CN114537544B - Wheel-track coupling robot chassis based on separated track structure - Google Patents
Wheel-track coupling robot chassis based on separated track structure Download PDFInfo
- Publication number
- CN114537544B CN114537544B CN202210184901.5A CN202210184901A CN114537544B CN 114537544 B CN114537544 B CN 114537544B CN 202210184901 A CN202210184901 A CN 202210184901A CN 114537544 B CN114537544 B CN 114537544B
- Authority
- CN
- China
- Prior art keywords
- wheel
- track
- robot chassis
- bearing
- chassis based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a wheel-track coupling robot chassis based on a separated track structure, which comprises: wheel body, automobile body, shift fork, track, gear motor, shaft coupling, main shaft, steering wheel, the wheel body sets up in the both sides of automobile body, be equipped with the track on the wheel body, the wheel body includes: the device comprises a riding wheel, a hanging wheel, a driving wheel, a plurality of bearing wheels and an inducer, wherein the driving wheel, the plurality of bearing wheels and the inducer are sequentially arranged; the main shaft runs through the vehicle body, one end of the main shaft is connected with the coupler, the coupler is connected with the speed reduction motor, the other end of the main shaft is sequentially connected with the change gear and the driving wheel, steering gears are arranged on two sides of the vehicle body and connected with the shifting fork, and the shifting fork is located on the upper side of the wheel body. The wheel-track coupling robot chassis has the characteristics of simple structure and low cost, and reduces the installation difficulty of a suspension system.
Description
Technical Field
The invention relates to the technical field of wheel-track robots, in particular to a wheel-track coupling robot chassis based on a separated track structure.
Background
Nowadays, cross-country robots are increasingly used to perform dangerous tasks such as rescue, mine clearance, and investigation, and the chassis, as the "legs" of the robot, directly determines the mobility of the robot. Currently, the existing cross-country robot traveling mechanism mainly includes three types: one is a wheel type walking mechanism, which is suitable for the rapid movement of the robot on a flat road surface, but when facing a complex terrain, the obstacle crossing capability of the robot is limited, and the robot is easy to break down; the second is a crawler-type walking mechanism, the robot has strong obstacle crossing capability and is suitable for moving among rugged and uneven complex terrains, but the resistance is large, so the moving speed is slow; and the third is a leg type walking mechanism, and the robot has good flexibility, but general speed, complex structure and less application.
Meanwhile, in the prior art, a wheel-track type robot integrating wheel type and crawler type can not only run on harsh terrains such as ruins and marshes, but also run on a flat road surface at a high speed, but the existing wheel-track field coupling robot cannot use a rigid crawler, but the flexible crawler is not wear-resistant and cannot be used under the conditions of high temperature, corrosion and the like; or when the robot is converted into wheel type operation, the wheels are not round enough, and strong vibration of the robot can be caused; in addition, the crawler-type robot has too high processing requirements, so that the crawler-type robot cannot be widely applied.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a wheel-track coupling robot chassis based on a separated track structure, the wheel-track coupling robot chassis separates or joints a track with a driving wheel and a bearing wheel by using a shifting fork arranged on a steering engine, and the shortening amount of the track when the track is not grounded is compensated by the movement of a supporting wheel.
In order to achieve the purpose, the invention adopts the following technical scheme: a wheel-track coupling robot chassis based on a separated track structure comprises: wheel body, automobile body, shift fork, track, gear motor, shaft coupling, main shaft, steering wheel, the wheel body sets up in the both sides of automobile body, be equipped with the track on the wheel body, the wheel body includes: the device comprises a riding wheel, a hanging wheel, a driving wheel, a plurality of bearing wheels and an inducer, wherein the driving wheel, the plurality of bearing wheels and the inducer are sequentially arranged; the main shaft runs through the vehicle body, one end of the main shaft is connected with the coupler, the coupler is connected with the speed reduction motor, the other end of the main shaft is sequentially connected with the change gear and the driving wheel, steering gears are arranged on two sides of the vehicle body and connected with the shifting fork, and the shifting fork is located on the upper side of the wheel body.
Further, the track trench of shift fork is located the top of track.
Furthermore, the steering engine is connected with the vehicle body through a steering engine support, a crank is arranged on the steering engine, a pin shaft groove is formed in the shifting fork, and the crank is connected with the pin shaft groove through a pin shaft.
Further, the bearing wheels are connected with the vehicle body through a suspension system.
Further, the suspension system includes: balance elbow, bearing frame, bumper shock absorber external member, the one end of balance elbow is connected with the pivot of bearing wheel, the other end of balance elbow passes through bearing frame and car connection, the one end of bumper shock absorber external member sets up on balance elbow, the other end of bumper shock absorber external member is through hanging hard point and car connection.
Furthermore, the rotating shaft of the belt supporting wheel is connected with the vehicle body through a belt supporting wheel frame, the belt supporting wheel frame is connected with one end of a belt supporting wheel tension spring, and the other end of the belt supporting wheel tension spring is connected with the vehicle body through a belt supporting wheel spring hook.
Furthermore, a tension wheel is arranged between the driving wheel and the first bearing wheel.
Further, the wheel body also comprises a lower guide wheel.
Further, the diameter of the grooves on the supporting belt wheel and the inducer is larger than that of the grooves on the bearing wheel.
Further, the track is a rigid track.
Compared with the prior art, the invention has the following beneficial effects: the supporting belt wheel is arranged above the inducer, so that the crawler belt does not need to contract or stretch in the switching process of the driving wheel and the change gear, and meanwhile, the crawler belt is a rigid crawler belt and has the characteristics of wear resistance and use under the conditions of high temperature, corrosion and the like; according to the invention, the bearing wheel can be selected according to the weighing quality, so that the roundness of the driving wheel and the inducer is ensured, and the wheel-track coupling mechanism cannot vibrate strongly during wheel type operation; according to the invention, the shifting fork is driven by the steering engine to move transversely, and the track is moved to the driving wheel or the change gear, so that the chassis of the wheel-track type coupling robot is converted in a track type operation mode or a wheel type operation mode. The wheel-track coupling robot chassis based on the separated track structure has the characteristics of simple structure, high reliability and convenience in popularization.
Drawings
FIG. 1 is a schematic structural diagram of a wheel-track coupled robot chassis based on a separated track structure according to the present invention;
FIG. 2 is a side view of the wheel-track coupled robot chassis based on a separated track structure;
FIG. 3 is a schematic view of the connection between a shifting fork and a steering engine according to the present invention;
FIG. 4 is a schematic view of the connection of the load bearing wheels to the suspension system of the present invention;
the device comprises a vehicle body 1, a pulley spring hook 101, a suspension upper hard point 102, a shifting fork 2, a track groove 201, a pin shaft groove 202, a driving wheel 3, a chain 4, a first bearing wheel 5, a bearing wheel 6, an inducer 7, a pulley 8, a pulley carrier 801, a pulley tension spring 9, a lower guide wheel 802, a track 10, a suspension system 11, a balance elbow 1101, a bearing seat 1102, a bearing seat 1103, a shock absorber kit, a speed reducing motor 12, a coupler 13, a spindle 14, a hanging wheel 15, a steering engine 16, a steering engine bracket 1601, a crank 1602 and a pin shaft 1603.
Detailed Description
The technical solution of the present invention is further explained below with reference to the accompanying drawings.
Referring to fig. 1-2, the invention provides a wheel-track coupled robot chassis based on a separated track structure, comprising: wheel body, automobile body 1, shift fork 2, track 10, gear motor 12, shaft coupling 13, main shaft 14, steering wheel 16, the wheel body sets up in the both sides of automobile body 1, is equipped with track 10 on the wheel body, and the wheel body includes in the invention: the wheel carrier 8, the hanging wheel 15, the driving wheel 3, the bearing wheels 6 and the inducer 7 are sequentially arranged, the number of the bearing wheels 6 can be determined according to the bearing requirement of the vehicle body 1, so that the roundness of the wheel body is ensured, and the wheel-track type coupling robot chassis is not easy to vibrate when in wheel type operation; the driving wheel 3 is connected with the first bearing wheel 5 through the chain 4, and power is transmitted to the first bearing wheel 5 through the driving wheel 3 to keep a constant average transmission ratio between the driving wheel 3 and the first bearing wheel 5, so that the first bearing wheel 5 is prevented from being greatly abraded, the distance between the driving wheel 3 and the first bearing wheel 5 is not required to be limited, and the adjustment is convenient; the change gear 15 sets up between action wheel 3 and automobile body 1 for when wheeled operation, track 10 is hung on change gear 15, and guarantees that the bottom of track 10 does not contact with ground, and conveniently interacts track 10 with action wheel 3, specifically, through the lateral shifting of shift fork 2, makes track 10 lateral shifting, relies on track 10 friction to make action wheel 3 and change gear 15 synchronous operation during the removal, then interacts. The carrier roller 8 is arranged above the inducer 7, and the caterpillar 10 is tensioned through the carrier roller 8, so that the caterpillar 10 is tightened by the tensioning force when the wheel type running is carried out, the drooping amount is reduced, and the caterpillar 10 cannot be abraded by grounding. The diameters of the grooves on the carrier wheel 8 and the inducer 7 are larger than the diameter of the groove on the bearing wheel 6, so that the transverse position of the crawler belt 10 can be maintained, and the crawler belt 10 is prevented from falling off. Meanwhile, the crawler belt 10 in the present invention is a rigid crawler belt, which has characteristics of wear resistance and being usable under conditions of high temperature, corrosion, etc. The main shaft 14 penetrates through the vehicle body 1, one end of the main shaft 14 is connected with the coupler 13, the coupler 13 is connected with the gear motor 12, the other end of the main shaft 14 is sequentially connected with the change gear 15 and the driving wheel 3, the steering gears 16 are arranged on two sides of the vehicle body 1, the steering gears 16 are connected with the shifting forks 2, the shifting forks 2 are positioned on the upper side of the vehicle body, the shifting forks 2 are driven by the steering gears 16 to transversely move, when the track 10 is moved to the driving wheel 3 by the shifting forks 2, the driving wheel 3 rotates by the coupler 13 when the gear motor 12 works, so that the driving wheel 3 runs, the power of the driving wheel 3 is transmitted to the first bearing wheel 5 through the chain 4, the track 10 is sequentially hung on the driving wheel 3, the bearing wheel 6, the inducer 7 and the riding wheel 8, and the crawler running of the coupling mechanism is achieved; when the shifting fork 2 shifts the track 10 to the change gear 15, the track 10 is sequentially hung on the change gear 15, the inducer 7 and the carrier roller 8, the speed reduction motor 12 drives the main shaft 14 to rotate through the coupler 13 when working, so that the operation of the driving wheel 3 is realized, the power of the driving wheel 3 is transmitted to the first bearing wheel 5 through the chain 4, and the coupling mechanism is converted from the track type operation to the wheel type operation. The wheel-track coupling robot chassis based on the separated track structure separates or joints the track 10 with the driving wheel 3 and the bearing wheel 6 through the use of the shifting fork 2 and the carrier wheel 8, and has the characteristics of simple structure and low cost.
As shown in fig. 3, which is a schematic connection diagram of the shifting fork and the steering engine in the present invention, the track groove 201 of the shifting fork 2 is located above the track 10, so that the shifting fork 2 can conveniently shift the track 10 to the driving wheel 3 or the change gear 15 to compensate the sagging of the track 10 according to the operation mode of the wheel-track coupling mechanism. According to the invention, a steering engine 16 is connected with a vehicle body 1 through a steering engine support 1601, a crank 1602 is arranged on the steering engine 16, a pin shaft groove 202 is arranged on a shifting fork 2, the crank 1602 is connected with the pin shaft groove 202 through a pin shaft 1603, the crank 1602 on the steering engine 16 is driven by the steering engine 16 to rotate 180 degrees and drives the shifting fork 2 to move transversely through a crawler belt groove 201, so that the shifting fork 2 drives a crawler belt to change wheel tracks.
Referring to fig. 4, the load-bearing wheel 6 of the present invention is connected to the vehicle body 1 through a suspension system 11, and the suspension system 11 includes: the balance elbow 1101, a bearing seat 1102 and a shock absorber suite 1103 are arranged on the vehicle body 1, one end of the balance elbow 1101 is connected with a rotating shaft of the bearing wheel 6, the other end of the balance elbow 1101 is connected with the vehicle body through the bearing seat 1102, one end of the shock absorber suite 1103 is arranged on the balance elbow 1101, and the other end of the shock absorber suite 1103 is connected with the vehicle body 1 through a suspension upper hard point 102. The suspension system 11 does not occupy the space in the vehicle, the lever ratio of suspension can be changed by changing the position of the hard point 102 on the suspension, and based on the Kreisti suspension design, the suspension characteristic curve can be obtained to be a concave function, so that the wheel-track coupling mechanism has good damping effect when operating on uneven low road surfaces and has strong bearing capacity when operating on uneven high road surfaces.
According to the invention, the rotating shaft of the belt supporting wheel 8 is connected with the vehicle body 1 through the belt supporting wheel frame 801, the belt supporting wheel frame 801 is connected with one end of the belt supporting wheel tension spring 802, and the other end of the belt supporting wheel tension spring 802 is connected with the vehicle body 1 through the belt supporting wheel spring hook 101, so that when the wheel track is switched, the elongation of the crawler 10 is compensated conveniently, and the tension of the crawler 10 can be adjusted through the position of the belt supporting wheel tension spring 802.
In one technical scheme of the invention, when the relative position of the driving wheel 3 and the first bearing wheel 5 changes and the variation is large, the chain 4 is ensured to be tensioned when the suspension is in no-load, the chain 4 cannot be loosened when the suspension breaks down, and if the chain is loosened, a tension wheel needs to be arranged between the driving wheel 3 and the first bearing wheel 5.
In one technical scheme of the invention, the driving wheel 3 and the bearing wheel 6 are larger, the torsional section coefficient of the track 10 is smaller, when the relative position of the driving wheel 3 and the first bearing wheel 5 is far or the relative position changes and the change amount is larger, the track is changed from a wheel type to a track type, and the track 10 is clamped on the inner side of the bearing wheel 6 instead of the bearing wheel 6 pressing the track 10 to complete the change due to the larger torsional deformation of the track 10, so that a lower guide wheel needs to be arranged in a wheel body, the lower side line of the lower guide wheel is slightly higher than that of the first bearing wheel 5, and the transverse position of the lower guide wheel is close to the first bearing wheel 5.
The working process of the wheel-track coupling robot chassis based on the separated track structure specifically comprises the following steps:
(1) When the wheel-track coupling robot chassis is changed from a wheel type to a track type, the crank 1602 of the steering engine 16 rotates to drive the shifting fork 2 to move linearly inwards, the shifting fork 2 pulls the track 10 to deviate towards one side of the vehicle body 1, at the moment, the track 10 firstly moves into the change gear 15 from the driving wheel 3 and then continuously slides until the track 10 is separated from the bearing wheel 6 and does not contact with the side face of the bearing wheel 6, at the moment, because the resistance of the deformation of the track 10 is large, the resistance is larger than the resistance of a thrust ball bearing between the driving wheel 3 and the change gear 15, the track 10 is basically static when in wheel type operation.
(2) When the wheel-track coupling robot chassis performs track type operation, a track 10 is arranged on a driving wheel 3, a bearing wheel 6, an inducer 7 and a supporting belt wheel 8, at the moment, the track 10 is grounded, a shaft coupling 13 of a speed reducing motor 12 drives a main shaft 14 to rotate so as to realize the operation of the driving wheel 3, and at the moment, the track 10 is meshed with the driving wheel 3 and the inducer 7; the crawler belt 10 is in the fork groove 201 of the fork 2, and the steering engine 16 does not operate.
(3) When the wheel-track coupling robot chassis carries out conversion from a track type to a wheel type, a crank 1602 of a steering engine 16 rotates to drive a shifting fork 2 to move linearly outwards, the shifting fork 2 pushes a track 10 to deviate towards the outer side of a vehicle body 1, at the moment, the track 10 firstly moves into a driving wheel 3 from a hanging wheel 15 and then continuously slides until the track 10 is connected to the bottom of a bearing wheel 6 from the lower side of the vehicle body (or is separated from a lower guide wheel), at the moment, because the driving wheel 3 is meshed with the track 10, a coupling 13 of a speed reducing motor 12 drives a main shaft 14 to rotate, the operation of the driving wheel 3 is realized, and the driving wheel 3 drives the track 10 to operate.
(4) When the wheel-track coupling robot chassis performs wheel type operation, the track 10 is hung on the hanging wheel 15, the inducer 7, the carrier wheel 8 and the lower guide wheel, and has a certain distance with the ground, the distance depends on the ground clearance of the lower guide wheel and the inducer 7, the shaft coupling 13 of the speed reduction motor 12 drives the main shaft 14 to rotate, so as to realize the operation of the driving wheel 3, at the moment, the track 10 is meshed with the hanging wheel 15 and the inducer 7, the track 10 is arranged in the shifting fork groove 201 of the shifting fork 2, and the steering engine 16 does not operate.
The wheel-track type coupling robot chassis disclosed by the invention has the advantages that the track 10 is connected with the driving wheel 3 or the change gear 15 through the shifting fork 2, the conversion of wheel type or track type is realized, the structure is simple, the cost is low, and the difficulty in installing a suspension system is effectively reduced.
The above are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above embodiments, and all technical solutions that fall under the spirit of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A wheel-track coupling robot chassis based on a separated track structure is characterized by comprising: wheel body, automobile body (1), shift fork (2), track (10), gear motor (12), shaft coupling (13), main shaft (14), steering wheel (16), the wheel body sets up in the both sides of automobile body (1), be equipped with track (10) on the wheel body, the wheel body includes: the trolley comprises a riding wheel (8), a change gear (15), and a driving wheel (3), a plurality of bearing wheels (6) and an inducer (7) which are sequentially arranged, wherein the driving wheel (3) is connected with a first bearing wheel (5) through a chain (4), the change gear (15) is arranged between the driving wheel (3) and the trolley body (1), and the riding wheel (8) is arranged above the inducer (7); automobile body (1) is run through in main shaft (14), the one end and the shaft coupling (13) of main shaft (14) are connected, shaft coupling (13) are connected with gear motor (12), change gear (15) and action wheel (3) are connected gradually to the other end of main shaft (14), the both sides of automobile body (1) all are equipped with steering wheel (16), steering wheel (16) are connected with shift fork (2), shift fork (2) are located the wheel body upside.
2. The wheel-track coupled robot chassis based on the separated track structure according to claim 1, characterized in that the track groove (201) of the shift fork (2) is located above the track (10).
3. The wheel-track coupling robot chassis based on the separated track structure is characterized in that a steering engine (16) is connected with a vehicle body (1) through a steering engine support (1601), a crank (1602) is arranged on the steering engine (16), a pin shaft groove (202) is arranged on the shifting fork (2), and the crank (1602) is connected with the pin shaft groove (202) through a pin shaft (1603).
4. A wheel-track coupled robot chassis based on a split track structure according to claim 1, characterized in that the bogie wheels (6) are connected to the vehicle body (1) by a suspension system (11).
5. A wheel-track coupled robot chassis based on a split track structure according to claim 4, characterized in that the suspension system (11) comprises: balance elbow (1101), bearing frame (1102), bumper shock absorber external member (1103), the one end of balance elbow (1101) is connected with the pivot of bearing wheel (6), the other end of balance elbow (1101) passes through bearing frame (1102) and is connected with the automobile body, the one end of bumper shock absorber external member (1103) sets up on balance elbow (1101), the other end of bumper shock absorber external member (1103) is connected with automobile body (1) through hanging hard spot (102).
6. The wheel-track coupling robot chassis based on the separated track structure is characterized in that a rotating shaft of the supporting wheel (8) is connected with a vehicle body (1) through a supporting wheel frame (801), the supporting wheel frame (801) is connected with one end of a supporting wheel tension spring (802), and the other end of the supporting wheel tension spring (802) is connected with the vehicle body (1) through a supporting wheel spring hook (101).
7. The wheel-track coupling robot chassis based on the separated track structure is characterized in that a tension wheel is arranged between the driving wheel (3) and the first bearing wheel (5).
8. The wheel-track coupled robot chassis based on the separated track structure as claimed in claim 1, wherein the wheel body further comprises a lower guide wheel.
9. The wheel-track coupling robot chassis based on the separated track structure is characterized in that the diameters of grooves on the riding wheel (8) and the inducer (7) are larger than the diameter of a groove on the bearing wheel (6).
10. A wheel-track coupled robot chassis based on a split track configuration according to claim 1, characterized in that the track (10) is a rigid track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210184901.5A CN114537544B (en) | 2022-02-28 | 2022-02-28 | Wheel-track coupling robot chassis based on separated track structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210184901.5A CN114537544B (en) | 2022-02-28 | 2022-02-28 | Wheel-track coupling robot chassis based on separated track structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114537544A CN114537544A (en) | 2022-05-27 |
| CN114537544B true CN114537544B (en) | 2022-11-29 |
Family
ID=81678910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210184901.5A Active CN114537544B (en) | 2022-02-28 | 2022-02-28 | Wheel-track coupling robot chassis based on separated track structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114537544B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101469019B1 (en) * | 2014-06-05 | 2014-12-05 | 주식회사 코인즈 | Wheel track device for autonomous driving vehicle and driving robot having the same for regenerating superannuated pipes |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN107200074A (en) * | 2017-05-12 | 2017-09-26 | 利辛县凯盛汽车有限公司 | A kind of flat-bed trailer equipped with snow tire |
| CN108715190A (en) * | 2018-08-30 | 2018-10-30 | 南京工程学院 | Rotary wheel carries out converting machine people |
| CN110239637A (en) * | 2019-06-21 | 2019-09-17 | 大连交通大学 | A kind of changeable Omni-mobile chassis of wheel shoe |
| CN210191668U (en) * | 2019-06-26 | 2020-03-27 | 洛阳驰达自动化设备制造有限公司 | Wheel-track switching device of wheel-track composite vehicle |
| CN112373585A (en) * | 2020-11-16 | 2021-02-19 | 南京工程学院 | Wheel-track coupling type wheel |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7493976B2 (en) * | 2005-08-04 | 2009-02-24 | Engineering Services, Inc. | Variable configuration articulated tracked vehicle |
| JP6665502B2 (en) * | 2015-12-01 | 2020-03-13 | 東京電力ホールディングス株式会社 | Crawler type robot |
| CN106965863B (en) * | 2017-04-28 | 2023-03-21 | 河北工业大学 | Single-track wheel-track combined type passive self-adaptive robot mobile platform |
| CN206938897U (en) * | 2017-06-22 | 2018-01-30 | 滁州永强汽车制造有限公司 | A kind of achievable wheel carries out the all-terrain vehicle exchanged |
-
2022
- 2022-02-28 CN CN202210184901.5A patent/CN114537544B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101469019B1 (en) * | 2014-06-05 | 2014-12-05 | 주식회사 코인즈 | Wheel track device for autonomous driving vehicle and driving robot having the same for regenerating superannuated pipes |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN107200074A (en) * | 2017-05-12 | 2017-09-26 | 利辛县凯盛汽车有限公司 | A kind of flat-bed trailer equipped with snow tire |
| CN108715190A (en) * | 2018-08-30 | 2018-10-30 | 南京工程学院 | Rotary wheel carries out converting machine people |
| CN110239637A (en) * | 2019-06-21 | 2019-09-17 | 大连交通大学 | A kind of changeable Omni-mobile chassis of wheel shoe |
| CN210191668U (en) * | 2019-06-26 | 2020-03-27 | 洛阳驰达自动化设备制造有限公司 | Wheel-track switching device of wheel-track composite vehicle |
| CN112373585A (en) * | 2020-11-16 | 2021-02-19 | 南京工程学院 | Wheel-track coupling type wheel |
Non-Patent Citations (2)
| Title |
|---|
| Underwater terrain-aided navigation system based on combination matching algorithm;Li, Peijuan;《ISA Transactions》;20180731;80-87 * |
| 攀越式多用途履带机器人;宋争俊;《中外企业家》;20191031;150 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114537544A (en) | 2022-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6601664B2 (en) | Crawler device for a crawler type vehicle | |
| RU2302969C2 (en) | Crawler vehicle suspension system | |
| CN109649077A (en) | A kind of full terrain self-adaptive wheel is carried out and its application | |
| CN100469642C (en) | Dynamic synchronous pedrail driving device for vehicle for desert vegetation | |
| RU69480U1 (en) | SNOWMOBILE | |
| CN110539811B (en) | Crawler wheel capable of realizing mutual conversion between wheel type state and crawler type state | |
| CN108340978A (en) | A kind of replaceable triangle crawler belt wheel assembly of high-speed overload | |
| CN202006840U (en) | High-speed walking system for rubber track tractor | |
| CN112706847A (en) | Multi-swing-arm multi-suspension type crawler travel mechanism | |
| US5749423A (en) | Belted work machine | |
| CN114537544B (en) | Wheel-track coupling robot chassis based on separated track structure | |
| CN108297951B (en) | Automobile crawler belt | |
| CN208233201U (en) | A kind of endless-track vehicle swing arm Zhi Chongji structure | |
| CN111055938A (en) | Crawler chassis, all-terrain crawler and all-terrain walking method | |
| CN109649078A (en) | It is a kind of suitable for the all-terrain vehicle chassis of complex working condition and its application | |
| CN107804382B (en) | Vehicle chassis capable of surmounting obstacle | |
| CN2787541Y (en) | Shock absorbing unit for pedrail suspension | |
| CN104309687A (en) | Improved individual tank | |
| CN211568135U (en) | Crawler chassis and all-terrain crawler | |
| CN200985052Y (en) | Dynamic synchronous crawler belt walking device for desert planting machine | |
| CN208746111U (en) | A kind of adaptive transport vehicle | |
| CN111055936A (en) | Gait-adjustable wheel-track conversion walking mechanism | |
| CN108163068B (en) | Deformable robot walking device based on ellipse principle | |
| CN113002643A (en) | Novel chassis of staggered high-position four-wheel-drive tracked robot | |
| CN108749939A (en) | A kind of agricultural machinery travel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |