CN108583704B

CN108583704B - Omnidirectional tracked vehicle

Info

Publication number: CN108583704B
Application number: CN201810354508.XA
Authority: CN
Inventors: 张晋嘉
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-19
Filing date: 2018-04-19
Publication date: 2020-11-03
Anticipated expiration: 2038-04-19
Also published as: CN108583704A

Abstract

The invention belongs to the technical field of tracked vehicles, and particularly relates to an omnidirectional tracked vehicle; the omnidirectional crawler comprises a vehicle body and three crawlers which are respectively connected with the vehicle body through connecting shafts, wherein the axes of the three connecting shafts form an angle of 120 degrees, and the connecting shafts are vertically connected with the crawlers; the crawler comprises a driving wheel, a driven wheel connected with the driving wheel through a chain, and an intermediate frame connected between the driving wheel and the driven wheel and sliding with the chain, wherein the intermediate frame is connected with the connecting shaft, and two ends of the intermediate frame are respectively connected with a fixing frame and a wheel fixing frame. The invention provides a novel omnidirectional crawler, which can realize omnidirectional movement through the matching of a crawler body and omnidirectional wheels, thereby reducing the abrasion to a crawler; differential steering is adopted for steering the crawler belt, and steering of the omnidirectional wheel is changed by controlling steering of the crawler belt; the device can realize the movement of the crawler in different directions and the rotation of the vehicle body through the cooperation of the 3 tracks.

Description

Omnidirectional tracked vehicle

Technical Field

The invention belongs to the technical field of tracked vehicles, and particularly relates to an omnidirectional tracked vehicle.

Background

The application of the tracked vehicle in various fields is increasing, and the tracked vehicle is one of very important tools in military aspects and building construction aspects. The advantage of a crawler is that it can travel over complex, rugged terrain; the tracked vehicle adopts differential steering, the vehicle body is steered by differential speed through changing the speed of the track, but the abrasion of the track by the steering mode is serious, and the service life of the tracked vehicle is reduced.

Disclosure of Invention

In order to solve the problems, the invention provides a novel omnidirectional crawler which can reduce the abrasion of a crawler and prolong the service life of the crawler.

The specific technical scheme of the invention is as follows:

the invention provides an omnidirectional crawler which comprises a crawler body and three crawlers connected with the crawler body through connecting shafts respectively, wherein the axes of the three connecting shafts form an angle of 120 degrees, and the connecting shafts are vertically connected with the crawlers; the crawler comprises a driving wheel, a driven wheel connected with the driving wheel through a chain and an intermediate frame connected between the driving wheel and the driven wheel and sliding with the chain, the intermediate frame is connected with the connecting shaft, two ends of the intermediate frame are respectively connected with a fixed frame and a wheel fixing frame, the fixed frame is provided with a driving motor for driving the driving wheel to rotate, and the driven wheel is connected with a wheel fixing frame through a guide wheel shaft in a sliding manner; the chain is provided with a plurality of platforms, each platform is provided with at least two omnidirectional wheels which are arranged in parallel, the axial direction of each omnidirectional wheel is parallel to the chain, and wheel shafts at two ends of each omnidirectional wheel are arranged on the platforms through support frames.

In a further improvement, the middle frame comprises a frame body, at least two parallel grooves are formed in two side faces of the frame body, the grooves in the same side face are arranged at intervals along the height direction of the side face, the grooves are parallel to the transverse central line of the side face, the positions of the grooves in the two side faces are arranged in a one-to-one correspondence mode, a plurality of rolling wheel shafts are arranged in the grooves at intervals along the length direction of the grooves, and rolling wheels penetrate through the rolling wheel shafts.

The improved structure comprises a frame body, a driving wheel, a driving motor, a fixing frame and a driving wheel, wherein the fixing frame comprises a longitudinal support and a transverse support vertically connected with the longitudinal support, the longitudinal support is fixedly connected with one side end face of the frame body, a mounting hole is formed in the transverse support, an output shaft of the driving motor penetrates through the mounting hole and is connected with the driving wheel, and a machine body of the driving motor is fixedly connected with the transverse support.

In a further improvement, the wheel fixing frame comprises a transverse plate and two longitudinal plates vertically connected with the transverse plate, the two longitudinal plates are symmetrically arranged along the central line of the transverse plate, the transverse plate is connected with one side end face, far away from the longitudinal support, of the frame body, connecting holes are formed in the two longitudinal plates, the positions of the two connecting holes are correspondingly arranged, and the guide wheel shaft penetrates through the driven wheel and is respectively connected with the two connecting holes.

In a further improvement, the chain is composed of a plurality of hinged chain link structures, each chain link structure comprises two parallel chain links and 4 chain links, each two of the 4 chain links are connected with the same side of each chain link in a group, the two groups of chain links are oppositely arranged, one of the chain links in each group is used for connecting the two chain links, one end of the other chain link is connected with one of the chain links in an overlapping manner, the other end of the other chain link is connected with the adjacent chain link structure, each chain link is perpendicular to the chain link, and each omnidirectional wheel is parallel to the chain links.

In a further improvement, the driving wheel and the driven wheel have the same structure and respectively comprise a chain wheel and a gear ring fixedly connected with the chain wheel, the gear ring is formed by surrounding a plurality of tooth blocks, and each tooth block is meshed and connected with the chain.

In a further improvement, the chain comprises a fixed pipe fitting, a telescopic rod arranged in the fixed pipe fitting and a fixed rod arranged on the fixed pipe fitting and far away from one end of the telescopic rod, the fixed pipe fitting is of a hollow structure with an opening at one end, the telescopic rod is arranged in the fixed pipe fitting and extends outwards, threads are formed on the telescopic rod, the chain link close to the middle frame is arranged on the fixed rod, the chain link far away from the middle frame is arranged on the telescopic rod, a lifting mechanism for controlling the telescopic rod to stretch is arranged in the fixed pipe fitting, the lifting mechanism comprises a worm wheel and a worm meshed with the worm wheel in a matching way, the worm wheel is sleeved outside the telescopic rod and is in threaded connection with the telescopic rod, a support is arranged at the lower end of the worm wheel, and the support is arranged on one side end face far away from the opening end in the, the worm is connected with a motor arranged on the inner wall of the fixed pipe fitting through a coupler, and the platform is arranged on two links of the same chain link structure.

The improved structure comprises a platform, wherein two sliding grooves are formed in the platform at intervals in the length direction of the platform, the platform is installed on two chain links which are used for connecting the two chain links and are arranged oppositely, the two sliding grooves are perpendicular to the omni wheels, sliding assemblies are installed in the sliding grooves and comprise bases, sliding rails, lead screws and two sliding blocks, the base is installed at the bottom of the sliding grooves, the sliding rails are installed on the bases, the lead screws and the two sliding blocks are installed on the sliding rails, the lead screws penetrate through the two sliding blocks, the lead screws are connected with one of the sliding blocks in a positive threaded mode and connected with the other sliding block in a reverse threaded mode, one end of each lead screw is connected with a rotating motor which is fixed on the bases, and two supporting frames which are arranged oppositely around the position are installed on.

The improved structure of the omnidirectional wheel comprises a omnidirectional wheel shaft and a roller which is sleeved on the omnidirectional wheel shaft through two bearings, wherein the two bearings are respectively arranged at the left end and the right end of the roller, a locking element for locking the roller is arranged on the omnidirectional wheel shaft, the locking element comprises two chucks arranged in the roller, a plurality of clamping blocks arranged on the chucks and cylinders which are arranged on the omnidirectional wheel shaft and connected with the chucks, the clamping blocks are connected to the chucks through rotating pieces, the chucks are sleeved on the omnidirectional wheel shaft, the cylinders control the chucks to move along the omnidirectional wheel shaft, the two chucks move on the omnidirectional wheel shaft in opposite directions, and a clamping groove which is correspondingly clamped with the clamping blocks is arranged on one side end face of the outer ring of the bearing, which is close to the inner part of the roller.

In a further improvement, the distance between the two chucks and the two bearings is equal, and the initial extension lengths of the two cylinders are also equal.

The invention has the following beneficial effects:

the invention provides a novel omnidirectional crawler, which can realize omnidirectional movement through the matching of a crawler body and omnidirectional wheels, thereby reducing the abrasion to a crawler; differential steering is adopted for steering the crawler belt, and steering of the omnidirectional wheel is changed by controlling steering of the crawler belt; the device can realize the movement of the crawler in different directions and the rotation of the vehicle body through the cooperation of the 3 tracks.

Drawings

FIG. 1 is a schematic structural view of an omnidirectional crawler of embodiment 1;

FIG. 2 is a schematic structural view of a crawler belt according to embodiment 1;

FIG. 3 is a schematic structural view of an intermediate frame in accordance with embodiment 2;

FIG. 4 is a sectional view of a holder according to embodiment 3;

FIG. 5 is a schematic structural view of a wheel-fixing frame according to embodiment 4;

FIG. 6 is a schematic structural view of a link structure of embodiment 5;

FIG. 7 is a schematic structural view of a driving wheel of the embodiment 6;

FIG. 8 is a sectional view of the chain of example 7;

FIG. 9 is a side view of FIG. 8;

FIG. 10 is a sectional view of the platform of example 8;

figure 11 is a cross-sectional view of an omni wheel of embodiment 9.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings.

Example 1

The embodiment 1 of the invention provides an omnidirectional crawler, as shown in fig. 1 and 2, the omnidirectional crawler comprises a crawler body 1 and three crawlers 3 which are respectively connected with the crawler body 1 through connecting shafts 2, wherein the axes of the three connecting shafts 2 form an angle of 120 degrees, and the connecting shafts 2 are vertically connected with the crawlers 3; the crawler 3 comprises a driving wheel 4, a driven wheel 6 connected with the driving wheel 4 through a chain 5, and an intermediate frame 8 connected between the driving wheel 4 and the driven wheel 6 and sliding with the chain 5, wherein the intermediate frame 8 is connected with the connecting shaft 2, two ends of the intermediate frame 8 are respectively connected with a fixed frame 9 and a wheel fixing frame 11, the fixed frame 9 is provided with a driving motor 7 for driving the driving wheel 4 to rotate, and the driven wheel 6 is connected with the wheel fixing frame 11 through a guide wheel shaft 10 in a sliding manner; the chain 5 is provided with a plurality of platforms 12, each platform 12 is provided with at least two omnidirectional wheels 13 arranged in parallel, the axial direction of each omnidirectional wheel 13 is parallel to the chain 5, and wheel shafts at two ends of each omnidirectional wheel 13 are arranged on the platforms 12 through support frames 14.

When the crawler vertically walks, the crawler vertical to the moving direction does not work, only the omnidirectional wheels move, the other two crawlers move at the same speed, and because the directions of the friction force given to the two back crawlers by the ground are different, the two friction forces can be decomposed into horizontal and vertical forces, and the component forces in the horizontal direction are equal in magnitude and opposite in direction, so that the horizontal and vertical forces can be offset, and only the vertical force is left, so that the two back crawlers can control the crawler to vertically walk; when the crawler needs to turn left, the speed of the crawler at the lower right is increased, and at the moment, the friction force borne by the crawler at the lower right is increased, so that the crawler can be controlled to turn left; because the outer end face of the crawler belt is provided with the omnidirectional wheel, the omnidirectional wheel can be driven to rotate in different directions by the rotation of the crawler belt in different directions, and the abrasion to the crawler belt can be reduced.

When the crawler belt works, the driving motor is turned on, the driving wheel is driven to rotate by the rotation of the driving motor, the driven wheel is driven to rotate by the rotation of the driving wheel through the chain, and the chain and the middle frame slide mutually, so that the movement of the crawler belt can be realized, the middle frame is prevented from being damaged due to overlarge friction between the chain and the middle frame, and the omnidirectional wheel is arranged on the outer end surface of the crawler belt, so that the rotation of the crawler belt can drive the omnidirectional wheel to rotate, and when the crawler belt does not work, the omnidirectional wheel can also rotate, so that the service life of the crawler belt can be; the fixed frame and the wheel fixing frame are arranged for fixing the driving motor and the driven wheel, so that the influence of the movement of the driving motor and the driven wheel on the walking of the crawler can be avoided; the omni wheels can be two, three or more, and two omni wheels are taken as an example in the embodiment.

Example 2

The omnidirectional crawler provided in embodiment 2 of the present invention is substantially the same as that in embodiment 1, except that, as shown in fig. 3, the intermediate frame 8 includes a frame body 81, at least two parallel grooves 82 are respectively provided on two side surfaces of the frame body 81 opposite to the chain 5, each groove 82 on the same side surface is arranged at intervals along a height direction of the side surface on which the groove is provided, each groove 82 is parallel to a transverse center line of the side surface on which the groove is provided, the positions of the grooves 82 respectively provided on the two side surfaces are arranged in a one-to-one correspondence manner, a plurality of rolling wheel shafts 84 are installed at intervals in the groove 82 along a length direction of the groove 82, and each rolling wheel shaft 84 is provided with a rolling wheel 83.

The middle frame is arranged to increase the bearing capacity, the rolling wheels are arranged on the middle frame and rotate in the grooves through the rolling wheel shafts, so that the rolling wheels can rotate relative to the chain, and the mutual influence between the middle frame and the chain is avoided; because the two side surfaces of the middle frame, which are opposite to the chain, are contacted with the chain, the two side surfaces of the middle frame are provided with the rolling wheels, and the positions of the grooves on the two side surfaces are in one-to-one correspondence; the grooves on the same side can be two, three or even more, and the two grooves on the same side are taken as an example in the embodiment.

Example 3

The omnidirectional crawler provided in embodiment 3 of the present invention is substantially the same as embodiment 2, except that, as shown in fig. 4, the fixing frame 9 includes a longitudinal support 91 and a transverse support 92 perpendicularly connected to the longitudinal support 91, the longitudinal support 91 is fixedly connected to one side end face of the frame body 81, the transverse support 92 is provided with a mounting hole 93, an output shaft of the driving motor 7 passes through the mounting hole 93 to be connected to the driving wheel 4, and a body of the driving motor 7 is fixedly connected to the transverse support 92.

The fixing frame is arranged to fix the driving motor, so that the influence of the suspended arrangement of the driving motor on the walking of the crawler is avoided, the output shaft of the driving motor penetrates through the mounting hole and is fixedly connected with the driving wheel, the machine body part of the driving motor is arranged on the transverse support, the longitudinal support and the middle piece are fixedly arranged, the driving motor and the middle frame can be fixed, and the fixing effect is better.

Example 4

The omnidirectional crawler provided in embodiment 4 of the present invention is substantially the same as embodiment 3, except that, as shown in fig. 5, the wheel fixing frame 11 includes a horizontal plate 111 and two longitudinal plates 112 vertically connected to the horizontal plate 111, the two longitudinal plates 112 are symmetrically disposed along a center line of the horizontal plate 111, the horizontal plate 111 is connected to an end surface of one side of the frame body 81 away from the longitudinal bracket 91, both the two longitudinal plates 112 are provided with connecting holes 113, the two connecting holes 113 are correspondingly disposed, and the guide wheel shaft 10 passes through the driven wheel 6 and is respectively connected to the two connecting holes 113.

The wheel fixing frame is arranged to fix the driven wheel, the transverse plate is arranged on the middle frame, the transverse plate and the longitudinal plate are respectively arranged on the left end surface and the right end surface of the middle frame, the two longitudinal plates are respectively arranged at the front end and the rear end of the driven wheel, and the guide wheel shaft is fixedly connected with the connecting holes in the longitudinal plates, so that the driven wheel can rotate around the guide wheel shaft, the driven wheel can be better fixed, and the driven wheel can be better controlled.

Example 5

The omnidirectional crawler provided in embodiment 5 of the present invention is substantially the same as embodiment 1, except that, as shown in fig. 6, the chain 5 is composed of a plurality of link structures connected in an articulated manner, each link structure includes two link chains 51 arranged in parallel and 4 link chains 52, each of the 4 link chains 52 is connected to the same side of the link chain 51 in a group, two groups of link chains 52 are arranged in opposite positions, one of the link chains 52 in each group is used for connecting the two link chains 51, one end of the other link chain is connected to one of the link chains 51 in an overlapping manner, the other end of the other link chain is connected to the adjacent link structure, each link chain 52 is perpendicular to the link chain 51, and each omnidirectional wheel 13 is parallel to the link chain 52.

The chain is composed of a plurality of chain link structures, and each chain link structure is provided with a platform, so that the track can be recombined by disassembling the chain link structures, the omnidirectional wheels can be disassembled while disassembling the chain link structures, and when the omnidirectional wheels need to be added, only the chain link structures need to be added, and the structure enables the recombination of the track to be simpler and saves time.

The chain link is arranged, so that the chain link structure can be disassembled simply, the chain link is meshed with the driving wheel and the driven wheel, tooth grooves specially used for being meshed with teeth do not need to be arranged, and the rolling wheels in the grooves slide relative to the chain link; the device reasonable in design, simple to use can realize multiple functions simultaneously, kills many birds with one stone.

Example 6

The omnidirectional crawler according to embodiment 6 of the present invention is substantially the same as embodiment 5, except that, as shown in fig. 7, each of the driving wheels 4 and the driven wheels 6 has the same structure, and includes a sprocket 41 and a ring gear 42 fixedly connected to the sprocket 41, the ring gear 42 is surrounded by a plurality of tooth blocks 43, and each tooth block 43 is engaged with the link 51.

The size and the structure of the driving wheel and the driven wheel are the same, the wheel is divided into the chain wheel and the plurality of tooth blocks, the tooth blocks are meshed with the chain to realize the movement of the chain, the chain wheel and the tooth ring are separately arranged, the chain wheel can be conveniently replaced, the tooth ring is composed of the plurality of tooth blocks, when one of the chain wheel or the tooth block has a fault, only the part with the fault needs to be replaced, and the whole wheel does not need to be replaced; the device is more cost-effective to arrange.

Example 7

The omnidirectional crawler provided in embodiment 7 of the present invention is substantially the same as embodiment 5, except that, as shown in fig. 8 and 9, the link 51 includes a fixed pipe 511, an expansion rod 512 disposed in the fixed pipe 511, and a fixed rod 513 disposed on the fixed pipe 511 and far from one end of the expansion rod 512, the fixed pipe 511 is a hollow structure with one open end, the expansion rod 512 is disposed in the fixed pipe 511 and extends outward, and the expansion rod 512 is formed with a thread, the link 52 close to the intermediate frame 8 is mounted on the fixed rod 513, the link 52 far from the intermediate frame 8 is mounted on the expansion rod 512, a lifting mechanism for controlling the expansion and contraction of the expansion rod 512 is disposed in the fixed pipe 511, the lifting mechanism includes a worm wheel 514 and a worm 515 engaged with the worm wheel 514, the worm wheel 514 is sleeved outside the expansion rod 512, and with telescopic link 512 spiro union, and the support 516 is installed to worm wheel 514 lower extreme, the support 516 is installed through rotation axis 517 on the terminal surface of one side of keeping away from the open end in fixed pipe fitting 511, worm 515 is connected with through shaft coupling 518 and installs motor 519 on the fixed pipe fitting 511 inner wall, just platform 12 is installed on two of same chain link structure chain 51.

The lifting mechanism is arranged to control the width of the two chain links at opposite positions, the fixed rod piece is arranged at one end close to the middle frame, when the width of the two chain links needs to be adjusted, the motor is started, the rotation of the motor drives the worm to rotate through the coupler, the worm rotates to drive the worm wheel to rotate, and the worm wheel is in threaded connection with the telescopic rod, so that the rotation of the worm wheel can control the lifting of the telescopic rod, the adjustment of the width of the two chain links is realized, the support is arranged to fix the worm wheel at the bottom of the fixed pipe fitting, and the rotation of the worm wheel can be realized through the arrangement of the rotating shaft; the device has scientific design and convenient use, and is suitable for wide popularization and use; in this embodiment, the platform is mounted on two links of the same link structure because the width of the two links can be adjusted.

Example 8

The omnidirectional crawler provided in embodiment 8 of the present invention is substantially the same as embodiment 5, except that, as shown in fig. 10, two sliding grooves 121 are provided at intervals on the platform 12 along the length direction of the platform 12, the platform 12 is mounted on two links 52 for connecting two links 51 and disposed at opposite positions, both the two sliding grooves 121 are disposed perpendicular to the omnidirectional wheel 13, a sliding assembly is mounted in each sliding groove 121, the sliding assembly includes a base 122 mounted at the bottom of the sliding groove 121, a sliding rail 123 mounted on the base 122, a lead screw 124 mounted on the sliding rail 123, and two sliders 125, the lead screw 124 passes through the two sliders 125, the lead screw 124 is positively threaded with one of the sliders 125 and is reversely threaded with the other slider 125, one end of the lead screw 124 is connected with a rotating motor 126 fixed on the base 122, the two support frames 14 which are arranged oppositely in front and back are respectively arranged on the two sliding blocks 125.

The sliding assembly is arranged to adjust the width between two omnidirectional wheels on the same platform, when the width between the two omnidirectional wheels needs to be adjusted, the motor is turned on, the motor rotates to drive the screw rod to rotate, because the two sliding blocks are in threaded connection with the screw rod, but the threaded directions are different, the rotation of the screw rod drives the two sliding blocks to slide on the sliding rail along opposite directions, and the supporting frames are arranged on the sliding blocks, so that the width between the two omnidirectional wheels on the same platform can be adjusted through the sliding of the sliding blocks along opposite directions, and because the two supporting frames for installing the same omnidirectional wheel are respectively arranged on different sliding blocks of two different sliding chutes, the threaded directions of the two sliding blocks and the screw rod are the same; the positive thread connection and the negative thread connection both represent the screw thread screwing directions, the positive thread represents that the screwing direction is left-handed or right-handed, and the negative thread represents that the screwing direction is right-handed or left-handed; in this embodiment, it is therefore not necessary to adjust the width of the two links of the same link structure, and therefore the platform can be mounted on the two links for connecting the two links, or of course, the platform can also be mounted on the two links of the same link structure, and in this embodiment, the platform is preferably mounted on the two links for connecting the two links.

Example 9

The omnidirectional crawler according to embodiment 9 of the present invention is substantially the same as embodiment 1, except that, as shown in fig. 11, the omnidirectional wheel 13 includes an omnidirectional wheel shaft 131 and a roller 133 sleeved on the omnidirectional wheel shaft 131 through two bearings 132, the two bearings 132 are respectively disposed at the left and right ends of the roller 133, a locking element for locking the roller 133 is mounted on the omnidirectional wheel shaft 131, the locking element includes two chucks 134 disposed in the roller 133, a plurality of blocks 135 disposed on each chuck 134, and an air cylinder 136 mounted on the omnidirectional wheel shaft 131 and connected to each chuck 134, each block 135 is connected to each chuck 134 through a rotating member 137, each chuck 134 is sleeved on the omnidirectional wheel shaft 131, the air cylinder 136 controls the chuck 134 to move along the omnidirectional wheel shaft 131, and the two chucks 134 move in opposite directions on the omnidirectional wheel shaft 131, and a clamping groove 138 correspondingly clamped with the clamping block 135 is arranged on one side end surface of the outer ring of the bearing 132 close to the inside of the roller 133.

In this embodiment, the distance between the two chucks 134 and the two bearings 132 is equal, and the initial extension length of the two cylinders 136 is also equal.

The locking element is arranged to lock the omnidirectional wheels through the locking bearing, when the crawler vertically runs on a smooth road surface, the omnidirectional wheels on the two crawler belts arranged at an included angle with the running direction can slip to influence the running of the crawler, so that when the crawler runs on the smooth road surface, the omnidirectional wheels need to be locked, and the crawler is controlled to run through the crawler belts; when the omnidirectional wheel is locked, two cylinders on the omnidirectional wheel are opened simultaneously, the two cylinders work in opposite directions, the telescopic rod in the cylinder extends outwards to drive the chuck to move towards the bearing until a clamping block on the chuck is correspondingly clamped with a clamping groove on the bearing, the cylinders stop working, and the clamping block is prevented from being damaged by high-speed rotation of the bearing, so that a rotating piece is arranged on the chuck, and the clamping block is clamped with the clamping groove while rotating; the device reasonable in design, simple to use is convenient for realize the function of omniwheel locking.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The omnidirectional crawler is characterized by comprising a crawler body (1) and three crawlers (3) which are respectively connected with the crawler body (1) through connecting shafts (2), wherein the axes of the three connecting shafts (2) form an angle of 120 degrees, and the connecting shafts (2) are vertically connected with the crawlers (3);

the crawler belt (3) comprises a driving wheel (4), a driven wheel (6) connected with the driving wheel (4) through a chain (5), and an intermediate frame (8) connected between the driving wheel (4) and the driven wheel (6) and sliding with the chain (5), wherein the intermediate frame (8) is connected with the connecting shaft (2), two ends of the intermediate frame (8) are respectively connected with a fixed frame (9) and a wheel fixing frame (11), the fixed frame (9) is provided with a driving motor (7) for driving the driving wheel (4) to rotate, and the driven wheel (6) is connected to the wheel fixing frame (11) through a guide wheel shaft (10) in a sliding manner; a plurality of platforms (12) are mounted on the chain (5), at least two omnidirectional wheels (13) which are arranged in parallel are mounted on each platform (12), the axial direction of each omnidirectional wheel (13) is parallel to the chain (5), and wheel shafts at two ends of each omnidirectional wheel (13) are mounted on the platforms (12) through supporting frames (14);

the omnidirectional wheel (13) comprises an omnidirectional wheel shaft (131) and a roller wheel (133) sleeved on the omnidirectional wheel shaft (131) through two bearings (132), the two bearings (132) are respectively arranged at the left end and the right end of the roller wheel (133), a locking element for locking the roller wheel (133) is arranged on the omnidirectional wheel shaft (131), the locking element comprises two chucks (134) arranged in the roller wheel (133), a plurality of clamping blocks (135) arranged on the chucks (134) and air cylinders (136) arranged on the omnidirectional wheel shaft (131) and connected with the chucks (134), each clamping block (135) is connected to the chuck (134) through a rotating piece (137), each chuck (134) is sleeved on the omnidirectional wheel shaft (131), and the air cylinders (136) control the chucks (134) to move along the omnidirectional wheel shaft (131), and the two chucks (134) move on the omnidirectional wheel shaft (131) along opposite directions, and a clamping groove (138) correspondingly clamped with the clamping block (135) is arranged on the end surface of one side of the outer ring of the bearing (132) close to the inner part of the roller (133).

2. The omnidirectional crawler according to claim 1, wherein the intermediate frame (8) comprises a frame body (81), wherein at least two parallel grooves (82) are formed in both side surfaces of the frame body (81) opposite to the chain (5), each groove (82) in the same side surface is arranged at intervals along the height direction of the side surface, each groove (82) is parallel to the transverse center line of the side surface, the positions of the grooves (82) in the both side surfaces are arranged in a one-to-one correspondence manner, a plurality of rolling wheel shafts (84) are arranged in the grooves (82) at intervals along the length direction of the grooves (82), and rolling wheels (83) are arranged on each rolling wheel shaft (84) in a penetrating manner.

3. The omnidirectional crawler according to claim 2, wherein the fixing frame (9) comprises a longitudinal support (91) and a transverse support (92) perpendicularly connected with the longitudinal support (91), the longitudinal support (91) is fixedly connected with one side end face of the frame body (81), a mounting hole (93) is formed in the transverse support (92), an output shaft of the driving motor (7) penetrates through the mounting hole (93) to be connected with the driving wheel (4), and a body of the driving motor (7) is fixedly connected with the transverse support (92).

4. The omnidirectional crawler according to claim 3, wherein the wheel holder (11) comprises a transverse plate (111) and two longitudinal plates (112) perpendicularly connected to the transverse plate (111), the two longitudinal plates (112) are symmetrically arranged along a center line of the transverse plate (111), the transverse plate (111) is connected to an end surface of one side of the frame body (81) far away from the longitudinal support (91), both the longitudinal plates (112) are provided with connecting holes (113), the connecting holes (113) are correspondingly arranged, and the guide wheel shaft (10) passes through the driven wheel (6) and is respectively connected to the two connecting holes (113).

5. The omnidirectional crawler according to claim 1, wherein the chain (5) is composed of a plurality of link structures connected in an articulated manner, the link structures include two parallel links (51) and 4 links (52), each of the 4 links (52) is connected to the same side of the link (51) in pairs, the two sets of links (52) are oppositely arranged, one of the links (52) in each set is used for connecting the two links (51), the other link is connected to one of the links (51) in an overlapping manner at one end and connected to the adjacent link structure at the other end, each link (52) is perpendicular to the link (51), and each omnidirectional wheel (13) is parallel to the link (52).

6. The omnidirectional crawler according to claim 5, wherein the driving wheel (4) and the driven wheel (6) are structurally identical and each comprise a sprocket (41) and a ring gear (42) fixedly connected with the sprocket (41), the ring gear (42) is formed by a plurality of tooth blocks (43) in a surrounding manner, and each tooth block (43) is engaged with the chain link (51).

7. The omnidirectional crawler according to claim 5, wherein the chain link (51) comprises a fixed pipe (511), a telescopic rod (512) disposed in the fixed pipe (511), and a fixed rod (513) disposed on the fixed pipe (511) and far from one end of the telescopic rod (512), the fixed pipe (511) is a hollow structure with one open end, the telescopic rod (512) is disposed in the fixed pipe (511) and extends outwards, and the telescopic rod (512) is formed with a thread, the chain link (52) close to the middle frame (8) is mounted on the fixed rod (513), the chain link (52) far from the middle frame (8) is mounted on the telescopic rod (512), a lifting mechanism for controlling the telescopic rod (512) to extend and retract is disposed in the fixed pipe (511), the lifting mechanism comprises a worm gear (514) and a worm (515) engaged with the worm gear (514), worm wheel (514) cup joint outside telescopic link (512), and with telescopic link (512) spiro union, just support (516) are installed to worm wheel (514) lower extreme, install through rotation axis (517) on keeping away from a side end face of open end in fixed pipe fitting (511), worm (515) are connected with through shaft coupling (518) and install motor (519) on fixed pipe fitting (511) inner wall, just platform (12) are installed two at same chain link structure on chain (51).

8. The omnidirectional crawler according to claim 5, wherein two sliding grooves (121) are formed in the platform (12) at intervals along the length direction of the platform (12), the platform (12) is mounted on two chain links (52) which are used for connecting the two chain links (51) and are oppositely arranged, the two sliding grooves (121) are both arranged perpendicular to the omnidirectional wheel (13), a sliding assembly is mounted in each sliding groove (121), the sliding assembly comprises a base (122) mounted at the bottom of the sliding groove (121), a sliding rail (123) mounted on the base (122), and a lead screw (124) and two sliding blocks (125) mounted on the sliding rail (123), the lead screw (124) penetrates through the two sliding blocks (125), and the lead screw (124) is in positive thread connection with one of the sliding blocks (125) and in negative thread connection with the other sliding block (125), one end of the screw rod (124) is connected with a rotating motor (126) fixed on the base (122), and the two support frames (14) which are oppositely arranged in front and back are respectively arranged on the two sliding blocks (125).

9. An omnidirectional crawler according to claim 1, wherein the distance between each of said chucks (134) and each of said bearings (132) is equal and the initial extension of each of said cylinders (136) is equal.