CN111634341B - Self-adaptive under-actuated deformed crawler belt - Google Patents
Self-adaptive under-actuated deformed crawler belt Download PDFInfo
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- CN111634341B CN111634341B CN202010640896.5A CN202010640896A CN111634341B CN 111634341 B CN111634341 B CN 111634341B CN 202010640896 A CN202010640896 A CN 202010640896A CN 111634341 B CN111634341 B CN 111634341B
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- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 5
- 230000007704 transition Effects 0.000 description 14
- 230000003044 adaptive effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- 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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- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
Abstract
The invention belongs to the technical field of tracks, and particularly relates to a self-adaptive under-actuated deformed track; the self-adaptive under-actuated deformed crawler comprises a planetary gear train and a crawler gear train, wherein the crawler gear train comprises a crawler driven by the planetary gear train, two driven wheels driven by the crawler, and a telescopic side plate connected with the two driven wheels. The invention provides a self-adaptive underactuated deformed caterpillar, which drives the change of an included angle alpha between a planetary rod and a telescopic side plate through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a caterpillar gear train, so that the deformed caterpillar can be changed into various movement modes, and the functions of quickly crossing obstacles and adapting to complex terrains are realized; meanwhile, fewer drives are adopted based on an underactuated mode and a minimum energy consumption principle, so that obstacle crossing response time is reduced, overall weight is reduced, quick obstacle crossing can be realized, and meanwhile, cost is reduced.
Description
Technical Field
The invention belongs to the technical field of tracks, and particularly relates to a self-adaptive under-actuated deformed track.
Background
As the crawler-type moving mechanism has the characteristics of small ground specific pressure and strong environment adaptation capability, students at home and abroad further improve obstacle surmounting property and environment adaptation, the crawler-type moving mechanism can be divided into a swing arm type crawler-type moving mechanism, a compound crawler-type moving mechanism, a variable crawler-type moving mechanism, a self-adaptive differential moving mechanism and other moving modes. While these mechanisms can both clear obstacles, they cannot be quickly accommodated for complex terrain.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a novel self-adaptive under-actuated deformed crawler belt.
The specific technical scheme of the invention is as follows:
the invention provides a self-adaptive under-actuated deformed crawler belt, which comprises a planetary gear train and a crawler gear train, wherein the crawler gear train comprises a crawler driven by a planetary gear, two driven wheels driven by the crawler, and a telescopic side plate connected with the two driven wheels; the planetary gear train comprises two planetary gears for driving the crawler belt, a planetary rod connected with the two planetary gears, a main driving mechanism for driving the planetary gears to rotate, and a deformation driving mechanism for driving the planetary rods to change an included angle alpha between the planetary gears and the telescopic side plates; wherein alpha is more than or equal to 0 DEG and less than or equal to 90 deg.
Further improved, the main driving mechanism comprises a driving wheel for driving the two planetary gears and a main driving motor for driving the driving wheel to rotate; wherein the connecting line between one driven wheel and the adjacent one planet wheel is parallel and equal to the connecting line between the adjacent other planet wheel and the other driven wheel.
Further improved, the main driving mechanism further comprises a walking driving shaft, a first bevel gear and a second bevel gear meshed with the first bevel gear, one end of the walking driving shaft sequentially penetrates through the telescopic side plate and the planetary rod and is fixedly connected with the driving wheel, the other end of the walking driving shaft is rotatably connected to the bearing seat, the first bevel gear is sleeved on the walking driving shaft and is vertically connected with the second bevel gear, and the second bevel gear is sleeved on an output shaft of the main driving motor.
Further improved, the telescopic side plate comprises a side plate body and two springs arranged on the side plate body, two ends of each spring are connected with spring seats, one spring seat is fixed on the side plate body, and the other spring seat is connected with a corresponding driven wheel and slides along with the driven wheel.
Further improved, the telescopic side plates are provided with two sliding grooves which are respectively arranged on the front side and the rear side of the driven wheel, and the side plate body of each telescopic side plate is provided with two sliding grooves for the driven wheel to slide.
Further improved, the length of the side plate body is longer than that of the planet rod.
Further improved, the track wheel train further comprises two driven shafts, each driven shaft is sleeved in the corresponding driven wheel, and two ends of each driven shaft penetrate through the corresponding spring seat and are connected in the sliding groove in a sliding mode.
The planetary gear train further comprises a planetary driving wheel, two planetary driven wheels and a synchronous belt, wherein the planetary driving wheel is connected with the driving wheel and arranged on one side far away from the main driving motor, the two planetary driven wheels are respectively connected to the two planetary wheels and are arranged on the same side as the planetary driving wheel, and the synchronous belt is connected with the planetary driving wheel and the two planetary driven wheels; the planetary bars are arranged in two and are respectively arranged on the front side and the rear side of the planetary wheels, two ends of one planetary bar are respectively connected to the two planetary wheels, and two ends of the other planetary bar are respectively connected to the two planetary driven wheels.
Further improved, the deformation driving mechanism comprises a deformation driving motor, the deformation driving motor and the planetary driving wheel are arranged on the same side, and an output shaft penetrates through the side plate and is connected with the planetary wheels.
The moving mechanism applying the self-adaptive under-actuated deformed caterpillar comprises a frame and four self-adaptive under-actuated deformed caterpillar bodies arranged on the frame, wherein the bearing seat and the main driving motor are arranged at the bottom of the frame.
The beneficial effects of the invention are as follows:
the invention provides a novel self-adaptive under-actuated deformed crawler belt, which drives the change of an included angle alpha between a planetary rod and a telescopic side plate through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a crawler belt gear train, so that the deformed crawler belt can be changed into various movement modes, and the functions of quickly crossing obstacles and adapting to complex terrains are realized; meanwhile, fewer drives are adopted based on an underactuated mode and a minimum energy consumption principle, so that obstacle crossing response time is reduced, overall weight is reduced, quick obstacle crossing can be realized, and meanwhile, cost is reduced.
Drawings
FIG. 1 is a schematic view of the structure of an adaptive under-actuated deformed track of the present invention;
FIG. 2 is a schematic view of the structure of the deformed track body of the present invention;
FIG. 3 is a rear view of the deformed track body of the present invention;
FIG. 4 is a schematic view of the structure of the straight arm mode of the deformed track body of the present invention;
FIG. 5 is a schematic diagram of an orthographic mode of a deformed track body of the present invention;
FIG. 6 is a schematic view of a transition mode of a deformed track body according to the present invention;
FIGS. 7 a-7 f are schematic diagrams of an adaptive underactuated deformed track in straight arm mode of the present invention as it spans a trench;
8 a-8 f are schematic illustrations of an orthogonal mode adaptive under-actuated deformed track of the present invention traversing an obstacle;
9 a-9 f are schematic illustrations of an adaptive underactuated deformed track of the transition mode of the present invention as it spans a trench;
FIGS. 10 a-10 f are schematic views of an adaptive under-actuated deformed track in transition mode of the present invention as it passes over an obstacle;
fig. 11 is a schematic structural view of a running mechanism of the self-adaptive under-actuated deformed crawler belt.
Detailed Description
The invention will be described in further detail with reference to the figures and the following examples.
The invention provides a self-adaptive under-actuated deformed crawler belt, which is shown in figure 1 and comprises a planetary gear train 1 and a crawler gear train 2, wherein the crawler gear train 2 comprises a crawler belt 21 driven by a planetary gear 11, two driven wheels 22 driven by the crawler belt 21 and a telescopic side plate 23 connected with the two driven wheels 22; the planetary gear train 1 comprises two planetary gears 11 for driving the crawler belt 21, a planetary rod 12 for connecting the two planetary gears 11, a main driving mechanism 13 for driving the planetary gears 11 to rotate, and a deformation driving mechanism 14 for driving the planetary rod 12 to change an included angle alpha between the planetary gears 11 and the telescopic side plate 23; wherein alpha is more than or equal to 0 DEG and less than or equal to 90 deg. In this embodiment, the included angle α refers to the included angle between the planet rod and the telescopic side plate in the two-dimensional plane formed by the projection in the main view direction (taking the direction of the deformation driving mechanism 14 as the main view direction) in fig. 1, and reference may also be made to the rear view of fig. 3, which is a two-dimensional diagram in which the included angle between the planet rod and the telescopic side plate is α.
According to the change of the rotation angle of the planetary rod, the deformed crawler body can be switched into 3 movement modes, including a straight arm mode, an orthogonal mode and a transition mode; the included angle alpha between the planet rod and the side plate of the straight arm mode deformed crawler body is 0 degrees, as shown in fig. 4; the included angle alpha between the planet rod and the side plate of the orthogonal mode deformed crawler body is 90 degrees, as shown in fig. 5; the included angle alpha between the planet rod and the side plate of the transition mode deformed crawler body is 0-90 degrees, and as shown in fig. 6, the deformed crawler body can adapt to various terrains through switching of the movement modes of the deformed crawler body.
The invention provides a novel self-adaptive under-actuated deformed crawler belt, which drives the change of an included angle alpha between a planetary rod and a telescopic side plate through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a crawler belt gear train, so that the deformed crawler belt can be changed into various movement modes, and the functions of quickly crossing obstacles and adapting to complex terrains are realized; meanwhile, fewer drives are adopted based on an underactuated mode and a minimum energy consumption principle, so that obstacle crossing response time is reduced, overall weight is reduced, quick obstacle crossing can be realized, and meanwhile, cost is reduced.
In the moving process of the self-adaptive underactuated deformed caterpillar, the main driving mechanism drives the caterpillar wheel train to rotate into 1 degree of freedom through the planetary wheel train, the deformed driving mechanism drives the planetary wheel train to rotate into 1 degree of freedom, and the whole deformed caterpillar rotates into 1 degree of freedom around the main driving mechanism, namely the self-adaptive underactuated deformed caterpillar has 3 degrees of freedom and adopts two driving mechanisms, so the deformed caterpillar is an underactuated device.
As shown in fig. 1, the main driving mechanism 13 in this embodiment includes a driving wheel 130 for driving the two planetary wheels 11 and a main driving motor 131 for driving the driving wheel 130 to rotate; the line between one of the driven wheels 22 and the adjacent one of the planet wheels 11 is parallel and equal to the line between the adjacent other planet wheel 11 and the other driven wheel 22. In the embodiment, the two driven wheels and the two planet wheels are connected through the crawler belt and form a parallelogram structure, so that the deformed crawler belt is conveniently deformed into three movement modes, namely a straight arm mode (shown in fig. 4), an orthogonal mode (shown in fig. 5) and a transitional mode (shown in fig. 6), and the deformed crawler belt can adapt to various complex terrains.
As shown in fig. 1, in this embodiment, the main driving mechanism 13 further includes a traveling driving shaft 132, a first bevel gear 133, and a second bevel gear 134 meshed with the first bevel gear 133, one end of the traveling driving shaft 132 sequentially passes through the telescopic side plate 23 and the planetary rod 12 and is fixedly connected with the driving wheel 130, the other end is rotatably connected to a bearing seat 135, the first bevel gear 133 is sleeved on the traveling driving shaft 132 and is vertically connected with the second bevel gear 134, and the second bevel gear 134 is sleeved on an output shaft of the main driving motor 131. In the embodiment, the rotation of the main driving motor drives the rotation of the second bevel gear, and the second bevel gear is meshed with the first bevel gear, so that the rotation of the second bevel gear drives the first bevel gear to rotate, and the driving wheel is driven to rotate by the walking driving shaft; the first bevel gear and the walking driving shaft, and the second bevel gear and the main driving motor can be connected through keys.
The deformed caterpillar band is mainly characterized in that the deformed caterpillar band can adapt to the terrain and further move in a state of minimum energy consumption. When an obstacle is encountered and is blocked from moving in the original low-energy consumption state, recognition equipment such as a sensor is not needed, traction force for providing movement of the obstacle is instantaneously converted into torque rotating around the axis direction of the driving wheel, and the deformed caterpillar track rotates around the walking driving shaft, so that obstacle surmounting response time is reduced, and quick rolling obstacle surmounting is realized.
As shown in fig. 2 and 3, the telescopic side plate 23 in this embodiment includes a side plate body 230 and two springs 231 disposed on the side plate body 230, and spring seats 232 are connected to two ends of each spring 231, wherein one spring seat 232 is fixed on the side plate body 230, and the other spring seat 232 is connected to the corresponding driven wheel 22 and slides along with the driven wheel 22. The spring is arranged to ensure that the track has a certain tension, thereby realizing the deformation function of the deformed track.
As shown in fig. 2 and 3, in this embodiment, two telescopic side plates 23 are provided, and are respectively disposed on the front and rear sides of the driven wheel 22, and two sliding grooves 233 for sliding the driven wheel 22 are provided on the side plate body 230 of each telescopic side plate 23. The sliding groove is arranged to facilitate the deformation movement of the driven wheel and limit the movement distance of the driven wheel.
The length of the side plate body 230 is greater than the length of the planet rod 12 in this embodiment. The length of the side plate is greater than that of the planet rod so as to facilitate deformation of the deformed crawler body, and the planet wheels are respectively positioned between the driving wheel and the driven wheel after the crawler body becomes a straight arm.
As shown in fig. 2 and 3, the track wheel system 2 in this embodiment further includes two driven shafts 24, each driven shaft 24 is respectively sleeved in the corresponding driven wheel 22, and two ends of the driven shaft respectively pass through the corresponding spring seat 232 and are slidably connected in the sliding groove 233. The driven shaft is fixedly connected with the spring seat, so that the crawler belt is ensured to have a certain tensioning force, and the deformation function of the deformed crawler belt is realized.
As shown in fig. 2, the planetary gear train 1 in this embodiment further includes a planetary driving wheel 15, two planetary driven wheels 16, and a synchronous belt 17, where the planetary driving wheel 15 is connected with the driving wheel 130 and is disposed at a side far from the main driving motor 131, the two planetary driven wheels 16 are respectively connected to the two planetary wheels 11 and are disposed at the same side as the planetary driving wheel 15, and the synchronous belt 17 connects the planetary driving wheel 15 and the two planetary driven wheels 16; the planetary bars 12 are provided with two planetary bars and are respectively arranged on the front side and the rear side of the planetary wheel 11, two ends of one planetary bar 12 are respectively connected to the two planetary wheels 11, and two ends of the other planetary bar 12 are respectively connected to the two planetary driven wheels 16. The driving wheel is fixedly connected with the planetary driving wheel, and the planetary wheel is fixedly connected with the planetary driven wheel, so that synchronous rotation is realized; the fixed connection may be a shaft connecting the two wheels, the shaft being keyed to the wheels.
The deformation driving mechanism 14 in this embodiment includes a deformation driving motor, which is disposed on the same side as the planetary driving wheel 15, and an output shaft passes through the side plate and is connected to the planetary gear 11.
In the embodiment, the main driving motor drives the driving wheel and the planetary driving wheel to synchronously rotate through the walking driving shaft to drive the synchronous belt, the planetary wheels and the planetary driven wheels to rotate, so that the driven wheels and the caterpillar tracks are driven to rotate, and the movement function of the deformed caterpillar tracks is realized; the deformation driving motor drives the planetary rod to rotate, so that the included angle between the planetary rod and the side plate changes, the planetary rod drives the track to deform under the constraint that the length of the track is a fixed value, and then the driven wheel and the driven shaft move along the limit grooves at the two ends of the side plate, and the driven shaft is connected with the spring, so that the track is ensured to have a certain tensioning force, and the deformation function of the deformed track is realized.
As the rotation angle alpha of the planet rod changes, the centroid height and the ground area of the deformed caterpillar track change accordingly, and as can be seen from fig. 4-6 and according to calculation, the centroid of the straight arm mode is the lowest and the ground area is the largest; the centroid height of the orthogonal mode is highest and the ground area is smallest; the center of mass height and ground area of the transition mode are both between the straight arm mode and the orthogonal mode.
Because the deformed caterpillar band in the straight arm mode has the largest grounding area, a travelling mechanism applying the deformed caterpillar band can span a wider groove; when the center of the travelling mechanism is close to the left cross section of the groove, the front deformed caterpillar band contacts the right cross section of the groove and supports the vehicle body, and the front deformed caterpillar band is pushed to cross the groove by the traction force of front pushing and back pushing provided by the front deformed caterpillar band and the rear deformed caterpillar band, as shown in figures 7 a-7 d; the rear deformed crawler mechanism spans to the right side of the groove in the same way, the process is shown in fig. 7 e-7 f, the vehicle body is restored to a state before the vehicle body spans, and the straight arm type obstacle crossing function of the groove is completed; through the analysis of the two movement working conditions, the deformed crawler belt in the straight arm mode is suitable for moving on a soft road surface and a road surface with wider grooves.
The orthomode deformed caterpillar has the characteristic of high mass center, so the deformed caterpillar has good boss obstacle crossing performance. When the front end of the deformed caterpillar band touches the convex obstacle and cannot move forwards, the traction force is instantaneously converted into torque for the deformed caterpillar band to rotate around the center of the driven wheel at the front end, so that the deformed caterpillar band rotates clockwise and climbs over the boss obstacle, and the process is shown in figures 8 a-8 d; the rear deformed caterpillar band passes over the boss obstacle in the same way, and the process is shown in figures 8 e-8 f, the vehicle body is restored to a state before obstacle crossing, and the orthogonal mode deformed caterpillar band completes the boss obstacle crossing function; the deformed caterpillar band in the orthogonal mode can raise the mass center of the vehicle body, and the deformed caterpillar band body can rotate around the axis direction of the walking driving shaft, so that the deformed caterpillar band has a self-adaptive obstacle crossing function, and the deformed caterpillar band in the orthogonal mode is suitable for moving on the road surface with high obstacles.
The mass center height and the ground contact area of the deformed caterpillar band in the transition mode are both between those in the straight arm mode and the orthogonal mode, so that the deformed caterpillar band in the transition mode has certain groove obstacle crossing capacity and certain boss obstacle crossing capacity. When the front deformed caterpillar passes through the left section of the groove, the deformed caterpillar body rotates clockwise to incline forwards, meanwhile, the driven wheel of the front deformed caterpillar contacts with the right section of the groove, and the deformed caterpillar is pushed to span the groove by the traction force of the front deformed caterpillar and the rear deformed caterpillar, as shown in figures 9 a-9 d; the rear deformed caterpillar spans the groove in the same way, the process is as shown in fig. 9 e-9 f, the vehicle body is restored to a state before obstacle crossing, and the transition mode deformed caterpillar completes the obstacle crossing function of the groove; when the front end of the deformed caterpillar band touches the boss obstacle, the deformed caterpillar band is pushed to pass through the boss obstacle by the traction force of the deformed caterpillar band at the front end and the rear end, and the process is shown in fig. 10 a-10 d. The rear deformed caterpillar passes through the boss obstacle in the same way, the process is as shown in fig. 10 e-10 f, the vehicle body is restored to a state before obstacle crossing, and the transition mode deformed caterpillar completes the boss obstacle crossing function; the transition mode deformed caterpillar band can raise the mass center of the vehicle body and increase the grounding area, and the deformed caterpillar band has a certain approach angle and can pass through slopes and crushed stone terrains, so that the transition mode deformed caterpillar band is suitable for moving on a concave-convex road surface containing composite barriers such as grooves and bosses (wherein v plus a straight arrow indicates the movement direction of the self-adaptive underactuated deformed caterpillar band, and a turning arrow indicates the turning direction of the self-adaptive underactuated deformed caterpillar band when the self-adaptive underactuated deformed caterpillar band crosses the grooves or turns over the barriers).
As shown in fig. 11, a moving mechanism using an adaptive under-actuated deformed caterpillar comprises a frame 100 and four adaptive under-actuated deformed caterpillar tracks 200 arranged on the frame 100, wherein the bearing seat 135 and the main driving motor 131 are arranged at the bottom of the frame 100.
The moving mechanism of the self-adaptive underactuated deformed caterpillar is switched into 3 moving modes (a straight arm mode, an orthogonal mode and a transition mode) by controlling a deformed driving motor, and the straight arm mode is suitable for moving on a soft and flat road surface with a longer groove; the orthogonal mode is suitable for road surface movement with high obstacles; the transition mode is suitable for the movement of the concave-convex pavement with grooves and bosses; the deformed caterpillar band changes the height of the mass center and the ground contact area by controlling the deformation of the deformed caterpillar band, does not need complex control and sensors, and quickly surmounts the obstacle by means of self-adaptability of a mechanism, reduces the response time of surmounting the obstacle, obviously improves the quick obstacle surmounting capability and the environment adaptation capability of the deformed caterpillar band, and simultaneously reduces the cost.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (4)
1. The self-adaptive under-actuated deformed crawler belt is characterized by comprising a planetary gear train (1) and a crawler gear train (2), wherein the crawler gear train (2) comprises a crawler belt (21) driven by a planetary gear (11), two driven wheels (22) driven by the crawler belt (21), and a telescopic side plate (23) connected with the two driven wheels (22); the planetary gear train (1) comprises two planetary gears (11) for driving the crawler belt (21), a planetary rod (12) connected with the two planetary gears (11), a main driving mechanism (13) for driving the planetary gears (11) to rotate, and a deformation driving mechanism (14) for driving the included angle alpha between the planetary rod (12) and the telescopic side plate (23) to change; wherein alpha is more than or equal to 0 DEG and less than or equal to 90 DEG; the main driving mechanism (13) comprises a driving wheel (130) for driving the two planetary wheels (11) and a main driving motor (131) for driving the driving wheel (130) to rotate; wherein the connecting line between one driven wheel (22) and the adjacent one planet wheel (11) is parallel and equal to the connecting line between the adjacent other planet wheel (11) and the other driven wheel (22);
the main driving mechanism (13) further comprises a walking driving shaft (132), a first bevel gear (133) and a second bevel gear (134) meshed with the first bevel gear (133), one end of the walking driving shaft (132) sequentially penetrates through the telescopic side plate (23) and the planetary rod (12) and is fixedly connected with the driving wheel (130), the other end of the walking driving shaft is rotatably connected to the bearing seat (135), the first bevel gear (133) is sleeved on the walking driving shaft (132) and is vertically connected with the second bevel gear (134), and the second bevel gear (134) is sleeved on an output shaft of the main driving motor (131);
the telescopic side plate (23) comprises a side plate body (230) and two springs (231) arranged on the side plate body (230), two ends of each spring (231) are connected with spring seats (232), one spring seat (232) is fixed on the side plate body (230), and the other spring seat (232) is connected with a corresponding driven wheel (22) and slides along with the driven wheel (22);
the telescopic side plates (23) are provided with two sliding grooves (233) for sliding the driven wheel (22) and are respectively arranged on the front side and the rear side of the driven wheel (22), and the side plate body (230) of each telescopic side plate (23) is provided with two sliding grooves for sliding the driven wheel (22);
the length of the side plate body (230) is longer than that of the planetary rod (12);
the planetary gear system (1) further comprises a planetary driving wheel (15), two planetary driven wheels (16) and a synchronous belt (17), wherein the planetary driving wheel (15) is connected with the driving wheel (130) and is arranged at one side far away from the main driving motor (131), the two planetary driven wheels (16) are respectively connected to the two planetary wheels (11) and are arranged at the same side with the planetary driving wheel (15), and the synchronous belt (17) is connected with the planetary driving wheel (15) and the two planetary driven wheels (16); the planetary bars (12) are provided with two planetary bars and are respectively arranged on the front side and the rear side of the planetary wheels (11), two ends of one planetary bar (12) are respectively connected to the two planetary wheels (11), and two ends of the other planetary bar (12) are respectively connected to the two planetary driven wheels (16).
2. The self-adaptive underactuated deformable crawler belt according to claim 1, wherein the crawler belt wheel system (2) further comprises two driven shafts (24), each driven shaft (24) is respectively sleeved in a corresponding driven wheel (22), and two ends of each driven shaft respectively pass through a corresponding spring seat (232) and are slidably connected in the sliding groove (233).
3. The self-adaptive underactuated deformed track as claimed in claim 1, wherein the deformed driving mechanism (14) comprises a deformed driving motor which is arranged on the same side as the planetary driving wheel (15), and an output shaft passes through the side plate and is connected with the planetary wheel (11).
4. A moving mechanism using the self-adaptive under-actuated deformed caterpillar according to any one of claims 1-3, comprising a frame (100) and four self-adaptive under-actuated deformed caterpillar (200) arranged on the frame (100), wherein the bearing seat (135) and the main driving motor (131) are both arranged at the bottom of the frame (100).
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