The invention relates to a wheel type and crawler belt switching running device, and belongs to the technical field of tunnel robots. The end, away from the ground, of the device is provided with a control platform. The end, close to the ground, of the device comprises a steering mechanism, four wheel-track switching mechanisms, a power supply, an axle motor, a universal joint, a transmission shaft and a drive axle. The control platform is connected with the power supply, the wheel-track switching mechanism and the steering mechanism through signal lines; the steering mechanism is arranged on the front side below the device, and the wheel-track switching mechanisms are installed at the two ends of the steering mechanism. The power supply is connected with the steering mechanism, the axle motor, the wheel-track switching mechanism and the control platform to supply power; the bridge motor is connected with the transmission shaft through the universal joint; the drive axle is arranged on the rear side below the device and connected with the transmission shaft; the two ends of the drive axle are each provided with a wheel-track switching mechanism. According to the invention, a wheel type driving mode and a track driving mode are set on one driving device at the same time, and automatic switching between the two modes is realized through a wheel-track switching mechanism so as to adapt to the driving terrain and environment of the device.

    本发明涉及一种轮式与履带切换行驶装置,属于隧道机器人技术领域。本装置远离地面端设置控制平台,装置靠近地面端包括转向机构、四个轮履切换机构、电源供应器、桥用电机、万向节、传动轴、驱动桥;控制平台与电源供应器、轮履切换机构和转向机构以讯号线相接;转向机构设置于装置下方前侧,两端个安装一个轮履切换机构;电源供应器连接转向机构、桥用电机、轮履切换机构与控制平台以供电;桥用电机透过万向节与传动轴相接;驱动桥设置于装置下方后侧与传动轴相接;驱动桥的两端各安装一个轮履切换机构。本发明在一个行驶装置上同时设置轮式行驶模式与履带行驶模式,通过轮履切换机构实现两种模式之间的自动切换以适应装置行驶的地形与环境。


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    Title :

    Wheel type and crawler belt switching running device


    Additional title:

    一种轮式与履带切换行驶装置


    Contributors:
    LI XIAOBO (author) / XUE CHUNRONG (author) / LEI SHIWEI (author) / WU MINGYANG (author) / PAN CHANGSONG (author) / HUANG HAIYOU (author) / WANG CHENGFENG (author) / GAO MINGYANG (author) / FENG WEI (author) / HE XINGYUN (author)

    Publication date :

    2022-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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