CN114655296B

CN114655296B - Composite driving snowfield roaming robot

Info

Publication number: CN114655296B
Application number: CN202210190005.XA
Authority: CN
Inventors: 刘刚峰; 郭乐凡; 罗永晟; 李长乐; 张学贺; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2023-03-10
Anticipated expiration: 2042-02-28
Also published as: CN114655296A

Abstract

A composite driving snowfield roaming robot belongs to the technical field of robot auxiliary work. The invention solves the problems of high energy consumption and poor road surface adaptability of the existing snow roaming robot. The device comprises a rack, a steering mechanism, a wind power driving module, an electric power driving module and four groups of suspensions; four groups of suspensions are oppositely arranged on two sides of the rack in pairs, the electric drive module comprises a crawler lifting mechanism, a crawler walking mechanism and two crawlers, the two crawlers are arranged side by side, the crawler walking mechanism controls the walking and stopping of the two crawlers, and the crawler lifting mechanism controls the lifting of the two crawlers. The wind energy and electric energy composite drive is adopted, and the drive problem when the wind energy cannot be utilized is solved. The angle of the sail is automatically changed through the sensor, and the angle of the sail is always in the optimal state of wind energy utilization. Adopt four sled and ground contact, possess better road surface adaptability and trafficability characteristic. The steering mechanism changes the direction of the front sled to steer, and the plow brake is realized.

Description

Composite driving snowfield roaming robot

Technical Field

The invention relates to a composite driving snow roaming robot, and belongs to the technical field of auxiliary work of robots.

Background

At present, transportation equipment for human beings on snow is mainly classified into an animal power type and a mechanical power type. The power storage type has flexible operation, but low speed and poor endurance, can not work in severe environment for a long time, and has high feeding cost. The mechanical power type has strong power and high speed, but needs to provide energy sources for the mechanical power type. At present, main energy supply schemes are fossil energy, electric energy, solar energy and the like, and the problems of environmental pollution, insufficient energy supply and the like can exist.

The snow roaming robot can be used in the field of polar science and investigation. The earth's two poles contain abundant natural resources, and have great significance for developing scientific investigation. However, the natural environment of the two polar regions is severe, scientific researchers are difficult to stay for a long time, and the polar region robot can help the scientific researchers to realize long-term unmanned autonomous detection. The energy in the polar region is deficient, and the fuel transportation is difficult. The utilization of clean energy such as wind energy is a feasible way for polar robots.

The application and research of sails by human beings are mainly carried out on sailboats, and the research on the aerodynamic characteristics of sails is relatively mature. The modern sail control theory can enable the robot to realize the movement in any direction within a certain range, and even can realize the top wind sailing under the condition of completely upwind. The existing snowfield roaming robot driven by wind energy mostly adopts wind power generation, converts the wind energy into electric energy and then uses the electric energy, and the energy use efficiency is low.

The invention patent application with the application number of 201711148932.0 discloses a solar sail sledge robot which is driven by wind energy and solar energy, pushes the sledge to move by means of the wind energy, and is powered by means of the solar energy. Adopt stereoplasm sail, direct drive mast pivot is rotated, adopts 2 sled, and lug connection is poor in the road surface adaptability in the frame.

The patent application with the application number of 201910806345.9 discloses a crawler sled composite walking polar region robot, obstacle crossing is achieved through four independent shifting crawlers, and sliding on flat snow is achieved through a sail. The design of the shifting crawler walking mechanism is emphasized, the sledges and the shifting mechanism of the crawler are complex in design, the number of the crawler is large, the driving structure is complex, the energy consumption is high, in addition, only a concept is provided for wind power driving in the application, a specific control method is not designed, and the 2 sledges are directly connected to the rack, so that the pavement adaptability is poor.

Disclosure of Invention

The invention aims to solve the problems of high energy consumption and poor road surface adaptability of the existing composite driving type snow roaming robot, and further provides a composite driving type snow roaming robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a composite drive snow roaming robot comprises a frame, a steering mechanism, a wind power drive module, an electric power drive module and four groups of suspensions; the four groups of the suspensions are oppositely arranged on two sides of the rack in pairs, and each group of the suspensions comprises a main rack body fixedly arranged on the rack and a sleigh plate hinged to the bottom end of the main rack body;

the steering mechanism is positioned at the front part of the rack and comprises a first electric push rod, a connecting plate, steering engines, gears, racks and two steering connecting rods, wherein the steering engines are fixedly arranged on the connecting plate, the fixed end of the first electric push rod is arranged on the rack, the free end of the first electric push rod is fixedly connected with the connecting plate, the steering engines are directly connected with the gears, the gears are meshed with the racks, one ends of the two steering connecting rods are respectively connected to the left end and the right end of each rack through universal joints, the other ends of the two steering connecting rods are respectively connected to two main frame bodies at the front part of the rack through the universal joints, and the connecting plate realizes front-back sliding on the rack through the first electric push rod;

the wind power driving module comprises a mast, a sail, a connecting rope and a fixed pulley block, the mast is installed on the upper portion of the frame, one side of the sail is sleeved on the mast, the bottom end of the other side of the sail is fixedly provided with one end of the connecting rope, the other end of the connecting rope penetrates through the fixed pulley block and is wound on a hand wheel, and the hand wheel is driven by a hand wheel servo motor and a first speed reducer;

the frame comprises a frame main body, an electric cabinet, a wind direction sensor, a wind speed sensor and a battery, wherein the electric cabinet, the wind direction sensor, the wind speed sensor and the battery are arranged on the frame main body;

the electric drive module comprises a crawler lifting mechanism, a crawler walking mechanism and two crawlers, wherein the two crawlers are arranged side by side, the crawler walking mechanism is used for controlling the walking and stopping of the two crawlers, and the crawler lifting mechanism is used for controlling the lifting of the two crawlers.

Furthermore, the crawler lifting mechanism comprises two second electric push rods, two cranks, two connecting rods and two rockers, wherein fixed ends of the two second electric push rods are hinged to the frame main body, one ends of the two cranks are hinged to the frame main body respectively, the middle parts of the two cranks are correspondingly hinged to free ends of the two second electric push rods, the other ends of the two cranks are correspondingly hinged to one ends of the two connecting rods, the other ends of the two connecting rods are correspondingly hinged to one ends of the two rockers, the other ends of the two rockers are hinged to the frame main body respectively, and a hinge point between the two rockers and the two connecting rods is coaxially arranged with a main shaft in the crawler travelling mechanism.

Furthermore, the crawler traveling mechanism comprises a crawler servo motor, a speed reducer, a chain transmission assembly, a main shaft, two driving wheels, four driven wheels and two triangular retainers, wherein one driving wheel and two driven wheels are arranged in each crawler in a triangular manner and are correspondingly arranged, the two driving wheels are fixedly connected through the main shaft, the two driven wheels in each crawler are correspondingly connected through one triangular retainer, the two triangular retainers are correspondingly and rotatably installed on the main shaft, and the main shaft is connected with the crawler servo motor through the chain transmission assembly.

Furthermore, the two rocking bars are fixedly connected through a connecting frame, and the middle part of the connecting frame is rotatably connected with the main shaft.

Further, the main frame body comprises an upper fork arm, a lower fork arm, a shock absorber and a sledge vertical shaft, wherein one end of the upper fork arm, one end of the lower fork arm and one end of the shock absorber are hinged to the frame body, the other end of the upper fork arm and the other end of the lower fork arm are hinged to the sledge vertical shaft, the other end of the shock absorber is hinged to the lower fork arm, and a sledge plate is hinged to the lower end of the sledge vertical shaft.

Furthermore, each group of two sledge vertical shafts which are relatively positioned at two sides of the frame are arranged in a splayed shape.

Furthermore, the fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope, wherein the first fixed pulley is installed at the rear part of the frame through a supporting rod, the second fixed pulley is installed at the bottom of the sail, the third fixed pulley is installed inside the main body of the frame, and the connecting rope is sequentially wound on the first fixed pulley, the second fixed pulley and the third fixed pulley.

Further, the frame still includes the linear guide who installs on the frame main part, battery side-to-side slidable mounting is on the linear guide.

Further, a goods warehouse is further arranged on the rack main body.

Further, the bottom of the connecting plate slides back and forth by taking two groups of guide rail sliding block assemblies as guide elements.

Compared with the prior art, the invention has the following effects:

the wind energy and electric energy composite drive is adopted, the wind energy is renewable energy, energy is saved, environment is protected, pollution is not generated, and the wind energy and electric energy composite drive can be used for working for a long time. The wind energy is used for direct driving, and the energy utilization rate is high. The device uses clean energy, has the characteristics of energy conservation, environmental protection, long sustainable working time, flexible movement and the like, and can be applied to the fields of snow transportation, polar scientific investigation and the like. Meanwhile, electric energy and wind energy are used for complementation, so that the driving problem when the wind energy cannot be utilized is solved.

The lifting of the crawler is realized through the crawler lifting mechanism, and further the quick conversion of wind energy and electric energy is realized.

The robot can automatically change the angle of the sail through the sensor, realize automatic control and ensure that the sail angle is always in the optimal state for wind energy utilization.

The four sledges are in contact with the ground, so that the resistance is small, the contact area is large, the sledges are not prone to falling into snow, and the four sledges have better road surface adaptability and trafficability characteristic.

The steering mechanism can change the direction of the sled in front to steer and can also realize plow brake. The mechanism is simple, the energy damage is small, and the control is easy.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic side view of the present application;

FIG. 3 is a schematic front view of the present application;

FIG. 4 is a schematic top view of the present application (sail not shown);

FIG. 5 is a perspective view of the suspension;

FIG. 6 is a schematic side view of the suspension;

FIG. 7 is a view from the direction B of FIG. 6 (not to equal scale);

FIG. 8 is a perspective view of the steering mechanism;

FIG. 9 is a schematic perspective view of a hand wheel;

FIG. 10 is a schematic view of the mechanism movements of forward, steering and braking movements, wherein a) is a schematic view of a forward state, b) is a schematic view of a braking state, and c) is a schematic view of a steering state;

FIG. 11 is a perspective view of the steering mechanism;

FIG. 12 is a schematic perspective view of a brake in motion;

fig. 13 is a schematic diagram of the mechanism movement of the sail angle control, wherein a) and b) are respectively in two different states (the number of the second fixed pulleys shown in the figure is one);

fig. 14 is a schematic perspective view of the electric driving module;

FIG. 15 is a schematic view of the track position shifting movement wherein a) is the second power ram fully extended and b) is the second power ram retracted;

figure 16 is a top schematic view of the track tensioner.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 16, and a hybrid drive snow roaming robot includes a frame 1, a steering mechanism 3, a wind power drive module 4, an electric power drive module 5, and four sets of suspensions 2; the four groups of the suspension frames 2 are oppositely arranged on two sides of the rack 1 in pairs, and each group of the suspension frames 2 comprises a main frame body fixedly arranged on the rack 1 and a sled plate 205 hinged at the bottom end of the main frame body;

the steering mechanism 3 is positioned at the front part of the rack 1, the steering mechanism 3 comprises a first electric push rod 301, a connecting plate 307, a steering engine 302, a gear 303, a rack 304 and two steering connecting rods 305, wherein the steering engine 302 is fixedly arranged on the connecting plate 307, the fixed end of the first electric push rod 301 is arranged on the rack 1, the free end of the first electric push rod 301 is fixedly connected with the connecting plate 307, the steering engine 302 is directly connected with the gear 303, the gear 303 is meshed with the rack 304, one ends of the two steering connecting rods 305 are respectively connected to the left end and the right end of the rack 304 through universal joints, the other ends of the two steering connecting rods 305 are respectively connected to two main frame bodies at the front part of the rack 1 through universal joints, and the connecting plate 307 realizes the front-back sliding on the rack 1 through the first electric push rod 301;

the wind power driving module 4 comprises a mast 401, a sail 402, a connecting rope 403 and a fixed pulley block, the mast 401 is installed at the upper part of the frame 1, one side of the sail 402 is sleeved on the mast 401, the bottom end of the other side is fixedly provided with one end of the connecting rope 403, the other end of the connecting rope 403 penetrates through the fixed pulley block and is wound on a hand wheel 404, and the hand wheel 404 is driven by a hand wheel servo motor 405 and a first speed reducer 406;

the rack 1 comprises a rack main body, an electric cabinet 101, a wind direction sensor 102, a wind speed sensor 103 and a battery 104, wherein the electric cabinet 101, the wind direction sensor 102, the wind speed sensor 103 and the battery 104 are arranged on the rack main body;

the electric drive module 5 comprises a crawler lifting mechanism, a crawler traveling mechanism and two crawlers 510, wherein the two crawlers 510 are arranged side by side, the crawler traveling mechanism controls the two crawlers 510 to travel and stop, and the crawler lifting mechanism controls the two crawlers 510 to lift. The crawler lifting mechanism and the crawler traveling mechanism are also in signal connection with the electric cabinet 101.

The connecting string 403 is preferably a nylon string. The frame main body is preferably made of aluminum alloy.

The hand wheel servo motor 405 is directly connected with the first speed reducer 406 and is directly connected with the hand wheel 404 through the hand wheel 404, and the hand wheel servo motor 405, the first speed reducer 406 and the hand wheel 404 are all located inside the frame body.

Other required sensors such as a GPS, an IMU, a temperature and humidity sensor and the like are also arranged in the electric cabinet 101.

Four groups of suspensions 2 are respectively arranged at the left front side, the right front side, the left rear side and the right rear side of the frame 1.

The number of the first electric push rods 301 can be one, two or more according to actual needs.

The snow roaming robot has the autonomous cruising ability, can plan a route in advance by utilizing a positioning system and an environment sensing system of the snow roaming robot, and transmits the route to the robot for control in a wireless mode. The robot can automatically calculate the optimal path and the angle of the sail 402 according to the ground environment condition and the real-time wind direction, and automatically move to the designated position.

The wind energy and electric energy composite driving device is driven by wind energy and electric energy, the wind energy is renewable energy, energy is saved, environment is protected, pollution is avoided, and the wind energy and electric energy composite driving device can be used for working for a long time. The wind energy is used for direct driving, and the energy utilization rate is high. The device uses clean energy, has the characteristics of energy conservation, environmental protection, long sustainable working time, flexible movement and the like, and can be applied to the fields of snow transportation, polar scientific investigation and the like. Meanwhile, electric energy and wind energy are used for complementation, so that the driving problem when the wind energy cannot be utilized is solved.

The robot can automatically change the angle of the sail 402 through a sensor, realize automatic control and ensure that the angle of the sail 402 is always in the optimal state for wind energy utilization.

The steering mechanism 3 can change the direction of the front sledge to steer and can also realize plow brake. The mechanism is simple, the energy damage is small, and the control is easy.

The crawler lifting mechanism comprises two second electric push rods 501, two cranks 502, two connecting rods 503 and two rockers 504, wherein the fixed ends of the two second electric push rods 501 are hinged to the frame main body, one ends of the two cranks 502 are hinged to the frame main body respectively, the middle parts of the two cranks 502 are correspondingly hinged to the free ends of the two second electric push rods 501, the other ends of the two cranks 502 are correspondingly hinged to one ends of the two connecting rods 503, the other ends of the two connecting rods 503 are correspondingly hinged to one ends of the two rockers 504, the other ends of the two rockers 504 are hinged to the frame main body respectively, and the hinged point between the two rockers 504 and the two connecting rods 503 is coaxially arranged with a main shaft 512 in the crawler travelling mechanism. By the design, the crank 502, the connecting rod 503, the rocker 504 and the frame body form a planar four-bar mechanism. The angle of the planar four-bar mechanism can be changed by changing the extension of the free end of the second electric push rod 501. When the electric push rod is fully extended (a in fig. 15), the crank 502 and the connecting rod 503 are in a straight line, and reach the dead point of the four-bar mechanism, the second electric push rod 501 is not stressed, and all impact force is directly transmitted to the frame body by the planar four-bar mechanism, so that the stability of the track lifting mechanism can be ensured. When driven by wind power, the second electric push rod 501 is retracted, lifting the track off the ground to reduce drag, as shown in b) of fig. 15. The second electric push rod is in signal connection with the electric cabinet.

The crawler traveling mechanism comprises a crawler servo motor 506, a second speed reducer 507, a chain transmission assembly 508, a main shaft 512, two driving wheels 514, four driven wheels 516 and two triangular retainers 515, wherein one driving wheel 514 and two driven wheels 516 are correspondingly arranged in each crawler in a triangular manner, the two driving wheels 514 are fixedly connected through the main shaft 512, the two driven wheels 516 in each crawler are correspondingly connected through one triangular retainer 515, the two triangular retainers 515 are correspondingly rotatably installed on the main shaft 512, and the main shaft 512 is connected with the crawler servo motor 506 through the chain transmission assembly 508. Each triangular retainer 515 is provided with a track tensioning device 518, and the track tensioning device 518 is used for realizing the distance between two driven wheels 516 in the corresponding track, so as to tension the track, and the adopted track tensioning device 518 can be any device capable of realizing tensioning in the prior art. Each driving wheel 514 is correspondingly and fixedly provided with a driving wheel 514 outer shaft 513, and the main shaft 512 transmits power to the driving wheel 514 outer shaft 513 through key transmission, so as to drive the driving wheel 514 to rotate. Triangular holder 515 is preferably mounted on outer shaft 513 of drive wheel 514 via bearings. The triangular holder 515 may not rotate with the main shaft 512. Due to the gravity of the robot and the acting force of the ground, the triangular holding frame 515 and the driven wheel 516 arranged on the triangular holding frame will be kept attached to the ground and do not rotate along with the main shaft 512. When the ground angle changes, the triangular retainer 515 automatically rotates freely along with the change of the ground angle, so that the contact area of the crawler and the ground is maintained, and the ground gripping performance of the crawler is improved. The prime mover driven by the crawler belt is a crawler belt servo motor 506, and the power output by the crawler belt servo motor is transmitted to a main shaft 512 through chain transmission after being reduced by a second speed reducer 507. When the main shaft 512 rotates, the outer shaft 513 of the driving wheel 514 is driven to rotate through key transmission, so as to drive the driving wheel 514 to rotate, and the driving wheel 514 drives the track to rotate, so as to provide forward driving force for the robot. The track servo motor is in signal connection with the electric cabinet.

The two rockers 504 are fixedly connected through a connecting frame, and the middle part of the connecting frame is rotatably connected with the main shaft 512. The track servo motor 506 and the second speed reducer 507 are both fixed on the connecting frame through a motor base 505. The main shaft is preferably connected with the connecting frame through a bearing seat.

The main frame body comprises an upper fork arm 201, a lower fork arm 202, a shock absorber 203 and a ski vertical shaft 204, wherein one end of the upper fork arm 201, one end of the lower fork arm 202 and one end of the shock absorber 203 are hinged with the frame body, the other end of the upper fork arm 201 and the other end of the lower fork arm 202 are hinged with the ski vertical shaft 204, the other end of the shock absorber 203 is hinged with the lower fork arm 202, and a ski plate 205 is hinged with the lower end of the ski vertical shaft 204. So design, the body frame adopts the two fork arm structures, and sled board 205 can rotate around sled vertical scroll 204 bottom to better adaptation topography. Possess good effect of moving away to avoid possible earthquakes simultaneously, can guarantee the steady of robot fuselage. With the main frame structure of the present application, the ski boards 205 can be changed in position relative to the frame 1 under the action of the steering mechanism 3 to adapt to the terrain. The other end of the steering linkage 305 is connected to the ski vertical shaft 204 by a universal joint.

Each set of two ski vertical shafts 204 located opposite to each other on both sides of the frame 1 are arranged in a splayed shape. So designed, the ski vertical shaft 204 is at an angle to the vertical. When the steering wheel is turned, a certain contact angle is formed with the ground so as to provide better lateral supporting force. The main functions are as follows: when the robot is steered, the robot is enabled to rotate along the guide of the sled plate 205, so that sideslip is prevented; provides larger resistance when braking and helps to slow down. The ski lift shaft 204 is preferably angled forward at an angle of 5 and towards the outside at an angle of 4.

The fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope 403, wherein the first fixed pulley 407 is mounted to the rear of the frame 1 through a support rod, the second fixed pulley 408 is mounted at the bottom of the sail 402, the third fixed pulley 409 is mounted inside the frame main body, and the connecting rope 403 is sequentially wound on the first fixed pulley, the second fixed pulley, the third fixed pulley and the connecting rope. The number of the second fixed pulleys 408 may be one, two or more according to actual needs.

The electric cabinet 101, the wind direction sensor 102 and the wind speed sensor 103 are all positioned at the front part of the frame main body.

The rack 1 further comprises a linear guide rail 105 mounted on the rack body, and the battery 104 is slidably mounted on the linear guide rail 105 from side to side. When the wind force is large, it is considered that the robot sail 402 is subjected to a large lateral force, which may cause a dangerous situation such as overturning. The present invention mounts the battery 104 on the linear guide 105. The battery 104 can move along the left and right directions of the robot under the drive of the linear guide rail 105 motor. Based on the data collected by the associated sensors, the battery 104 may be controlled to move in a direction opposite to the wind to balance the robot center of gravity. If the wind force exceeds the range that the battery 104 can balance, the handwheel servo motor 405 releases all the connecting ropes 403 at once, so that the sail 402 is completely free and rotates to an angle parallel to the wind direction under the action of the wind. At this time, the force applied to the sail 402 is zero, and the overturning moment is no longer generated.

The rack body is also provided with a cargo compartment 106. So designed, the warehouse 106 is arranged at the rear part of the machine frame 1 and can be used for transporting goods or installing scientific research instruments.

The bottom of the link plate 307 slides back and forth as a guide element by means of two sets of rail slider 306 assemblies.

The working principle is as follows:

turning: when the advancing direction of the robot needs to be changed, the first electric push rod 301 keeps static, and the steering engine 302 changes the angle (i.e., turns), so that the gear 303 drives the rack 304 to translate along the left or right direction. Steering links 305 at the ends of the rack 304 rotate the ski vertical shaft 204 about an axis. The ski shafts 204 on both sides of the frame 1 rotate in the same direction. The mechanism movement diagram is shown in a) and c) of fig. 10.

Braking: when the robot is driven by wind power, if the running speed of the robot needs to be reduced, the first electric push rod 301 can be placed in an extended state, and the connecting plate 307 at the tail end of the first electric push rod 301 drives the steering engine 302, the gear 303 and the rack 304 to integrally move forward. The steering links 305 on both sides move in a plane, pivoting the ski shaft 204 about an axis. At this time, the ski shafts 204 on both sides rotate in opposite directions, and both rotate inward. The mechanism movement diagram is shown as b) in fig. 10. The braking mode simulates the principle of 'plow brake' in skiing, so that the ski is in an inner splayed shape, and the braking force is generated to decelerate by increasing the contact area and the contact angle with the snow. The magnitude of the braking force can be controlled by controlling the length of the first electric push rod 301. When the electric drive is used, the crawler travel mechanism controls the crawler speed, and when the emergency brake is needed, the crawler travel mechanism is used for braking.

Wind power driving: the snow roaming robot can collect wind energy by using the wind sails 402 to directly provide driving force for the robot. The robot reads the data of the wind direction sensor 102 and the wind speed sensor 103, compares the data with the self advancing direction, and calculates the optimal angle of the sail 402 according to the sail 402 driving theory. The handwheel servo motor 405 drives the handwheel 404 to rotate, so that the length of the connecting rope 403 wound on the handwheel 404 is changed, and meanwhile, the length of the free end of the connecting rope 403 is also changed. One side of the sail 402 is sleeved on the mast 401, the middle of the sail 402 is pushed by wind, and the other side of the sail 402 is pulled by the connecting rope 403, so that the stress balance can be realized, and the angle of the sail 402 is determined. The fixed pulleys on the mast 401 and the frame 1 are reacted by the sail 402 to provide driving force for the robot. When the wind direction changes, the hand wheel 404 is rotated to change the angle of the sail 402, so that the sail 402 is always in the position most favorable for the robot to advance. As shown in fig. 13.

Electric drive: when the wind power does not meet the requirement, the snow roaming robot can be powered by the electric energy of the snow roaming robot and can move by being driven by the crawler belt. The conversion of wind power and electric drive is realized by a crawler lifting mechanism. The angle of the four-bar mechanism can be changed by changing the extension of the electric push rod. When the electric push rod is completely extended out, the crank and the connecting rod are positioned on the same straight line, the dead point of the four-bar mechanism is reached, the second electric push rod is not stressed, all impact force is directly transmitted to the rack by the four-bar mechanism, and the stability of the crawler lifting mechanism can be ensured. When the wind power is used for driving, the electric push rod is retracted, and the crawler belt can be lifted off the ground, so that the resistance is reduced.

Claims

1. A compound drive snowfield roaming robot is characterized in that: the steering mechanism comprises a rack (1), a steering mechanism (3), a wind power driving module (4), an electric power driving module (5) and four groups of suspensions (2); the four groups of the suspensions (2) are oppositely arranged on two sides of the rack (1) in pairs, and each group of the suspensions (2) comprises a main rack body fixedly arranged on the rack (1) and a sled plate (205) hinged to the bottom end of the main rack body;

the steering mechanism (3) is located at the front part of the rack (1), the steering mechanism (3) comprises a first electric push rod (301), a connecting plate (307), a steering engine (302), a gear (303), a rack (304) and two steering connecting rods (305), wherein the steering engine (302) is fixedly arranged on the connecting plate (307), the fixed end of the first electric push rod (301) is arranged on the rack (1), the free end of the first electric push rod (301) is fixedly connected with the connecting plate (307), the steering engine (302) is directly connected with the gear (303), the gear (303) is meshed with the rack (304), one ends of the two steering connecting rods (305) are respectively connected to the left end and the right end of the rack (304) through universal joints, the other ends of the two steering connecting rods (305) are respectively connected to two main rack bodies at the front part of the rack (1) through the universal joints, and the connecting plate (307) realizes the front-back sliding on the rack (1) through the first electric push rod (301);

the wind power driving module (4) comprises a mast (401), a sail (402), a connecting rope (403) and a fixed pulley block, the mast (401) is installed at the upper part of the rack (1), one side of the sail (402) is sleeved on the mast (401), one end of the connecting rope (403) is fixedly installed at the bottom end of the other side of the sail (402), the other end of the connecting rope (403) penetrates through the fixed pulley block and is wound on a hand wheel (404), and the hand wheel (404) is driven by a hand wheel servo motor (405) and a first speed reducer (406);

the frame (1) comprises a frame main body, an electric cabinet (101), a wind direction sensor (102), a wind speed sensor (103) and a battery (104), wherein the electric cabinet (101) is installed on the frame main body, the battery (104) is electrically connected with the electric cabinet (101), and a first electric push rod (301), a steering engine (302), the wind direction sensor (102), the wind speed sensor (103) and a hand wheel servo motor (405) are in signal connection with the electric cabinet (101);

the electric drive module (5) comprises a crawler lifting mechanism, a crawler walking mechanism and two crawlers (510), the two crawlers (510) are arranged side by side, the walking and stopping actions of the two crawlers (510) are controlled by the crawler walking mechanism, and the lifting of the two crawlers (510) is controlled by the crawler lifting mechanism;

the crawler lifting mechanism comprises two second electric push rods (501), two cranks (502), two connecting rods (503) and two rockers (504), wherein the fixed ends of the two second electric push rods (501) are hinged to the frame main body, one ends of the two cranks (502) are hinged to the frame main body respectively, the middle parts of the two cranks (502) are correspondingly hinged to the free ends of the two second electric push rods (501), the other ends of the two cranks (502) are correspondingly hinged to one ends of the two connecting rods (503), the other ends of the two connecting rods (503) are correspondingly hinged to one ends of the two rockers (504), the other ends of the two rockers (504) are hinged to the frame main body respectively, and the hinged point between the two rockers (504) and the two connecting rods (503) is coaxially arranged with a main shaft (512) in the crawler travelling mechanism;

the main frame body comprises an upper fork arm (201), a lower fork arm (202), a shock absorber (203) and a ski vertical shaft (204), wherein one end of the upper fork arm (201), one end of the lower fork arm (202) and one end of the shock absorber (203) are hinged to the main frame body, the other ends of the upper fork arm (201) and the lower fork arm (202) are hinged to the ski vertical shaft (204), the other end of the shock absorber (203) is hinged to the lower fork arm (202), and a ski plate (205) is hinged to the lower end of the ski vertical shaft (204).

2. A compound drive snow roaming robot as claimed in claim 1, wherein: the crawler traveling mechanism comprises a crawler servo motor (506), a second speed reducer (507), a chain transmission assembly (508), a main shaft (512), two driving wheels (514), four driven wheels (516) and two triangular retainers (515), wherein one driving wheel (514) and two driven wheels (516) are arranged in each crawler in a triangular manner, the two driving wheels (514) are fixedly connected through the main shaft (512), the two driven wheels (516) in each crawler are correspondingly connected through one triangular retainer (515), the two triangular retainers (515) are correspondingly rotatably installed on the main shaft (512), and the main shaft (512) is connected with the crawler servo motor (506) through the chain transmission assembly (508).

3. A compound drive snow roaming robot as claimed in claim 2, wherein: the two rockers (504) are fixedly connected through a connecting frame, and the middle part of the connecting frame is rotatably connected with the main shaft (512).

4. A hybrid drive snow roaming robot as claimed in claim 1 in which: each group of two sledge vertical shafts (204) which are oppositely positioned at the two sides of the frame (1) are arranged in a splayed shape.

5. A compound drive snow roaming robot as claimed in claim 1, 3 or 4, wherein: the fixed pulley group comprises a first fixed pulley, a second fixed pulley, a third fixed pulley and a connecting rope, wherein the first fixed pulley (407) is installed behind the frame (1) through a support rod, the second fixed pulley (408) is installed at the bottom of the sail (402), the third fixed pulley (409) is installed inside the frame main body, and the connecting rope (403) is sequentially wound on the first fixed pulley, the second fixed pulley, the third fixed pulley and the connecting rope.

6. A compound drive snow roaming robot as claimed in claim 1, 3 or 4, wherein: the rack (1) further comprises a linear guide rail (105) installed on the rack main body, and the battery (104) is installed on the linear guide rail (105) in a left-right sliding mode.

7. A compound drive snow roaming robot as claimed in claim 1, wherein: the rack main body is also provided with a cargo bin (106).

8. A compound drive snow roaming robot as claimed in claim 1, wherein: the bottom of the connecting plate (307) is used as a guide element to realize forward and backward sliding through two groups of guide rail sliding block (306) assemblies.