Tension constrained morphing tracked robot

Abstract

A tension-constrained deformable tracked robot, based on a planar three-bar linkage, achieves underactuated track deformation through track tension constraint. It comprises a first frame (1), a second frame (2), a third frame (3), a first stepper motor (4), a second stepper motor (5), a first load-bearing wheel (6), a first load-bearing wheel (7), a second load-bearing wheel (8), a second load-bearing wheel (9), a motor fixing angle aluminum (10), a first pulley (11), a second pulley (12), a first bevel gear (13), a second bevel gear (14), a third bevel gear (15), a fourth bevel gear (16), a first drive shaft (17), a second drive shaft (18), a first connecting screw (19), a second connecting screw (20), a track (21), and a damper (22). Movement and deformation are achieved through differential operation of the front and rear motors, making it well-suited for applications in exploration, search and rescue, and military reconnaissance.

Description

Technical Field

[0001] This invention relates to a tension-constrained deformable tracked robot, specifically to a dual-power shape-variable tracked robot based on a planar three-bar linkage, utilizing the rotation and differential rotation of a drive motor and the tension of the track itself to drive the mechanism forward and backward movement and obstacle crossing. Background Technology

[0002] Tracked robots possess excellent maneuverability and climbing ability, while morphing tracked robots also have a certain obstacle-crossing capability. The obstacle-crossing process of most morphing tracked robots can be roughly divided into two stages: lifting and vaulting. The former requires the robot to lift its tracks, creating a force point between the tracks and the top of the obstacle, while the latter requires shifting the robot's center of gravity to achieve vaulting. Classic morphing tracked robots often employ a rearward-positioned center of gravity or an equivalent design, allowing for the lifting of more tracks for obstacle crossing while maintaining stability, thus increasing the maximum obstacle-crossing height. After lifting, the robot needs to shift its center of gravity forward within geometric constraints to complete the vault. Geometric constraints often limit the forward shift of the center of gravity during vaulting. To successfully vault, the robot design must limit the rearward shift of the center of gravity, thus limiting the amount of track lifting and consequently limiting the maximum vaulting height. Therefore, in order to increase the maximum obstacle-crossing height of a tracked robot, in addition to increasing the robot's own volume, a feasible solution is to shift the center of gravity backward during the lifting process to increase the lifting amount, thereby increasing the maximum obstacle-crossing height, and then restore the center of gravity position during the overturning process. Thus, such a design allows the center of gravity to be forward.

[0003] To achieve the aforementioned behaviors directly through motor control, theoretically at least three motors would be needed to control the robot's forward and backward movement, track lifting, and center of gravity shift, resulting in a complex mechanical structure. If a method could be found to indirectly achieve all of these processes using only two motors, the control complexity would be greatly reduced. Summary of the Invention

[0004] The technical problem to be solved by this invention is to achieve control over the lifting of robot tracks and the shifting of the center of gravity under underactuated conditions.

[0005] The tension-constrained deformable tracked robot includes: a first frame, a second frame, a third frame, a first stepper motor, a second stepper motor, a first load-bearing wheel (left half), a first load-bearing wheel (right half), a second load-bearing wheel (left half), a second load-bearing wheel (right half), a motor fixing angle aluminum, a first pulley, a second pulley, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a first drive shaft, a second drive shaft, a first stud, a second stud, a damper, and a track.

[0006] The structure of the components that make up the mechanism:

[0007] The first frame consists of a rectangular, plate-like rod with rounded corners at both ends, a connecting frame for the track pulleys, and bearing seats on the frame. It has the necessary mounting holes for hinged connection to the second frame via first studs. For ease of manufacturing and assembly, it is composed of multiple geometric parts and secured with threaded fasteners. Bearings are provided at all points requiring rotation. The center-to-center distance between the holes for mounting the first pulley and the two halves of the first load-bearing wheel should be approximately half the total length of the robot; the specific value can be adjusted according to the robot's load and the center of gravity of each part.

[0008] The second frame body consists of two rectangular, plate-like rods with rounded corners at both ends. It has the necessary mounting holes for connecting the first and third frames via first and second stud hinges, and another mounting hole for connecting the damping shaft. For ease of assembly, it is composed of multiple geometric parts and secured with threaded fasteners. Bearings are provided at all points requiring rotation. The mounting holes for the two halves of the second load-bearing wheel are required to be located on the front side of the robot's center of gravity.

[0009] The third frame consists of a telescopic slide bar system, an internal spring in the slide cylinder, a pulley connecting frame, an impact block, a motor frame, and a bearing housing. It has the necessary mounting holes for mounting the second pulley, the two halves of the second load-bearing wheel, and for connection to the second frame. For ease of manufacturing and assembly, it is composed of multiple geometric parts and secured with threaded fasteners. Bearings are provided at all points requiring rotation. The motor frame axis and the bearing housing axis must be collinear, and the impact block and motor frame are located on opposite sides of the third frame.

[0010] The first load-bearing wheel (left half), the first load-bearing wheel (right half), the second load-bearing wheel (left half), and the second load-bearing wheel (right half) have the same structure. They are all cylinders with a through-thread structure at the center, and the internal thread specification matches the stud. Each load-bearing wheel consists of two halves, left and right, and each half has a circular flange on its outer side. It is required that after assembly, the inner edge distance between the two circular flanges is not less than the track width.

[0011] The motor mounting angle aluminum is an L-shaped angle aluminum with ribs and a rectangular cross-section, with mounting holes for connection to the first stepper motor and the first frame. It is required that the motor output shaft be collinear with the axis of the bearing housing on the first frame.

[0012] The damper consists of a damping shaft and connecting facilities, which has a bearing for engaging with a first stud and mounting holes for connecting to the first and second frames respectively. The bearing is coaxial with the damping shaft and is located at its bottom.

[0013] Connection methods of the components constituting the mechanism:

[0014] The first stud mates with the bearings of the first and second frames, and the left and right halves of the first load-bearing wheel are screwed into its exterior to secure the stud. The two halves form the first load-bearing wheel. Similarly, the third connecting rod and the left and right halves of the second load-bearing wheel are assembled using the second stud to form the second load-bearing wheel. Threaded fasteners connect the first frame to the motor fixing angle bracket, and the first stepper motor is fixed to it. The first pulley is fixed to the connecting bracket of the first frame, and its torque is connected to the first stepper motor through the first and second bevel gears and the first drive shaft. Similarly, the second stepper motor is fixed to the motor mount of the third frame, and the second pulley is installed. Its torque is connected to the second stepper motor through the third and fourth bevel gears and the second drive shaft. The bearing at the center of the damper mates with the first stud and is fixed to the first and second frames using threaded fasteners. The track wraps around the robot body through the first pulley, the first load-bearing wheel, the second load-bearing wheel, and the second pulley.

[0015] The beneficial effects of this invention are as follows: The tension-constrained deformable tracked robot of this invention is an underactuated mechanism. It utilizes the differential motion of the drive motor to convert into track tension, thereby driving the track to deform. If the two motors operate synchronously, the robot can move forward and backward. This mechanism has a simple structure, is easy to control, and is easy to manufacture and process. In the civilian field, it can be used as a disposable robot to perform tasks such as search and rescue and surveying in complex terrain areas. In the military field, it can be further designed and modified into a military detection robot, bomb disposal robot, and suicide attack robot. Attached Figure Description

[0016] Figure 1 Assembly principle diagram of tension-constrained deformable tracked robot

[0017] Figure 2 First chassis structure diagram

[0018] Figure 3 Second chassis structure diagram

[0019] Figure 4 Third chassis structure diagram

[0020] Figure 5 Schematic diagram of cam limiting mechanism

[0021] Figure 6 Load-bearing half-wheel structure diagram

[0022] Figure 7 Fixed angle aluminum structure diagram

[0023] Figure 8 Damper structure diagram

[0024] Figure 9 Schematic diagram of cam limit mechanism

[0025] Figure 10A diagram illustrating the actions of a transforming tracked robot performing a routine obstacle crossing.

[0026] Figure 11 A diagram illustrating the safe obstacle crossing motion of a transforming tracked robot.

[0027] Figure 12 Schematic diagram of the transforming tracked robot crossing a ditch Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings.

[0029] like Figure 1 As shown, the tension-constrained deformable tracked robot is a single closed-chain mechanism, including: a first frame (1), a second frame (2), a third frame (3), a first stepper motor (4), a second stepper motor (5), a first load-bearing wheel (6), a first load-bearing wheel (7), a second load-bearing wheel (8), a second load-bearing wheel (9), a motor fixing angle aluminum (10), a first pulley (11), a second pulley (12), a first bevel gear (13), a second bevel gear (14), a third bevel gear (15), a fourth bevel gear (16), a first drive shaft (17), a second drive shaft (18), a first stud (19), a second stud (20), a track (21), and a damper (22).

[0030] like Figure 2 As shown, the first frame (1) is mainly composed of a long strip-shaped first frame base plate (1-1) with rounded corners at one end and a cam surface at the other end. Two counterweights (1-2, 1-3) with rounded corners and two shorter first pulley fixing plates (1-4, 1-5) form a pulley mounting frame, which is fixed to each other by the pre-reserved mounting holes on each part. Bearings (1-6, 1-7, 1-8) are provided at the connection with the first pulley (11) and the first stud (19). The frame is also provided with holes (1-9, 1-10) for the motor fixing angle aluminum (10) and the damper (22). One end of the pulley mounting frame is provided with a first bearing seat (1-11).

[0031] like Figure 3As shown, the second frame (2) consists of two strip-shaped second frame guard plates (2-1, 2-2) with rounded ends. Each plate has a bearing at each end for connection with the first frame (1), the third frame (3), the first stud (19), and the second stud (20). The two aluminum alloy fixing plates have through holes on their central axes, through which cylinders (2-3, 2-4) with small holes in their centers are inserted. The longer cylinder (2-3) is used to fix the second frame guard plate (2-1, 2-2) with an interference fit and is connected to a damper (22). Several small holes (2-5) are provided on the circumference of the two second frame guard plates with the bearings at the front ends as the center, where limit pins can be inserted as needed. A cam push rod is inserted through the small holes in the centers of the two cylinders (2-3, 2-4). The push rod contains a spring and together with the first frame (1), the third frame (3), and the positioning pin, they form a cam limiting mechanism.

[0032] like Figure 4 As shown, the third frame (3) is based on a sliding rod system (3-1) with a constant force coil spring. Under the action of the constant force coil spring, the sliding rod always extends outward with a constant force. An irregularly shaped frame connecting piece (3-2) is installed on one side of the movable end of the sliding rod, and the second pulley fixing plate (3-3) and the angle aluminum frame (3-4) are installed on both sides of the other end respectively. All three are equipped with bearings. The latter two together form a pulley frame for installing the second pulley (12). The second bearing seat (3-5) is installed on the angle aluminum frame for connecting the second drive shaft (18) and the fourth bevel gear (16). The angle aluminum frame (3-4) is provided with a first mounting hole (3-6) for connecting the second stepper motor (5).

[0033] like Figure 5 As shown, the cam limiting mechanism of the robot involves a first frame (1), a second frame (2), and a third frame (3). A cam push rod (2-6) passes through two cylinders (2-3, 2-4) in the second frame, which can slide freely in the small hole in the center of the cylinder. A spring (2-7) is provided on the push rod to keep it in contact with the cam surface (1-12) of the first frame (1). The lower hole (2-5-1) in the small hole on the second frame is a custom limiting hole. By inserting a limiting pin into different holes, the maximum rotation angle of the third frame (3) can be limited to the required value. A zero-position limiting pin is inserted into the upper hole (2-5-2), which, together with the slot (3-2-1) in the third frame (3), can prevent the third frame (3) from reversing.

[0034] like Figure 6 As shown, the left half of the first load-bearing wheel (6) is a rotating structure with a threaded through hole (6-1) in the center for screwing in the first stud. There is a top ring (6-2) on the inner side of the wheel for contacting the inner ring of the bearing, and a retaining ring (6-3) on the outer side for restraining the track. The outer dimensions of the right half of the first load-bearing wheel (7), the left half of the second load-bearing wheel (8), and the right half of the second load-bearing wheel (9) are the same.

[0035] like Figure 7 As shown, the motor fixing angle aluminum (10) is an L-shaped aluminum plate bending part with ribs on both sides of the bending part. The two ends are respectively provided with a second mounting hole (10-1) for connecting to the motor and a third mounting hole (10-2) for connecting to the first frame, ensuring that the shaft hole of the motor mounting hole is collinear with the bearing seat of the first frame (1).

[0036] like Figure 8 As shown, the damper (22) includes a damper base (22-1) with a ring-shaped protrusion at one end, a damping force transmission arm (22-2) with a cantilever at one end and connected to a ring, a damping shaft (22-3), sleeves (22-4, 22-5) connected to the second frame (2) and the third frame (3), and a mounting bearing (22-8). Two aluminum plate cut pieces (22-1, 22-2) fix the damping shaft (22-3) through their threaded holes (22-6, 22-7) and transmit its damping force to the frame. The mounting bearing (22-8) is used to fix the damper on the second stud (20) to ensure its torque output.

[0037] like Figure 9 As shown, the working mechanism of the cam limiting mechanism is as follows: When the first frame and the second frame are parallel or rotate in the forward direction (a, b), the cam push rod is in the retracted state, and the third frame can rotate freely within the limiting range. When the third frame has a forward rotation angle, the top of the cam push rod is resisted, preventing the first frame from rotating in the reverse direction (c). When the first frame has a reverse rotation angle, the cam push rod extends, preventing the third frame from rotating in the forward direction (d).

[0038] like Figure 1As shown, the assembly method of the deformable tracked robot is as follows: The first frame (1) and the second frame (2) are coaxially mounted on the first stud (19) with the end bearings. The left and right half wheels (6, 7) of the first load-bearing wheel are screwed into the first stud (19) from both sides and fixed on the outside. Similarly, the second frame (2) and the third frame (3) are fixed to the second stud (20) by the left and right half wheels (8, 9) of the second load-bearing wheel. The motor fixing angle aluminum (10) is installed on one side of the first frame (1) and fixed with threaded fasteners. The first pulley (11) is installed on the pulley frame of the first frame (1). The first frame (1) can be temporarily disassembled during the installation process. The first bevel gear (13) is fixed on the end face of the first pulley (12) on the same side as the motor fixing angle aluminum (10) and the second bevel gear (14) is installed on the bearing frame next to it. The second bevel gear (14) is connected to the first drive shaft (17). The first stepper motor (4) is mounted on the motor mounting bracket (10) and secured with threaded fasteners. The second pulley (12) is mounted on the pulley bracket of the third frame (3). The third frame (3) can be temporarily disassembled during installation. The third bevel gear (15) is fixed on the end face of the output shaft of the second pulley (12) on the same side as the bearing seat of the third frame (3). The fourth bevel gear (16) is mounted on the bearing bracket next to it and connected to the second drive shaft (18). The second stepper motor (5) is mounted on the motor mounting bracket of the third frame (3) and secured with threaded fasteners. A damper (22) is mounted on one end of the first stud (19) and secured to the first frame (1) and the second frame (2) with threaded fasteners. The track (21) is assembled between the first pulley (11) and the second pulley (12).

[0039] Specific usage instructions:

[0040] Tension-constrained deformable tracked robots can move forward and backward on the ground and cross obstacles and ditches. When two stepper motors rotate forward or backward at the same speed, the robot can move forward and backward.

[0041] Tension-constrained deformable tracked robots can perform obstacle-crossing maneuvers. These obstacle-crossing maneuvers fall into two categories: conventional obstacle crossing and safe obstacle crossing.

[0042] Figure 10 The diagram depicts a robot performing a routine obstacle-crossing maneuver. Figure 10 (a) represents the robot's initial state. The front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate faster than the first. The upper track is taut, driving the robot's third frame to lift and shifting the robot's center of gravity backward. When it reaches... Figure 10In the state shown in (b), when the third frame rotates to its limit angle, the robot's center of gravity shifts to the rear of the first load-bearing wheel. The continued differential speed operation of the stepper motor causes the damper stress to exceed its maximum static friction resistance, causing the second frame to lift. Figure 10 As shown in (c), the second stepper motor is de-energized and rolls freely. When it reaches... Figure 10 In the state shown in (d), the damper stress decreases to the magnitude of its sliding friction, the damper relocks, the second stepper motor is re-energized, and both stepper motors rotate synchronously forward. The robot maintains its shape and moves forward to... Figure 10 (e) State. Subsequently, the front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate slower than the first. The lower track tightens, driving the robot's third frame to lower and level, and then immediately driving the second frame to lower, shifting the robot's center of gravity forward. Figure 10 (f) Arrival Figure 10 In state (g), the robot's center of gravity is located in front of the platform edge. The two stepper motors rotate synchronously clockwise by a small angle, causing the robot to lose ground support and tip forward under the combined forces of gravity and the platform's support, reaching... Figure 10 In state (h), the two stepper motors differentially rotate, causing the second stepper motor to rotate faster than the first stepper motor. The upper track tightens, and simultaneously, the cam limiting mechanism engages, locking the third frame and thus driving the first frame to lift and flatten. Figure 10 As shown in (i). Then, the two stepper motors rotate synchronously in the forward direction, and the robot moves forward to... Figure 10 The obstacle crossing process is completed in the state shown in (j).

[0043] Figure 11 The diagram illustrates a robot's safe obstacle crossing maneuver. Safe obstacle crossing is a solution used when the ground has a downward slope, making conventional obstacle crossing difficult for the robot. Figure 11 (a) represents the robot's initial state. At this point, the front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate faster than the first. The upper track is taut, lifting the robot's third frame and shifting the robot's center of gravity backward. When it reaches... Figure 11 In the state shown in (b), the third frame rotates to its limit angle. Then, the two stepper motors rotate synchronously forward, and the robot maintains its shape and moves forward. Figure 11 (c) State. Subsequently, the front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate slower than the first. The lower track tightens, driving the robot's third frame to lower and level, shifting the robot's center of gravity forward, and reaching the desired position. Figure 11 In state (d), the robot's center of gravity is located in front of the platform edge. Then, the two stepper motors rotate synchronously clockwise by a small angle, causing the robot to lose ground support and tip forward under the combined force of gravity and the platform's support, reaching... Figure 11 In state (e), the two stepper motors continue to rotate synchronously forward, and the robot moves forward to... Figure 11The obstacle crossing process is completed in the state shown in (f).

[0044] Figure 12 The diagram shows the robot's action of crossing a ditch. Figure 12 (a) represents the robot's initial state, where the stepper motors rotate synchronously in the forward direction, and the robot moves forward to... Figure 12 (b) State. Subsequently, the front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate faster than the first, taut the upper track, lifting the robot's third frame, and shifting the robot's center of gravity backward. Figure 12 (c) State. The stepper motors rotate synchronously in the forward direction, and the robot moves forward to... Figure 12 (d) State. Subsequently, the front and rear stepper motors operate at different speeds, causing the second stepper motor to rotate slower than the first. The lower track tightens, driving the robot's third frame to quickly lower and level, shifting the robot's center of gravity forward and bringing the leading edge of the track into contact with the front side of the trench terrain, such as... Figure 12 As shown in (e). The robot then moves forward, passing through... Figure 12 (f) Arrival Figure 12 (g) completes the process of crossing the ditch.

Claims

1. A tension-constrained deformable tracked robot, characterized in that... Includes: first frame (1), second frame (2), third frame (3), first stepper motor (4), second stepper motor (5), first load-bearing wheel left half (6), first load-bearing wheel right half (7), second load-bearing wheel left half (8), second load-bearing wheel right half (9), motor fixing angle aluminum (10), first pulley (11), second pulley (12), first bevel gear (13), second bevel gear (14), third bevel gear (15), fourth bevel gear (16) The first drive shaft (17), the second drive shaft (18), the first stud (19), the second stud (20), the track (21), and the damper (22) are all included. The third frame (3) is based on a constant force spring sliding rod system (3-1). Under the action of the constant force spring, the sliding rod always extends outward with a constant force. An irregularly shaped frame connecting piece (3-2) is installed on one side of the sliding rod's movable end, and a second pulley fixing plate (3-3) and an angle aluminum frame (3-3) are installed on both sides of the other end, respectively. 4) All three are equipped with bearings. The latter two together form a pulley frame for mounting the second pulley (12). The second bearing seat (3-5) is mounted on the angle aluminum frame for connecting the second transmission shaft (18) and the fourth bevel gear (16). The angle aluminum frame is provided with a first mounting hole (3-6) for connecting the second stepper motor (5). The damper (22) includes a damper base (22-1) with a circular protrusion at one end and a damping force transmission arm (22-2) with a cantilever and a circular ring at one end. The damping shaft (22-3), sleeves (22-4, 22-5) connected to the second frame (2) and the third frame (3), and mounting bearing (22-8) are provided. The damper base (22-1) and the damping force transmission arm (22-2) fix the damping shaft (22-3) through their threaded holes (22-6, 22-7) and transmit its damping force to the frame. The mounting bearing (22-8) is used to fix the damper on the second stud (20) to ensure its torque output.The first frame (1) and the second frame (2) are coaxially mounted on the first stud (19) with the end bearings. The left and right halves (6, 7) of the first load-bearing wheel are screwed into the first stud (19) from both sides and fixed on the outside. Similarly, the second frame (2) and the third frame (3) are fixed to the second stud (20) by the left and right halves (8, 9) of the second load-bearing wheel. The motor fixing angle aluminum (10) is installed on one side of the first frame (1) and fixed with threaded fasteners. The first pulley (11) is installed on the pulley frame of the first frame (1). During the installation process, the first frame (1) can be temporarily disassembled. The first bevel gear (13) is fixed on the end face of the first pulley (11) shaft on the same side as the motor fixing angle aluminum (10). The second bevel gear (14) is installed on the bearing frame next to it and connected to the first drive shaft (17). The first stepper motor (4) is mounted on the motor mounting bracket (10) and secured with threaded fasteners. The second pulley (12) is mounted on the pulley bracket of the third frame (3). The third frame (3) can be temporarily disassembled during installation. The third bevel gear (15) is fixed on the end face of the second pulley (12) on the same side as the bearing seat of the third frame (3). The fourth bevel gear (16) is mounted on the bearing bracket next to it and connected to the second drive shaft (18). The second stepper motor (5) is mounted on the motor mounting bracket of the third frame (3) and secured with threaded fasteners. A damper (22) is mounted on one end of the first stud (19) and secured to the first frame (1) and the second frame (2) with threaded fasteners. The track (21) is assembled between the first pulley (11) and the second pulley (12).

2. The tension-constrained deformable tracked robot as described in claim 1, characterized in that: The first frame (1) is mainly composed of a long strip-shaped first frame base plate (1-1) with rounded corners at one end and a cam surface at the other end. Two counterweights with rounded corners (1-2, 1-3) and two shorter first pulley fixing plates (1-4, 1-5) form a pulley mounting frame and are fixed to each other by the pre-reserved mounting holes on each part. Bearings (1-6, 1-7, 1-8) are provided at the connection with the first pulley (11) and the first stud (19). The first frame is provided with holes (1-9, 1-10) for motor fixing angle aluminum (10) and damper (22). The first pulley mounting frame is provided with a first bearing seat (1-11) at one end.

3. The tension-constrained deformable tracked robot as described in claim 2, characterized in that: The second frame (2) is composed of two strip-shaped second frame guard plates (2-1, 2-2) with rounded ends. Each plate has a bearing at each end for connecting with the first frame (1), the third frame (3), the first stud (19), and the second stud (20). The two second frame guard plates have through holes on their central axis, through which cylinders (2-3, 2-4) with small holes in the center are inserted. The longer cylinder (2-3) uses an interference fit to fix the two second frame guard plates (2-1, 2-2) and connects to a damper (22). Several small holes (2-5) are provided on the circumference with the bearing at the front end of the two second frame guard plates as the center. A limit pin can be inserted as needed. A cam push rod is inserted through the small hole in the center of the two cylinders (2-3, 2-4). The push rod contains a spring and together with the first frame (1), the third frame (3), and the positioning pin, they form a cam limiting mechanism.

4. The tension-constrained deformable tracked robot as described in claim 3, characterized in that: The first load-bearing wheel left half wheel (6) is a rotating body structure. It has a threaded through hole (6-1) in the center for screwing in the first stud. There is a top ring (6-2) on the inner side of the wheel for contacting the inner ring of the bearing. There is a retaining ring (6-3) on the outer side for restraining the track. The outer dimensions of the first load-bearing wheel right half wheel (7), the second load-bearing wheel left half wheel (8), and the second load-bearing wheel right half wheel (9) are the same.

5. The tension-constrained deformable tracked robot as described in claim 4, characterized in that: The motor fixing angle aluminum (10) is an L-shaped aluminum plate bending part with ribs on both sides of the bending part for reinforcement. The two ends are respectively provided with a second mounting hole (10-1) for connecting to the motor and a third mounting hole (10-2) for connecting to the first frame, ensuring that the shaft outlet hole of the motor mounting hole is collinear with the bearing seat of the first frame (1).

6. The tension-constrained deformable tracked robot as described in claim 5, characterized in that: The mating holes of the first pulley (11) output shaft and the first bevel gear (13) output shaft, the mating holes of the second pulley (12) output shaft and the third bevel gear (15) output shaft, the mating hole of the first stepper motor and the first transmission shaft (17), the mating hole of the second stepper motor (5) and the second transmission shaft (18), the mating hole of the first transmission shaft (17) and the second bevel gear (14), and the mating hole of the second transmission shaft (18) and the fourth bevel gear (16) are D-shaped holes or square holes.

7. The tension-constrained deformable tracked robot as described in claim 5, characterized in that: The constant force stiffness in the slide bar system (3-1) of the third frame (3) meets the tension requirements under deformation conditions, while the stiffness coefficient should not be too large, so as to meet the needs of the action.

8. The tension-constrained deformable tracked robot as described in claim 5, characterized in that: The distance between the robot's center of gravity and the robot's rear end in the initial state should be more than half the robot's total length, and the robot's center of gravity should be located behind the first load-bearing wheel when the third frame (3) is raised to the limit angle.

9. The tension-constrained deformable tracked robot as described in claim 5, characterized in that: The static friction limit torque of the damper (22) should have a certain difference from the sliding friction torque.

10. The tension-constrained deformable tracked robot as described in claim 5, characterized in that: The cam limiting mechanism must meet the following characteristics: when the first frame (1) is raised or lowered relative to the second frame (2), the third frame (3) is allowed to rotate freely relative to the second frame (2) within the range limited by the positioning pin; when the third frame (3) has a positive rotation angle relative to the second frame (2), the first frame is not allowed to have a reverse rotation angle; when the first frame (1) has a reverse rotation angle relative to the second frame (2), the third frame (3) is not allowed to have a positive or reverse rotation angle.

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