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CN109649077A - A kind of full terrain self-adaptive wheel is carried out and its application - Google Patents

A kind of full terrain self-adaptive wheel is carried out and its application Download PDF

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Publication number
CN109649077A
CN109649077A CN201910034000.6A CN201910034000A CN109649077A CN 109649077 A CN109649077 A CN 109649077A CN 201910034000 A CN201910034000 A CN 201910034000A CN 109649077 A CN109649077 A CN 109649077A
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China
Prior art keywords
wheel
hub
planetary
hydraulic cylinder
track
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CN201910034000.6A
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Chinese (zh)
Inventor
曾庆良
孙志远
田明倩
戴汉政
万丽荣
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Priority to CN201910034000.6A priority Critical patent/CN109649077A/en
Publication of CN109649077A publication Critical patent/CN109649077A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Arrangement Of Transmissions (AREA)
  • Retarders (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

It carries out and its applies the present invention relates to a kind of full terrain self-adaptive wheel, including planetary gear reducing mechanism, movable composition formula hub mechanism and rubber track drive mechanism；Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, so that movable composition formula hub mechanism is changed outer shape by telescopic device work；Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape changes, realizes the conversion between the wheeled form and crawler type form of rubber track drive mechanism.The present invention can control the wheeled mutual conversion between crawler type form by the mutual cooperation of brake, clutch and hydraulic cylinder and be converted into wheeled form on flat hard pavement, to improve travel speed, reduce power consumption；On soft terrain, it is converted into crawler type form, to increase contact area, tractive force is improved, improves passability.

Description

A kind of full terrain self-adaptive wheel is carried out and its application
Technical field
It carries out and its applies the present invention relates to a kind of full terrain self-adaptive wheel, belong to vehicle to run component technology field.
Background technique
Currently, engineering truck mainly has three kinds of vehicles of wheeled, crawler type and convertible wheel crawler.For different work Landform needs to select unused vehicle.The hard surfacing that wheeled vehicle is suitble to landform flat, caterpillar is suitble to a varied topography Soft terrain, and convertible wheel endless-track vehicle can take into account wheeled and crawler type.However the working environment of engineering truck now Mostly single landform, thus convertible wheel endless-track vehicle in order to adapt to different landform need frequent more wheel change with Crawler belt reduces working efficiency.
Wheeled vehicle has many advantages, such as simple structure, high speed, controls simple, motion stabilization and low energy consumption, but it is not It is suitable across as gully, by muddy road surface etc., obstacle climbing ability, passability are poor.
Caterpillar has stronger landform adaptability compared to wheeled vehicle, has under mountain terrain, complex environment Higher obstacle climbing ability and good environmental suitability, but since there are biggish frictional resistance, energy consumption is very high and moves Speed is lower.
Through retrieving, Chinese patent literature CN108454718A discloses a kind of passive adaptive robot of crawler type, including Car body module, two damping modules being mounted on before and after car body module, the information acquisition module for being mounted on car body module top and It is mounted on four crawler type vehicle wheels of car body module two sides；The both ends of one damping module connect two crawler type vehicle wheels；Four Crawler wheel construction is identical, is in all around to be arranged symmetrically around car body module；Each crawler type vehicle wheel includes carrying out On the one hand band, pulley structure and V belt translation body, the V belt translation body are connect with car body module, on the other hand connect with pulley structure It connects；Crawler belt is installed in pulley structure outer surface；The pulley structure includes six transmission gears, two planet support frames, four Central axis, two central gears and two planetary gears.Each crawler type vehicle wheel of the robot passes through a motor driven Movement, is connected by damping module, so that shock-absorbing arms telescopic variation, swing rod swing, can cross complicated landform.
Chinese patent literature CN108860341A discloses a kind of switchable type planetary gear crawler belt traveling mechanism, in drive shaft It is connected separately with runing rest, the first fixed bracket and the second fixed bracket, the first thrust wheel is installed on runing rest, is rotated The other end of bracket is connected with tensioning wheel hydraulic cylinder, and tensioning wheel is equipped in the hydraulic axis of tensioning wheel hydraulic cylinder, and first is fixed The other end of bracket is connected with driving wheel hydraulic cylinder, and driving wheel is equipped in the hydraulic axis of driving wheel hydraulic cylinder, and second is fixed Second thrust wheel is installed, the second support bracket fastened other end is equipped with directive wheel, the wheel hub two sides of three planetary gears on bracket It has been removably installed limit chuck respectively, has been arranged with dismountable crawler belt on the outside of three planetary gears, wherein driving wheel can drive Crawler belt rotation makes switchable type planetary gear crawler belt traveling mechanism wheel carry out formula traveling.There is the present invention planetary gear set and wheel to carry out combination Two states can switch according to different road conditions and use, and have the preferable advance for adapting to various road conditions and obstacle crossing function.
Although the technical solution that above two patent documents provide can change the shape of crawler type vehicle wheel to a certain extent Shape, but it is still caterpillar walking mechanism, it is merely capable of meeting the unitary demand of special road conditions, promotes getting over for crawler type vehicle wheel Barrier ability cannot achieve the application of full landform all-terrain baby, can not freely convert between high-quality road conditions and special road conditions, and at present There are no full landform wheel shoes to be reported in media.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of full terrain self-adaptive wheel shoe, can be in various road conditions items Realized under part it is wheeled and it is caterpillar freely convert, meet the needs of different road conditions, be truly realized full landform be applicable in.
The present invention also provides a kind of above-mentioned working methods that full terrain self-adaptive wheel is carried out.
Technical scheme is as follows:
A kind of full terrain self-adaptive wheel shoe, including planetary gear reducing mechanism, movable composition formula hub mechanism and rubber are carried out Tape handler；
Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, by flexible Device work makes movable composition formula hub mechanism change outer shape；
Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape When change, the conversion between the wheeled form and crawler type form of rubber track drive mechanism is realized.
Preferably, the planetary gear reducing mechanism includes preceding planet carrier, rear planet carrier, drive shaft, sun gear, planet Axis, planetary gear and clutch；Sun gear is fixedly mounted on the driving shaft, and drive shaft passes through rear planet carrier, and planetary gear passes through bearing Connection is mounted in planet axis, and three planetary gears are meshed with sun gear, and planet axis is installed and connected in preceding planet carrier and rear planet Between frame, clutch is installed between drive shaft and rear planet carrier.
Preferably, the planetary gear reducing mechanism further includes brake, brake be installed on rear planet carrier and car body it Between.
Preferably, the telescopic device includes hydraulic cylinder, cylinder, electric cylinder.
Preferably, the movable composition formula hub mechanism includes hub plate, stiffening plate and load-bearing axle；Hydraulic cylinder is fixedly mounted on On preceding planet carrier, symmetrically hinged hub plate, every side hub plate are correspondingly connected with stiffening plate by load-bearing axle for the two sides of hydraulic cylinder pillar, support Bar one end and hub plate be hinged, the other end and preceding planet carrier or rear planet carrier are hinged.
Preferably, the movable composition formula hub mechanism includes 12 blocks of hub plates, and every four blocks of hub plates are symmetrically articulated with same The two sides of hydraulic cylinder pillar.The benefit of this design is just to constitute circular hub using 12 blocks of hub plates, while using minimum three A hydraulic cylinder achieves that conversion of 12 blocks of hub plates between circular hub and crawler belt form.
Preferably, the rubber track drive mechanism includes rubber belt track, driving wheel, carrying roller；Driving wheel is installed on row Star axis is simultaneously fixedly connected on planetary gear, and respectively there are a driving wheel in planetary gear left and right ends, and carrying roller is mounted on hub plate and reinforces In load-bearing axle between plate, rubber belt track is wrapped in driving wheel and carrying roller, and engages on the inside of rubber belt track with driving wheel.
Preferably, there are four carrying rollers for arrangement between the hub plate and stiffening plate.
A kind of working method that full terrain self-adaptive wheel is carried out, comprising the following steps:
When needing wheeled form when driving, hydraulic cylinder packs up hydraulic cylinder pillar, and hub plate forms circular hub, system to contract Dynamic device separation, clutch engagement latch planet row, entire planet row follows drive shaft to rotate synchronously with rubber belt track, to realize Conversion from from crawler type to wheeled form；
Or
When needing crawler type form when driving, brake is engaged, clutch separation, and drive shaft drives sun gear, sun gear Planetary gear is driven, and then drives drive wheel rubber belt track, hydraulic cylinder rises hydraulic cylinder pillar, and hub plate spreads composition three outward Angular wheel hub, to realize from the wheeled conversion to crawler type form.
The beneficial effects of the present invention are:
Novel full terrain self-adaptive wheel provided by the present invention is carried out, and planetary gear reducing mechanism, movable composition formula are provided with Hub mechanism and rubber track drive mechanism, can by the mutual cooperation of brake, clutch and hydraulic cylinder control it is wheeled with Mutual conversion between crawler type form, therefore quick modality conversion can be carried out according to the needs of vehicle driving, flat On hard pavement, it is converted into wheeled form, to improve travel speed, reduces power consumption；On soft terrain, it is converted into crawler belt Formula form improves tractive force to increase contact area, improves passability.
Detailed description of the invention
Fig. 1 is the outside structure diagram that wheel carries out wheeled form；
Fig. 2 is the inside structure schematic diagram that wheel carries out wheeled form；
Fig. 3 is the structural schematic diagram that wheel carries out crawler type form；
Fig. 4 is the structural schematic diagram that wheel carries out wheeled form lower hub；
Fig. 5 is the structural schematic diagram that wheel carries out crawler type form lower hub；
Fig. 6 is the structural schematic diagram of planetary gear speed reducing mechanism；
Fig. 7 is movable hub plate and carrying roller scheme of installation；
In figure: 1- planetary gear reducing mechanism；Planet carrier before 101-；Planet carrier after 102-；103- drive shaft；The 104- sun Wheel；105- planet axis；106- planetary gear；107- brake；108- clutch；2- movable composition formula hub mechanism；201- hub plate； 202- hydraulic cylinder pillar；203- hydraulic cylinder；204- support rod；205- stiffening plate；206- load-bearing axle；3- rubber track drive machine Structure；301- rubber belt track；302- driving wheel；303- carrying roller.
Specific embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
As shown in Figures 1 to 7, the present embodiment provides a kind of full terrain self-adaptive wheels to carry out, and mainly includes planetary gear speed-reduction 3 three parts of mechanism 1, movable composition formula hub mechanism 2 and rubber track drive mechanism；
Planetary gear reducing mechanism 1 is connect by telescopic device, support rod 204 with movable composition formula hub mechanism 2, is passed through Telescopic device work makes movable composition formula hub mechanism 2 change outer shape；
Rubber track drive mechanism 3 is connect with movable composition formula hub mechanism 2, outside movable composition formula hub mechanism 2 When shape changes, the conversion between the wheeled form and crawler type form of rubber track drive mechanism 3 is realized.
Specifically, planetary gear reducing mechanism 1 includes preceding planet carrier 101, rear planet carrier 102, drive shaft 103, sun gear 104, planet axis 105, planetary gear 106 and clutch 108；Sun gear 104 is fixedly mounted in drive shaft 103, and drive shaft 103 is worn Later planet carrier 102, planetary gear 106 are mounted in planet axis 105 by bearing connection, three planetary gears 106 and sun gear 104 It is meshed, and forms planet row in conjunction with preceding planet carrier and rear planet carrier, 101 He of planet carrier before planet axis 105 is installed and connected in Afterwards between planet carrier 102, clutch 108 is installed between drive shaft 103 and rear planet carrier 102.Here clutch 108 is used to Rear planet carrier 102 and drive shaft 103 are connected or disconnected, to determine whether planet carrier follows drive shaft 103 and sun gear 104 same Step rotation.
Planetary gear reducing mechanism further includes brake 107, and brake 107 is installed between rear planet carrier 102 and car body, Here brake 107 is mainly used for remaining stationary planet carrier with car body, to realize Gear Planet Transmission.It is braked in the present embodiment Device 107, clutch 108 select conventional equipment.
Telescopic device selects hydraulic cylinder 203 in the present embodiment, before being mounted on altogether there are three hydraulic cylinder 203 on planet carrier 101, It is spacedly distributed between three hydraulic cylinders, hydraulic cylinder pillar 202 (piston rod) is a T-type structure, and front end is a T-block.
Movable composition formula hub mechanism includes hub plate 201, stiffening plate 205 and load-bearing axle 206；Hydraulic cylinder 203 is fixedly mounted On preceding planet carrier 101, the symmetrical hinged hub plate 201 (hub plate one end is hinged in T-block) in the two sides of hydraulic cylinder pillar 202, often Side hub plate 201 is correspondingly connected with stiffening plate 205 by load-bearing axle 206,204 one end of support rod and hub plate 201 is hinged, the other end is with before Planet carrier 101 or rear planet carrier 102 are hinged, and hub plate 201, hydraulic cylinder pillar 202, hydraulic cylinder 203 and support rod 204 form at this time Four-bar mechanism containing a prismatic pair.Hub mechanism is formed by 12 blocks of hub plates 201 in the present embodiment, left and right ends are pacified Six pieces are filled, every four blocks of hub plates 201 are symmetrically articulated with the two sides of same hydraulic cylinder pillar 202.It is just constituted using 12 blocks of hub plates Circular hub, while achieving that 12 blocks of hub plates turn between circular hub and crawler belt form using minimum of three hydraulic cylinder It changes, component is few, at low cost.
Rubber track drive mechanism includes rubber belt track 301, driving wheel 302, carrying roller 303；Driving wheel 302 is installed on row Star axis 105 is simultaneously fixedly connected on planetary gear 106, and respectively there are a driving wheel 302 in 106 left and right ends of planetary gear, driving wheel 302 with Planetary gear 106 rotates synchronously, and carrying roller 303 is mounted in the load-bearing axle 206 between hub plate 201 and stiffening plate 205, hub plate 201 There are four carrying rollers 303, rubber belt track 301 to be wrapped in driving wheel 302 and carrying roller 303, and rubber for arrangement between stiffening plate 205 It is engaged with driving wheel 302 301 inside of glue crawler belt.
The present embodiment technical solution uses the design of planetary gear speed reducing mechanism and movable composition formula hub mechanism, and carrying out wheel can It realizes the wheeled mutual conversion between crawler type form, can need to carry out the conversion of form according to the landform of vehicle driving, On flat hard pavement, it is converted into wheeled form, to improve travel speed, reduces power consumption；On soft terrain, conversion At crawler type form, to increase contact area, tractive force is improved, improves passability；The use of rubber belt track can be realized wheel The smooth conversion of formula and crawler type form plays shock absorbing effect under wheeled form, and increase ground connection is played under crawler type form Area is with the effect of increasing traction；Bogie wheel is connected on Combined hub, and the work for reinforcing wheel hub is played while load-bearing With.
Embodiment 2:
A kind of full terrain self-adaptive wheel shoe, structure is as described in Example 1, the difference is that: telescopic device selects gas Cylinder.According to vehicle difference requirement, different telescopic devices may be selected, to meet personalized configuration.
Embodiment 3:
A kind of full terrain self-adaptive wheel shoe, structure is as described in Example 1, the difference is that: telescopic device selects electricity Dynamic cylinder.
Embodiment 4:
The working method that full terrain self-adaptive wheel is carried out, specific work process are as follows as described in Example 1:
When needing wheeled form when driving, hydraulic cylinder 203 packs up hydraulic cylinder pillar 202, and hub plate 201 is formed to contract to be justified Shape wheel hub, brake 107 separate, and 108 engagement latch planet row of clutch, entire planet row and rubber belt track lock and follow drive Moving axis 103 rotates synchronously, to realize the conversion from crawler type to wheeled form；
When needing crawler type form when driving, brake 107 is engaged, and clutch 108 separates, and drive shaft 103 drives the sun Wheel 104, sun gear 104 drive planetary gear 106, and then driving wheel 302 is driven to drive rubber belt track 301, and hydraulic cylinder 203 rises liquid Cylinder pressure pillar 202, diffusion forms triangular boss to hub plate 201 outward, to realize from the wheeled conversion to crawler type form.
During wheel carries out modality conversion, by control hydraulic device hydraulic cylinder pillar it is flexible, make the shape of wheel hub It changes, and guarantees that the outer circumference of wheel hub is held essentially constant in the process, so that rubber belt track is correct with driving wheel Engagement.

Claims (9)

1.一种全地形自适应轮履，其特征在于，包括行星齿轮减速机构、活动组合式轮毂机构和橡胶履带传动机构；1. An all-terrain adaptive wheel track, characterized in that, comprising a planetary gear reduction mechanism, a movable combined hub mechanism and a rubber crawler belt drive mechanism; 行星齿轮减速机构通过伸缩装置、支撑杆与活动组合式轮毂机构连接，通过伸缩装置工作使活动组合式轮毂机构改变外部形状；The planetary gear reduction mechanism is connected with the movable combined hub mechanism through a telescopic device and a support rod, and the movable combined hub mechanism changes its external shape through the operation of the expansion device; 橡胶履带传动机构与活动组合式轮毂机构连接，当活动组合式轮毂机构外部形状改变时，实现橡胶履带传动机构的轮式形态与履带式形态之间的转换。The rubber track transmission mechanism is connected with the movable combined hub mechanism, and when the external shape of the movable combined hub mechanism changes, the conversion between the wheel type and the crawler type of the rubber track transmission mechanism is realized. 2.如权利要求1所述的全地形自适应轮履，其特征在于，所述行星齿轮减速机构包括前行星架、后行星架、驱动轴、太阳轮、行星轴、行星轮和离合器；太阳轮固定安装在驱动轴上，驱动轴穿过后行星架，行星轮通过轴承连接安装在行星轴上，三个行星轮与太阳轮相啮合，行星轴安装连接于前行星架和后行星架之间，离合器安装于驱动轴与后行星架之间。2. The all-terrain adaptive wheel track of claim 1, wherein the planetary gear reduction mechanism comprises a front planet carrier, a rear planet carrier, a drive shaft, a sun gear, a planetary shaft, a planetary gear and a clutch; the sun The wheel is fixedly installed on the drive shaft, the drive shaft passes through the rear planetary carrier, the planetary gear is mounted on the planetary shaft through the bearing connection, the three planetary gears are engaged with the sun gear, and the planetary shaft is installed and connected between the front planetary carrier and the rear planetary carrier. , the clutch is installed between the drive shaft and the rear planet carrier. 3.如权利要求2所述的全地形自适应轮履，其特征在于，所述行星齿轮减速机构还包括制动器，制动器安装于后行星架与车体之间。3 . The all-terrain adaptive wheel track according to claim 2 , wherein the planetary gear reduction mechanism further comprises a brake, and the brake is installed between the rear planet carrier and the vehicle body. 4 . 4.如权利要求2所述的全地形自适应轮履，其特征在于，所述伸缩装置包括液压缸、气缸、电动缸。4. The all-terrain adaptive wheel track according to claim 2, wherein the telescopic device comprises a hydraulic cylinder, an air cylinder, and an electric cylinder. 5.如权利要求4所述的全地形自适应轮履，其特征在于，所述活动组合式轮毂机构包括毂板、加强板和承重轴；液压缸固定安装在前行星架上，液压缸支柱的两侧对称铰接毂板，每侧毂板通过承重轴对应连接加强板，支撑杆一端与毂板铰接、另一端与前行星架或后行星架铰接。5. The all-terrain adaptive wheel track according to claim 4, wherein the movable combined wheel hub mechanism comprises a hub plate, a reinforcing plate and a bearing shaft; the hydraulic cylinder is fixedly installed on the front planet carrier, and the hydraulic cylinder strut The two sides are symmetrically hinged to the hub plate, each side hub plate is connected to the reinforcing plate correspondingly through the bearing shaft, one end of the support rod is hinged with the hub plate, and the other end is hinged with the front planet carrier or the rear planet carrier. 6.如权利要求5所述的全地形自适应轮履，其特征在于，所述活动组合式轮毂机构包括十二块毂板，每四块毂板对称铰接于同一液压缸支柱的两侧。6 . The all-terrain adaptive wheel track according to claim 5 , wherein the movable combined wheel hub mechanism comprises twelve hub plates, and every four hub plates are symmetrically hinged on both sides of the same hydraulic cylinder strut. 7 . 7.如权利要求4所述的全地形自适应轮履，其特征在于，所述橡胶履带传动机构包括橡胶履带、驱动轮、承重轮；驱动轮安装于行星轴并固定连接在行星轮上，行星轮左右两端各有一个驱动轮，承重轮安装在毂板与加强板之间的承重轴上，橡胶履带包裹着驱动轮和承重轮，且橡胶履带内侧与驱动轮啮合。7. The all-terrain adaptive wheel track of claim 4, wherein the rubber track transmission mechanism comprises a rubber track, a drive wheel, and a load-bearing wheel; the drive wheel is mounted on the planetary shaft and is fixedly connected to the planetary wheel, There is a drive wheel at the left and right ends of the planetary wheel. The load-bearing wheel is installed on the load-bearing shaft between the hub plate and the reinforcing plate. The rubber track wraps the drive wheel and the load-bearing wheel, and the inner side of the rubber track meshes with the drive wheel. 8.如权利要求7所述的全地形自适应轮履，其特征在于，所述毂板与加强板之间布置有四个承重轮。8 . The all-terrain adaptive wheel track of claim 7 , wherein four load-bearing wheels are arranged between the hub plate and the reinforcing plate. 9 . 9.一种如权利要求1-8任一项所述的全地形自适应轮履的工作方法，包括以下步骤：9. A working method of the all-terrain adaptive wheel track as claimed in any one of claims 1-8, comprising the steps of: 当需要轮式形态行驶时，液压缸收起液压缸支柱，毂板向内收缩组成圆形轮毂，制动器分离，离合器接合闭锁行星排，整个行星排与橡胶履带跟随驱动轴同步转动，从而实现由履带式向轮式形态的转换；When wheeled driving is required, the hydraulic cylinder retracts the hydraulic cylinder strut, the hub plate shrinks inward to form a circular hub, the brake is disengaged, the clutch engages and locks the planetary row, and the entire planetary row and the rubber track rotate synchronously with the drive shaft, thereby realizing the The conversion from crawler to wheeled form; 或or 当需要履带式形态行驶时，制动器接合，离合器分离，驱动轴驱动太阳轮，太阳轮带动行星轮，进而带动驱动轮驱动橡胶履带，液压缸升起液压缸支柱，毂板向外扩散组成三角形轮毂，从而实现由轮式向履带式形态的转换。When the crawler-type driving is required, the brake is engaged, the clutch is disengaged, the drive shaft drives the sun gear, the sun gear drives the planetary gear, and then drives the drive wheel to drive the rubber track, the hydraulic cylinder lifts the hydraulic cylinder strut, and the hub plate spreads outward to form a triangular hub , so as to realize the conversion from wheeled to crawler.
CN201910034000.6A 2019-01-15 2019-01-15 A kind of full terrain self-adaptive wheel is carried out and its application Pending CN109649077A (en)

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CN110370863A (en) * 2019-06-21 2019-10-25 农业农村部南京农业机械化研究所 A kind of variable wheel diameter mechanism
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CN110588809A (en) * 2019-10-18 2019-12-20 西安石油大学 A wheel-track switching all-terrain robot
CN111114663A (en) * 2019-12-25 2020-05-08 鞠昌金 Anti-skid hub mechanism for snow shoveling vehicle
CN111546826A (en) * 2020-04-24 2020-08-18 北京交通大学 Single degree of freedom deformation wheel
CN111572272A (en) * 2020-05-08 2020-08-25 中国人民解放军陆军军事交通学院 Novel wheel-track combined type variable structure wheel
CN111605634A (en) * 2020-05-28 2020-09-01 天津捷强动力装备股份有限公司 Wheel-Crawler Variant Wheel Mechanism
CN112140803A (en) * 2020-09-23 2020-12-29 内蒙古工业大学 Deformable tire
CN112543706A (en) * 2020-10-30 2021-03-23 哈尔滨工业大学（深圳） Wheels and their moving equipment
CN112793679A (en) * 2021-02-25 2021-05-14 常熟理工学院 A fully deformable wheel device that can be switched to a crawler structure
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CN112976931A (en) * 2021-04-09 2021-06-18 吉林大学 Wheel-track two-mode deformed wheel
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
CN113459722A (en) * 2021-07-07 2021-10-01 南京航空航天大学 Non-inflatable wheel capable of switching motion forms and changing shapes and changing method thereof
CN113561701A (en) * 2021-08-06 2021-10-29 邢台职业技术学院 Variable wheel suitable for complex road conditions
CN113665289A (en) * 2021-09-03 2021-11-19 吉林大学 Wheel-track independent switching star cart wheel
CN113753145A (en) * 2021-09-01 2021-12-07 南京航空航天大学 A kind of non-pneumatic safety wheel capable of wheel track switching and switching method thereof
CN113895531A (en) * 2021-11-17 2022-01-07 机械科学研究总院青岛分院有限公司 Gear transmission structure of crawler-type robot
CN114475086A (en) * 2022-03-02 2022-05-13 中国北方车辆研究所 Synchronous deformation driving mechanism for heavy-load deformation wheel
CN114506182A (en) * 2022-01-26 2022-05-17 南京航空航天大学 Deformable wheel for field detection vehicle
CN114516242A (en) * 2022-03-08 2022-05-20 中国人民解放军陆军军事交通学院军事交通运输研究所 Reconfigurable rubber crawler walking system
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CN110182272A (en) * 2019-05-17 2019-08-30 西安理工大学 A kind of crawler type triangle based on internal gear/circular deformation wheel mechanism
CN110228540A (en) * 2019-05-17 2019-09-13 西安理工大学 A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism
CN110370863A (en) * 2019-06-21 2019-10-25 农业农村部南京农业机械化研究所 A kind of variable wheel diameter mechanism
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CN111572272A (en) * 2020-05-08 2020-08-25 中国人民解放军陆军军事交通学院 Novel wheel-track combined type variable structure wheel
CN111605634A (en) * 2020-05-28 2020-09-01 天津捷强动力装备股份有限公司 Wheel-Crawler Variant Wheel Mechanism
CN112140803A (en) * 2020-09-23 2020-12-29 内蒙古工业大学 Deformable tire
CN112543706A (en) * 2020-10-30 2021-03-23 哈尔滨工业大学（深圳） Wheels and their moving equipment
CN112848792A (en) * 2021-02-01 2021-05-28 吉林大学 Wheel-track combined type reconfigurable wheel
CN112793679A (en) * 2021-02-25 2021-05-14 常熟理工学院 A fully deformable wheel device that can be switched to a crawler structure
CN112976931A (en) * 2021-04-09 2021-06-18 吉林大学 Wheel-track two-mode deformed wheel
CN113459722A (en) * 2021-07-07 2021-10-01 南京航空航天大学 Non-inflatable wheel capable of switching motion forms and changing shapes and changing method 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
CN113561701A (en) * 2021-08-06 2021-10-29 邢台职业技术学院 Variable wheel suitable for complex road conditions
CN113753145A (en) * 2021-09-01 2021-12-07 南京航空航天大学 A kind of non-pneumatic safety wheel capable of wheel track switching and switching method thereof
CN113665289B (en) * 2021-09-03 2023-11-21 吉林大学 A kind of wheel track autonomously switches planetary vehicle wheels
CN113665289A (en) * 2021-09-03 2021-11-19 吉林大学 Wheel-track independent switching star cart wheel
CN113895531A (en) * 2021-11-17 2022-01-07 机械科学研究总院青岛分院有限公司 Gear transmission structure of crawler-type robot
CN113895531B (en) * 2021-11-17 2024-05-03 机械科学研究总院青岛分院有限公司 Gear transmission structure of crawler robot
CN114506182A (en) * 2022-01-26 2022-05-17 南京航空航天大学 Deformable wheel for field detection vehicle
CN114475086B (en) * 2022-03-02 2024-01-02 中国北方车辆研究所 Synchronous deformation driving mechanism for heavy-load deformation wheel
CN114475086A (en) * 2022-03-02 2022-05-13 中国北方车辆研究所 Synchronous deformation driving mechanism for heavy-load deformation wheel
CN114516242A (en) * 2022-03-08 2022-05-20 中国人民解放军陆军军事交通学院军事交通运输研究所 Reconfigurable rubber crawler walking system
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