CN206654105U - The wheel-track combined of mono-track can passive adaptive robot moving platform - Google Patents

Abstract

The utility model relates to a single crawler wheel-shoe composite passive adaptive robot mobile platform, comprising a wheel-shoe composite module, a car body module and a tail wheel module; it is characterized in that the wheel-shoe composite module is installed on The outer side of the car body module, and completely enclose the car body module inside, the tail wheel module is installed at the rear of the car body module; the car body module includes a crawler drive system, a car body cover, a track The support shaft and the two driving wheel drive systems, the crawler drive system and the two driving wheel drive systems are all installed in the car body cover, and there are two symmetrically arranged on the lower part of the front and rear ends of the car body cover along the direction perpendicular to the moving direction of the car body. A track wheel support shaft; two drive wheel drive systems drive the drive wheels on the left and right sides respectively; the track drive system is responsible for driving the track wheel to rotate. The platform has passive self-adaptive ability to obstacles, and can switch among three motion modes of wheel, track and wheel-track hybrid.

Description

Single-track wheel-track composite passive adaptive robot mobile platform

technical field

The utility model relates to the technical field of robot mobile platforms, in particular to a single-track wheel-track composite passive self-adaptive robot mobile platform.

Background technique

Existing passive adaptive robots are generally divided into three categories: wheeled, crawler and wheel-track composite. The Mars Pathfinder robot in the United States is a typical wheeled passive adaptive robot. The Mars Pathfinder robot can move on rough, rugged, and steep complex terrain, but it can only adapt to continuous terrain changes and cannot climb stairs; Crawler series robots are typical crawler-type passive adaptive robots. Crawler series robots can pass through smaller obstacles, but cannot cross large obstacles, and pure crawler transmission consumes a lot of energy; the Chinese patent No. ZL2010102195152 discloses a A wheel-track compound deformation mobile robot with adaptive ability, this robot is a typical wheel-track compound adaptive robot, the robot adopts the front-end wheel type and the rear-end track type motion mode on the flat ground, which makes the two speeds The control is not easy to synchronize, and the characteristics of fast speed, good maneuverability and good turning performance that the wheeled type has are not utilized.

Most of the existing passive adaptive robots are in the form of single-section double-tracks in terms of their crawler types. The crawlers of the single-section double-track robot are distributed on both sides of the car body, which has good stability and obstacle-surmounting ability, and is not easy to tip over, but the structural size of the robot is increased invisibly, making it impossible to pass through narrow passages and turns; It is generally difficult for a two-section and two-track robot to achieve passive self-adaptation, so it usually obtains external information through sensors and realizes active adaptation through complex control; a single-section and single-track robot can move in a small channel, but it cannot realize Turning, it is easy to overturn on uneven road conditions; multi-section single-track robots also cannot turn, and the more the number of sections, the more complex the structure, and it is difficult to realize motion control and coordination.

Utility model content

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a single track wheel-track compound adaptive robot mobile platform. The platform has passive self-adaptive ability to obstacles, and can switch among three motion modes of wheel, crawler and wheel-track hybrid. It can pass through narrow aisles and corners. When the wheels are in the air, it can pass more Narrow passages and jump over obstacles.

The technical solution adopted by the utility model to solve the technical problem is: provide a single crawler wheel-track composite passive self-adaptive robot mobile platform, including a wheel-track composite module, a car body module and a tail wheel module; It is characterized in that the wheel-shoe composite module is installed on the outside of the vehicle body module and completely surrounds the vehicle body module inside, and the tail wheel module is installed at the rear of the vehicle body module;

The car body module includes a crawler drive system, a car body cover plate, a track wheel support shaft and two driving wheel drive systems. Both the track drive system and the two driving wheel drive systems are installed in the car body cover plate. The lower part of the front and rear ends of the plate is symmetrically provided with two track wheel support shafts perpendicular to the moving direction of the car body; the two driving wheel driving systems drive the driving wheels on the left and right sides respectively; the track driving system is responsible for driving the track wheels to rotate;

The wheel-shoe composite module includes track and track wheel, synchronous belt and synchronous pulley, two sets of connecting rod mechanisms, connecting rod connecting shaft, two driven wheel systems, driving wheel, driven shaft, connecting rod return spring, spring Column and limit bracket;

The driving wheels are symmetrically arranged on the outside of the vehicle body module, and the driving wheels are connected to the two ends of the driving system of the driving wheels; each link mechanism includes an upper link, a middle link and a lower link, and the The upper link is parallel to the moving direction of the car body, and the rear end of the upper link is connected with the drive shaft; the front end of the upper link is connected with the upper end of the middle link, the lower end of the middle link is connected with the front end of the lower link, and the rear end of the lower link The end is connected with the support shaft of the track wheel in the front; the two sets of linkage mechanisms are symmetrically arranged on both sides of the track, the joints of the two upper links and the middle links are connected by the driven shaft, and the two middle links are connected with the lower The joints of the connecting rods are connected by connecting rods, and the upper connecting rod and the lower connecting rod each have one end hinged with the vehicle body module, and the upper connecting rod, the middle connecting rod, the lower connecting rod and the vehicle body module form a four-linkage Mechanism; a crawler wheel is installed on the outside of the hinge of the four-bar linkage, a total of ten track wheels, and ten track wheels support the track; the timing belt is installed in parallel between the two sets of link mechanisms, and the output of the track drive system A synchronous pulley is respectively installed on the shaft and the driven shaft, and the two synchronous pulleys are connected by a synchronous belt; on the two upper links and between the two synchronous pulleys, a Two limit brackets;

The two driven wheel systems are symmetrically installed left and right, each driven wheel system includes a driven wheel bracket, a driven wheel and a driven wheel shaft, the upper end of the driven wheel bracket is fixedly installed on the outside of the middle part of the upper link, and the lower part of the driven wheel bracket passes through the driven wheel The wheel shaft is connected with a driven wheel, and a spring column is respectively installed on the driven wheel bracket and the vehicle body module, and the two spring columns are connected together through the connecting rod return spring.

Compared with the prior art, the beneficial effects of the utility model are:

1. When the utility model encounters a large obstacle, the constraint force of the outside world serves as a driving force to deform the structure of the mobile platform, so that the passively deformed mobile platform can better adapt to the environment.

2. The utility model uses a single track structure, and the car body module is on the inner side of the track, so compared with the double track structure, the structural size can be greatly reduced, making it easier to pass through narrow passages and corners.

3. The utility model can realize the switching among three motion modes of wheel type, crawler type and wheel-track hybrid type in the process of overcoming obstacles. The mobile platform does wheeled movement on flat ground, so it can take advantage of the characteristics of fast speed, high efficiency, good turning performance and strong flexibility of wheeled movement; in the process of overcoming obstacles, it is a wheel-track mixed movement at the beginning, crawler crawler When overcoming obstacles, the wheels provide forward power, which has a stronger obstacle overcoming power than the track, which is in contact with the obstacle and the ground at the same time. Later, the tracked movement makes the obstacle overcoming process more stable.

4. The tail wheel module of the utility model can support the car body off the ground, so that the center of gravity of the car body rises, which enhances the obstacle-surmounting ability of the mobile platform, and can cross obstacles higher than itself.

5. The utility model can be in the case of the wheels suspended in the air, the wheels are idling, and the crawler is in contact with the ground. Since the car body module is inside the crawler, other mechanisms of the mobile platform are not in contact with the ground. Narrower passages, and jump over obstacles.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of an embodiment of the utility model single crawler-track compound self-adaptive robot mobile platform;

Fig. 2 is a three-dimensional structural schematic diagram of a crawler-less composite adaptive robot mobile platform of an embodiment of the utility model;

Fig. 3 is the top view of the wheel-track composite module 1 of an embodiment of the utility model single track wheel-track composite adaptive robot mobile platform;

Fig. 4 is a half-sectional view of A-A of Fig. 3 wheel-shoe composite module 1;

Fig. 5 is the three-dimensional structure schematic diagram of the vehicle body module 2 of an embodiment of the utility model single crawler-track composite self-adaptive robot mobile platform;

Fig. 6 is the front view of the vehicle body module 2 of an embodiment of the utility model single crawler-track composite adaptive robot mobile platform;

Fig. 7 is a three-dimensional structural schematic diagram of the tail wheel module 3 of an embodiment of the single track wheel-track composite adaptive robot mobile platform of the present invention;

Fig. 8 is a partial enlarged view of A in Fig. 7;

Fig. 9 is a schematic diagram of the wheeled motion of the utility model single crawler-track composite self-adaptive robot mobile platform;

Fig. 10 is a schematic diagram of the deformation of the single track wheel-track composite adaptive robot mobile platform of the present invention after encountering an obstacle;

Fig. 11 is a schematic diagram of the movement of the tail wheel of the utility model single track wheel-track compound adaptive robot mobile platform just in contact with the ground;

Fig. 12 is a schematic diagram of the movement of the car body supported by the tail wheel of the utility model single track wheel-track composite adaptive robot mobile platform;

Fig. 13 is a schematic diagram of the movement of the utility model single crawler-track composite self-adaptive robot mobile platform after the driven wheel is reset;

Fig. 14 is a schematic diagram of the movement of the single track wheel-track compound adaptive robot mobile platform of the present invention after crossing obstacles;

Fig. 15 is a three-dimensional schematic diagram of the single crawler-track composite adaptive robot mobile platform of the present invention under the condition that the wheels are suspended in the air;

Fig. 16 is a front view of the single crawler-track composite adaptive robot mobile platform of the present invention when the wheels are suspended in the air;

Fig. 17 is a schematic diagram of the deformation of the single track wheel-track composite adaptive robot mobile platform of the present invention when the wheel is suspended in the air and encounters an obstacle;

Figure 18 is a schematic diagram of the movement of the single track wheel-track composite adaptive robot mobile platform of the present invention after the driven wheel is reset when the wheel is suspended in the air;

Fig. 19 is a schematic diagram of the movement of the single track wheel-track composite adaptive robot mobile platform of the present invention after the wheel is suspended in the air after crossing obstacles;

In the figure: 1-wheel-shoe composite module, 2-car body module, 3-tail wheel module, 101-track wheel, 102-driven shaft, 103-synchronous pulley, 104-connecting rod connecting shaft, 105-synchronization Belt, 106-limit bracket, 107-driven wheel bracket, 108-driven wheel, 109-driven wheel flange, 110-driven wheel shaft, 111-driving wheel, 112-track, 113-upper link, 114- Middle connecting rod, 115-lower connecting rod, 116-connecting rod return spring, 117-spring column, 201-rear side plate, 202-small cross-axis helical gear, 203-driving shaft, 204-large cross-axis helical gear, 205 -Drive wheel shaft, 206-left and right side plates, 207-track reducer, 208-track motor, 209-track wheel support shaft, 210-bottom plate, 211-motor support plate, 212-bevel gear, 213-motor bracket, 214- Front side panel, 215-top cover, 216-driving wheel motor, 217-driving wheel reducer, 301-tail wheel bracket, 302-tail wheel connecting shaft, 303-spring shaft, 304-tail wheel return spring, 305- Tail wheel rod, 306-tail wheel support shaft, 307-tail wheel, 308-limiting shaft.

detailed description

The utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it is not used as a limitation to the scope of protection of the claims of the present application.

Embodiment: the utility model single crawler wheel-track composite type passive adaptive robot mobile platform (abbreviation platform, see Fig. 1) comprises wheel-track composite module 1, car body module 2 and tail wheel module 3; The wheel-shoe composite module 1 is installed on the outside of the car body module 2, and the car body module 2 is completely surrounded inside, and the tail wheel module 3 is installed at the rear of the car body module 2; the utility model The platform can realize the transformation of the external constraint force into the driving force of the mechanism deformation of the utility model, so that the platform of the utility model can realize the switching of the three motion modes of the wheel type, the crawler type and the wheel-shoe hybrid. Can pass through narrower passages than crawler belts, and the tail wheel module 3 enables the utility model to cross obstacles higher than itself.

Described car body module 2 (referring to Fig. 5 and Fig. 6) comprises track drive system, car body cover plate, track wheel support shaft 209 and two driving wheel drive systems, and track drive system and two drive wheel drive systems are installed on In the car body cover, two track wheel support shafts 209 are symmetrically arranged at the lower part of the front and rear ends of the car body cover perpendicular to the moving direction of the car body; the two driving wheel driving systems respectively drive the driving wheels 111 on the left and right sides; The track drive system is responsible for driving the track wheel 101 to rotate;

Described car body cover plate comprises rear side panel 201, left and right side panels 206, bottom panel 210, front side panel 214 and upper cover panel 215, rear side panel 201, left and right side panels 206, base panel 210, front side panel 214 and upper cover Plate 215 constitutes a closed space; two driving wheel drive systems are symmetrically installed on the base plate 210, and each driving wheel drive system includes a driving wheel motor 216, a driving wheel reducer 217, a motor support 213, a driving wheel shaft 205 and a bevel gear 212 , the driving wheel motor 216 is connected with the driving wheel speed reducer 217, and is fixed on the base plate 210 by the motor bracket 213; one end of the driving wheel shaft 205 passes through the side plates on the left and right sides, and a bevel gear 212 is installed on the other end, and the driving Axle 205 is positioned at the rear portion of driving wheel reducer 217; A bevel gear 212 is also installed on the driving wheel reducer 217, and two bevel gears 212 are meshed; Driving wheel reducer 217 transmits power to The driving wheel shaft 205 installed on the side plate of the left and right sides;

The crawler drive system includes a crawler motor 208, a crawler reducer 207, a motor support plate 211, a small cross-axis helical gear 202, a large cross-axis helical gear 204, and a driving shaft 203. The crawler motor 208 is connected with the crawler reducer 207, and installed On the motor support plate 211, the motor support plate 211 is located at the rear of the driving wheel shaft 205, and the motor support plate 211 forms a closed space with the upper cover plate 215, the bottom plate 210, the front side plate 214 and the left and right side plates 206, and the track The motor 208 and the crawler reducer 207 are sealed inside; the crawler motor 208 is connected to the large cross-axis helical gear 204 through the crawler reducer 207, and the large cross-axis helical gear 204 is located at the rear of the motor support plate 211, and the large cross-axis helical gear The top of 204 is installed with driving shaft 203 along the direction perpendicular to the moving direction of the car body. Small cross-axis helical gear 202 is installed on the driving shaft 203. The small cross-axis helical gear 202 and the large cross-axis helical gear 204 mesh with each other; the power of crawler motor 208 passes through The small cross-axis helical gear 202 and the large cross-axis helical gear 204 transmit power to the drive shaft 203 that is not on the same level as the crawler motor 208 and is perpendicular to each other;

Two track wheel support shafts 209 are installed at the front and rear of the left and right side plates 206 lower ends, one track wheel support shaft 209 is located in front of the drive wheel motor 216, and the other track wheel support shaft 209 is located at the rear of the motor support plate 211;

The wheel-shoe compound module 1 (referring to Fig. 2-4) includes track 112 and track wheel 101, synchronous belt 105 and synchronous pulley 103, two groups of linkage mechanisms, linkage connecting shaft 104, two driven wheel systems, Drive wheel 111, driven shaft 102, connecting rod return spring 116, spring column 117 and limit bracket 106; the drive wheel 111 is symmetrically arranged on the outside of the vehicle body module 2, and the drive wheel 111 and the drive wheel shaft The two ends of 205 are connected; each linkage mechanism includes an upper link 113, a middle link 114 and a lower link 115, and the upper link 113 is parallel to the moving direction of the car body, and the rear end of the upper link 113 is connected to the drive shaft 203 connection; the front end of the upper link 113 is connected with the upper end of the middle link 114, the lower end of the middle link 114 is connected with the front end of the lower link 115, and the rear end of the lower link 115 is connected with the track wheel support shaft 209 located in the front; The group link mechanism is symmetrically arranged on both sides of the crawler belt 112. The connection between the two upper links 113 and the middle link 114 is connected by the driven shaft 102, and the connection between the two middle links 114 and the lower link 115 is formed by The connecting rod connecting shaft 104 is connected, and the upper connecting rod 113 and the lower connecting rod 115 each have one end hinged with the vehicle body module 2. The upper connecting rod 113, the middle connecting rod 114, the lower connecting rod 115 and the vehicle body module 2 form four Link mechanism; a track wheel 101 is installed on the outside of the hinge of the four-bar link mechanism, a total of ten track wheels 101, and ten track wheels 101 support the track 112; the synchronous belt 105 is installed in parallel in the middle of the two sets of link mechanisms , a synchronous pulley 103 is respectively installed on the driving shaft 203 and the driven shaft 102, and the two synchronous pulleys 103 are connected through a synchronous belt 105, so that the power of the driving shaft 203 in the vehicle body module 2 is transmitted to the driven shaft through the synchronous belt 105 Shaft 102; on the two upper links 113, and between the driven shaft 102 and the driving shaft 203, two limit brackets 106 are installed along the moving direction perpendicular to the car body, and the front end limit bracket 106 can just make the middle After the connecting rod 114 and the lower connecting rod 115 are collinear, they can no longer rotate, and the lower surface of the rear end stopper is coplanar with the lower surface of the upper link 113, and the rear end stopper is positioned at the rear half of the platform; The bracket 106 can limit the horizontal position of the upper link 113 to be higher than the horizontal position of the upper cover plate 215, preventing the crawler belt 112 from interfering with the car body module 2, and the front end limit bracket 106 can limit the position of the middle link 114 from exceeding the limit to prevent failure to reset. Each limit bracket 106 has the effect of stabilizing the parallel between the two upper connecting rods 113 .

Two driven wheel systems are symmetrically installed left and right, and each driven wheel system includes a driven wheel bracket 107, a driven wheel 108, a driven wheel flange 109 and a driven wheel shaft 110, and the upper end of the driven wheel bracket 107 is fixedly installed on the top of the upper link 113. On the outer side of the middle part, the lower part of the driven wheel bracket 107 is connected with the driven wheel 108 through the driven wheel shaft 110, the driven wheel flange 109 is installed on the driven wheel 108, and the driven wheel bracket 107 and the vehicle body module 2 are respectively installed There is a spring column 117, and two spring columns 117 are connected together by connecting rod return spring 116;

The specific movement principle is as follows: the power provided by the car body module 2 is transmitted to the driven shaft 102 through the synchronous pulley 103 and the synchronous belt 105, so that the track 112 acts on the two sets of track wheels 101 connected with the upper link 113 There is sufficient driving force below, when the external restraint force is used as a driving force to deform the linkage mechanism, the upper link 113 is lifted up, and the driven wheel system fixedly connected with the upper link 113 is also lifted up, so the driven wheel The center of mass of 108 is raised, and after being higher than the lowest point of crawler belt 112, the crawler belt 112 is in contact with the obstacle. When the connecting rod mechanism loses the external force, the connecting rod return spring 116 resets the connecting rod mechanism and the driven wheel system by spring force , the front and rear two limit brackets 106 respectively limit the upper limit of the middle link 114 and the upper connection The lower limit of rod 113.

The power of the driving wheel 111 is mainly to reduce the speed of the driving wheel motor 216 to the required speed of the driving wheel 111 through the driving wheel reducer 217, and then transmit the speed to the driving wheel shaft 205 fixedly connected with the bevel gear 212 through the transmission of the bevel gear 212 , so as to realize the rotation of the driving wheel 111. The power of the crawler belt 112 is mainly to reduce the speed of the crawler motor 208 to the speed required by the driving shaft 203 through the crawler reducer 207, and then pass through the large cross-axis helical gear 204 and the small cross-axis helical gear. The gear 202 transmits the power to the driving shaft 203 , and then transmits the power to the track 112 through the track wheel 101 .

Described tail wheel module 3 (referring to Fig. 7 and Fig. 8) comprises two tail wheel brackets 301, two tail wheels 307, two tail wheel rods 305, tail wheel connecting shaft 302, spring shaft 303, tail wheel support shaft 306 , limit shaft 308 and tail wheel return spring 304; one end of each tail wheel support 301 is fixedly installed on the rear portion of the car body module 2, and the other end extends out of the crawler belt 112 by bending, and is connected with the tail wheel bar 305 at the same time Connection; the connection between the two tail wheel rods 305 and the tail wheel bracket 301 is connected through the tail wheel connecting shaft 302, and the tail wheel rod 305 is equipped with a short limit shaft 308, and the protruding end is inserted into the limit groove on the tail wheel bracket 301 Middle; Two spring shafts 303 are respectively installed between two tail wheel brackets 301 and two tail wheel bars 305, and a tail wheel return spring 304 is installed vertically between the two spring shafts 303; between the two tail wheel bars 305 The tail wheel support shaft 306 is installed at the end, and two tail wheels 307 are installed at the two ends of the tail wheel support shaft 306 .

The specific motion principle is as follows: when the robot moves the platform over obstacles, the tail wheel 307 is in contact with the ground, the tail wheel 307 is fixedly connected with the tail wheel support shaft 306 and rotates around the axis of the tail wheel support shaft 306, and the external force exerted by the ground makes the tail wheel The wheel bar 305 rotates around the tail wheel connecting shaft 302. As the angle between the tail wheel bar 305 and the tail wheel support 301 increases continuously, when the limit shaft 308 reaches the end of the limit groove, the tail wheel bar 305 cannot rotate any more. When the tail wheel module 3 is converted into a support device, it plays the role of supporting the vehicle body module 2. Because the tail wheel lever 305 rotates, the distance between the two spring shafts 303 becomes larger, and the tail wheel return spring 304 becomes longer. When the tail wheel After 307 broke off the ground, the tail wheel return spring 304 resets the tail wheel lever 305.

The working principle and working process of the utility model single crawler wheel-track composite adaptive robot mobile platform are: when walking on a flat road, the driving wheel 111 and the driven wheel 108 are in contact with the ground, the power is driven by the driving wheel drive system, and the crawler belt 112 The lowest position of the track is higher than the ground, so the track 112 is idling under the drive of the track drive system. By controlling the different speeds of the driving wheels 111 on both sides, the turning of the mobile platform can also be realized. At this time, the mobile platform performs wheeled motion (see Figure 9) . When an obstacle is encountered, the external restraint force acts as a driving force to deform the linkage mechanism, so that the front end of the upper link 113 is lifted up, the link return spring 116 is elongated, and the driven wheel fixedly connected with the upper link 113 The system is also raised, so the center of mass of the driven wheel 108 is raised, the lowest point of the driven wheel 108 is higher than the lowest point of the track 112, the track 112 is in contact with the obstacle, and the driving wheel 111 is in contact with the ground. At this time, the friction between the track 112 and the obstacle Force is used as the traction force of the mobile platform obliquely upwards, and the driving wheel 111 provides forward power, which is a wheel-shoe hybrid motion mode (see FIG. 10 ). When the mobile platform continued to climb over obstacles, the elevation angle between the mobile platform and the ground increased, and the rear lower part of the crawler belt 112 was in contact with the ground, while the driving wheel 111 gradually left the ground, and the tail wheel 307 gradually contacted the ground. This moment, it was a crawler movement ( See Figure 11). As the elevation angle between the mobile platform and the ground continues to increase, obstacles no longer have a binding force on the link mechanism, but obstacles have a binding force on the driven wheel 108, so the link mechanism cannot be reset. The tail wheel rod 305 and the tail wheel bracket The angle of 301 is also constantly increasing. When the limit shaft 303 reaches the end of the limit groove, the tail wheel lever 305 can no longer rotate. At this time, the tail wheel module 3 is transformed into a supporting device, and the tail wheel module 3 plays a role in supporting the vehicle body module 2 The effect of this moment, the rear portion of crawler belt 112 breaks away from ground, only by crawler belt 112 and obstacle contact, the mode motion (referring to Fig. 12) of tail wheel 307 and ground contact. When the track 112 had no binding force on the link mechanism and the driven wheel 108, the link mechanism reset under the pulling force of the link return spring 116, and the center of gravity moved forward and further raised (see FIG. 13 ). After the center of gravity reaches the critical point, the center of gravity of the front end is downward, and the mobile platform climbs over obstacles. After the tail wheel 307 loses the binding force on the ground, it resets under the pulling force of the tail wheel back-moving spring 304, which is now the wheel-shoe hybrid motion mode ( See Figure 14). The mobile platform continues to move forward, returning to wheeled motion (see Figure 9).

The working principle and working process of the single track wheel-track composite self-adaptive robot mobile platform of the utility model is as follows: before moving to an obstacle, the track 112 directly contacts the ground because the width of the entire channel is smaller than the track 112 width. , both sides driving wheel 111 and driven wheel 108 are suspended, therefore, driving wheel 111 is idling, and driven wheel 108 does not turn, and mobile platform moves forward by crawler belt 112 (referring to Fig. 15 and Fig. 16). When encountering an obstacle, the constraint force of the outside world is used as a driving force to deform the link mechanism, so that the front end of the upper link 113 is lifted up, the link return spring 116 is elongated, and the slave that is fixedly connected with the upper link 113 The driving wheel system also lifts up, so the center of mass of the driven wheel 108 is raised. At this time, the friction force between the track 112 and the obstacle is used as the traction force of the mobile platform obliquely upward, and the rear part of the track 112 is in contact with the ground to provide forward power to make it climb the obstacle When the mobile platform continues to climb over obstacles, the elevation angle between the mobile platform and the ground increases, and the tail wheel 307 gradually touches the ground (see Figure 11). As the elevation angle between the mobile platform and the ground continues to increase, the angle between the tail wheel rod 305 and the tail wheel bracket 301 is also continuously increasing. When the limit shaft 303 reaches the end of the limit groove, the tail wheel rod 305 cannot rotate anymore. The wheel module 3 is converted into a support device, and the tail wheel module 3 plays a role in supporting the vehicle body module 2. At this time, the rear part of the crawler belt 112 is separated from the ground, and only the crawler belt 112 is in contact with the obstacle, and the tail wheel 307 moves in a manner of contacting the ground. Gradually, obstacles no longer have a binding force on the link mechanism, and the link mechanism resets under the pulling force of the link return spring 116, and the center of gravity moves forward (see Figure 18). As the motion continues, the center of gravity of the mobile platform continues to rise (see Figure 13). Finally, after the center of gravity reaches the critical point, the center of gravity of the front end is downward, so that the mobile platform can climb over obstacles. After the tail wheel 307 loses the binding force on the ground, it resets under the pulling force of the tail wheel back-moving spring 304 and becomes a single track motion mode ( See Figure 19).

In the wheel-track composite module 2 described in the utility model, the upper two groups of track wheels are active, while the lower three groups are passive. Since the center distance of the upper two groups of track wheels remains unchanged, the same track can be used for two groups. Active track wheels, and only a set of track wheels at the rear end are used as the driving wheels, when the connecting rod mechanism is deformed, the wrap angle between the track and the track wheels decreases, and it cannot provide enough driving force to make the track move.

The tail wheel module described in the utility model has the function of supporting the entire vehicle body to overcome obstacles higher than itself.

The location words such as " front, back, left, right, up, down" described in the utility model are for clear description and only have relative meanings. In general, the direction of the horizontal forward movement of the mobile platform is taken as the front, and serves as the benchmark for other orientation words. The unmentioned part of the utility model is applicable to the prior art.

It should be emphasized that the embodiments described in the utility model are illustrative rather than restrictive, so the utility model includes but not limited to the embodiments described in the specific implementation, and those skilled in the art according to the utility model Other implementations derived from the new technical solution also belong to the protection scope of the present utility model.

Claims (3)

1. the passive self-adaptive robot mobile platform of a kind of wheel-track composite type of single track, comprises wheel-track composite module, car body module and tail wheel module; It is characterized in that described wheel-track composite module is installed in The outer side of the vehicle body module, completely enclosing the vehicle body module inside, and the tail wheel module is installed at the rear of the vehicle body module; The car body module includes a crawler drive system, a car body cover plate, a track wheel support shaft and two driving wheel drive systems. Both the track drive system and the two driving wheel drive systems are installed in the car body cover plate. The lower part of the front and rear ends of the plate is symmetrically provided with two track wheel support shafts perpendicular to the moving direction of the car body; the two driving wheel driving systems drive the driving wheels on the left and right sides respectively; the track driving system is responsible for driving the track wheels to rotate; The wheel-shoe composite module includes track and track wheel, synchronous belt and synchronous pulley, two sets of connecting rod mechanisms, connecting rod connecting shaft, two driven wheel systems, driving wheel, driven shaft, connecting rod return spring, spring Column and limit bracket; The driving wheels are symmetrically arranged on the outside of the vehicle body module, and the driving wheels are connected to the two ends of the driving system of the driving wheels; each link mechanism includes an upper link, a middle link and a lower link, and the The upper link is parallel to the moving direction of the car body, and the rear end of the upper link is connected with the drive shaft; the front end of the upper link is connected with the upper end of the middle link, the lower end of the middle link is connected with the front end of the lower link, and the rear end of the lower link The end is connected with the support shaft of the track wheel in the front; the two sets of linkage mechanisms are symmetrically arranged on both sides of the track, the joints of the two upper links and the middle links are connected by the driven shaft, and the two middle links are connected with the lower The joints of the connecting rods are connected by connecting rods, and the upper connecting rod and the lower connecting rod each have one end hinged with the vehicle body module, and the upper connecting rod, the middle connecting rod, the lower connecting rod and the vehicle body module form a four-linkage Mechanism; a crawler wheel is installed on the outside of the hinge of the four-bar linkage, a total of ten track wheels, and ten track wheels support the track; the timing belt is installed in parallel between the two sets of link mechanisms, and the output of the track drive system A synchronous pulley is respectively installed on the shaft and the driven shaft, and the two synchronous pulleys are connected by a synchronous belt; on the two upper links and between the two synchronous pulleys, a Two limit brackets; The two driven wheel systems are symmetrically installed left and right, each driven wheel system includes a driven wheel bracket, a driven wheel and a driven wheel shaft, the upper end of the driven wheel bracket is fixedly installed on the outside of the middle part of the upper link, and the lower part of the driven wheel bracket passes through the driven wheel The wheel shaft is connected with a driven wheel, and a spring column is respectively installed on the driven wheel bracket and the vehicle body module, and the two spring columns are connected together through the connecting rod return spring. 2. The wheel-track compound passive adaptive robot mobile platform of single crawler according to claim 1, characterized in that said car body cover plate comprises a rear side plate, a left and right side plate, a bottom plate, and a front side plate and the upper cover plate, the rear side plate, the left and right side plates, the bottom plate, the front side plate and the upper cover plate form a closed space; two driving wheel drive systems are installed symmetrically on the bottom plate, and each driving wheel drive system includes a driving wheel motor , driving wheel reducer, motor bracket, driving wheel shaft and bevel gear, the driving wheel motor is connected with the driving wheel reducer, and fixed on the base plate through the motor bracket; one end of the driving wheel shaft passes through the side plates on the left and right sides, and the other end A bevel gear is installed, and the driving wheel shaft is located at the rear of the driving wheel reducer; a bevel gear is also installed on the driving wheel reducer, and the two bevel gears are meshed; The crawler drive system includes a crawler motor, a crawler reducer, a motor support plate, a small cross-axis helical gear, a large cross-axis helical gear and a driving shaft. The crawler motor is connected with the crawler reducer and installed on the motor support plate. The motor support plate is located behind the driving wheel shaft, and the motor support plate forms a closed space with the upper cover plate, the bottom plate, the front side plate and the left and right side plates, and the track motor and the track reducer are sealed inside; the track motor is decelerated through the track The large staggered helical gear is connected to the large staggered helical gear, and the large staggered helical gear is located at the rear of the motor support plate. A driving shaft is installed above the large staggered helical gear along the direction perpendicular to the moving direction of the car body, and a small staggered helical gear is installed on the driving shaft. Gears, the small cross-axis helical gear and the large cross-axis helical gear mesh with each other; Two track wheel support shafts are installed in the front and rear of the lower ends of the left and right side plates, one track wheel support shaft is located in front of the driving wheel motor, and the other track wheel support shaft is located at the rear of the motor support plate. 3. The wheel-track compound passive adaptive robot mobile platform of single track according to claim 1, characterized in that said tail wheel module comprises two tail wheel supports, two tail wheels, two tail wheels Wheel bar, tail wheel connecting shaft, spring shaft, tail wheel support shaft, limit shaft and tail wheel return spring; one end of each tail wheel bracket is fixedly installed at the rear of the car body module, and the other end extends out to the The track is connected with the tail wheel rod at the same time; the connection between the two tail wheel rods and the tail wheel bracket is connected by the tail wheel connecting shaft, and the tail wheel rod is equipped with a short limit shaft, and the protruding end is inserted into the tail wheel bracket. In the limit slot; two spring shafts are respectively installed between the two tail wheel brackets and the two tail wheel rods, and the tail wheel return spring is vertically installed between the two spring shafts; the tail wheel is installed at the ends of the two tail wheel rods. The wheel support shaft is equipped with two tail wheels at the two ends of the tail wheel support shaft.