rubber track walking system of claim 10, wherein: the inner side of the support frame assembly body is provided with a plurality of limiting bosses, the limiting boss ring turntables are distributed relative to the axis of rotation of the support frame assembly body, the turntables are provided with limiting protrusions, and the limiting protrusions are located between adjacent limiting bosses, so that the rotation range of the turntables relative to the support frame is limited.

12. The reconfigurable rubber crawler travel system of claim 8, wherein: the connecting rod mechanism comprises a turntable pull rod, a transverse pull rod and an anti-overturning mechanism; one end of the rotary table pull rod is hinged with the rotary table, the other end of the rotary table pull rod is hinged with the transverse pull rod, and the transverse pull rod is hinged with the anti-overturning mechanism; the support frame assembly body, the rotary table, the single rotary table pull rod, the single transverse pull rod and the single anti-overturning mechanism form a salusis link mechanism, so that the transverse pull rod can translate when the rotary table rotates, the support frame assembly body and the rotary table are shared by the plurality of link mechanisms to form the plurality of salusis link mechanisms, and the plurality of transverse pull rods can translate linearly when the rotary table rotates.

13. The reconfigurable rubber track walking system of claim 12, wherein: the anti-overturning mechanism consists of a positioning base, a base connecting rod and a flat dragging connecting rod, wherein the positioning base is fixedly connected to the support frame assembly body; one end of the base connecting rod is hinged with the positioning base, the other end of the base connecting rod is hinged with one end of the horizontal dragging connecting rod, and the other end of the horizontal dragging connecting rod is hinged with the transverse pull rod.

14. The reconfigurable rubber crawler travel system of claim 8, wherein: the cooperative mechanism further comprises a plurality of suspension pull rods, and the suspension pull rods are connected with the connecting rod mechanisms or hinged with the support frame assembly.

15. The reconfigurable rubber track walking system of claim 14, wherein: the suspension pull rods comprise synchronous suspension pull rods, the synchronous suspension pull rods are hinged on the transverse pull rods in pairs, and the two synchronous suspension pull rods are connected through a gear pair.

16. The reconfigurable rubber track walking system of claim 15, wherein: one of the synchronous suspension pull rods and the turntable pull rod are coaxially hinged on the transverse pull rod.

17. The reconfigurable rubber track walking system of claim 15, wherein: the transverse tie rod limits the range of motion of the synchronous suspension tie rod relative to the transverse tie rod.

18. The reconfigurable rubber track walking system of claim 17, wherein: the synchronous suspension pull rod is fixedly connected with a positioning pin, the transverse pull rod is provided with a limiting hole, and the positioning pin moves in the range of the limiting hole.

19. The reconfigurable rubber track walking system of claim 15, wherein: the synchronous suspension strut has a gear tooth portion.

20. The reconfigurable rubber crawler travel system of claim 8, wherein: the support frame assembly is provided with two support frame assembly bodies, namely an inner support frame assembly body and an outer support frame assembly body; the inner side support assembly body is fixedly connected with the outer side support assembly body; the cooperative mechanism assembly is provided with two cooperative mechanisms, the two cooperative mechanisms are respectively arranged on the support frame assembly bodies on the two sides, and the two cooperative mechanisms are connected through a synchronous component to realize synchronous motion of the corresponding components of the two cooperative mechanisms.

21. The reconfigurable rubber track walking system of claim 20, wherein: the inner side support assembly and the outer side support assembly are fixedly connected together through a support frame connecting piece.

22. The reconfigurable rubber track walking system of claim 20, wherein: corresponding transverse pull rods in the two cooperative mechanisms are connected together through a synchronizing component.

23. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the driving wheel adjusting mechanism comprises a driving wheel installation shaft and a swinging arm, a driving wheel assembly is hinged to the driving wheel installation shaft, one end of the swinging arm is hinged to the driving wheel installation shaft, and the other end of the swinging arm is installed on the cooperative mechanism assembly.

24. The reconfigurable rubber track walking system of claim 23, wherein: the other end of the swing arm is hinged with a rotary disc on the cooperative mechanism assembly.

25. The reconfigurable rubber track walking system of claim 24, wherein: the drive wheel installation axle has the guide block, is fixed with the limiting plate on the support frame assembly body, the limiting plate is equipped with the guide way, the guide block of drive wheel installation axle is arranged in the guide way and rather than forming the sliding pair.

26. The reconfigurable rubber track walking system of claim 23, wherein: the swing arm and the driving wheel assembly body are coaxially hinged on the driving wheel mounting shaft.

27. The reconfigurable rubber track walking system of claim 26, wherein: and a sealing ring is arranged between the swing arm and the driving wheel assembly.

28. The reconfigurable rubber track walking system of claim 3, wherein: the driving wheel power transmission device adopts chain transmission.

29. The reconfigurable rubber track walking system of claim 23, wherein: drive wheel power transmission device includes center pin sprocket, carousel sprocket, drive sprocket, swing arm chain and carousel chain, and the center pin sprocket links firmly on the center pin assembly body, and the carousel sprocket is articulated with the carousel, and drive sprocket links firmly on the drive wheel assembly body, and the carousel chain is installed on center pin sprocket and carousel sprocket, and the swing arm chain is installed on carousel sprocket and drive sprocket.

30. The reconfigurable rubber track walking system of claim 29, wherein: the swing arm and the turntable chain wheel are coaxially hinged on the turntable.

31. The reconfigurable rubber track walking system of claim 30, wherein: and a sealing ring is arranged between the swing arm and the turntable chain wheel.

32. The reconfigurable rubber track walking system of claim 29, wherein: the rotary table chain wheel is hinged with the rotary table through a chain wheel mounting shaft.

33. The reconfigurable rubber track walking system of claim 29, wherein: the driving wheel assembly body includes integral key shaft and drive wheel, the integral key shaft is articulated with drive wheel installation axle, the drive wheel links firmly with the integral key shaft, the drive sprocket suit is on the integral key shaft, and the integral key shaft tip links firmly the end cover, and the removal of end cover restriction drive wheel and drive sprocket to make both link firmly with the integral key shaft.

34. The reconfigurable rubber track walking system of claim 33, wherein: the driving wheel mounting shaft penetrates through a through hole in the middle of the end cover, and a sealing ring is mounted between the swing arm and the end cover.

35. The reconfigurable rubber crawler travel system according to claim 14 or 15, wherein: the loading wheel chain assembly comprises a loading wheel and a loading wheel suspension, wherein the loading wheel is arranged on the loading wheel suspension, and the loading wheel suspension is sequentially hinged in series.

36. The reconfigurable rubber track walking system of claim 35, wherein: the bogie wheel suspension is sequentially hinged with the suspension pull rod.

37. The reconfigurable rubber track walking system of claim 35, wherein: the suspension pull rod still includes bottom suspension pull rod and top suspension pull rod articulated with the support frame assembly body, the bogie wheel suspension is articulated with bottom suspension pull rod, synchronous suspension pull rod and top suspension pull rod in proper order, or, the bogie wheel suspension is articulated with bottom suspension pull rod, synchronous suspension pull rod and bottom suspension pull rod in proper order, thereby realize bearing weight wheel chain assembly body and be connected of cooperating the mechanism, under cooperating the effect of mechanism, the form of bearing weight wheel chain assembly body can be followed and become the arc and flare-out gradually to straightening completely, it corresponds traveling system's tire form to bend into the arc, the extreme condition of traveling system's crawler wheel form is flare-out completely, the process of flare-out then corresponds crawler wheel form area crescent gradually, vice versa, thereby provide the condition for traveling system ground connection area adjustment.

38. The reconfigurable rubber track walking system of claim 35, wherein: the two ends of the bogie wheel suspension are provided with the plug plate structures or the two ends of the bogie wheel suspension are provided with the plug plate structures, or one end of the bogie wheel suspension is provided with the plug plate structures, and the other end of the bogie wheel suspension is provided with the plug plate structures.

39. The reconfigurable rubber track walking system of claim 35, wherein: the bogie wheel is connected to the bogie wheel suspension through a bogie wheel mounting shaft.

40. The reconfigurable rubber track walking system of claim 39, wherein: the bogie wheel is hinged at two ends of a bogie wheel mounting shaft, and the bogie wheel mounting shaft is fixedly connected with the bogie wheel suspension.

41. The reconfigurable rubber track walking system of claim 35, wherein: the bogie wheel may be replaced by a sector, the bogie wheel suspension limiting the movement of the sector.

42. The reconfigurable rubber track walking system of claim 41, wherein: the fan-shaped blocks are connected to the bogie wheel suspension through the bogie wheel mounting shaft.

43. The reconfigurable rubber track walking system of claim 42, wherein: the fan-shaped blocks are arranged at two ends of the loading wheel mounting shaft, the fan-shaped blocks at the two ends are fixedly connected together through a connecting plate, and the connecting plate penetrates through a cavity structure of the loading wheel suspension frame, so that the movement of the connecting plate is limited.

44. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the clutch assembly comprises a clutch disc and a rotary key, the clutch disc is fixedly connected with the central shaft assembly, the rotary key is hinged with the support frame assembly, and the rotary angle of the rotary key relative to the support frame assembly is controlled by the cooperation mechanism assembly to realize the connection or separation of the central shaft assembly and the support frame assembly.

45. The reconfigurable rubber track walking system of claim 44, wherein: the rotating disc of the cooperative mechanism controls the rotation of the rotating key.

46. The reconfigurable rubber track walking system of claim 45, wherein: the turntable is fixedly connected with a control pin; the rotary key is provided with an inner groove, the inner groove can be in plug-in fit with the control pin, the rotary disc is inserted into the inner groove through the control pin when rotating, and the rotary key is shifted to control the rotation angle of the rotary key.

47. The reconfigurable rubber track walking system of claim 46, wherein: the rotary key is connected with the support frame assembly through the elastic element, and when the rotary key is not acted on by the rotary disc, the elastic element presses the rotary key at a fixed position relative to the support frame assembly body.

48. The reconfigurable rubber track walking system of claim 47, wherein: the support frame assembly is fixedly connected with a rotary key positioning pin, the rotary key is fixedly connected with a limiting pin, one end of the elastic element is connected with the limiting pin, the other end of the elastic element is connected with the rotary key positioning pin, and the limiting pin is pressed on the rotary key positioning pin when the rotary key is not acted on by the rotary table.

49. The reconfigurable rubber track walking system of claim 44, wherein: a plurality of semicircular grooves are uniformly distributed on the outer circumference of the clutch disc, and a turnkey groove structure is arranged at the position corresponding to the clutch disc after the turnkey is installed.

50. The reconfigurable rubber track walking system of claim 44, wherein: the clutch assembly is provided with two rotary keys, the installation positions of the two rotary keys on the support frame assembly are symmetrical, and the installation directions are opposite.

51. The reconfigurable rubber track walking system of claim 44, wherein: the support frame assembly further comprises a rotary key mounting frame, the rotary key mounting frame is fixed on the support frame assembly body, and the rotary key is mounted on the rotary key mounting frame.

52. The reconfigurable rubber crawler travel system of claim 51, wherein: the rotating key mounting rack is fixedly connected to the support frame connecting piece.

53. The reconfigurable rubber crawler travel system of claim 51, wherein: the position that the turnkey mounting bracket corresponds with the clutch disc is provided with a turnkey mounting bracket inner groove, and the turnkey mounting bracket inner groove does not interfere with the turnkey mounting bracket when the clutch disc rotates relative to the support frame assembly.

54. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the control system is provided with a form control device which is a controllable force or displacement output device and is arranged between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or between the internal components of the cooperative mechanism assembly, or between the internal components of the driving wheel adjusting mechanism, and the form reconstruction of the walking system is realized by controlling the movement of the cooperative mechanism assembly, the loading wheel chain assemblies and the driving wheel adjusting mechanism.

55. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the control system is provided with a form control device, the form control device comprises a controllable hydraulic power unit, a hydraulic cylinder, a hydraulic rotary joint, a pipeline and a hydraulic valve, and pressure oil is transmitted to the hydraulic cylinder through the hydraulic rotary joint arranged at the end part of the central shaft and the pipeline; or the form control device comprises an electric control unit, an electric cylinder and a conductive slip ring, the conductive slip ring is arranged at the end part of the central shaft, and the electric control unit supplies power to the electric cylinder and controls the electric cylinder to act through a lead and the conductive slip ring.

56. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the central shaft is of a hollow structure.

57. The reconfigurable rubber track walking system of claim 56, wherein: the hollow structure is an oil passage or an air passage or a wire passage.

58. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the control system has a form control device consisting of a base force assist device capable of storing and releasing potential energy and capable of outputting a force large enough but not enough to displace the load at the time of maximum potential energy with the load at the potential energy lowest position, and a control force output device; the control force output device provides a controllable force or displacement output, enabling the position adjustment of the load with a smaller force on the basis of the force provided by the basic force assisting device.

59. The reconfigurable rubber track walking system of claim 58, wherein: the basic force assisting device is composed of an energy accumulator, a hydraulic cylinder mounting frame and an oil pipe, wherein the energy accumulator is fixed on a support frame connecting piece and connected with the hydraulic cylinder, and the hydraulic cylinder is mounted between any two of the support frame assembly, the cooperative mechanism assembly, a plurality of loading wheel chain assembly bodies and the driving wheel adjusting mechanism, or mounted between internal components of the cooperative mechanism assembly, or mounted between internal components of the driving wheel adjusting mechanism.

60. The reconfigurable rubber track walking system of claim 59, wherein: the control force output device is composed of a cylinder connected with a central inflation and deflation system of the vehicle, the output force or displacement of the cylinder is controlled by controlling the output pressure of the central inflation and deflation system, and the cylinder is arranged between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or between the components in the cooperative mechanism assembly, or between the components in the driving wheel adjusting mechanism.

61. The reconfigurable rubber crawler travel system according to claim 3, 8 or 20, wherein: the control system is also provided with a positioning anti-overturning system, the positioning anti-overturning system comprises a positioning block telescopic mechanism and a positioning block escapement mechanism, and the positioning block telescopic mechanism is cooperated with the form reconstruction process of the traveling system, so that the positioning block can rapidly extend out when the tire form is converted into the crawler wheel form, the extending length of the positioning block is kept stable when the crawler wheel form is converted into the crawler wheel form, and the positioning block can rapidly retract when the crawler wheel form is converted into the tire form; the positioning block telescoping mechanism is matched with a positioning block escapement mechanism fixed on the frame or the wheel-side reducer shell in a telescoping and inserting mode, and after a positioning block of the positioning block telescoping mechanism extends out for a certain length, the positioning block escapement mechanism receives the positioning block and locks the movement range of the positioning block, so that the walking system is prevented from overturning.

62. The reconfigurable rubber track walking system of claim 61, wherein: the positioning block telescopic mechanism comprises a swing rod, an anti-overturning rod and a positioning block, one end of the swing rod is hinged to a guide block on a mounting shaft of a driving wheel of the traveling system, the other end of the swing rod is hinged to one end of the anti-overturning rod, the anti-overturning rod and the support frame assembly form a moving pair, and the other end of the anti-overturning rod is fixedly connected with the positioning block.

63. The reconfigurable rubber track walking system of claim 61, wherein: the positioning block escapement mechanism comprises a swinging plate, a swinging plate bracket, a return spring and a buffer spring; the swing plate support is fixedly connected to the positions of the vehicle bodies such as a hub reduction gear shell or a vehicle frame; the two swing plates are respectively positioned at two sides of the swing plate bracket and hinged with the swing plate bracket; the return spring and the buffer spring define an initial position of the swing plate, the return spring is used for providing restoring force after the swing plate is pressed down by the positioning block, and the buffer spring is used for providing buffer force when the swing plate is picked up by the positioning block.

64. The reconfigurable rubber track walking system of claim 63, wherein: the swing plate support is fixedly connected to the mounting seat, and the mounting seat is fixedly connected to the positions of the wheel-side reducer shell or the frame and other vehicle bodies.

65. The reconfigurable rubber track walking system of claim 63, wherein: the swing plate is hinged on the swing plate bracket through a pin shaft.

66. The reconfigurable rubber track walking system of claim 63, wherein: the reset spring is a spring piece, one end of the spring piece is fixed on the swing plate support, and the other end of the spring piece is matched with a reset pin fixed on the swing plate.

67. The reconfigurable rubber track walking system of claim 63, wherein: the buffer spring is a spring leaf and is fixedly arranged on the swing plate bracket and can be contacted with the swing plate.

68. The reconfigurable rubber track walking system of claim 63, wherein: the reset spring is a torsion spring, is sleeved on the pin shaft, and has one end fixed on the swinging plate and the other end fixed on the swinging plate bracket.

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