CN221067663U - Wheel-track composite deformation wheel and liftable wheel-track composite active suspension chassis - Google Patents

Abstract

The utility model belongs to the technical field of wheel-track composite deformation wheels, in particular to a wheel-track composite deformation wheel and a liftable wheel-track foot composite active suspension chassis, which solves the problems that the existing deformation wheel is complex in structure, small in approach angle due to structural limitation and unsatisfactory in passing performance on complex and severe terrains; the two telescopic ends of the bidirectional telescopic driving assembly are hinged with the closed ring frame respectively, the driving modules for driving the crawler belt to rotate are further arranged at the two telescopic ends of the bidirectional telescopic driving assembly respectively, and the driving modules comprise driving wheels which are meshed with the crawler belt and enable the crawler belt to be tensioned. The deformable wheel is connected with the cuboid frame and the four sets of fork arm suspension modules to form the liftable wheel-track composite active suspension chassis.

Description

Wheel-track composite deformation wheel and liftable wheel-track composite active suspension chassis

Technical Field

The utility model relates to the technical field of wheel-track composite deformation wheels, in particular to a wheel-track composite deformation wheel and a liftable wheel-track foot composite active suspension chassis.

Background

The tracked vehicle has good ground grabbing force, and is better than a wheeled vehicle in applicability of severe terrains such as ice and snow grasslands and mud lands, but the tracked vehicle has high friction, and is fast in abrasion and high in energy consumption in a road section with good road conditions compared with the wheeled vehicle. The wheel chassis vehicle has high speed under the condition of better road condition, low energy consumption and poor trafficability. The foot-type chassis has good trafficability but low running speed. For the traditional special vehicle wheeled vehicle and tracked vehicle, the running performance of a road section with good road conditions and the passing performance of the road section with bad terrain are difficult to be considered. In order to solve the problem, a research institution designs a triangle wheel-track composite system chassis, as shown in fig. 1, the triangle wheel-track composite system chassis runs in a tire shape when running on a road with good road conditions, and the triangle wheel-track composite deformation wheel is changed into a crawler running system through a deformation device when running on severe road conditions such as snowy and sandy lands and the like, so that the passing performance is improved. However, the existing wheel-track composite deformation wheel is complex in structure, large in mass, small in approach angle due to structural limitation, and not ideal in passing performance, and cannot meet the requirement of special vehicles on high passing performance of complex severe terrains. Therefore, a new set of high-pass wheel-track composite deformation wheel chassis is urgently needed nowadays.

Disclosure of utility model

The utility model provides a wheel-track composite deformation wheel and a liftable wheel-track composite active suspension chassis, which are used for overcoming the technical defects that the existing wheel-track composite deformation wheel is complex in structure, large in mass, small in approach angle due to structural limitation and unsatisfactory in passing performance on complex severe terrains.

The utility model provides a wheel track composite deformation wheel, which comprises a track, a main body supporting part and a bidirectional telescopic driving assembly, wherein the main body supporting part comprises four sub-supporting modules, the four sub-supporting modules are sequentially hinged end to form a closed ring frame with the outer side for installing the track, and the deformation module is arranged on the inner side of the closed ring frame and used for driving the closed ring frame to deform so as to enable the track to be in two working states of a round shape and an oval shape; two flexible ends of two-way flexible drive assembly are articulated mutually with two articulated points that are relative on the closed ring frame respectively, and two flexible ends of two-way flexible drive assembly still install respectively and are used for driving crawler pivoted drive module, drive module include with the track meshing and make the action wheel of track tensioning.

The closed ring frame formed by combining the four support modules is used as a mounting frame of the crawler belt, wherein adjacent support modules are hinged, so that the closed ring frame can be conveniently transformed into different shapes. The bidirectional telescopic driving assembly is used for driving the closed ring frame to deform, the outer wall of the closed ring frame can be supported to be round or supported to be similar to an ellipse, at the moment, the crawler belt mounted on the periphery of the closed ring frame is supported to be round and elliptical by the bidirectional telescopic driving assembly, the bidirectional telescopic driving assembly is also a spoke of the deformation wheel, and the length direction of the bidirectional telescopic driving assembly is consistent with the radial direction of the deformation wheel. When the bidirectional telescopic driving assembly specifically works, two opposite telescopic ends can be stretched or retracted simultaneously, when the bidirectional telescopic driving assembly is shortened to the shortest length, the wheel track composite deformation wheel can be used as a round wheel, no relative motion occurs between the crawler belt and the closed ring frame, when the bidirectional telescopic driving assembly is stretched to the longest length, the wheel track composite deformation wheel is elliptical, at the moment, relative operation occurs between the crawler belt and the closed ring, and the crawler belt can rotate under the driving of the driving wheel.

Preferably, the sub-support module comprises two groups of support plate assemblies which are arranged in a mirror image mode, the two groups of support plate assemblies are fixedly connected through a plurality of nylon fixed-distance support columns, each support plate assembly comprises two identical and overlapped irregular plates which are fixedly connected, opposite ends of the two irregular plates are respectively outwards extended to form hinged lugs, and the hinged lugs between the adjacent sub-support modules are mutually overlapped and connected through a hinge shaft. Under the support of nylon distance pillar, two sets of backup pad subassemblies parallel fixed arrangement, every backup pad subassembly is overlapped by two boards and forms, and adjacent backup pad subassembly is articulated the back through articulated otic placode, and adjacent two backup pad subassemblies are located the coplanar, consequently all are located the coplanar in the backup pad subassembly of mutual overlap joint among four sub-support modules. The arrangement makes the main body supporting part formed by the four sub-supporting modules have stable supporting function when deforming. When adjacent sub-support modules are connected through the hinged ear plates, the connecting holes are provided with washers, and the hinge shaft can be a plug pin or other structures.

Preferably, the outer edge of the special-shaped plate is arc-shaped, the inner edge is linear, and the outer ring of the closed ring frame formed by the four sub-support modules can be deformed into a circular shape. When the outer ring of the closed ring frame formed by the four sub-support modules is circular, the inner ring of the closed ring frame is square, and the arrangement structure is reasonable. The shape of the deformed plate can be changed according to actual requirements, for example, the inner ring of the deformed plate can be set to be in other shapes.

Preferably, the two abnormal plates of the same supporting plate assembly are an aluminum supporting plate and a carbon fiber supporting plate respectively, a plurality of groups of crawler supporting bearings are uniformly arranged on the supporting plate assembly in a penetrating mode along the arc-shaped edge of the supporting plate assembly, and the crawler supporting bearings are in rolling fit with the inner side walls of the crawler. The track support bearing not only plays a role in supporting the track, but also is used for tensioning the track. The aluminum support plate is provided with a plurality of lightening holes, aluminum and carbon fibers are adopted as the support plate for lightening, strength is guaranteed at the same time, the deformed wheel is not required to be made of the two materials, and the deformed plate can be replaced by other materials according to the requirement.

Preferably, the bidirectional telescopic driving assembly comprises a bidirectional telescopic assembly and a driving assembly, the bidirectional telescopic assembly comprises a limiting frame body and two long strip-shaped telescopic structures which are arranged in a mirror image mode, the long strip-shaped telescopic structures comprise two round profile supporting plates which are identical in structure and located on the same plane, two mutually parallel and spaced cutting bars extend in the length direction of the round profile supporting plates, the cutting bars on the two round profile supporting plates are oppositely inserted and matched to enable the two round profile supporting plates to be in central symmetry, a long strip-shaped window which is identical to the length direction of the cutting bars is formed in the middle of a central symmetry graph formed by the two round profile supporting plates, the round profile supporting plates located at the same end portion in the two long strip-shaped telescopic structures are fixedly connected through a plurality of positioning columns, the limiting frame body is mounted on the outer sides of the two long strip-shaped telescopic structures which correspond to the cutting bars, the limiting frame body comprises two longitudinal guide plates and two guide side plates which are respectively parallel to the surfaces of the round profile supporting plates, the inner sides opposite to the two guide plates are respectively fixedly connected with two guide blocks which are arranged at intervals and clamped into the corresponding long strip-shaped windows, the guide blocks which are matched with the cutting bars on the upper side and lower side of the round profile supporting plates in a sliding mode, and the longitudinal guide plates are fixedly connected between the two guide plates and the top side plates respectively; the outer side of one guiding side plate is fixedly connected with a deformation driving motor and a deformation speed reducer, a gear shaft arranged between the two guiding side plates is connected to the deformation speed reducer, the gear shaft penetrates through two strip-shaped windows, two driving gears are fixedly connected to the gear shaft between the two strip-shaped telescopic structures, an upper rack and a lower rack which are meshed with one driving gear at the same time are fixedly connected to cutting of two round-profile supporting plates in the same strip-shaped telescopic structure, and the two driving gears are used for driving the two round-profile supporting plates in different strip-shaped telescopic structures to simultaneously perform telescopic motion. Further preferably, the bidirectional telescopic driving assembly may be further provided that the fixed ends are connected, the movable ends face the two telescopic cylinders at the opposite ends respectively, and the driving modules for driving the crawler belt to rotate are mounted to the movable ends of the two telescopic cylinders respectively.

Wherein the round-profile supporting plates are formed by fastening and connecting three layers of plates, the two round-profile supporting plates are mutually spliced through two cutting bars which extend respectively, the two round-profile supporting plates can move back and forth along the length direction of the cutting bars, the two racks are respectively and fixedly connected to the two round-profile supporting plates of the same long-strip-shaped telescopic structure, and the two racks are respectively arranged at the upper part and the lower part and the tooth parts are opposite, as the two long-strip-shaped telescopic structures are in mirror image arrangement, the structures of the round-profile supporting plates of the same end parts of the two long-strip-shaped telescopic structures are the same and correspond, the two round-profile supporting plates of the same end parts of the two long-strip-shaped telescopic structures can be fixedly connected through the positioning columns, the positioning columns can move simultaneously during stretching, the limiting frame body can be nylon studs, the limiting frame body is mounted on the outer sides of the two long-strip-shaped telescopic structures, the longitudinal guide plates of the limiting frame body play a role in limiting the two long-strip-shaped telescopic structures in the up-down direction, vertical displacement of the long-strip-shaped telescopic structures is avoided, the guide side plates of the limiting frame body are respectively located on the front side and the rear side of the two long-strip-shaped telescopic structures, limit effects are achieved on the two long-strip-shaped telescopic structures in the front-rear direction, the front-rear displacement of the long-strip-shaped telescopic structures is avoided, and particularly, the guide side plates can be composed of carbon fiber plates and external connecting plates, the carbon fiber plates are tightly attached to the outer sides of the long-strip-shaped telescopic structures, and the external connecting plates are fixedly connected to the side walls of the carbon fiber plates; the guide blocks fixedly connected with the inner sides of the guide side plates can be embedded in the strip-shaped window formed after the two round-profile support plates are spliced, the guide blocks can also prevent the strip-shaped telescopic structure from being displaced up and down, and can play a role in guiding, so that the spliced two round-profile support plates move along the length direction of the cutting, and the length direction of the cutting is arranged along the left-right direction; the longitudinal guide plate and the guide block form a sliding groove together, so that the round-profile supporting plate can slide in the sliding groove formed by the round-profile supporting plate. The guide side plates connected with the guide blocks are also provided with through holes for installing gear shafts, the two guide blocks are arranged at intervals, the middle of each guide block is used for penetrating the gear shaft, the driving motor drives the gear shaft to rotate through torque increase of the deformation speed reducer, two driving gears on the gear shaft rotate along with the gear shaft and are respectively used for driving two racks on the two long-strip-shaped telescopic structures, the driving gears rotate to drive the two racks to move towards the center or back to the center, the center refers to the center of the driving gears, the two round-profile supporting plates fixedly connected with the racks can also realize relative or back-to-back movement, and when the two round-profile supporting plates move towards the center or back to the center, the bidirectional telescopic driving assembly can realize telescopic movement.

Preferably, rectangular limiting sliding grooves are correspondingly formed in the plate bodies of the two round-profile supporting plates at the same telescopic end of the bidirectional telescopic assembly; the driving module comprises an outer rotor driving motor, a planetary reducer and two rectangular supporting clamping blocks, a sun gear of the planetary reducer is mounted on a stator of the outer rotor driving motor, a driving wheel is connected with an outer ring of the planetary reducer, the two rectangular supporting clamping blocks are fixedly connected with two ends of a stator shaft of the outer rotor driving motor respectively, the outer rotor driving motor is mounted in rectangular limiting sliding grooves of two round-profile supporting plates of the same telescopic end through the rectangular supporting clamping blocks respectively, the sliding direction of the rectangular supporting clamping blocks along the rectangular limiting sliding grooves is consistent with the length direction of the strip-shaped window, and a spring damping component arranged along the sliding direction of the rectangular supporting clamping blocks is arranged between the rectangular supporting clamping blocks and the round-profile supporting plates.

The outer rotor driving motor drives a driving wheel on the outer rotor driving motor to rotate after the outer rotor driving motor is decelerated and torque-increased through the planetary reducer, and the driving wheel and the crawler are in tensioning fit and are elastically connected due to the spring damping component. The spring damping component can also absorb shock and buffer impact load when fixing the end part of the stator shaft through the nut, and meanwhile, the problem that the outer circumference is not matched with the circumference of the crawler belt in the deformation process is solved.

Preferably, the spring damper assembly comprises two spring mounting seats and two damper springs, wherein one spring mounting seat is fixedly mounted on the outer side wall of the round-profile supporting plate, the other spring mounting seat is fixedly mounted on the outer side wall of the rectangular supporting clamping block, the two spring mounting seats are parallel and opposite, and the two damper springs are fixedly connected between the two spring mounting seats. The setting is rational in infrastructure like this, and the flexible direction of spring is unanimous with the direction of activity of rectangle support fixture block along the spacing spout of rectangle.

The utility model also provides a lifting wheel-track composite active suspension chassis, which comprises four wheel-track composite deformation wheels, a cuboid frame, four fork arm suspension modules, an upper swing arm, a push rod, a Y-shaped lower fork arm, a triangular rocker arm and an active shock absorber, wherein a wheel edge module is arranged on a guide side plate at the inner side of the wheel-track composite deformation wheel, two connecting parts with opposite positions extend up and down of the wheel edge module, the four wheel-track composite deformation wheels are respectively arranged on four vertical struts of the cuboid frame through the four fork arm suspension modules, one end of the upper swing arm is hinged to the top of each vertical strut, and the other end of the upper swing arm is hinged to a connecting part on the wheel edge module; the single-end of the Y-shaped lower fork arm is hinged to a connecting part of the wheel side module, one end of the double-end of the Y-shaped lower fork arm is hinged to the bottom of the vertical support column, and the other end of the double-end of the Y-shaped lower fork arm is hinged to a cross beam close to the bottom of the vertical support column; the first apex angle department of triangle-shaped rocking arm is articulated with the top of vertical pillar, and the second apex angle of triangle-shaped rocking arm is articulated with the one end of push rod, and the other end of push rod articulates to Y shape down the yoke be close to on the body of rod of wheel limit module, and the third apex angle of triangle-shaped rocking arm articulates with the one end of initiative bumper shock absorber, and the other end of initiative bumper shock absorber articulates to on the longeron that links to each other with vertical pillar bottom.

After the cuboid frame is connected with the four sets of fork arm suspension modules, the whole fork arm suspension modules are symmetrical front and back and bilaterally, and the fork arm suspension modules can complete the functions of shock absorption and steering. When the wheel track composite deformation wheel jumps up and down, the upper swing arm and the lower fork arm in the fork arm suspension module guide the wheel to move, so that the wheel rotates around a lifting lug for hinging at the connection point of the upper swing arm and the vertical support (simultaneously rotates around a lifting lug for hinging at the connection point of the double-end of the lower fork arm). At the moment, the push rod drives the rocker arm to rotate around the lifting lug which is arranged at the highest point of the rocker arm and is used for hinging, and the rocker arm compresses or lifts the active shock absorber. When the wheel is required to be controlled to lift or descend, the wheel can be controlled to lift or descend only by stretching or shortening the active shock absorber. The wheel side module comprises a steering knuckle and a wheel driving motor module, and can transmit motion and force to position wheels. When the wheel-track composite deformation wheel is deformed into a round wheel, the wheel driving motor is a prime mover of the whole vehicle. The wheel side module is also integrated with parts such as wheel shape, steering knuckle, motor and the like, and the structure is similar to a racing car wheel side system and is not an innovation part. In the track mode, the wheel drive motor may adjust the deformed wheel ground-engaging angle of the track mode to clear the obstacle. When necessary, the oval deformation wheels are erected and matched with the fork arm suspension modules, so that the robot can walk like a foot-type walking robot to surmount the obstacle.

When the lifting wheel-track composite active suspension chassis is particularly used, the control system is also matched with the lifting wheel-track composite active suspension chassis, and can control the deformation driving motor on the wheel-track composite deformation wheel so as to enable the wheel-track composite deformation wheel to be converted between the round wheel and the elliptical wheel. When the wheel-track composite deformation wheel is a round wheel, the control system controls the motor in the wheel edge module to further enable the wheel-track composite deformation wheel to rotate, the outer rotor driving motor and the planetary reducer are fixed, the crawler belt and the main body supporting part are relatively fixed, the wheel-track composite deformation wheel is used as a conventional wheel, and the liftable wheel-track composite active suspension chassis is a conventional trolley; when the wheel-track composite deformation wheel is deformed into an elliptical wheel, the control system controls the motor in the wheel-edge module to work only when the approach angle and the departure angle are changed, the wheel-track composite deformation wheel can not rotate under the general condition, the outer rotor driving motor operates under the control of the control system, the driving wheel drives the crawler belt and the main body supporting part to rotate relatively, the wheel-track composite deformation wheel is used as a crawler belt wheel, the liftable wheel-track composite driving suspension chassis becomes a crawler belt type walking trolley, the mode is suitable for running in a severe environment, and the motor of the wheel-edge module can adjust the angle at the moment, so that the approach angle and the departure angle are changed. The control system can also control the active shock absorber of the fork arm suspension module to stretch and retract, and the ground clearance of the frame is changed, so that the passing angle is changed. Under extreme working conditions, when the wheel-track composite deformation wheel is deformed into an oval structure, four oval wheel-track composite deformation wheels and corresponding fork arm suspension modules form four walking legs, a control system controls the movement of the walking legs through the fork arm suspension modules, a wheel side motor can control the steering of the wheels, wherein the differential steering only realizes the steering through controlling the motor rotation speed difference when the wheel-type composite active suspension chassis and the track-type composite active suspension chassis are used, so that the liftable wheel-track composite active suspension chassis becomes a foot-type walking system, and the foot-type walking system has better obstacle crossing capability and extremely high trafficability. The wheel mode of the chassis is that the wheels are driven by four hub motors of the wheel side module, and the steering is realized by controlling the rotation speed difference of each wheel. Can run at a faster speed on a road with better road conditions and has less abrasion to the crawler belt.

Compared with the prior art, the technical scheme provided by the utility model has the following advantages: the wheel-track composite deformation wheel can be deformed into a round wheel and an oval track wheel, when the wheel-track composite deformation wheel is deformed into the oval track wheel, the oval structure of the wheel-track composite deformation wheel enables the deformation wheel to have a larger approach angle, and three modes of wheel-track foot switching can be realized by matching with the active suspension; the active suspension chassis combined with the wheel-track composite deformation wheel can be used for special vehicles, can be switched into a wheel chassis, a crawler chassis and a foot-type chassis under different road conditions, has wide adaptability, has better deformation wheel performance and simpler deformation wheel structure compared with the traditional triangle wheel-track composite deformation wheel chassis, has better passing performance, can realize all-terrain all-weather work, greatly improves the application range, and solves the problems of poor passing performance of the wheel-type special vehicle and short service life and slow speed of the crawler-type special vehicle.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of a front structure of a wheel-track composite deformation wheel according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a front structure of a wheel-track composite deforming wheel according to an embodiment of the present utility model when the wheel-track composite deforming wheel is elliptical;

FIG. 3 is an isometric view of the body support according to an embodiment of the utility model;

FIG. 4 is a schematic front view of the main body support according to an embodiment of the utility model;

FIG. 5 is an isometric view of a sub-support module according to an embodiment of the utility model;

FIG. 6 is an isometric view of a bi-directional telescoping drive assembly according to an embodiment of the present utility model;

FIG. 7 is an isometric view of a bi-directional telescoping assembly according to an embodiment of the present utility model;

FIG. 8 is an isometric view of the stop frame according to an embodiment of the utility model;

FIG. 9 is a schematic structural view of an elongated telescopic structure according to an embodiment of the present utility model;

FIG. 10 is a schematic view of a circular support plate according to an embodiment of the present utility model;

FIG. 11 is an isometric view of a drive assembly according to an embodiment of the utility model;

FIG. 12 is a side view of the drive assembly according to an embodiment of the present utility model;

FIG. 13 is a schematic view of a partial structure of the cuboid frame, yoke suspension modules and deformable wheels after connection according to an embodiment of the present utility model;

FIG. 14 is an isometric view of a liftable wheel-track composite active suspension chassis according to an embodiment of the present utility model;

Fig. 15 is an isometric view (partially hidden in the fork arm suspension module) of a liftable wheel-track-foot composite active suspension chassis according to an embodiment of the present utility model when the chassis is used as a foot-type walking system.

In the figure: 1. a track; 2. a bi-directional telescoping drive assembly; 3. a sub-support module; 4. a driving wheel; 5. nylon distance struts; 6. a shaped plate; 7. hinging the ear plate; 8. a track support bearing; 9. a round profile support plate; 10. cutting; 11. a strip-shaped window; 12. positioning columns; 13. a longitudinal guide plate; 14. a guide side plate; 15. a guide block; 16. a deformation driving motor; 17. a deformation speed reducer; 18. a rack; 19. rectangular limiting sliding grooves; 20. an outer rotor driving motor; 21. a planetary reducer; 22. rectangular supporting clamping blocks; 23. a spring mounting base; 24. a damping spring; 25. a rectangular parallelepiped frame; 26. an upper swing arm; 27. a push rod; 28. y-shaped lower fork arms; 29. triangular rocker arms; 30. an active shock absorber; 31. a wheel side module; 32. a connection part; 33. a vertical column; 34. a cross beam; 35. a longitudinal beam; 36. a driving gear.

Detailed Description

In order that the above objects, features and advantages of the utility model will be more clearly understood, a further description of the utility model will be made. It should be noted that, without conflict, the embodiments of the present utility model and features in the embodiments may be combined with each other.

In the description, it should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. It should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms described above will be understood by those of ordinary skill in the art as the case may be.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the utility model.

Specific embodiments of the present utility model will be described in detail below with reference to fig. 1 to 15.

In one embodiment, as shown in fig. 1-14, a wheel track composite deformation wheel comprises a track 1, a main body supporting part and a bidirectional telescopic driving assembly 2, wherein the main body supporting part comprises four sub-supporting modules 3, the four sub-supporting modules 3 are sequentially hinged end to form a closed ring frame with an outer side for installing the track 1, and the deformation module is arranged on the inner side of the closed ring frame and used for driving the closed ring frame to deform so as to enable the track 1 to take on two working states of a circular shape and an oval shape; two flexible ends of two-way flexible drive assembly 2 are articulated mutually with two articulated points that are relative on the closed ring frame respectively, and two flexible ends of two-way flexible drive assembly 2 still install respectively and are used for driving track 1 pivoted drive module, drive module include with track 1 meshing and make the action wheel 4 of track 1 tensioning.

The closed ring frame formed by combining the four support modules serves as a mounting frame of the crawler belt 1, wherein adjacent support modules are hinged, so that the closed ring frame can conveniently change different shapes. The bidirectional telescopic driving assembly 2 is used for driving the closed ring frame to deform, the outer wall of the closed ring frame can be supported to be round or supported to be similar to an ellipse, at the moment, the crawler belt 1 mounted on the periphery of the closed ring frame is supported to be round and elliptical by the bidirectional telescopic driving assembly 2, the bidirectional telescopic driving assembly 2 is also a spoke of a deformation wheel, and the length direction of the bidirectional telescopic driving assembly 2 is consistent with the radial direction of the deformation wheel. When the bidirectional telescopic driving assembly 2 specifically works, two opposite telescopic ends can be stretched or retracted simultaneously, when the bidirectional telescopic driving assembly 2 is shortened to the shortest length, the wheel track composite deformation wheel can be used as a round wheel, no relative motion occurs between the crawler belt 1 and the closed ring frame, when the bidirectional telescopic driving assembly 2 is stretched to the longest length, the wheel track composite deformation wheel is elliptical, at the moment, relative operation occurs between the crawler belt 1 and the closed ring, and the crawler belt 1 can rotate under the driving of the driving wheel 4.

On the basis of the above embodiment, in a preferred embodiment, the sub-support module 3 includes two groups of support plate assemblies arranged in mirror image, the two groups of support plate assemblies are fixedly connected through a plurality of nylon distance struts 5, the support plate assemblies include two identical and overlapped profiled plates 6, the two profiled plates 6 are fixedly connected, opposite ends of the two profiled plates 6 are respectively extended outwards to form hinge lugs 7, and the hinge lugs 7 between adjacent sub-support modules 3 are mutually overlapped and connected through hinge shafts. Under the support of nylon distance pillar 5, two sets of backup pad subassembly parallel fixed settings, every backup pad subassembly is overlapped by two boards and forms, and adjacent backup pad subassembly is articulated the back through articulated otic placode 7, and adjacent two backup pad subassemblies are located the coplanar, consequently the backup pad subassembly of overlap joint each other among four sub-support modules 3 all is located the coplanar. The arrangement makes the main body supporting part formed by the four sub supporting modules 3 have stable supporting function when deforming. When the adjacent sub-support modules 3 are connected through the hinge lug plates 7, the connecting holes are provided with washers, and the hinge shaft can be a plug pin or other structures.

On the basis of the above embodiment, in a preferred embodiment, the outer edge of the profiled plate 6 is circular arc-shaped, the inner edge is linear, and the outer ring of the closed ring frame formed by the four sub-support modules 3 can be deformed into a circular shape. When the outer ring of the closed ring frame formed by the four sub-support modules 3 is circular, the inner ring of the closed ring frame is square.

Preferably, the two special-shaped plates 6 of the same supporting plate assembly are respectively an aluminum supporting plate and a carbon fiber supporting plate, a plurality of groups of crawler supporting bearings 8 are uniformly arranged on the supporting plate assembly in a penetrating mode along the arc-shaped edge of the supporting plate assembly, and the crawler supporting bearings 8 are in rolling fit with the inner side walls of the crawler 1. The track support bearings 8 not only function to support the track 1, but also serve to tension the track 1. The aluminum support plate is provided with a plurality of lightening holes, and aluminum and carbon fibers are used as the support plate for lightening and guaranteeing strength at the same time, and the deformation wheel is not necessarily made of the two materials.

On the basis of the above embodiment, in a preferred embodiment, the bidirectional telescopic driving assembly 2 includes a bidirectional telescopic assembly and a driving assembly, the bidirectional telescopic assembly includes a limiting frame and two long strip-shaped telescopic structures arranged in mirror image, the long strip-shaped telescopic structures include two round profile supporting plates 9 with identical structures and located on the same plane, two mutually parallel and spaced cutting bars 10 extend in the length direction of the round profile supporting plates 9, the cutting bars 10 on the two round profile supporting plates 9 are in central symmetry after being oppositely inserted and matched, a central symmetry graph formed by the two round profile supporting plates 9 is integrally formed into a long strip-shaped window 11 consistent with the length direction of the cutting bars 10, the two long strip-shaped telescopic structures are fixedly connected between the round profile supporting plates 9 located at the same end through a plurality of positioning columns 12, the limiting frame is mounted on the outer sides corresponding to the cutting bars 10 in the two long strip-shaped telescopic structures, the limiting frame includes two longitudinal guide plates 13 and two guide side plates 14 parallel to the board surfaces of the round profile supporting plates 9 respectively, the inner sides opposite to the two guide plates 14 are fixedly connected with two guide blocks 15 corresponding to the two long strip-shaped window 11 in the longitudinal direction, and the two guide plates 15 are fixedly connected to the bottom of the two guide plates 15 are fixedly arranged between the two guide blocks 11 and the two guide plates 15 respectively; the outside fixedly connected with deformation driving motor 16 and deformation speed reducer 17 of one of them guide curb plate 14, be connected with the gear shaft of wearing to put between two guide curb plates 14 on the deformation speed reducer 17, the gear shaft passes two rectangular shape windows 11, fixedly connected with two driving gears 36 on the gear shaft between two rectangular shape extending structure, fixedly connected with simultaneously with two upper and lower racks 18 of one of them driving gear 36 meshing on the cutting 10 of two round profile backup pads 9 in the same rectangular shape extending structure respectively, two driving gears 36 are used for driving two round profile backup pads 9 in the different rectangular shape extending structure simultaneously and carry out telescopic motion respectively. Further preferably, the bidirectional telescopic driving assembly 2 may be further configured that a fixed end is connected, and a movable end faces two telescopic cylinders at opposite ends respectively, and a driving module for driving the crawler belt 1 to rotate is mounted to the movable ends of the two telescopic cylinders respectively.

The two round-profile supporting plates 9 are formed by fastening and connecting three layers of plates, the two round-profile supporting plates 9 are mutually spliced through two cutting bars 10 which extend respectively, the two round-profile supporting plates 9 can move back and forth along the length direction of the cutting bars 10, the two racks 18 are respectively and fixedly connected to the two round-profile supporting plates 9 of the same long-strip telescopic structure, the two racks 18 are respectively arranged up and down and are opposite in tooth parts, the structures of the round-profile supporting plates 9 at the same end of the two long-strip telescopic structures are identical and corresponding, the two round-profile supporting plates 9 at the same end of the two long-strip telescopic structures can be fixedly connected through the positioning columns 12, the positioning columns 12 can move simultaneously, the positioning columns 12 can be nylon studs, the limiting frame body is mounted to the outer sides of the two long-strip telescopic structures, the longitudinal guide plates 13 of the limiting frame body play a role in the upper and lower directions of the two long-strip telescopic structures, the guide side plates 14 of the limiting frame body are respectively positioned on the front and rear sides of the two long-strip telescopic structures, the two long-strip telescopic structures play a role in the role in limiting the front and rear directions of the two long-strip telescopic structures, the two long-strip telescopic structures are prevented from being tightly connected with the front and rear side walls of the long-strip telescopic structures, and the carbon fiber side plates are prevented from being tightly connected to the outer side walls of the long-strip telescopic structures, and the fiber side walls are tightly connected with the front and the fiber side plates, and the fiber side plates are tightly connected with the fiber side plates, and the fiber side frame and the fiber plates are formed by the fiber side and the fiber frame; the guide block 15 fixedly connected with the inner side of the guide side plate 14 can be embedded in the strip-shaped window 11 formed after the two round-profile support plates 9 are spliced, the guide block 15 can also prevent the strip-shaped telescopic structure from moving up and down, and can play a role in guiding, so that the spliced two round-profile support plates 9 move along the length direction of the cutting 10, and the length direction of the cutting 10 is arranged along the left-right direction; namely, the longitudinal guide plate 13 and the guide block 15 form a sliding groove together, so that the round-profile support plate 9 can slide in the sliding groove formed by the round-profile support plate. The two guide blocks 15 are arranged at intervals, the middle part of the guide block is used for penetrating a gear shaft, the deformation driving motor 16 drives the gear shaft to rotate through the torque-increasing driving of the deformation speed reducer 17, two driving gears 36 on the gear shaft rotate along with the gear shaft and are respectively used for driving two racks 18 on two long-strip-shaped telescopic structures, the driving gears 36 rotate to drive the two racks 18 to move relatively or oppositely, so that two round-profile supporting plates 9 fixedly connected with the racks 18 can also move relatively or oppositely, and when the two round-profile supporting plates 9 move relatively or oppositely, the bidirectional telescopic driving assembly 2 realizes telescopic motion.

Based on the above embodiment, in a preferred embodiment, rectangular limiting sliding grooves 19 are correspondingly formed on the plate bodies of two round-profile supporting plates 9 at the same telescopic end of the bidirectional telescopic assembly; the driving module comprises an outer rotor driving motor 20, a planetary reducer 21 and two rectangular supporting clamping blocks 22, a sun gear of the planetary reducer 21 is mounted on a stator of the outer rotor driving motor 20, a driving wheel 4 is connected with an outer ring of the planetary reducer 21, the two rectangular supporting clamping blocks 22 are fixedly connected with two ends of a stator shaft of the outer rotor driving motor 20 respectively, the outer rotor driving motor 20 is mounted in rectangular limiting sliding grooves 19 of two round-profile supporting plates 9 at the same telescopic end through the rectangular supporting clamping blocks 22 respectively, the sliding direction of the rectangular supporting clamping blocks 22 along the rectangular limiting sliding grooves 19 is consistent with the length direction of the rectangular window 11, and a spring damping component arranged along the sliding direction of the rectangular supporting clamping blocks 22 is arranged between the rectangular supporting clamping blocks 22 and the round-profile supporting plates 9.

Wherein, the stator axle both ends of external rotor driving motor 20 respectively with rectangle support fixture block 22 fixed connection, spring damper plays the cushioning effect when rectangle support fixture block 22 slides along rectangle spacing spout 19, and external rotor driving motor 20 drives the action wheel 4 on it through planetary reducer 21 speed reduction increases and turns round the back and rotates, still makes action wheel 4 and track 1 elastic connection because of spring damper's existence simultaneously between action wheel 4 and the track 1 tensioning cooperation. The spring damping component can also absorb shock and buffer impact load when fixing the end part of the stator shaft through the nut, and meanwhile, the problem that the outer circumference is not matched with the circumference of the crawler belt in the deformation process is solved.

On the basis of the above embodiment, in a preferred embodiment, the spring damper assembly includes two spring mounting seats 23 and two damper springs 24, wherein one spring mounting seat 23 is fixedly mounted on the outer side wall of the round-profile support plate 9, the other spring mounting seat 23 is fixedly mounted on the outer side wall of the rectangular support fixture block 22, the two spring mounting seats 23 are parallel and opposite, and the two damper springs 24 are fixedly connected between the two spring mounting seats 23. The arrangement is reasonable in structure, and the expansion direction of the spring is consistent with the moving direction of the rectangular supporting clamping block 22 along the rectangular limiting chute 19.

The utility model also provides a lifting wheel-track composite active suspension chassis, which comprises four wheel-track composite deformation wheels, a cuboid frame 25, four sets of fork arm suspension modules, an upper swing arm 26, a push rod 27, a Y-shaped lower fork arm 28, a triangular rocker arm 29 and an active shock absorber 30, wherein a wheel edge module 31 is arranged on a guide side plate 14 at the inner side of the wheel-track composite deformation wheels, two connecting parts 32 opposite in position are arranged on the upper and lower sides of the wheel edge module 31 in an extending manner, the four wheel-track composite deformation wheels are respectively arranged on four vertical struts 33 of the cuboid frame 25 through the four sets of fork arm suspension modules, one end of the upper swing arm 26 is hinged to the top of the vertical struts 33, and the other end of the upper swing arm 26 is hinged to the connecting part 32 on the wheel edge module 31; the single head end of the Y-shaped lower fork arm 28 is hinged to a connecting part 32 of the wheel side module 31, one end of the double head end of the Y-shaped lower fork arm 28 is hinged to the bottom of the vertical support column 33, and the other end of the double head end of the Y-shaped lower fork arm 28 is hinged to a cross beam 34 close to the bottom of the vertical support column 33; the first vertex angle of the triangular rocker 29 is hinged with the top of the vertical strut 33, the second vertex angle of the triangular rocker 29 is hinged with one end of the push rod 27, the other end of the push rod 27 is hinged to the rod body of the Y-shaped lower fork arm 28, which is close to the wheel side module 31, the third vertex angle of the triangular rocker 29 is hinged with one end of the active shock absorber 30, and the other end of the active shock absorber 30 is hinged to a longitudinal beam 35 connected with the bottom of the vertical strut.

After the cuboid frame 25 is connected with the four sets of fork arm suspension modules, the whole fork arm suspension modules are symmetrical front and back and symmetrical left and right, and the fork arm suspension modules can complete the functions of shock absorption and steering. When the wheel track composite deforming wheel jumps up and down, the upper swing arm 26 and the lower fork arm in the fork arm suspension module guide the wheel to move so as to rotate around the lifting lug for hinging at the connection point of the upper swing arm 26 and the vertical strut 33 (simultaneously, rotate around the lifting lug for hinging at the connection point of the double-end of the lower fork arm). At this time, the push rod 27 drives the rocker arm to rotate around the lifting lug for hinging at the highest point of the rocker arm, and the rocker arm compresses or lifts the active damper 30. When the control wheel is required to be lifted or lowered, the active shock absorber 30 only needs to stretch or shorten to control the lifting or lowering of the wheel. The wheel side module 31 includes a knuckle and a wheel drive motor module, and is capable of transmitting motion and force to position the wheels. When the wheel-track composite deformation wheel is deformed into a round wheel, the wheel driving motor is a prime mover of the whole vehicle. The wheel side module 31 also integrates wheel shape, steering knuckle, motor and other parts, and the structure is similar to that of a racing car wheel side system and is not an innovation part. In track 1 mode, the wheel drive motor may adjust the deformed wheel ground-engaging angle of track 1 mode to ride over the obstacle. When necessary, the oval deformation wheels are erected and matched with the fork arm suspension module, so that the robot can walk like a foot-type walking robot to surmount the obstacle.

When the lifting wheel-track composite active suspension chassis is particularly used, the control system is also matched with the lifting wheel-track composite active suspension chassis, and can control the deformation driving motor 16 on the wheel-track composite deformation wheel so as to convert the wheel-track composite deformation wheel round wheel and the oval wheel; when the wheel-track composite deformation wheel is a round wheel, the control system controls the motor in the wheel edge module 31 to further enable the wheel-track composite deformation wheel to rotate, the outer rotor driving motor 20 and the planetary reducer 21 are fixed, the crawler belt 1 and the main body supporting part are relatively fixed, the wheel-track composite deformation wheel is used as a conventional wheel, and the liftable wheel-track composite active suspension chassis is a conventional trolley; when the wheel-track composite deformation wheel is deformed into an elliptical wheel, the control system controls the motor in the wheel-edge module 31 to work only when the approach angle and the departure angle are changed, the wheel-track composite deformation wheel can not rotate under the general condition, the outer rotor driving motor 20 operates under the control of the control system, the driving wheel 4 drives the crawler belt 1 and the main body supporting part to rotate relatively, the wheel-track composite deformation wheel is used as a crawler belt 1 type wheel, the liftable wheel-track composite active suspension chassis is made into a crawler belt 1 type walking trolley, the mode is suitable for running in a severe environment, and the motor of the wheel-edge module 31 can adjust the angle at the moment, so that the approach angle and the departure angle are changed. The control system can also control the active shock absorber 30 of the wishbone suspension module to extend and retract, changing the frame ground clearance and thus the pass angle. Under extreme working conditions, when the wheel-track composite deformation wheel is deformed into an oval structure, four oval wheel-track composite deformation wheels and corresponding fork arm suspension modules form four walking legs, a control system controls the movement of the walking legs through the fork arm suspension modules, a wheel side motor can control the steering of the wheels, wherein the differential steering only realizes the steering through controlling the motor rotation speed difference when the wheel-type composite active suspension chassis and the track-type composite active suspension chassis are used, so that the liftable wheel-track composite active suspension chassis becomes a foot-type walking system, and the foot-type walking system has better obstacle crossing capability and extremely high trafficability. In the wheel mode of the chassis, wheels are driven by four in-wheel motors of the hub module 31, and steering is performed by controlling the rotational speed difference of each wheel. On a road surface with good road conditions, the vehicle can run at a high speed and has less wear on the crawler belt 1.

The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Although described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and they should be construed as covering the scope of the appended claims.

Claims (8)

1. The wheel-track composite deformation wheel is characterized by comprising a track (1), a main body supporting part and a bidirectional telescopic driving assembly (2), wherein the main body supporting part comprises four sub-supporting modules (3), the four sub-supporting modules (3) are sequentially hinged end to form a closed ring frame with the outer side for installing the track (1), and the deformation module is arranged on the inner side of the closed ring frame and used for driving the closed ring frame to deform so as to enable the track (1) to be in two working states of a round shape and an oval shape; two flexible ends of two-way flexible drive assembly (2) are articulated with two articulated points that are opposite on the closed ring frame respectively, and drive module that is used for driving track (1) pivoted is still installed respectively to two flexible ends of two-way flexible drive assembly (2), and drive module includes and meshes and make track (1) tensioning action wheel (4) with track (1).

2. The wheel track composite deformation wheel according to claim 1, wherein the sub-support modules (3) comprise two groups of support plate assemblies which are arranged in a mirror image mode, the two groups of support plate assemblies are fixedly connected through a plurality of nylon distance struts (5), each support plate assembly comprises two identical and overlapped irregular plates (6), the two irregular plates (6) are fixedly connected, opposite ends of the two irregular plates (6) are respectively outwards extended to form hinged lugs (7), and the hinged lugs (7) between the adjacent sub-support modules (3) are mutually overlapped and connected through a hinged shaft.

3. The wheel-track composite deformation wheel according to claim 2, wherein the outer edge of the deformed plate (6) is arc-shaped, the inner edge is linear, and the outer ring of the closed ring frame formed by the four sub-support modules (3) can be deformed into a round shape.

4. A wheel-track composite deformation wheel according to claim 3, characterized in that the two deformed plates (6) of the same supporting plate assembly are respectively an aluminum supporting plate and a carbon fiber supporting plate, a plurality of groups of track supporting bearings (8) are uniformly arranged on the supporting plate assembly along the arc-shaped edge of the supporting plate assembly in a penetrating manner, and the track supporting bearings (8) are in rolling fit with the inner side walls of the tracks (1).

5. The wheel track composite deformation wheel according to any one of claims 1 to 4, wherein the bidirectional telescopic driving assembly (2) comprises a bidirectional telescopic assembly and a driving assembly, the bidirectional telescopic assembly comprises a limiting frame body and two long strip-shaped telescopic structures which are arranged in a mirror image mode, the long strip-shaped telescopic structures comprise two round-shaped supporting plates (9) which are identical in structure and located on the same plane, two mutually parallel and spaced inserting strips (10) extend in the length direction of the round-shaped supporting plates (9), the inserting strips (10) on the two round-shaped supporting plates (9) are in central symmetry after being in opposite insertion fit, a long strip-shaped window (11) which is identical to the length direction of the inserting strips (10) is formed in the whole middle of a central symmetry graph formed by the two round-shaped supporting plates (9), the round-shaped telescopic structures located at the same end are fixedly connected through a plurality of positioning columns (12), the limiting frame body is mounted on the outer sides of the two long strip-shaped telescopic structures corresponding to the inserting strips (10), the limiting frame body comprises two longitudinal guide blocks (13) and guide blocks (14) which are arranged on the inner sides of the two guide blocks (14) corresponding to the two guide blocks (14) in the length direction of the two guide blocks (14) in the opposite direction, and the guide blocks (15) are arranged on the inner sides of the two guide blocks (14) corresponding to the long strip-shaped supporting plates (14), the two longitudinal guide plates (13) are respectively and fixedly connected between the top and the bottom of the two guide side plates (14); the outside fixedly connected with deformation driving motor (16) and deformation speed reducer (17) of one of them guide curb plate (14), be connected with the gear shaft of wearing to put between two guide curb plates (14) on deformation speed reducer (17), the gear shaft passes two rectangular shape windows (11), fixedly connected with two driving gears (36) on the gear shaft between two rectangular shape extending structure, fixedly connected with simultaneously with two upper and lower racks (18) of one of them driving gear (36) meshing on cutting (10) of two circular outline backup pads (9) in the same rectangular shape extending structure respectively, two driving gears (36) are used for driving two circular outline backup pads (9) in the different rectangular shape extending structure simultaneously and stretch out and draw back.

6. The wheel-track composite deformation wheel according to claim 5, wherein rectangular limit sliding grooves (19) are correspondingly formed in the plate bodies of two round-profile support plates (9) at the same telescopic end of the bidirectional telescopic assembly; the driving module comprises an outer rotor driving motor (20), a planetary reducer (21) and two rectangular supporting clamping blocks (22), wherein a sun gear of the planetary reducer (21) is mounted on a stator of the outer rotor driving motor (20), a driving wheel (4) is connected with an outer ring of the planetary reducer (21), two rectangular supporting clamping blocks (22) are fixedly connected with two ends of a stator shaft of the outer rotor driving motor (20) respectively, the outer rotor driving motor (20) is mounted in rectangular limiting sliding grooves (19) of two round-profile supporting plates (9) at the same telescopic end respectively through the rectangular supporting clamping blocks (22), the rectangular supporting clamping blocks (22) are consistent with the length direction of a strip-shaped window (11) along the sliding direction of the rectangular limiting sliding grooves (19), and a spring damping component arranged along the sliding direction of the rectangular supporting clamping blocks (22) is arranged between the rectangular supporting clamping blocks (22) and the round-profile supporting plates (9).

7. The wheel-track composite deformation wheel according to claim 6, wherein the spring damping assembly comprises two spring mounting seats (23) and two damping springs (24), wherein one spring mounting seat (23) is fixedly mounted on the outer side wall of the round-profile supporting plate (9), the other spring mounting seat (23) is fixedly mounted on the outer side wall of the rectangular supporting clamping block (22), the two spring mounting seats (23) are parallel and opposite, and the two damping springs (24) are fixedly connected between the two spring mounting seats (23).

8. The wheel-track composite active suspension chassis is characterized by comprising the wheel-track composite deformation wheel according to any one of claims 5-7, a cuboid frame (25) and four sets of fork arm suspension modules, wherein each fork arm suspension module comprises an upper swing arm (26), a push rod (27), a Y-shaped lower fork arm (28), a triangular swing arm (29) and an active shock absorber (30), a wheel edge module (31) is arranged on a guide side plate (14) on the inner side of the wheel-track composite deformation wheel, two connecting parts (32) opposite in position are arranged on the upper and lower sides of the wheel edge module (31), the four wheel-track composite deformation wheels are respectively arranged on four vertical struts (33) of the cuboid frame (25) through the four sets of fork arm suspension modules, one end of each upper swing arm (26) is hinged to the top of each vertical strut (33), and the other end of each upper swing arm (26) is hinged to the connecting part (32) on the wheel edge module (31); the single head end of the Y-shaped lower fork arm (28) is hinged to a connecting part (32) of the wheel side module (31), one end of the double head end of the Y-shaped lower fork arm (28) is hinged to the bottom of the vertical support column (33) and the other end of the double head end of the Y-shaped lower fork arm is hinged to a cross beam (34) close to the bottom of the vertical support column (33); the first vertex angle of the triangular rocker arm (29) is hinged with the top of the vertical strut (33), the second vertex angle of the triangular rocker arm (29) is hinged with one end of the push rod (27), the other end of the push rod (27) is hinged to a rod body, close to the wheel side module (31), of the Y-shaped lower fork arm (28), the third vertex angle of the triangular rocker arm (29) is hinged with one end of the active shock absorber (30), and the other end of the active shock absorber (30) is hinged to a longitudinal beam (35) connected with the bottom of the vertical strut (33).