CN110450869A - An Adaptive Underactuated Tracked Robot - Google Patents

Abstract

The invention discloses an adaptive underactuated crawler robot, comprising: a robot car body, a first main crawler, a second main crawler, a first planetary crawler, a second planetary crawler, a first driving shaft, and a second driving shaft. The first main crawler, the second main crawler, the first planetary crawler, and the second planetary crawler are symmetrically installed on both sides of the robot car body respectively, and the first and second planetary crawlers are installed on the front end of the robot. The first drive shaft transmits the power output by the first motor to the first main track and the first planetary track, and the second drive shaft transmits the power output by the second motor to the second main track and the second planetary track to drive the robot Movement; the first and second planetary crawlers are used as crawlers when the front end is close to the ground when driving on a flat ground. Driven by two motors, functions such as driving, steering, and obstacle surmounting can be realized, which reduces its own weight, reduces obstacle surmounting time, reduces control costs, and increases battery life.

Description

An Adaptive Underactuated Tracked Robot

technical field

The invention belongs to the technical field of robots, relates to a ground mobile robot, in particular to an adaptive underactuated crawler robot.

Background technique

Tracked mobile robots have been extensively studied due to their large ground area, small ground specific pressure, small turning radius, and stable operation during movement, and are gradually used in anti-terrorism, EOD, and military investigations. Patents US6263989 and CN108216400A respectively disclose a crawler robot. Two crawler robots are equipped with two swing arm crawlers on both sides of the main crawler at the front end to assist the robot to overcome obstacles. Improve the passability and obstacle-surmounting ability of the robot; when the two crawler robots overcome obstacles, they need to use remote control equipment to control the rotation of the robot's swing arm, and adjust to a certain posture to assist the robot to climb up the obstacle. On the one hand, this obstacle-crossing method requires three motors to work in coordination, which increases the overall weight and energy consumption of the robot; It is complicated and takes a long time to overcome obstacles.

Contents of the invention

The purpose of the present invention is to provide an under-actuated adaptive obstacle-surmounting crawler robot, which reduces the number of driving motors of the crawler robot, reduces the weight of the crawler robot itself, and makes the crawler robot have more superior obstacle-surmounting ability and battery life, and can be passive at the same time. Adaptive terrain enables rapid obstacle surmounting, reduces control costs, and reduces obstacle surmounting time.

In order to solve the above problems, the present invention provides the following technical solutions: a self-adaptive underactuated crawler robot includes: a robot car body, a first main crawler, a second main crawler, a first planetary crawler, a second planetary crawler, a first driving shaft , the second drive shaft; the first drive shaft transmits the power output by the first motor to the first main track and the first planetary track, and the second drive shaft transmits the power output by the second motor to the second main track and the second The planetary crawler drives the robot to move; the first and second main crawlers are respectively driven by the first and second drive shafts; the first and second planetary crawlers are under-driven; when the first and second planetary crawlers are driving on a flat ground When the front end is close to the ground, it is used as a crawler. When encountering obstacles such as steps, it can turn around the first and second active shafts to achieve passive self-adaptive obstacle surmounting. The robot is driven by only two motors to achieve driving, steering, and obstacle surmounting. and other functions.

The robot car body includes a chassis, a housing covered on the chassis, a bearing seat installed on the chassis, a motor seat, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear; The motors are respectively installed on the two motor bases; the first and second bevel gears are respectively connected to the output shafts of the first and second motors, and the power is transmitted to the first and second drive shafts through the third and fourth bevel gears. axis.

The first main crawler and the second main crawler of the robot are mirror images, and are symmetrically installed on the left and right sides of the robot chassis; the first main crawler includes: the first driving wheel, the main track wheel frame, the driven wheel, the shock absorbing mechanism, and the supporting pulley Mechanism and tensioning mechanism; the main track wheel frame is installed on one side of the robot chassis, the track wheel frame has a front fork and a rear fork, the first driving wheel is installed in the front fork, and the rear fork is equipped with a driven wheel. There is a pulley mechanism and a shock absorbing mechanism installed between the front and rear forks; the first driving wheel is installed on the first driving shaft, the driven wheel is installed on the driven wheel shaft, and the driven wheel shaft is installed on the rear fork of the crawler frame. In the hole, a tensioning mechanism is installed on both sides of the rear fork of the track wheel frame to realize the tightness adjustment of the track; the first pin shaft and the second pin shaft of the shock absorbing mechanism are installed on the track wheel frame; the upper end of the shock absorber is installed On the second pin shaft, the lower end of the shock absorber is installed on the rod, and the upper end of the rod is installed on the first pin shaft; the third pin shaft is installed in the corresponding hole at the lower end of the rod, and crawlers are installed at both ends of the third pin shaft wheel.

The first planetary crawler and the second planetary crawler are installed on the first driving shaft and the second driving shaft, in order to prevent the first planetary crawler and the second planetary crawler from interfering with the first main crawler and the second main crawler when they move or friction, thrust bearings are installed between the first main crawler and the first planetary crawler, and between the second main crawler and the second planetary crawler.

The first planetary track includes: planetary driving wheel, first planetary wheel, second planetary wheel, planetary wheel carrier, ejector rod, track, the first and second planetary wheels are respectively installed on both sides of the planetary driving wheel, and the three wheels The axes are located on the same plane, and the tracks are installed outside the three wheels; the planetary driving wheel is installed on the driving shaft, and the first and second planetary wheels are respectively installed on the first and second planetary wheel shafts. The first and second planetary wheels are Driven wheels, bearings are installed between the first and second planetary wheels and the first and second planetary wheel shafts; the planetary driving wheel, the first planetary wheel, and the second planetary wheel are fixed by planetary gear frames on both sides; in order to prevent the planetary wheel frames from There is friction between the first driving shaft and the flange bearing is installed between the planetary wheel frame and the first driving shaft; the first and second planetary wheel shafts are installed in the waist grooves at both ends of the planetary wheel frame, and the tension bolts The washer at one end is sleeved on the first planetary wheel shaft, and the adjusting nut moves the planetary wheel shaft to adjust the tightness of the track; a push rod is installed between the planetary wheel frames on both sides of the planetary drive wheel to reinforce the planetary track.

The beneficial effects of the present application are mainly manifested in: the first motor and the second motor transmit power to the first driving shaft and the second driving shaft, the first driving shaft drives the first main crawler and the first planetary crawler, and the first driving shaft drives the first main crawler and the first planetary crawler. The two driving shafts drive the second main crawler and the second planetary crawler to make the robot move. The entire crawler robot only needs two motors to realize functions such as forward, backward, steering, and obstacle surmounting. The reduction in the number of motors reduces the overall weight and energy consumption of the robot, which helps to improve the cruising range of the robot; adaptive obstacle surmounting ability It helps to reduce the difficulty of the control algorithm and the fatigue of the operator, and reduces the obstacle surmounting time.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can obtain other obvious deformation modes according to these drawings without any creative work.

Figure 1 shows the overall structure of an adaptive underactuated crawler robot.

Fig. 2 is a schematic diagram of the transmission mode of an adaptive underactuated crawler robot.

Fig. 3 is a schematic diagram of the main crawler mechanism of an adaptive underactuated crawler robot.

Fig. 4 is a schematic diagram of the tensioning mechanism of an adaptive underactuated crawler robot.

Fig. 5 is a schematic diagram of the damping mechanism of an adaptive underactuated crawler robot.

Fig. 6 An exploded diagram of a planetary track mechanism of an adaptive underactuated crawler robot.

Fig. 7 is a schematic diagram of the process of an adaptive underactuated crawler robot climbing steps with the assistance of planetary crawlers.

Fig. 8. Schematic diagram of an adaptive underactuated tracked robot running on continuous steps.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

As shown in Figure 1 and Figure 2, the adaptive underactuated crawler robot includes: robot body (1), first main crawler (2), second main crawler (3), first planetary crawler (4), second Planetary track (5), first drive shaft (6), second drive shaft (7).

As shown in Figure 2, the first main crawler (2), the second main crawler (3), the first planetary crawler (4), and the second planetary crawler (5) are installed on both sides of the robot car body (1). A planetary crawler (4), a second planetary crawler (5) are installed on the front end of the robot; the first drive shaft (6) outputs the first motor (1-1) installed on the robot car body (1) The power is transmitted to the first bevel gear (1-8) and the third bevel gear (1-7), and further transmitted to the first driving wheel (2-1) of the first main crawler (2) and the first planetary crawler ( 4) on the planetary driving wheel (4-1); similarly, the second driving shaft (7) transmits the power output by the second motor (1-2) to the second main crawler (3) and the second planetary crawler (5 ) to drive the robot to move; the first main crawler (2) and the second main crawler (3) each need a drive, which are fully constrained by the first driving shaft (6) and the second driving shaft (7) respectively; The first planetary crawler (4) and the second planetary crawler (5) each have two degrees of freedom and require two drives, and a free drive is constrained by the first drive shaft (6) and the second drive shaft (7) respectively. degrees, the other degree of freedom is not constrained, and the mechanism is in an under-actuated state; the front end of the first planetary crawler (4) and the second planetary crawler (5) are used as crawlers when driving on flat ground, and when encountering obstacles such as steps When turning around the first driving shaft (6) and the second driving shaft (7) to realize self-adaptive obstacle surmounting, the robot is only driven by two motors to realize functions such as driving, steering, and obstacle surmounting.

As shown in Figure 2, the robot car body (1) comprises a robot car body chassis (1-3), a housing (1-4) covered on the chassis, and a bearing seat (1) installed on the chassis (1-3). -5), motor base (1-6), first bevel gear (1-8), second bevel gear (1-10), third bevel gear (1-7) and fourth bevel gear (1-9 ); There are two described motor bases (1-6), which are installed on the robot chassis (1-3), and the first motor (1-1), the second motor (1-1) are respectively installed on the two motor bases. 2), the first bevel gear (1-8) and the second bevel gear (1-10) are respectively installed on the first motor (1-1) and the second motor (1-2) through a flat key connection On the output shaft of the front end, the third bevel gear (1-7) and the fourth bevel gear (1-9) are respectively installed on the first drive shaft (6) and the second drive shaft (7) through a flat key connection. The first bevel gear (1-8) and the second bevel gear (1-10) on the output shaft of the motor (1-1), the second motor (1-2) are respectively connected with the first drive shaft (6), the second The third bevel gear (1-7) and the fourth bevel gear (1-9) on the driving shaft (7) mesh with each other to realize power transmission; there are four bearing seats (1-5), all installed on On the robot chassis (1-3), it is used to fix the first driving shaft (6) and the second driving shaft (7).

As shown in Figure 1, the first main crawler belt (2), the second main crawler belt (3) are mirror images, and are installed on the left and right sides of the robot chassis (1-3); As shown in Figure 3, the first main crawler belt ( 2) Including: first driving wheel (2-1), main track wheel frame (2-2), driven wheel (2-3), shock absorbing mechanism (2-4), supporting pulley mechanism (2-5) , tensioning mechanism (2-6); the main crawler frame (2-2) is installed on one side of the robot chassis (1-3) by nuts, and the crawler frame (2-2) has a front fork and a rear fork. A first drive wheel (2-1) is installed in the front fork, a driven wheel (2-3) is installed in the rear fork, and a pulley mechanism (2-5) is installed between the front and rear forks of the crawler frame (2-2). ), damping mechanism (2-4); the first driving wheel (2-1) is installed on the first driving shaft (6), between the first driving wheel (2-1) and the first driving shaft (6) Connected by a flat key, sleeves are installed on both sides of the first driving wheel (2-1) to axially locate it; the driven wheel (2-3) is installed on the driven wheel shaft (2-7), and the driven wheel ( 2-3) and the driven wheel shaft (2-7) are connected by bearings, and the driven wheel shaft (2-7) is installed in the waist hole (2-2-1 )middle,

As shown in Figure 4, a tensioning mechanism (2-6) is installed on both sides of the rear fork of the track wheel frame, and the washer on the tensioning bolt (2-6-1) of the tensioning mechanism (2-6) is installed on the On the driven wheel shaft, the bolt is installed in the through hole at the end of the rear fork of the main track wheel frame, and the driven wheel (2-3) is moved forward and backward by adjusting the nut (2-6-2) to realize the tightness adjustment of the track;

As shown in Figure 5, the first pin shaft (2-4-1) and the second pin shaft (2-4-2) of the damping mechanism (2-4) are all installed on the track wheel frame (2-2) , both ends of the pin shaft are fixed by circlips; the upper end of the shock absorber (2-4-3) is installed on the second pin shaft (2-4-2), and the two sides are positioned by the sleeve, and the shock absorber (2- 4-3) The lower end is installed on the rod (2-4-6), the upper end of the rod (2-4-6) is installed on the first pin shaft (2-4-1), and the rod (2-4-6) The two sides are positioned by the sleeve; the third pin shaft (2-4-5) is installed in the corresponding hole at the lower end of the rod (2-4-6), and two ends of the third pin shaft (2-4-5) are installed with Track wheel (2-4-4), in order to make track wheel (2-4-4) rotate smoothly, be installed between track wheel (2-4-4) and the 3rd pin (2-4-5) The bearing is fixed on the outer side of the track wheel (2-4-5) by a snap spring.

As shown in Figure 2, the first planetary crawler (4), the second planetary crawler (5) are installed on the first drive shaft (6), the second drive shaft (7), in order to prevent the first planetary crawler (4), Interference or friction occurs between the second planetary crawler (5) and the first main crawler (2) and the second main crawler (3) when it moves. A thrust bearing (8) is installed between the two main crawlers (3) and the second planetary crawler (5).

As shown in Figure 2 and Figure 6, the first planetary crawler (4) and the second planetary crawler (5) of the robot are mirror images, and the first planetary crawler (4) includes: a planetary drive wheel (4-1), a first planetary crawler wheel (4-2-1), second planetary wheel (4-2-2), planetary wheel carrier (4-9), ejector rod (4-3), track, first planetary wheel (4-2-1 ), the second planetary wheel (4-2-2) is installed on both sides of the planetary driving wheel (4-1) respectively, and the axes of the three wheels are on the same plane, and the crawler belt is installed on the outside of the three wheels; The driving wheel (4-1) is installed on the driving shaft (6), and the two are connected by a flat key; the first planetary wheel (4-2-1), the second planetary wheel (4-2-2 ) are respectively installed on the first planetary shaft (4-4-1), the second planetary shaft (4-4-2), the first planetary wheel (4-2-1), the second planetary wheel (4-2- 2) is the driven wheel, the first planetary wheel (4-2-1), the second planetary wheel (4-2-2) and the first planetary wheel shaft (4-4-1), the second planetary wheel shaft (4-4 -2) Bearings (4-5) are installed between them; the planetary driving wheel (4-1), the first planetary wheel (4-2-1), and the second planetary wheel (4-2-2) are two The side is fixed by the planetary gear carrier (4-9), and the planetary driving wheel (4-1), the first planetary wheel (4-2-1), and the second planetary wheel (4-2-2) are respectively fixed by the sleeve Axial positioning; in order to prevent friction between the planetary gear carrier (4-9) and the first driving shaft (6), a flange is installed between the planetary gear carrier (4-9) and the first driving shaft (6) Bearings (4-10); the first planetary shaft (4-4-1) and the second planetary shaft (4-4-2) are installed in the waist grooves at both ends of the planetary carrier (4-9), Put the washer at one end of the tension bolt (4-7) on the first planetary shaft (4-4-1), adjust the nut (4-6) to move the planetary shaft (4-4-2), and adjust the After the tensioning is completed, tighten the nut (4-11) to fix the first planetary wheel shaft (4-4-1); the planetary wheel carrier (4-9) on both sides of the planetary drive wheel (4-1) Push rods (4-3) are installed between them, and are fixed by screws (4-8).

As shown in Figure 7, when the crawler robot encounters obstacles during operation, the robot can use the rollover of the two planetary crawlers to assist the robot to overcome obstacles without spending time adjusting the planetary crawlers of the robot. The specific implementation is as follows: when the crawler robot runs into steps, the front ends of the first and second planetary crawlers (4, 5) of the robot are in contact with the vertical surface of the steps during the process a. Under the promotion of the main crawler (2, 3), the first and second planetary crawlers (4, 5) are gradually increased by the reaction force of the vertical surface of the step until the first and second planetary crawlers (4, 5) The driving wheel stops rotating, and the first and second driving shafts (6, 7) transmit the power of the first and second motors (1-1, 1-2) to the planetary wheel carrier (4-9), so that the first 1. The second planetary crawler (4,5) rotates around the center of the first driven wheel (4-2-1) at the front end to lift the robot; in process c, the first and second planetary crawler (4,5) One side coincides with the vertical surface of the step. With the continuous push of the first and second main crawlers (2, 3), the first and second planetary crawlers (4, 5) flip onto the step (process d), the first 1. After the front end of the second main crawler (2, 3) reaches the edge of the step, the robot successfully climbs up the step under the action of the first and second main crawler (2, 3) and the edge of the step (process e), and completes Climbing steps to overcome obstacles. The process of the robot climbing steps and overcoming obstacles does not need to detect and control the attitude of the robot and the planetary crawler, and only needs to drive two motors to move forward to realize passive self-adaptive obstacle overcoming, and the two motors are arranged at the front end of the robot , the center of gravity of the whole robot is forward, which also helps the robot to climb obstacles such as steps and slopes.

As shown in Figure 8, when the robot is running on continuous steps, the reasonable structural size of the robot can ensure that the grounding length of the first and second main crawlers (2, 3) of the robot is greater than the distance between points P and Q on the third step. distance, and the grounding length of the planetary crawler is also greater than the distance between the two steps; when the robot is climbing continuous steps, always keep the first and second main crawlers (2, 3) in contact with the edges of the two steps at least, and the robot will It can run continuously on the steps, thereby reducing the repeated climbing time and energy consumption of the robot.

Claims (5)

1. a kind of adaptive drive lacking caterpillar robot characterized by comprising robot car body (1), the first main crawler belt (2), Second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5), the first driving shaft (6), the second driving shaft (7)；

The main crawler belt of described first (2), the second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5) are mounted on machine The two sides of device people car body (1), the first planet crawler belt (4), the second planet crawler belt (5) are mounted on the front end of robot；Described The power that the first motor (1-1) installed on robot car body (1) exports is transmitted to first bevel gear (1- by one driving shaft (6) 8) and third hand tap gear (1-7), and the first driving wheel (2-1) and the first planet shoe of the first main crawler belt (2) are further transferred to On the planet driving wheel (4-1) of band (4)；Similarly the power that the second motor (1-2) exports is transmitted to second by the second driving shaft (7) On main crawler belt (3) and the second planet crawler belt (5), robot motion is driven；The main crawler belt of described first (2), the second main crawler belt (3) It is each to need a driving, respectively by the first driving shaft (6), the second driving shaft (7) Complete Bind；The first planet crawler belt (4), respectively there are two two freedom degrees, needs drivings for the second planet crawler belt (5), respectively actively by the first driving shaft (6), second Axis (7) constrains one degree of freedom, another freedom degree is not restrained, and mechanism is in drive lacking state；First planet crawler belt (4), In ground grading, front end is adjacent to ground as crawler belt and uses second planet crawler belt (5) when driving, the energy when encountering the obstacles such as step It is enough to realize that adaptive obstacle detouring, the robot are only by two motor drivens around the first driving shaft (6), the second driving shaft (7) overturning The functions such as traveling, steering, obstacle detouring can be achieved.

2. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: the robot car Body (1) includes vehicle body chassis of robot (1-3), covers on the shell (1-4) on chassis, the bearing block being mounted on chassis (1-3) (1-5), motor cabinet (1-6), first bevel gear (1-8), second bevel gear (1-10), third hand tap gear (1-7) and the 4th cone tooth It takes turns (1-9)；

There are two the motor cabinet (1-6) is total, it is mounted on robot chassis (1-3), is separately installed on two motor cabinets First motor (1-1), the second motor (1-2), the first bevel gear (1-8), second bevel gear (1-10) are connected by flat key Connect be separately mounted to first motor (1-1), the second motor (1-2) front end output shaft on, third hand tap gear (1-7), the 4th cone Gear (1-9) is separately mounted to the first driving shaft (6), on the second driving shaft (7) by flat key connection, first motor (1-1), the First bevel gear (1-8), second bevel gear (1-10) on two motors (1-2) output shaft respectively with the first driving shaft (6), second Third hand tap gear (1-7), the intermeshing of the 4th bevel gear (1-9) on driving shaft (7), realize power transmission；The bearing There are four seats (1-5), is installed on robot chassis (1-3), for fixing the first driving shaft (6), the second driving shaft (7).

3. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: the robot One main crawler belt (2), the second main crawler belt (3) are mirror, are mounted on the left and right sides of robot chassis (1-3)；Described One main crawler belt (2) is it is characterised by comprising: the first driving wheel (2-1), main crawler belt wheel carrier (2-2), driven wheel (2-3), damping machine Structure (2-4), carrier wheel mechanism (2-5), strainer (2-6)；

The main crawler belt wheel carrier (2-2) is mounted on the side of robot chassis (1-3) by nut, and crawler belt wheel carrier (2-2) has Front fork and rear fork are equipped with the first driving wheel (2-1) in front fork, and rear fork is equipped with driven wheel (2-3), in crawler belt wheel carrier (2- 2) it is equipped between front and rear fork carrier wheel mechanism (2-5), damping (2-4)；

First driving wheel (2-1) is mounted on the first driving shaft (6), the first driving wheel (2-1) and the first driving shaft (6) Between by flat key connect, sleeve is installed in the two sides the first driving wheel (2-1), axially position is carried out to it；

The driven wheel (2-3) is mounted on follower shaft (2-7), is passed through between driven wheel (2-3) and follower shaft (2-7) Bearing connection, follower shaft (2-7) is mounted in the waist-shaped hole (2-2-1) on crawler belt wheel carrier (2-2) rear fork, after crawler belt wheel carrier Fork two sides are equipped with strainer (2-6), and the washer on the tensioning bolt (2-6-1) of the strainer (2-6) is mounted on driven On wheel shaft, bolt is mounted in the through-hole in main crawler belt wheel carrier Rear Ends/Dropouts portion, makes driven wheel (2-3) by adjusting nut (2-6-2) It is moved forward and backward, realizes the elastic adjustment of crawler belt；

The first pin shaft (2-4-1), the second pin shaft (2-4-2) of the damping (2-4) are installed in crawler belt wheel carrier (2-2) On, pin shaft both ends are fixed by circlip；The upper end of damper (2-4-3) is mounted on the second pin shaft (2-4-2), and two sides pass through set Cylinder positioning, the lower end damper (2-4-3) are mounted on bar (2-4-6), and the upper end of bar (2-4-6) is mounted on the first pin shaft (2-4- 1) on, the bar two sides (2-4-6) are positioned by sleeve；Third pin shaft (2-4-5) is mounted in the corresponding hole in lower end bar (2-4-6), Athey wheel (2-4-4) is installed at the both ends third pin shaft (2-4-5), to keep Athey wheel (2-4-4) rotation smooth, in Athey wheel Bearing is installed between (2-4-4) and third pin shaft (2-4-5), is fixed in the outside of Athey wheel (2-4-5) using circlip.

4. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: first planet Crawler belt (4), the second planet crawler belt (5) are mounted on the first driving shaft (6), on the second driving shaft (7), to prevent the first planet crawler belt (4), when the second planet crawler belt (5) moves occur interfering or rub between the first main crawler belt (2), the second main crawler belt (3), the Thrust bearing is installed between one main crawler belt (2) and the first planet crawler belt (4), the second main crawler belt (3) and the second planet crawler belt (5) (8)。

5. the first planet of robot crawler belt (4) according to claim 1, the second planet crawler belt (5) are mirror；It is described The first planet crawler belt (4) characterized by comprising planet driving wheel (4-1), the first planetary gear (4-2-1), the second planet Take turns (4-2-2), planetary wheel carrier (4-9), mandril (4-3), crawler belt, the first planetary gear (4-2-1), the second planetary gear (4-2-2) point It is not mounted on the two sides of planet driving wheel (4-1), and the axis of three wheels is generally aligned in the same plane, crawler belt is mounted on three wheels Outside；The planet driving wheel (4-1) is mounted on driving shaft (6), is connected by flat key therebetween；The first row Star-wheel (4-2-1), the second planetary gear (4-2-2) are separately mounted to the first planet wheel spindle (4-4-1), the second planet wheel spindle (4-4- 2) on, the first planetary gear (4-2-1), the second planetary gear (4-2-2) are driven wheel, the first planetary gear (4-2-1), the second planetary gear Bearing (4-5) is installed between (4-2-2) and the first planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-2)；The row Star driving wheel (4-1), the first planetary gear (4-2-1), the second planetary gear two sides (4-2-2) are fixed using planetary wheel carrier (4-9), benefit Axially position is carried out to planet driving wheel (4-1), the first planetary gear (4-2-1), the second planetary gear (4-2-2) respectively with sleeve； To prevent from generating friction between planetary wheel carrier (4-9) and the first driving shaft (6), in planetary wheel carrier (4-9) and the first driving shaft (6) Between flange bearing (4-10) is installed；First planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-2) are mounted on In the waist type groove at the both ends planetary wheel carrier (4-9), the washer of the one end tensioning bolt (4-7) is covered at the first planet wheel spindle (4-4-1) On, adjusting nut (4-6) moves planet wheel spindle (4-4-2), adjusts the elastic of crawler belt and tightens spiral shell after tensioning is completed Female (4-11) is fixed by the first planet wheel spindle (4-4-1)；The planetary wheel carrier (4-9) of described two sides planet driving wheel (4-1) it Between mandril (4-3) is installed, be fixed using screw (4-8).