CN-121973862-A - Recombinant multi-configuration power wheel set

Abstract

The invention relates to a reorganizable multi-configuration power wheel set, which comprises a crawler wheel set device, wherein the crawler wheel set device comprises a crawler body, a crawler wheel body, a shaft hole, a first gear and a second gear, a plurality of crawler wheel bodies are connected in a transmission manner in the crawler body, the shaft hole is formed in the outer wall of one side of the crawler wheel body, the first gear is fixedly connected to the outer wall of the other side of the crawler wheel body, and two adjacent first gears are connected through the transmission of the second gear.

Inventors

• LI RUIMING
• YAO YANAN
• ZHANG XIANHONG
• LIAO XIN
• YANG BOWEN
• LI HANGYU
• LI ZIJIAN
• WEI ZIJIAN
• XU ZHILING
• YIN XINGQI

Assignees

• 北京交通大学

Dates

Publication Date

20260505

Application Date

20260325

Claims (5)

1. 1. The reconfigurable multi-configuration power wheel set comprises a crawler wheel set device (1) and is characterized in that the crawler wheel set device (1) comprises a crawler body (11), a crawler wheel body (12), a shaft hole (13), a first gear (14) and a second gear (15), a plurality of crawler wheel bodies (12) are connected in a transmission mode in the crawler body (11), a shaft hole (13) is formed in the outer wall of one side of the crawler wheel body (12), a first gear (14) is fixedly connected to the outer wall of the other side of the crawler wheel body (12), and two adjacent first gears (14) are meshed and transmitted through the second gear (15), so that the plurality of crawler wheel bodies (12) are connected in series to form a whole.
2. 2. The reconfigurable multi-configuration power wheel set of claim 1, wherein the crawler wheel body (12) and the second gear (15) are linearly and uniformly distributed along the length direction of the crawler wheel body (11), the first gear (14) and the second gear (15) form serial linear transmission, the first gear (14) provides driving force to enable the crawler to move, the second gear (15) is arranged between the first gears (14) and is used for connecting the cooperation between the first gears (14) and transmitting power, each first gear (14) is provided with a connecting shaft hole (13) which can be connected with different wheel bodies, and finally, the fact that a plurality of crawler wheel bodies still keep consistent rotating speeds after the wheel bodies in different forms are replaced is achieved, and the motion stability and consistency of the whole mechanism are ensured.
3. 3. A reconfigurable multi-configuration power wheel set according to claim 1, wherein a second gear (15) is matched between the first gears (14) for power transmission between the first gears (14), the first gears (14) and the second gears (15) are fixedly connected with a mounting shaft (16), the mounting shaft (16) is provided with key slot structures for rapidly mounting and dismounting different wheel bodies, in the replacement process of the multi-form wheel body, keys are placed into the key slots of the mounting shaft (16), the bottoms of the keys are guaranteed to be attached without gaps, the tops of the keys are flush with the journal surface of the mounting shaft (16), the key slots on the multi-form wheel body are aligned with the keys on the mounting shaft (16), and accordingly the crawler wheel body can be assembled with the multi-form wheel body in a replaceable manner without disassembling the body, and flexibility is improved.
4. 4. The reconfigurable multi-configuration power wheel set of claim 1, wherein the axle hole (13) is formed at the axle center of the crawler wheel body (12), the axle hole (13) and the mounting axle (16) form a universal standardized interface, the set of interface forms an open hardware expansion platform for the crawler wheel, and the complex and changeable ground environment and operation requirements are dynamically adapted by adding and deleting wheel sets in different forms.
5. 5. The reconfigurable multi-configuration power wheel set of claim 4, wherein the wheel set is a detachable independent module, the wheel set can be detached and replaced according to practical conditions, and meanwhile, compatibility is realized by standardizing the size of the shaft hole, so that portable interchange among different functional wheel sets is completed.

Description

Recombinant multi-configuration power wheel set Technical Field The invention belongs to the field of crawler-type mobile robots, and particularly relates to a reconfigurable multi-configuration power wheel set. Background A crawler wheel set mechanism is a component for moving and supporting a mechanical device or vehicle, the surface of which is covered with crawler tracks. Crawler wheel group mechanisms are typically composed of tracks, drive wheels, guide wheels, support wheels, tensioning wheels, and the like. The crawler belt is a long continuous belt structure and is generally provided with a rubber crawler belt and a metal crawler belt, the advantages of the crawler belt wheel group mechanism are mainly reflected in that the supporting area is large, the ground contact specific pressure is small, the crawler belt wheel group mechanism is suitable for operation under the condition of soft or muddy ground, in addition, the crawler belt supporting surface is provided with crawler teeth, the crawler belt wheel group mechanism is not easy to slip, has good traction adhesion performance and strong obstacle crossing capability, however, the crawler belt wheel group mechanism also has the defects of low transmission efficiency and unsuitable for a fast moving working condition, and because of the self-positioning wheels and the steering mechanism, the steering and advancing directions can slide, the turning resistance is large, and the turning radius cannot be accurately determined. These drawbacks limit the use of the crawler chassis in complex environments. Disclosure of Invention The invention aims to provide a reconfigurable multi-configuration power wheel set which can be combined with wheels in different forms on the basis of a general crawler chassis, including but not limited to circular rubber wheels, triangular crawler wheels, planetary crawler wheels, paddle impellers and the like, so that the performance and the application range of the crawler chassis are improved. In order to solve the problems, the invention provides a reconfigurable multi-configuration power wheel set which comprises a crawler wheel set device (1) and is characterized in that the crawler wheel set device (1) comprises a crawler body (11), a crawler wheel body (12), a shaft hole (13), a first gear (14) and a second gear (15). The crawler belt is characterized in that a plurality of crawler belt wheel bodies (12) are connected in a transmission manner in the crawler belt body (11), shaft holes (13) are formed in the outer wall of one side of the crawler belt wheel bodies (12), first gears (14) are fixedly connected to the outer wall of the other side of the crawler belt wheel bodies (12), two adjacent first gears (14) are connected in a transmission manner through second gears (15), the crawler belt wheel bodies (12) are connected in series to form a whole, a key groove (16-A) on the installation shaft (16) is connected with a motor in the trolley chassis (7) in a shaft key manner, the key groove (16-B) is connected with the first gears (14) in a shaft key manner, the key groove (16-C) is connected with wheels in different forms in a shaft key manner, and rapid assembly of the crawler belt wheel group device and other types of wheels is realized through the standardized shaft hole size, and the crawler belt wheel group device has high reconfigurability and modularized design. Further, the crawler wheel body (12) and the second gear (15) are linearly and uniformly distributed in the length direction of the crawler body (11). Further, the first gear (14) and the second gear (15) are fixedly connected with a mounting shaft (16). Further, the shaft hole (13) is formed at the axle center of the crawler wheel body (12). The crawler wheel assembly device has the beneficial effects that the axle hole is reserved at the axle center position of the crawler wheel body, the design realizes the rapid assembly of the crawler wheel assembly device and other types of wheels, the crawler wheel assembly device has high reconfigurability, the detachable modularized design is adopted, a user can flexibly adjust the types and the number of auxiliary wheels according to the change of specific working conditions, the obstacle crossing capacity and the environmental adaptability of various crawler travelling mechanisms are greatly improved, and the device can be ensured to operate in various complex environments with high efficiency. Drawings In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly describe the embodiments or the drawings required to be used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and the following are only preferred embodiments of the present application, so that the protection scope of the present application is n