CN115339509A - Wheeled and track switching running device - Google Patents
Wheeled and track switching running device Download PDFInfo
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- CN115339509A CN115339509A CN202211152742.7A CN202211152742A CN115339509A CN 115339509 A CN115339509 A CN 115339509A CN 202211152742 A CN202211152742 A CN 202211152742A CN 115339509 A CN115339509 A CN 115339509A
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000012806 monitoring device Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention relates to a wheel type and crawler belt switching driving device, and belongs to the technical field of tunnel robots. The device is provided with a control platform at the end far away from the ground, and the device comprises a steering mechanism, four wheel-track switching mechanisms, a power supply, an electric motor for a bridge, a universal joint, a transmission shaft and a drive axle at the end close to the ground; the control platform is connected with the power supply, the wheel-track switching mechanism and the steering mechanism through signal lines; the steering mechanism is arranged at the front side below the device, and the two ends of the steering mechanism are respectively provided with a wheel-track switching mechanism; the power supply is connected with the steering mechanism, the bridge motor, the wheel-track switching mechanism and the control platform to supply power; the bridge motor is connected with the transmission shaft through a universal joint; the drive axle is arranged below the device and the rear side of the drive axle is connected with the transmission shaft; two ends of the drive axle are respectively provided with a wheel-track switching mechanism. The invention simultaneously sets a wheel type running mode and a track running mode on one running device, and realizes automatic switching between the two modes through the wheel-track switching mechanism so as to adapt to the running terrain and environment of the device.
Description
Technical Field
The invention belongs to the technical field of tunnel robots, and relates to a wheel type and crawler belt switching driving device.
Background
From the aspects of market demand, policy demand, technical requirements and the like, the research, development, popularization and application of the tunnel robot at present are obviously insufficient. Firstly, tunnel disasters do not belong to normal events, so the use frequency of the intelligent robot is low, the research and development iteration speed is not high, and the execution effect is influenced to a certain extent. Therefore, it is particularly important to expand the application direction of the robot, and in recent years, many robots have been developed and applied, but there is still much room for improvement in the development and design of moving devices under the robots.
At present, the moving modes of the robot are mainly divided into a wheel type moving mode and a crawler type moving mode, and the robot has wide application prospects in dangerous and severe environments such as reconnaissance, patrol, warning, danger elimination and the like. The wheel type movement has the advantages of simple mechanism, relative convenience in driving and controlling, flexibility in walking, high working efficiency and the like, but the obstacle crossing capability and the terrain adaptability are poor, and the wheel type movement is commonly used for a flat road surface. The crawler movement has the advantages of large supporting area, good traction and adhesion performance, strong terrain adaptability and the like, has higher obstacle crossing capability and good environmental adaptability under steep terrain and complex environment, but has relatively lower speed, and has very high energy consumption in the process of long-distance and high-speed movement or turning. Therefore, it is necessary to provide a driving system in which the wheel type and the crawler type can be switched.
Disclosure of Invention
In view of the above, the present invention provides a wheel-track switching travel device.
In order to achieve the purpose, the invention provides the following technical scheme:
a wheel type and crawler belt switching running device is characterized in that a control platform is arranged at the end, far away from the ground, of the device, and the end, close to the ground, of the device comprises a steering mechanism, four wheel and crawler belt switching mechanisms, a power supply, an axle motor, a universal joint, a transmission shaft and a drive axle; the control platform is connected with the power supply, the wheel-track switching mechanism and the steering mechanism through signal lines so as to control the power, the wheel-track switching and the direction of the running of the platform; the steering mechanism is arranged on the front side of the device close to the ground end, and two ends of the steering mechanism are respectively provided with a wheel-track switching mechanism so as to execute steering of the running device; the power supply is connected with the steering mechanism, the motor for the axle, the wheel-track switching mechanism and the control platform to supply power; the bridge motor is connected with the transmission shaft through the universal joint so as to transmit the power output by the bridge motor to the transmission shaft; the driving axle is arranged below the device, and the rear side of the driving axle is connected with the transmission shaft so as to transmit the power transmitted by the transmission shaft to the wheel-track switching mechanism through the driving axle; and two ends of the drive axle are respectively provided with a wheel-track switching mechanism which is matched with the wheel-track switching mechanism to rotate so as to drive the device.
The control platform further comprises a power module, a direction control module and a wheel-track switching module;
the power module outputs a power signal to the power supply after inputting the designated power so as to adjust the output voltage and the output frequency of the power supply to control the output power of the bridge motor;
the direction control module outputs a steering signal to the steering module to execute the direction control of the driving device after inputting the specified direction;
the wheel-track switching module outputs a wheel-track switching signal to the wheel-track switching structure after selecting a wheel mode or a track mode so as to control the running device to switch between the wheel mode and the track mode.
The steering mechanism further comprises a steering gear and a steering pull rod;
two ends of the steering machine are fixedly connected with a steering pull rod respectively, one end of each steering pull rod is fixedly connected with the steering machine, and the other end of each steering pull rod is provided with a wheel-track switching mechanism;
after the steering machine receives the steering signal, the steering pull rods at the two ends are controlled to drive the wheel-track switching mechanism to execute steering.
The wheel-track switching structure further comprises a rim, a deformable track arranged outside the rim and a wheel-track switching device which integrates the rim and the deformable track;
the wheel-track switching device comprises a telescopic device connected to the rim, the telescopic end of the telescopic device is connected with a support, the support is rotatably connected with a deformable track driving mechanism and a deformable retainer, and the deformable retainer is movably connected with the rim through a connecting piece;
after the telescopic device receives the wheel-track switching signal, the deformable track driving mechanism drives the deformable retainer to deform so as to drive the deformable track to be switched into a wheel type or a track type, so that the device can rotate or drive the track to drive the device to run.
The wheel-track switching structure is preferably provided with a wheel-track mode monitoring device; the wheel-track mode monitoring device carries out visual monitoring on the switching of the wheel-track mode, and if the wheel-track switching structure is not successfully transformed into the wheel mode or the track mode, the wheel-track switching structure carries out the wheel-track mode switching again.
The driving axle controls the rotating speed of the left wheel-track switching structure and the right wheel-track switching structure by using the differential mechanism, so that the speed of the wheel-track switching structure at the outer side is higher than that of the wheel-track switching structure at the inner side when the driving device turns, and the phenomenon that the two wheel-track switching structures of the driving device are consistent in rotating speed when the driving device turns, so that the driving device is prevented from skidding and wearing and affecting the driving of the driving device.
The invention has the advantages that the wheel type running mode and the crawler track running mode are simultaneously set on one running device, and the automatic switching between the two modes is realized through the wheel-crawler switching mechanism so as to adapt to the running terrain and environment of the device.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a wheel-track switching structure in an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and the specific meaning of the terms will be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, a wheeled and tracked switching driving device is provided, in which a control platform is disposed at a position far from the ground, and a position near the ground includes a steering mechanism, four wheeled and tracked switching mechanisms, a power supply, an electric motor for a bridge, a universal joint, a transmission shaft, and a drive axle; the control platform is connected with the power supply, the wheel-track switching mechanism and the steering mechanism through signal lines so as to control the power, the wheel-track switching and the direction of the running of the platform; the steering mechanism is arranged on the front side of the device close to the ground end, and two ends of the steering mechanism are respectively provided with a wheel-track switching mechanism so as to execute steering of the running device; the power supply is connected with the steering mechanism, the motor for the axle, the wheel-track switching mechanism and the control platform to supply power; the bridge motor is connected with the transmission shaft through the universal joint so as to transmit the power output by the bridge motor to the transmission shaft; the rear side of the drive axle arranged below the device is connected with the transmission shaft so as to transmit the power transmitted by the transmission shaft to the wheel-track switching mechanism through the drive axle; and two ends of the drive axle are respectively provided with a wheel-track switching mechanism which is matched with the wheel-track switching mechanism to rotate so as to drive the device.
The control platform further comprises a power module, a direction control module and a wheel-track switching module;
the power module outputs a power signal to the power supply after inputting the designated power so as to adjust the output voltage and the output frequency of the power supply to control the output power of the bridge motor;
the direction control module outputs a steering signal to the steering module to execute the direction control of the driving device after inputting the specified direction;
the wheel-track switching module outputs a wheel-track switching signal to the wheel-track switching structure after selecting a wheel mode or a track mode so as to control the running device to switch between the wheel mode and the track mode.
The steering mechanism further comprises a steering gear and a steering pull rod;
two ends of the steering machine are fixedly connected with a steering pull rod respectively, one end of each steering pull rod is fixedly connected with the steering machine, and the other end of each steering pull rod is provided with a wheel-track switching mechanism;
after the steering machine receives the steering signal, the steering rod at the two ends is controlled to drive the wheel-track switching mechanism to perform steering.
Referring to fig. 3, the track switching structure further includes a rim, a deformable track disposed outside the rim, and a track switching device connecting the rim and the deformable track into a whole;
the wheel-track switching device comprises a telescopic device connected to the rim, the telescopic end of the telescopic device is connected with a support, the support is rotatably connected with a deformable track driving mechanism and a deformable retainer, and the deformable retainer is movably connected with the rim through a connecting piece;
after the telescopic device receives the wheel-track switching signal, the deformable track driving mechanism drives the deformable retainer to deform so as to drive the deformable track to be switched into a wheel type or a track type, so that the device can rotate or drive the track to run.
The wheel-track switching structure is preferably provided with a wheel-track mode monitoring device; the wheel-track mode monitoring device carries out visual monitoring on the switching of the wheel-track mode, and if the wheel-track switching structure is not successfully transformed into the wheel mode or the track mode, the wheel-track switching structure carries out the wheel-track mode switching again.
The driving axle controls the rotating speed of the left and right wheel-track switching structures by using the differential mechanism, so that the speed of the wheel-track switching structure on the outer side is higher than that of the wheel-track switching structure on the inner side when the driving device turns, and the phenomenon that the two wheel-track switching structures are consistent in rotating speed when the driving device turns, so that the driving device is prevented from skidding and wearing and influencing the driving of the driving device.
Referring to fig. 2, the implementation of the present embodiment is as follows:
in the first situation, the driving device sends out a power signal through the control platform, and the power supply outputs the specified output voltage and output frequency to the bridge motor after receiving the power signal, so as to control the output power of the bridge motor to drive the device.
And in the second situation, the driving device sends a steering signal through the control platform, after a steering machine in the steering mechanism receives the steering signal, the steering pull rod is controlled to pull the wheel-track switching structure to move so as to complete the steering of the wheel-track switching structure, and meanwhile, the two wheel-track switching structures on the other side of the steering mechanism are matched with the differential mechanism to adjust the rotating speed, so that the driving device can smoothly and stably complete the steering.
And thirdly, the running device sends out a wheel-track switching signal through the control platform, and after the telescopic device receives the wheel-track switching signal, the deformable track driving mechanism drives the deformable retainer to deform so as to drive the deformable track to be switched into a wheel type or a track type, so that the wheel-track switching of the running device is completed.
The invention has the advantages that the wheel type running mode and the crawler track running mode are simultaneously set on one running device, and the automatic switching between the two modes is realized through the wheel-crawler switching mechanism so as to adapt to the running terrain and environment of the device.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (6)
1. A wheel type and crawler belt switching driving device is characterized in that a control platform is arranged at the end of the device far away from the ground, and the end of the device close to the ground comprises a steering mechanism, four wheel-track switching mechanisms, a power supply, an electric motor for a bridge, a universal joint, a transmission shaft and a drive axle; the control platform is connected with the power supply, the wheel-track switching mechanism and the steering mechanism through signal lines so as to control the power, the wheel-track switching and the direction of the running of the platform; the steering mechanism is arranged on the front side of the device close to the ground end, and two ends of the steering mechanism are respectively provided with a wheel-track switching mechanism so as to execute steering of the running device; the power supply is connected with the steering mechanism, the motor for the axle, the wheel-track switching mechanism and the control platform to supply power; the bridge motor is connected with the transmission shaft through the universal joint so as to transmit the power output by the bridge motor to the transmission shaft; the driving axle is arranged below the device, and the rear side of the driving axle is connected with the transmission shaft so as to transmit the power transmitted by the transmission shaft to the wheel-track switching mechanism through the driving axle; and two ends of the drive axle are respectively provided with a wheel-track switching mechanism which is matched with the wheel-track switching mechanism to rotate so as to drive the device.
2. The device of claim 1, wherein the control platform further comprises a power module, a direction control module and a wheel-track switching module;
after the power module inputs the designated power, a power signal is output to the power supply so as to adjust the output voltage and the output frequency of the power supply to control the output power of the bridge motor;
the direction control module outputs a steering signal to the steering module to execute the direction control of the driving device after inputting the specified direction;
after the wheel-track switching module selects a wheel mode or a track mode, a wheel-track switching signal is output to the wheel-track switching structure so as to control the running device to switch between the wheel mode and the track mode.
3. The running device according to claim 1, wherein the steering mechanism further comprises a steering gear and a steering rod;
two ends of the steering machine are fixedly connected with a steering pull rod respectively, one end of each steering pull rod is fixedly connected with the steering machine, and the other end of each steering pull rod is provided with a wheel-track switching mechanism;
after the steering machine receives the steering signal, the steering pull rods at the two ends are controlled to drive the wheel-track switching mechanism to execute steering.
4. The driving device according to claim 1, wherein the wheel-track switching structure further comprises a rim, a deformable track arranged outside the rim, and a wheel-track switching device connecting the rim and the deformable track into a whole;
the wheel-track switching device comprises a telescopic device connected to the rim, the telescopic end of the telescopic device is connected with a support, the support is rotatably connected with a deformable track driving mechanism and a deformable retainer, and the deformable retainer is movably connected with the rim through a connecting piece;
after the telescopic device receives the wheel-track switching signal, the deformable track driving mechanism drives the deformable retainer to deform so as to drive the deformable track to be switched into a wheel type or a track type, so that the device can rotate or drive the track to drive the device to run.
5. The running gear according to claim 1, wherein the wheel-track switching structure is preferably provided with a wheel-track mode monitoring device; the wheel-track mode monitoring device carries out visual monitoring on the switching of the wheel-track mode, and if the wheel-track switching structure is not successfully transformed into the wheel mode or the track mode, the wheel-track switching structure carries out the wheel-track mode switching again.
6. The running gear according to claim 1, wherein the drive axle controls the rotating speed of the left and right wheel-track switching structures by using a differential mechanism, so that the outer wheel-track switching structure speed is faster than the inner wheel-track switching structure speed when the running gear turns, and the condition that the rotating speed of the two wheel-track switching structures of the running gear is consistent when the running gear turns is avoided, so that the running gear is prevented from slipping and wearing and affecting running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152742.7A CN115339509A (en) | 2022-09-21 | 2022-09-21 | Wheeled and track switching running device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152742.7A CN115339509A (en) | 2022-09-21 | 2022-09-21 | Wheeled and track switching running device |
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| CN115339509A true CN115339509A (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211152742.7A Pending CN115339509A (en) | 2022-09-21 | 2022-09-21 | Wheeled and track switching running device |
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| CN (1) | CN115339509A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115465360A (en) * | 2022-09-21 | 2022-12-13 | 中煤科工集团重庆研究院有限公司 | Multi-section all-terrain traveling device |
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| CN108505554A (en) * | 2017-02-25 | 2018-09-07 | 天津建筑机械厂 | A kind of wheel shoe interchangeable bull-dozer |
| CN110410152A (en) * | 2019-08-28 | 2019-11-05 | 山东科技大学 | A kind of getting working face crusing robot and its application |
| CN111761990A (en) * | 2020-07-20 | 2020-10-13 | 河南科技大学 | Variant wheel type walking device capable of realizing wheel-track switching |
| CN212654419U (en) * | 2020-07-12 | 2021-03-05 | 胡东创 | Front wheel steering mechanism for micro loader |
| CN112659816A (en) * | 2020-12-31 | 2021-04-16 | 浙江春风动力股份有限公司 | All-terrain vehicle and driving state detection mechanism thereof |
| CN113386872A (en) * | 2021-07-29 | 2021-09-14 | 中国人民解放军国防科技大学 | Wheel-track switching type variant wheel, wheel-track switching type driving and traveling mechanism and wheel-track switching method |
-
2022
- 2022-09-21 CN CN202211152742.7A patent/CN115339509A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005319882A (en) * | 2004-05-10 | 2005-11-17 | Tadano Ltd | Working vehicle wherein tire and crawler device are interchangeable |
| RU2432293C1 (en) * | 2010-07-21 | 2011-10-27 | Юрий Феликсович Черняков | Wheeled version of caterpillar tractor |
| CN108505554A (en) * | 2017-02-25 | 2018-09-07 | 天津建筑机械厂 | A kind of wheel shoe interchangeable bull-dozer |
| CN110410152A (en) * | 2019-08-28 | 2019-11-05 | 山东科技大学 | A kind of getting working face crusing robot and its application |
| CN212654419U (en) * | 2020-07-12 | 2021-03-05 | 胡东创 | Front wheel steering mechanism for micro loader |
| CN111761990A (en) * | 2020-07-20 | 2020-10-13 | 河南科技大学 | Variant wheel type walking device capable of realizing wheel-track switching |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115465360A (en) * | 2022-09-21 | 2022-12-13 | 中煤科工集团重庆研究院有限公司 | Multi-section all-terrain traveling device |
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