Crawler swing robot

Abstract

The application provides a caterpillar swing arm robot, and belongs to the technical field of robots, comprising a vehicle body and four swing arms, caterpillars are rotationally arranged on both sides of the vehicle body and the swing arms; a transmission shaft is rotationally arranged on the vehicle body near the front end and the rear end, and the two ends of the transmission shaft are adapted to be connected with the swing arms; the caterpillar swing arm robot further comprises two transmission sleeves and two driving mechanisms; the two transmission sleeves are respectively sleeved on the opposite two ends of the two transmission shafts, and the transmission sleeves are adapted to be connected with the corresponding pulleys on the vehicle body; the two driving mechanisms are respectively arranged at the positions of the vehicle body and the two transmission shafts, and each driving mechanism comprises a first bevel gear, a second bevel gear and a first power member; compared with the prior art which adopts the mode of arranging four driving motors, the volume of the driving mechanism in the application is smaller than that of the driving motor, so that the above structure of the application can save the space of the vehicle body.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a tracked swing-arm robot. Background Technology

[0002] In existing technologies, special robots such as bomb disposal robots, firefighting robots, and detection robots often need to navigate complex terrain with accumulated waste, thus requiring them to have the ability to overcome obstacles. Specifically, these special robots include a vehicle body and four swing arms; tracks are rotatably mounted on both sides of the vehicle body, and each swing arm also has a rotatable track. It should be understood that the two ends of the tracks are connected to the vehicle body and the swing arms via pulleys. The four swing arms are located on both sides of the front and rear of the vehicle body, respectively. One pulley on each swing arm is connected to a corresponding pulley on the vehicle body, so the pulley on the vehicle body can drive the pulley on the swing arm to rotate during rotation.

[0003] The aforementioned special robot has a drive shaft on its chassis for driving the rotation of the swing arms, and a drive sleeve for driving the rotation of the pulleys. The drive sleeve is fitted onto the drive shaft, and both the drive sleeve and the drive shaft are rotatably mounted on the chassis. It should be noted that drive sleeves are installed at both ends of one of the drive shafts, thus enabling the tracks on both sides of the chassis to rotate. Since it is necessary to control the rotation of the tracks and the swing of the swing arms, existing technology typically includes drive motors on the chassis for driving the rotation of the drive sleeves and drive motors for driving the rotation of the drive shafts. In summary, four drive motors are required on the chassis: two drive motors drive the rotation of two drive sleeves respectively; and the other two drive motors drive the rotation of two drive shafts respectively, thereby controlling the swing of the four swing arms.

[0004] However, installing four drive motors on the body of a special robot will take up a lot of space on the body, thus increasing the size of the body. Summary of the Invention

[0005] This invention provides a tracked swing-arm robot, which aims to solve the technical problem that setting four drive motors on the vehicle body in the prior art would increase the vehicle body volume.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A tracked swing-arm robot is provided, comprising a vehicle body and four swing arms. Tracks are rotatably mounted on both sides of the vehicle body and on each swing arm. The four swing arms are respectively located on both sides of the front end and both sides of the rear end of the vehicle body. Drive shafts are rotatably mounted on the vehicle body near the front and rear ends, and the two ends of the drive shafts are adapted to connect to the swing arms. The tracked swing-arm robot also includes two transmission sleeves and two drive mechanisms. The two transmission sleeves are respectively fitted onto the opposite ends of the two drive shafts, and the transmission sleeves are adapted to connect to corresponding pulleys on the vehicle body. The two drive mechanisms are respectively located on the vehicle body at the positions of the two drive shafts, and each drive mechanism includes:

[0008] The first bevel gear is sleeved on the transmission sleeve and keyed to the transmission sleeve;

[0009] A second bevel gear is sleeved on the drive shaft and keyed to the drive shaft; and

[0010] A first power component is connected to the vehicle body; a power bevel gear is connected to the power end of the first power component; the power bevel gear meshes with the first bevel gear.

[0011] The first bevel gear and the second bevel gear are both rotatably provided with axial limiting members, and a number of telescopic power members are provided between the two axial limiting members and spaced apart along their circumference.

[0012] When the swing arm rotates, the drive end of the telescopic power component retracts, so that the second bevel gear meshes with the power bevel gear.

[0013] In one possible implementation, both the first bevel gear and the second bevel gear are provided with receiving cavities, and the axial limiting member includes:

[0014] The limiting sleeve has a first limiting ring at one end adapted to contact the bottom wall of the receiving cavity; and

[0015] The second limiting ring is sleeved on the limiting sleeve; the second limiting ring is adapted to connect with the first bevel gear or the second bevel gear, and the inner side of the second limiting ring contacts the outer side of the first limiting ring.

[0016] The two ends of the telescopic power component are respectively connected to the outer walls of the two limiting sleeves.

[0017] In one possible implementation, a slide rail is connected to the bottom wall of the vehicle body, the length direction of the slide rail being parallel to the axial direction of the drive shaft; a connecting part is slidably provided on the slide rail, and the top end of the connecting part is connected to one of the telescopic power components.

[0018] In one possible implementation, the tracked swing arm robot further includes an anti-rotation structure connected to the vehicle body at the position of the drive shaft;

[0019] When the second bevel gear separates from the power bevel gear, the anti-rotation structure is adapted to abut against the outer peripheral wall of the drive shaft.

[0020] In one possible implementation, the anti-rotation structure includes:

[0021] A clamping part, located below the drive shaft, is adapted to abut against the outer peripheral wall of the drive shaft; and

[0022] A first electric push rod is connected to the vehicle body, and the push tip of the electric push rod is connected to the abutment part.

[0023] In one possible implementation, the outer peripheral wall of the drive shaft is provided with a plurality of insertion holes spaced apart along its circumference, and the abutting part is adapted to be inserted into one of the insertion holes.

[0024] In one possible implementation, the anti-rotation structure includes:

[0025] An arc-shaped plate is located above the drive shaft, with the concave surface of the arc-shaped plate facing the drive shaft; and

[0026] A second electric push rod is connected to the vehicle body, and the push tip of the second electric push rod is connected to the arc-shaped plate;

[0027] Specifically, when the second bevel gear meshes with the power bevel gear, the arc-shaped plate separates from the transmission shaft; when the second bevel gear separates from the power bevel gear, the arc-shaped plate abuts against the transmission shaft.

[0028] In one possible implementation, the tracked swing-arm robot further includes a lateral thrust assembly, which comprises:

[0029] Push plate;

[0030] An axial limiting structure has a limiting cavity suitable for accommodating the push plate, wherein the push plate is rotatably engaged with the accommodating cavity; and

[0031] A lateral pushing force component is connected to the vehicle body; the driving end of the lateral pushing force component is adapted to connect with the push plate.

[0032] The axial limiting structure is adapted to be connected to the first bevel gear or adapted to be connected to the second bevel gear.

[0033] In one possible implementation, the axial limiting structure includes a first positioning ring and a second positioning ring, with a limiting cavity formed between the first positioning ring and the second positioning ring.

[0034] In one possible implementation, the lateral pushing force component includes a third electric push rod and a support frame, the support frame being fixed to the vehicle body, the push tip of the third electric push rod being the driving end, and the axis of the push tip of the third electric push rod being parallel to the axis of the transmission shaft.

[0035] In this embodiment, the first bevel gear is always engaged with the power bevel gear. The power bevel gear is driven to rotate by the first power component, which in turn causes the transmission sleeve and pulley to rotate, driving the tracks on the vehicle body and swing arm to rotate, facilitating normal vehicle movement. When it is necessary to traverse an obstacle, the drive end of the telescopic power component retracts, allowing the second bevel gear to engage with the power bevel gear, thereby driving the transmission shaft to rotate. This controls the swing arm's swing, facilitating its placement on the obstacle. After the swing arm is on the obstacle, the robot can traverse it, facilitating its movement on complex terrain. It should be noted that the first and second bevel gears are located on opposite sides of the power bevel gear, therefore their rotation directions are opposite. When the vehicle body moves forward, the swing arm can swing upward, facilitating the robot's traverse of obstacles. The telescopic power component, through an axial limiting component, rotates with the first and second bevel gears, allowing them to rotate relative to the telescopic power component.

[0036] The tracked swing arm robot provided by the present invention can realize the forward movement of the vehicle body and the swinging of the swing arm during the forward movement by setting a drive mechanism at each of the two drive shafts of the vehicle body. Compared with the prior art which uses four drive motors, the drive mechanism in this application is smaller in volume than the drive motors. Therefore, the above structure of the present application can save space in the vehicle body. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a tracked swing-arm robot provided in an embodiment of the present invention;

[0038] Figure 2 for Figure 1 Enlarged diagram of section A in the middle;

[0039] Figure 3 A schematic diagram of the limiting sleeve portion of the tracked swing arm robot provided in an embodiment of the present invention;

[0040] Figure 4 for Figure 3 Enlarged schematic diagram of section B.

[0041] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 11. Drive shaft; 12. Drive sleeve; 13. Slide rail; 131. Slide groove; 2. Swing arm; 3. Track; 4. Drive mechanism; 41. First bevel gear; 411. Receiving cavity; 42. Second bevel gear; 43. First power component; 44. Power bevel gear; 45. Telescopic power component; 451. Connecting part; 46. Limiting sleeve; 47. Second limiting ring; 48. First limiting ring; 49. Telescopic rod; 5. Lateral push assembly; 51. Push plate; 52. Lateral push force component; 521. Support frame; 53. Limiting cavity; 54. First positioning ring; 55. Second positioning ring; 56. Extension cylinder. Detailed Implementation

[0042] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0043] Please refer to the following: Figures 1 to 4 The tracked swing arm robot provided by the present invention will now be described. The tracked swing arm robot includes a vehicle body 1 and four swing arms 2. Tracks 3 are rotatably mounted on both sides of the vehicle body 1 and on each swing arm 2. The four swing arms 2 are respectively located on both sides of the front end and both sides of the rear end of the vehicle body 1. Drive shafts 11 are rotatably mounted on the vehicle body 1 near the front and rear ends, and both ends of the drive shafts 11 are adapted to connect to the swing arms 2. The tracked swing arm robot also includes two transmission sleeves 12 and two drive mechanisms 4. The two transmission sleeves 12 are respectively sleeved on the opposite ends of the two transmission shafts 11, and the transmission sleeves 12 are adapted to connect to corresponding pulleys on the vehicle body 1. The two drive mechanisms 4 are respectively located on the vehicle body 1 at the positions of the two transmission shafts 11, and each drive mechanism 4 includes a first bevel tooth. The vehicle body 1 includes a wheel 41, a second bevel gear 42, and a first power component 43. The first bevel gear 41 is sleeved on the transmission sleeve 12 and keyed to the transmission sleeve 12. The second bevel gear 42 is sleeved on the transmission shaft 11 and keyed to the transmission shaft 11. The first power component 43 is connected to the vehicle body 1. The power end of the first power component 43 is connected to a power bevel gear 44. The power bevel gear 44 meshes with the first bevel gear 41. The first bevel gear 41 and the second bevel gear 42 are both rotatably provided with axial limiting members, and a plurality of telescopic power components 45 are provided between the two axial limiting members and spaced circumferentially. When the swing arm 2 rotates, the driving end of the telescopic power component 45 retracts so that the second bevel gear 42 meshes with the power bevel gear 44.

[0044] In this embodiment, the first bevel gear 41 is always engaged with the power bevel gear 44. The first power component 43 drives the power bevel gear 44 to rotate, which in turn causes the transmission sleeve 12 and pulley to rotate, thereby driving the tracks 3 on the vehicle body 1 and the swing arm 2 to rotate, facilitating normal movement of the vehicle body 1. When it is necessary to overcome an obstacle, the drive end of the telescopic power component 45 retracts, enabling the second bevel gear 42 to engage with the power bevel gear 44, which in turn drives the transmission shaft 11 to rotate. This allows control of the swing arm 2's swing, facilitating its placement on the obstacle. After the swing arm 2 is placed on the obstacle, the robot can overcome it, thus facilitating its movement on complex terrain. It should be noted that the first bevel gear 41 and the second bevel gear 42 are located on opposite sides of the power bevel gear 44, therefore their rotation directions are opposite. When the vehicle body 1 moves forward, the swing arm 2 can swing upward, facilitating the robot's overcoming of obstacles. The telescopic power member 45 is rotatably engaged with the first bevel gear 41 and the second bevel gear 42 through the axial limiting member, which enables the first bevel gear 41 and the second bevel gear 42 to rotate relative to the telescopic power member 45.

[0045] The tracked swing arm robot provided by the present invention can realize the forward movement of the vehicle body 1 and the swing arm 2 during the forward movement of the vehicle body 1 by setting a set of drive mechanisms 4 at the positions of the two drive shafts 11 of the vehicle body 1. Compared with the prior art by setting four drive motors, the volume of the drive mechanism 4 in this application is smaller than the volume of the drive motor. Therefore, the above structure of this application can save space of the vehicle body 1.

[0046] It should be noted that when it is necessary to cross an obstacle, the first bevel gear 41 and the second bevel gear 42 are both engaged with the power bevel gear 44. Therefore, while the track 3 is rotating, the swing arm 2 swings upward, which makes it easier for the vehicle body 1 to cross the obstacle.

[0047] For example, the first power component 43 can be a drive motor. In this application, there are two drive motors, that is, the two drive motors are respectively located on the vehicle body 1 at the positions of the two drive shafts 11. With the above arrangement, each drive motor can provide power for the rotation of the track 3 and also provide power for the swing arm 2. Compared with the prior art's arrangement of four drive motors, the above structure of this application can reduce the volume of the vehicle body 1.

[0048] It should be understood that the two transmission sleeves 12 are respectively located on the two transmission shafts 11, and the two transmission sleeves 12 are respectively located on both sides of the vehicle body 1; therefore, by driving the two transmission sleeves 12 to rotate by the two drive motors respectively, the tracks 3 on both sides of the vehicle body 1 can be rotated. The above arrangement is because the tracks 3 on both sides of the vehicle body 1 require power input, and the swing arms 2 on both sides of the front end of the vehicle body 1 and the swing arms 2 on both sides of the rear end of the vehicle body 1 are not coaxially arranged. Therefore, it is necessary to control the rotation of the two transmission shafts 11 by the two drive motors respectively in order to achieve the purpose of controlling the swing of the four swing arms 2.

[0049] For example, a limiting step that contacts the first bevel gear 41 can be provided on the transmission sleeve 12 to axially limit the first bevel gear 41, so that the first bevel gear 41 is always meshed with the power bevel gear 44. During the extension and retraction of the telescopic power member 45, it can be ensured that the first bevel gear 41 will not slide along its axial direction, thereby enabling the second bevel gear 42 to mesh or disengage from the power bevel gear 44.

[0050] In some embodiments, such as Figures 1 to 4 As shown, both the first bevel gear 41 and the second bevel gear 42 are provided with receiving cavities 411. The axial limiting member includes a limiting sleeve 46 and a second limiting ring 47. One end of the limiting sleeve 46 has a first limiting ring 48 adapted to contact the bottom wall of the receiving cavity 411. The second limiting ring 47 is sleeved on the limiting sleeve 46. The second limiting ring 47 is adapted to connect with the first bevel gear 41 or the second bevel gear 42, and the inner side of the second limiting ring 47 contacts the outer side of the first limiting ring 48. The two ends of the telescopic power member 45 are respectively connected to the outer walls of the two limiting sleeves 46. The second limiting ring 47 can be a semi-ring structure, so it is not necessary to pre-fit the second limiting ring 47 onto the limiting sleeve 46, and it is convenient to replace the second limiting ring 47.

[0051] It should be understood that a space is provided between the two limiting sleeves 46 for the extension or retraction of the telescopic power component 45, and the first limiting ring 48 is fixed to the limiting sleeve 46. In this embodiment, the connection relationship between the limiting sleeve 46 and the first bevel gear 41 is used as an example for explanation. The second limiting ring 47 can be fixed to the first bevel gear 41 with bolts. With the above arrangement, the first bevel gear 41 and the limiting sleeve 46 can be axially limited, and the first bevel gear 41 can rotate relative to the limiting sleeve 46.

[0052] For example, the telescopic power component 45 can be an electric push rod, with the cylinder body of the electric push rod fixed to the outer peripheral wall of one of the limiting sleeves 46, and the push tip of the electric push rod fixed to the outer peripheral wall of the other limiting sleeve 46. With the above configuration, the distance between the first bevel gear 41 and the second bevel gear 42 can be adjusted by the extension and retraction of the push tip of the electric push rod, thereby facilitating the separation or engagement of the second bevel gear 42 with the power bevel gear 44.

[0053] In some embodiments, such as Figures 1 to 4 As shown, a slide rail 13 is connected to the bottom wall of the vehicle body 1. The length direction of the slide rail 13 is parallel to the axial direction of the drive shaft 11. A connecting part 451 is slidably provided on the slide rail 13. The top end of the connecting part 451 is connected to one of the telescopic power members 45.

[0054] For example, the connecting part 451 is fixedly connected to the cylinder of the electric push rod, and the slide rail 13 is provided with a slide groove 131 that slides and engages with the connecting part 451; with the above arrangement, the electric push rod can be prevented from rotating around the axis of the drive shaft 11.

[0055] For example, an electric push rod can be set between two limiting sleeves 46, and multiple telescopic rods 49 can be circumferentially spaced between the two limiting sleeves 46. This arrangement reduces the number of electric push rods, thereby saving energy. Specifically, each telescopic rod 49 includes a telescopic cylinder and an insert rod, one end of which is slidably disposed within the telescopic cylinder. The telescopic cylinder is fixed to the outer peripheral wall of one of the limiting sleeves 46, and the outer end of the insert rod is fixed to the outer peripheral wall of the other limiting sleeve 46. When the push tip of the electric push rod extends or retracts, the insert rod slides into the telescopic cylinder. This arrangement improves stability when the electric push rod adjusts the distance between the first bevel gear 41 and the second bevel gear 42, thanks to the sliding engagement of the insert rod with the telescopic cylinder.

[0056] In some embodiments, such as Figures 1 to 4 As shown, the tracked swing-arm robot also includes an anti-rotation structure (not shown in the figure), which is connected to the vehicle body 1 at the position of the drive shaft 11; when the second bevel gear 42 separates from the power bevel gear 44, the anti-rotation structure is adapted to abut against the outer peripheral wall of the drive shaft 11. The anti-rotation structure includes a pressing part and a first electric push rod; the pressing part is located below the drive shaft 11 and is adapted to abut against the outer peripheral wall of the drive shaft 11; the first electric push rod is connected to the vehicle body 1, and the push tip of the electric push rod is connected to the pressing part.

[0057] It should be understood that when adjusting the angle of the swing arm 2, the abutting part is separated from the drive shaft 11; through the meshing of the second bevel gear 42 and the power bevel gear 44, the angle of the swing arm 2 can be adjusted simultaneously during the movement of the vehicle body 1. After the angle of the swing arm 2 is adjusted, the second bevel gear 42 and the power bevel gear 44 are separated. At this time, the abutting part abuts against the outer peripheral wall of the drive shaft 11 under the pushing action of the first electric push rod, thereby reducing the reverse rotation of the drive shaft 11 and making it easier to fix the swing arm 2 in the adjusted position.

[0058] In some embodiments, such as Figures 1 to 4 As shown, the outer peripheral wall of the drive shaft 11 is provided with several insertion holes spaced apart along its circumference, and the abutment part is adapted to be inserted into one of the insertion holes. After the second bevel gear 42 separates from the power spur gear, the connection between the abutment part and the drive shaft 11 can be strengthened by inserting the abutment part into the insertion hole on the drive shaft 11, which facilitates further restriction of the rotation of the rotating shaft.

[0059] In some embodiments, such as Figures 1 to 4 As shown, the anti-rotation structure includes an arc-shaped plate and a second electric push rod; the arc-shaped plate is located above the drive shaft 11, and the concave surface of the arc-shaped plate faces the drive shaft 11; the second electric push rod is connected to the vehicle body 1, and the push end of the second electric push rod is connected to the arc-shaped plate; wherein, when the second bevel gear 42 meshes with the power bevel gear 44, the arc-shaped plate separates from the drive shaft 11; when the second bevel gear 42 separates from the power bevel gear 44, the arc-shaped plate abuts against the drive shaft 11.

[0060] For example, the cylinder of the second electric push rod is fixed to the vehicle body 1. When the second bevel gear 42 meshes with the power bevel gear 44, the arc-shaped plate slides upward under the drive of the second electric push rod to separate the arc-shaped plate from the drive shaft 11, thus preventing the arc-shaped plate from affecting the rotation of the drive shaft 11. When the second bevel gear 42 separates from the power bevel gear 44, the arc-shaped plate slides downward under the drive of the second electric push rod to abut against the drive shaft 11. At this time, the arc-shaped plate can provide resistance torque to the drive shaft 11, thereby facilitating the restriction of the reverse rotation of the drive shaft 11. Specifically, the arc-shaped plate can be a semi-circular structure, and the push tip of the electric push rod is fixed to the outer peripheral wall of the arc-shaped plate. It should be noted that the stroke of the arc-shaped plate and the abutment part is not long, so the size of the electric push rod is small, and the electric push rod can be flexibly installed using the space around the drive shaft 11.

[0061] In some embodiments, such as Figures 1 to 4As shown, the tracked swing-arm robot also includes a lateral push assembly 5, which includes a push plate 51, an axial limiting structure, and a lateral pushing force member 52. The axial limiting structure has a limiting cavity 53 suitable for accommodating the push plate 51, and the push plate 51 is rotatably engaged with the accommodating cavity 411. The lateral pushing force member 52 is connected to the vehicle body 1. The driving end of the lateral pushing force member 52 is suitable for connecting to the push plate 51. The axial limiting structure is suitable for connecting to a first bevel gear 41 or a second bevel gear 42. The axial limiting structure includes a first positioning ring 54 and a second positioning ring 55, and the limiting cavity 53 is formed between the first positioning ring 54 and the second positioning ring 55.

[0062] For example, when the first bevel gear 41, the second bevel gear 42, and the telescopic power member 45 are driven to slide axially by the lateral push assembly 5, no limiting step is provided on the transmission sleeve 12. That is, the transmission sleeve 12 does not axially limit the first bevel gear 41, and the first bevel gear 41 can slide on the transmission sleeve 12. When the distance between the first bevel gear 41 and the second bevel gear 42 is greater than the diameter of the power bevel gear 44, the lateral push assembly 5 drives the first bevel gear 41 and the second bevel gear 42 to slide along their axial direction, allowing the first bevel gear 41 and the second bevel gear 42 to mesh with the power bevel gear 44 individually. Therefore, the movement of the vehicle body 1 and the swinging process of the swing arm 2 can be relatively independent. That is, when the vehicle body 1 is moving, the swing arm 2 can not swing; when the swing arm 2 is swinging, the vehicle body 1 can not move. With the above settings, the vehicle body 1 can flexibly control the rotation of the track 3 and the swinging of the swing arm 2 under different road conditions.

[0063] For example, the lateral pushing force member 52 can be an electric push rod, and the axis of the lateral pushing force member 52 is parallel to the axis of the transmission shaft 11. In this embodiment, the axial limiting structure is set on the second bevel gear 42 as an example. An extension cylinder 56 is fixedly provided on the side of the second bevel gear 42 away from the first bevel gear 41, and the extension cylinder 56 is sleeved on the transmission shaft 11; the first positioning ring 54 and the second positioning ring 55 are both fixed on the extension cylinder 56, and the push plate 51 is located between the first positioning ring 54 and the second positioning ring 55. A slot can be provided on the push plate 51, and the push plate 51 is inserted into the extension cylinder 56 through the slot; therefore, the extension cylinder 56 can rotate relative to the push plate 51. During the sliding process of the push plate 51, the push plate 51 can push the first bevel gear 41 and the second bevel gear 42 to slide, thereby facilitating the meshing of the first bevel gear 41 or the second bevel gear 42 with the power gear.

[0064] For example, the telescopic power member 45 can adjust the distance between the first bevel gear 41 and the second bevel gear 42, and the lateral push assembly 5 can adjust the position of the first bevel gear 41 and the second bevel gear 42 relative to the power gear. Therefore, the above structure of this application can realize three control methods, which are described in detail below:

[0065] Since the distance between the first bevel gear 41 and the second bevel gear 42 is greater than the diameter of the power bevel gear 44, two control methods are possible. The first control method involves the lateral push assembly 5 controlling the engagement of the first bevel gear 41 with the power bevel gear 44, at which point the second bevel gear 42 disengages from the power bevel gear 44. This results in the rotation of the track 3, allowing the vehicle body 1 to travel on the road surface. The second control method involves the lateral push assembly 5 controlling the engagement of the second bevel gear 42 with the power bevel gear 44, at which point the first bevel gear 41 disengages from the power bevel gear 44. This results in the swinging of the swing arm 2, thereby adjusting the angle of the swing arm 2. In both control methods, the movement of the vehicle body 1 and the swinging of the swing arm 2 are independent, thus allowing for separate control of the movement of the vehicle body 1 and the swinging of the swing arm 2.

[0066] The third control method is as follows: when the distance between the first bevel gear 41 and the second bevel gear 42 is the same as the diameter of the power bevel gear 44, both the first bevel gear 41 and the second bevel gear 42 can mesh with the power bevel gear 44. That is, during the movement of the vehicle body 1, the swing of the swing arm 2 can be controlled. It should be noted that under the third control method, through the telescopic action of the telescopic power component 45 and the lateral pushing action of the lateral pushing component 5, the second bevel gear 42 can be controlled to mesh or disengage from the power bevel gear 44 while ensuring that the first bevel gear 41 is always meshed with the power bevel gear 44. Therefore, through the cooperation of the lateral pushing component 5 and the telescopic power component 45, the purpose of axially limiting the first bevel gear 41 can be achieved.

[0067] In some embodiments, such as Figures 1 to 4 As shown, the lateral pushing force member 52 includes a third electric push rod and a support frame 521. The support frame 521 is fixed to the vehicle body 1. The push end of the third electric push rod is the driving end, and the axis of the push end of the third electric push rod is parallel to the axis of the transmission shaft 11. With the above configuration, the third electric push rod can drive the first bevel gear 41, the second bevel gear 42, and the telescopic power member 45 to slide. Furthermore, through the sliding cooperation between the connecting part 451 and the slide rail 13, the rotation of the telescopic power member 45 can be prevented.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tracked swing-arm robot, comprising a vehicle body and four swing arms, wherein tracks are rotatably mounted on both sides of the vehicle body and on each of the swing arms; the four swing arms are respectively located on both sides of the front end and both sides of the rear end of the vehicle body; drive shafts are rotatably mounted on the vehicle body near the front and rear ends, and the two ends of the drive shafts are adapted to connect to the swing arms; characterized in that, The tracked swing-arm robot also includes two transmission sleeves and two drive mechanisms; the two transmission sleeves are respectively sleeved on the opposite ends of the two transmission shafts, and the transmission sleeves are adapted to connect with corresponding pulleys on the vehicle body; the two drive mechanisms are respectively located on the vehicle body at the positions of the two transmission shafts, and each drive mechanism includes: The first bevel gear is sleeved on the transmission sleeve and keyed to the transmission sleeve; A second bevel gear is sleeved on the drive shaft and keyed to the drive shaft; and A first power component is connected to the vehicle body; a power bevel gear is connected to the power end of the first power component; the power bevel gear meshes with the first bevel gear. The first bevel gear and the second bevel gear are both rotatably provided with axial limiting members, and a number of telescopic power members are provided between the two axial limiting members and spaced apart along their circumference. When the swing arm rotates, the drive end of the telescopic power component retracts, so that the second bevel gear meshes with the power bevel gear.

2. The tracked swing-arm robot as described in claim 1, characterized in that, Both the first bevel gear and the second bevel gear are provided with receiving cavities, and the axial limiting member includes: The limiting sleeve has a first limiting ring at one end adapted to contact the bottom wall of the receiving cavity; and The second limiting ring is sleeved on the limiting sleeve; the second limiting ring is adapted to connect with the first bevel gear or the second bevel gear, and the inner side of the second limiting ring contacts the outer side of the first limiting ring; The two ends of the telescopic power component are respectively connected to the outer walls of the two limiting sleeves.

3. The tracked swing-arm robot as described in claim 2, characterized in that, A slide rail is connected to the bottom wall of the vehicle body, and the length direction of the slide rail is parallel to the axial direction of the drive shaft; a connecting part is slidably provided on the slide rail, and the top end of the connecting part is connected to one of the telescopic power components.

4. The tracked swing-arm robot as described in claim 1, characterized in that, The tracked swing-arm robot also includes an anti-rotation structure, which is connected to the vehicle body at the position of the drive shaft; When the second bevel gear separates from the power bevel gear, the anti-rotation structure is adapted to abut against the outer peripheral wall of the drive shaft.

5. The tracked swing-arm robot as described in claim 4, characterized in that, The anti-rotation structure includes: A clamping part, located below the drive shaft, is adapted to abut against the outer peripheral wall of the drive shaft; and A first electric push rod is connected to the vehicle body, and the push tip of the electric push rod is connected to the abutment part.

6. The tracked swing-arm robot as described in claim 5, characterized in that, The outer peripheral wall of the drive shaft is provided with a plurality of insertion holes spaced apart along its circumference, and the abutting part is adapted to be inserted into one of the insertion holes.

7. The tracked swing-arm robot as described in claim 4, characterized in that, The anti-rotation structure includes: An arc-shaped plate is located above the drive shaft, with the concave surface of the arc-shaped plate facing the drive shaft; and A second electric push rod is connected to the vehicle body, and the push tip of the second electric push rod is connected to the arc-shaped plate; Specifically, when the second bevel gear meshes with the power bevel gear, the arc-shaped plate separates from the transmission shaft; when the second bevel gear separates from the power bevel gear, the arc-shaped plate abuts against the transmission shaft.

8. The tracked swing-arm robot as described in claim 2, characterized in that, The tracked swing arm robot also includes a lateral thrust assembly, which includes: Push plate; An axial limiting structure has a limiting cavity suitable for accommodating the push plate, wherein the push plate is rotatably engaged with the accommodating cavity; and A lateral pushing force component is connected to the vehicle body; the driving end of the lateral pushing force component is adapted to connect with the push plate. The axial limiting structure is adapted to be connected to the first bevel gear or adapted to be connected to the second bevel gear.

9. The tracked swing-arm robot as described in claim 8, characterized in that, The axial limiting structure includes a first positioning ring and a second positioning ring, and a limiting cavity is formed between the first positioning ring and the second positioning ring.

10. The tracked swing-arm robot as described in claim 8, characterized in that, The lateral pushing force component includes a third electric push rod and a support frame. The support frame is fixed to the vehicle body. The push tip of the third electric push rod is the driving end, and the axis of the push tip of the third electric push rod is parallel to the axis of the transmission shaft.

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