A traveling device and a traveling method for a tracked robot

Abstract

The application discloses a driving device and a driving method for a tracked robot, which comprises a driving differential mechanism, a driving transmission mechanism, a turnover mechanism and a variable tracked mechanism, a driving input gear is driven to rotate by a driving motor, a driving tracked is driven to rotate by an output shaft, and the tracked robot is normally driven to move; a turnover driving motor drives an inner shaft to drive a lock to axially move and interlock with a lock wheel, and the tracked robot is realized to climb over an obstacle; through the conversion of working states of the driving motor and the turnover driving motor, the axial movement of the lock wheel and the lock on the inner shaft, and the mutual locking and releasing of the lock wheel and the lock, three kinds of motion modes of the tracked robot, i.e., normal driving, climbing over an obstacle and climbing over a high obstacle, are realized without interference; the configuration of the tracked mechanism is changed through the angle change between a tracked rod and a tracked frame, and the tracked is realized to be folded. The application has better motion performance, stronger environmental adaptability, and can be applied to a complex driving environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and particularly relates to a driving device and a driving method for a tracked robot. BACKGROUND

[0002] With the development of science and technology, mobile robots are widely used in various fields. Tracked robots are widely concerned due to their compact structure, good obstacle crossing ability and strong terrain adaptability. However, the obstacle crossing performance of the tracked robot is affected by the size of the robot body. When the robot body is small, the obstacle crossing performance is greatly weakened, resulting in that the robot body must be large enough when used in an environment with high obstacle crossing performance requirements. This not only increases the manufacturing cost, but also makes the robot more cumbersome, reducing the convenience of use. Even in some use scenarios that require the robot to have high obstacle crossing performance while having a small body, such as in a post-disaster drilling rescue site in a well, a large robot cannot pass through the drilling hole, and a small robot cannot complete the detection and rescue task due to the obstacle crossing performance. Most of the existing conventional tracked robots cannot be used. Therefore, it is urgent to research a tracked robot driving device that can ensure a small and compact robot body while having high obstacle crossing performance and being easy to control to meet the use requirements. SUMMARY

[0003] To solve the above-mentioned defects in the prior art, the purpose of the present application is to provide a tracked robot driving device and a driving method that can realize stable turning, lateral movement and overturning of the robot, and increase the obstacle crossing performance of the robot. The device is novel in design, compact and reasonable in structure, convenient to use and operate, and has strong practicality.

[0004] The present application is realized by the following technical solutions.

[0005] A driving device for a tracked robot, comprising:

[0006] The driving differential mechanism is configured with a first master-slave bevel gear, a differential and an output gear that mesh with each other. The driving motor drives the first master-slave bevel gear to rotate, drives the differential and the pair of output gears to rotate, and drives the input gear of the driving transmission mechanism to rotate.

[0007] The driving transmission mechanism is configured with an outer shaft and an output shaft that drive the input gear to rotate coaxially. The output shaft drives the driving track on the driving wheel of the variable tracked mechanism to rotate, so that the tracked robot can normally drive.

[0008] The flipping mechanism is equipped with a flipping drive motor, a meshing second main and driven bevel gears, an inner shaft, and a locking device. The flipping drive motor drives the second main and driven bevel gears to rotate, which in turn drives the inner shaft to rotate coaxially. The inner shaft drives the locking device and the locking wheel of the variable track mechanism to move axially and lock each other, limiting the axial movement distance of the track mechanism and enabling the tracked robot to flip over obstacles.

[0009] The variable track mechanism is equipped with a track, drive wheel, track rod, locking wheel and track frame. The drive wheel rotates synchronously with the output shaft to drive the track to rotate. Through the axial movement of the locking wheel and locking device on the inner shaft and their mutual locking and unlocking, the variable track mechanism can move axially and the tracked robot can climb over obstacles.

[0010] By coordinating the switching of the working states of the drive motor and the tilt drive motor, the tracked robot can achieve three different movement modes: normal driving, obstacle crossing, and obstacle crossing over heights; by changing the angle between the track rod and the track frame, the configuration of the track mechanism can be changed to achieve track folding.

[0011] Preferably, the driving differential mechanism includes a first driving bevel gear, a first driven bevel gear, a half-shaft gear, a planetary gear, a half-shaft, an output gear, and a differential. The first driving bevel gear on the driving drive motor meshes with the first driven bevel gear on the differential. The half-shaft gear is mounted on the half-shaft and meshes with the planetary gear mounted on the differential. The output gear mounted at the end of the half-shaft meshes with the input gear.

[0012] Preferably, the planetary gears are fixed by a pair of fixed shafts radially distributed along the inner wall of the differential housing.

[0013] Preferably, the driving transmission mechanism includes an input gear, an outer shaft, a bushing, and an output shaft. The input gear is connected to one side of the outer shaft; the bushing is installed on the other side of the outer shaft, and the output shaft is connected to the bushing; the output shaft is fastened to the drive wheel.

[0014] Preferably, the tilting mechanism includes a tilting drive motor, a second driving bevel gear, a second driven bevel gear, an inner shaft, ball bearings, and a locking device; the second driving bevel gear on the tilting drive motor meshes with the second driven bevel gear on the inner shaft; the second driven bevel gear is connected to the inner shaft, and the ball bearing is mounted on the inner shaft; both sides of the inner shaft are respectively connected to the locking wheels of the variable track mechanism; the locking device is connected to the outer side of the inner shaft.

[0015] Preferably, the variable track mechanism includes a track, a drive wheel, a track rod, a locking wheel, a support wheel, and a track frame; a pair of support wheels are fixed to the track frame, the track rod is connected to the track frame, the track rod is locked to the locking wheel by a connecting rod cover, the locking wheel is connected to the drive wheel by a ball bearing, and the drive wheel is fixed to the output shaft; the track is connected to the travel wheel formed by the pair of support wheels and the drive wheel.

[0016] Preferably, a ball bearing is mounted on the locking wheel, and locking holes are evenly distributed on the inner end face of the locking wheel. The locking wheel is connected to an inner shaft. 。

[0017] Preferably, the locking device includes a housing with bosses evenly distributed along the disc and a threaded rod connected to the disc. The bosses pass through locking holes on the locking wheel and engage with locking grooves on the track rod to lock the track rod.

[0018] The present invention further provides a method for driving the tracked robot using the aforementioned device, comprising:

[0019] Under normal driving conditions, the driving motor outputs torque, which drives the output gear of the driving differential mechanism to rotate, thereby driving the input gear of the driving transmission mechanism to rotate; the input gear rotates coaxially with the outer shaft, the outer shaft drives the output shaft to rotate, which in turn drives the drive wheel to rotate coaxially, thus driving the track to rotate;

[0020] When traversing higher obstacles, the flip drive motor outputs torque, which drives the bevel gear to rotate the inner shaft coaxially. The inner shaft and the outer shaft do not interfere with each other's movements. The inner shaft drives the locking wheel to rotate, which in turn drives the variable track mechanism to move axially outward from the machine body to prevent the machine body from interfering with the track flipping. The locking device moves axially inward from the machine body to lock the track rod with the locking wheel on the variable track mechanism.

[0021] The flip drive motor drives the inner shaft to rotate the variable track mechanism, driving the robot to flip over obstacles; after successfully overcoming the obstacle, the flip drive motor continues to drive the variable track mechanism to rotate one revolution to support the robot again.

[0022] Then the flip drive motor reverses, the locking wheel drives the variable track mechanism to move laterally inward, while the locking device moves outward and releases the track rod, returning to the initial position;

[0023] When the robot is unable to overcome an obstacle due to its height or insufficient power, the drive motor will activate, driving the tracks to rotate and assisting the robot in overcoming the obstacle.

[0024] Preferably, the tipping mechanism does not operate under normal driving conditions;

[0025] When crossing higher obstacles, the flip drive motor rotates, the travel motor does not work, and the tracks do not rotate.

[0026] When passing through a small-diameter channel, the variable track mechanism folds up, and the flip drive motor reverses, causing the folded variable track mechanism to move axially towards the inside of the machine body until it reaches the predetermined position, so that the tracked robot can pass through the channel.

[0027] The present invention, by adopting the above technical solution, has the following beneficial effects:

[0028] 1. This invention occupies little space and has a compact structure through the cooperation of inner and outer shafts. It can realize three different modes of movement in the same driving device and can complete the self-locking function. Compared with existing driving devices that only have one mode of movement, it has stronger movement performance.

[0029] 2. The driving device of the present invention is equipped with a driving differential mechanism, which can achieve smooth turning of the robot using only one driving motor.

[0030] 3. This invention is easy to use and operate. It uses only one tilting motor to achieve both the lateral movement of the variable track mechanism and the tilting of the variable track mechanism, making the entire drive device simple in structure and easy to coordinate the movement of each component. At the same time, it greatly improves work efficiency.

[0031] 4. The variable track mechanism of the present invention can move laterally under the drive of the inner shaft thread. When passing through a small-diameter channel, the variable track mechanism can be folded back into the machine body. Therefore, the cross-sectional area of ​​the vehicle body can be maximized according to the borehole diameter.

[0032] 5. The driving transmission mechanism and tilting mechanism adopted in this invention have high reliability, simple structure, small space occupation, more compact structure, more convenient replacement or maintenance of some parts, lower cost, and the main transmission components can be mass-produced.

[0033] 6. This invention has a wider range of applications and application scenarios. The remaining components can be optimized according to different application conditions in order to complete specific tasks.

[0034] This invention forms a tracked robot driving device that can realize three motion modes through the cooperation of inner and outer shafts, and the three motion modes do not interfere with each other.

[0035] This invention features a novel design, a reasonable structure, a compact layout, and flexible and reliable operation. While ensuring the robot's small size, it greatly increases the robot's obstacle-crossing performance. Compared with general driving devices, it has better motion performance and stronger environmental adaptability, and can be applied in complex driving environments such as underground coal mines and aerospace equipment, showing broad application prospects. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, do not constitute an undue limitation of the invention. In the drawings:

[0037] Figure 1 This is a schematic diagram of the overall assembly configuration 1 of the present invention;

[0038] Figure 2 This is a schematic diagram of the overall assembly configuration 2 of the present invention;

[0039] Figure 3 This is a structural diagram of the driving differential mechanism;

[0040] Figure 4 This is a structural diagram of the semi-shaft;

[0041] Figure 5 This is a structural diagram of the differential housing;

[0042] Figure 6 Structural diagrams of the travel transmission mechanism, tilting mechanism, and variable track mechanism;

[0043] Figure 7 This is a structural diagram of the driving transmission mechanism and the tilting mechanism;

[0044] Figure 8 This is a structural diagram of the outer shaft;

[0045] Figure 9 Here is a structural diagram of the bushing;

[0046] Figure 10 Here is a structural diagram of the output shaft;

[0047] Figure 11 This is a structural diagram of the inner shaft;

[0048] Figure 12 This is a structural diagram of the locking device;

[0049] Figure 13 This is a structural diagram of a variable track mechanism;

[0050] Figure 14 This is a structural diagram of the track rod;

[0051] Figure 15 This is a structural diagram of the connecting rod cover;

[0052] Figure 16 This is a structural diagram of the locking wheel.

[0053] Explanation of reference numerals in the attached diagram: 001, Drive motor;

[0054] 100. Differential mechanism; 110. First driving bevel gear; 120. First driven bevel gear; 130. Half-shaft gear; 140. Planetary gear; 150. Half-shaft; 151. First keyway; 152. Second keyway; 153. Third groove; 160. Output gear; 170. Snap ring; 180. Differential housing; 181. Fixed shaft;

[0055] 200. Travel transmission mechanism; 210. Input gear; 220. Outer shaft; 221. Positioning groove; 222. Second groove; 230. Bushing; 231. Spline; 240. Output shaft; 250. Flat key; 251. Internal spline;

[0056] 300. Tilting mechanism; 310. Tilting drive motor; 320. Second driving bevel gear; 330. Second driven bevel gear; 340. Inner shaft; 341. Inner shaft threaded hole; 342. Threaded groove; 343. Positioning table; 350. Ball bearing; 360. Locking device; 361. Threaded rod; 362. Boss;

[0057] 400. Variable track mechanism; 410. Track; 420. Drive wheel; 430. Track rod; 431. Connecting hole; 432. Second locking groove; 433. Track rod threaded hole; 440. Connecting rod cover; 441. First locking groove; 442. Connecting rod cover threaded hole; 450. Locking wheel; 451. Third groove; 452. Locking hole; 453. Positioning groove; 454. Locking wheel thread; 460. Ball bearing; 470. Support wheel; 480. Track frame. Detailed Implementation

[0058] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0059] like Figure 1 , Figure 2 As shown in the figure, an embodiment of the present invention provides a tracked robot driving device, including a driving drive motor 001, a driving differential mechanism 100, a driving transmission mechanism 200, a tilting mechanism 300, and a variable track mechanism 400.

[0060] like Figure 3 As shown, the driving differential mechanism 100 includes a first driving bevel gear 110, a first driven bevel gear 120, a half-shaft gear 130, a planetary gear 140, a half-shaft 150, an output gear 160, a snap ring 170, and a differential housing 180. The first driving bevel gear 110 is mounted on the output shaft of the driving motor 001, and meshes with the first driven bevel gear 120. The first driven bevel gear 120 is mounted on the differential housing 180, and is fastened to the differential housing 180 by an interference fit. The planetary gear 140 is mounted on a fixed shaft 181 of the differential housing 180. The planetary gear 140 is fixed by a pair of fixed shafts 181 radially distributed along the inner wall of the differential housing. The structure of the fixed shaft 181 is shown in [details omitted]. Figure 5 As shown, planetary gear 140 is allowed to rotate on fixed shaft 181; planetary gear 140 meshes with half-shaft gear 130, half-shaft gear 130 is connected to half-shaft 150 by a flat key, and output gear 160 is installed at the end of half-shaft 150 and meshes with input gear 210 of travel transmission mechanism 200.

[0061] Figure 4The diagram shows the structure of the half-shaft 150, including a first keyway 151 for mounting the half-shaft gear 130, a second keyway 152 for mounting the output gear 160, and a first groove 153 for mounting the snap ring 170.

[0062] Figure 5 This is a structural diagram of the differential housing. A pair of fixed shafts 181 are radially distributed along the inner wall of the differential housing for mounting planetary gears 140.

[0063] like Figure 6 As shown, the driving transmission mechanism 200 includes an input gear 210, an outer shaft 220, a bushing 230, an output shaft 240, and a key 250; the input gear 210 is mounted on one side of the outer shaft 220 via the key 250; the outer shaft 220 has a positioning groove 221 for mating with a ball bearing 350, and the structure of the outer shaft 220 is shown in [reference needed]. Figure 8 The bushing 230 is installed on the other side of the outer shaft 220 by an interference fit. The bushing 230 is provided with a spline 231 for mounting the output shaft 240. The structure of the bushing 230 is shown in [reference needed]. Figure 9 One end of the output shaft 240 is mounted on the bushing 230, and the other end is fastened to the drive wheel 420 by an interference fit. The structure of the output shaft 240 is shown in [reference needed]. Figure 10 .

[0064] Figure 8 The diagram shows the structure of the outer shaft 220. The outer shaft 220 is provided with a positioning groove 221 and a second groove 222. The positioning groove 221 is used to install the ball bearing 350, and the second groove 222 is used to fasten the input gear 210 with the flat key 250.

[0065] Figure 9 The diagram shows the structure of the bushing 230; the evenly distributed splines 231 in the diagram are used to engage with the internal splines 251 of the output shaft 240.

[0066] Figure 10 The diagram shows the structure of the output shaft 240. The inner wall of the output shaft 240 has equally spaced spline grooves 251 for connecting with the spline 231 of the bushing 230.

[0067] Figure 7 The structural diagrams of the driving transmission mechanism and the tilting mechanism are as follows: Figure 6 , Figure 7 As shown, the tilting mechanism 300 includes a tilting drive motor 310, a second driving bevel gear 320, a second driven bevel gear 330, an inner shaft 340, a ball bearing 350, and a locking device 360. The second driving bevel gear 320 is mounted on the tilting drive motor 310 and meshes with the second driven bevel gear 330. The second driven bevel gear 330 is mounted on the inner shaft 340. The outer side of the inner shaft 340 is connected to the locking device 360. The structure of the locking device is shown in [details omitted]. Figure 12The inner shaft 340 has threaded grooves 342 on both sides for mounting the locking wheel 450. The inner shaft 340 also has a positioning platform 343 for mounting the ball bearing 350. See the inner shaft structure section below. Figure 11 .

[0068] like Figure 11 As shown, the inner shaft 340 has a threaded hole 341 at the center of its outer end for threaded engagement with the threaded rod 361 of the locking device 360. The inner shaft 340 has threaded grooves 342 on both sides for engaging with the thread 454 inside the locking wheel 450 to fasten the locking wheel 450. The inner shaft 340 has a positioning table 343 for mounting the ball bearing 350.

[0069] like Figure 12 As shown, the locking device 360 ​​includes a disc and a housing with evenly distributed bosses 362 along the disc, and a threaded rod 361 connecting the disc. The evenly distributed bosses 362 on the disc are used to pass through the locking holes 452 on the locking wheel 450 and cooperate with the locking grooves 431 on the track rod 430 to lock the track rod 430.

[0070] like Figure 6 Combination Figure 13 As shown, the variable track mechanism 400 includes a track 410, a drive wheel 420, a track rod 430, a connecting rod cover 440, a locking wheel 450, a ball bearing 460, a support wheel 470, and a track frame 480. A pair of support wheels 470 are fixed to the track frame 480, and the lower part of the track rod 430 is connected to the track frame 480. The track 410 is fitted onto a triangular transmission structure formed by the drive wheel 420 and the pair of support wheels 470. The track rod 430 is connected to the locking wheel 450 through the connecting rod cover 440, and the locking wheel 450 is connected to the drive wheel 420 through the ball bearing 460. The drive wheel 420 is connected to the output shaft 240 of the travel transmission mechanism 200. The drive wheel 420 has grooves for fixing the track 410 and preventing the track 410 from moving laterally. The connecting rod cover 440 and the track rod 430 are mounted on the locking wheel 450.

[0071] like Figure 14 As shown, the track rod 430 is a bent plate structure. One end of the long bent plate has a track frame connection hole 432, and one end of the short bent plate has a concave arc structure with several first locking grooves 431 distributed on the concave arc section. The bent part has a track rod threaded hole 433 for installing the connecting rod cover 440.

[0072] like Figure 15As shown, the connecting rod cover 440 is a U-shaped structure. There are several locking grooves 441 on the inner side of the U-shaped rod of the connecting rod cover 440, which are used to lock the track rod 430 with the locking hole 452 and the boss 362 to lock the track rod 430. The bottom of the U-shaped rod of the connecting rod cover 440 is provided with a connecting rod cover threaded hole 442, which is used to install the connecting rod cover 440 and the track rod 430 on the groove 451 on the locking wheel 450 with the threaded hole 433 on the track rod 430.

[0073] like Figure 16 As shown, the outer peripheral end of the locking wheel 450 is provided with a third groove 451 and a positioning groove 453 from the outside to the inside for installing the ball bearing 460. The wheel end face of the locking wheel 450 is provided with evenly distributed locking holes 452. The inner side wall of the locking wheel 450 is provided with a locking wheel thread 454 for cooperating with the threaded groove 342 on the inner shaft 340 to drive the track device to move axially.

[0074] The connecting rod cover 440 and track rod 430 are installed in the groove 451 on the locking wheel 450; the lower part of the track rod 430 is installed on the track frame 480; the locking wheel 450 has a positioning groove 453 for installing the ball bearing 460; the support wheel 470 is installed on the track frame 480.

[0075] The working principle of the tracked robot driving device of the present invention is as follows: the driving transmission mechanism 200 is symmetrically distributed. Power is transmitted from the driving motor 001 to the input gear 210 via the driving differential mechanism 100. The input gear 210 is connected to the outer shaft 220 by a key to ensure coaxial rotation. The outer shaft 220 is connected to the inner shaft 340 of the tilting mechanism 300 through ball bearings 350, and the movements of the two do not interfere with each other. The output shaft 240 of the driving transmission mechanism drives the track 410 on the drive wheel 420 of the variable track mechanism to rotate, enabling the tracked robot to drive normally.

[0076] Except for the driving bevel gear 320 and the driven bevel gear 330, the remaining parts of the flipping mechanism 300 are symmetrically distributed. The power is directly transmitted from the flipping drive motor 310 to the driving bevel gear 320. The driven bevel gear 330 is connected to the inner shaft 340 by a key to ensure coaxial rotation. The driven bevel gear 330 and the outer shaft 220 adopt a clearance fit, and their movements do not interfere with each other.

[0077] In the flipping mechanism 300, the threaded hole 341 on the inner shaft 340 and the threaded rod 361 on the locking device 360, as well as the threaded groove 342 on the inner shaft 340 and the locking wheel thread 454 in the locking wheel 450, are all in the critical locking position. When the outer shaft 220 rotates, the drive wheel 420 drives the track to rotate, but it will not move laterally. When the inner shaft 340 rotates in the forward direction, the drive wheel 420 drives the variable track mechanism 400 to move laterally outward to prevent the robot body from interfering with the track flipping, until the locking device 360 ​​and the locking wheel 450 completely secure the track rod 430; when the inner shaft 340 rotates in the reverse direction, the drive wheel 420 drives the variable track mechanism 400 to move laterally inward until the locking device 360 ​​disengages from the track rod 430.

[0078] The flip drive motor 310 drives the second active bevel gear 320 to rotate, meshing with the second driven bevel gear 330 to drive the inner shaft 340 to rotate. The inner shaft 340 drives the locking device 360 ​​and the locking wheel 450 of the variable track mechanism to move axially and lock each other, limiting the axial movement distance of the variable track mechanism 400, enabling the tracked robot to climb over obstacles.

[0079] The variable track mechanism 400 has two configurations. In normal driving mode, the overall shape is triangular, designated as Configuration I. When passing through small-diameter passages, the variable track can be folded up, designated as Configuration II. In the variable track mechanism 400, the drive wheel 420 is connected to the locking wheel 450 via a ball bearing 460, and their movements do not interfere with each other.

[0080] The axial movement of the locking wheel 450 and the locking device 360 ​​on the inner shaft 340, as well as their mutual locking and unlocking, enable the variable track mechanism to move axially and the tracked robot to overcome obstacles. 。

[0081] The driving device of the present invention can satisfy the following three different movement modes of the tracked robot:

[0082] When the tracked robot is moving normally, the drive motor 001 outputs torque, which is transmitted to the input gear 210 of the drive transmission mechanism 200 via the drive differential mechanism 100. Then, through the outer shaft 220, bushing 230, and output shaft 240, the drive wheel 420 rotates coaxially, driving the track 410 to rotate. During this stage, the tilting drive motor 310 and the tilting mechanism 300 are not working.

[0083] When the robot needs to overcome a high obstacle, the flip drive motor 310 starts working, and the power is transmitted to the driven bevel gear 330 through the active bevel gear 320, which drives the inner shaft 340 to rotate coaxially. Then, through the threaded groove 342 on the inner shaft, the locking wheel 450 drives the variable track mechanism 400 to move laterally to the outside of the robot body to prevent the robot body from interfering with the track flipping. The threaded groove 342 on the inner shaft 340 and the inner shaft threaded hole 341 on both end faces have opposite thread directions. Therefore, while the locking wheel 450 drives the variable track mechanism 400 to move axially to the outside of the robot, the locking device 360 ​​moves axially to the inside of the robot to lock the track rod with the locking wheel on the variable track mechanism until the two lock the track rod 430 completely. At this time, the flip drive motor 310 continues to work, driving the inner shaft 340 to flip the entire variable track mechanism 400, driving the robot to overcome the obstacle. After successfully overcoming the obstacle, the flip drive motor 310 continues to drive the variable track mechanism 400 to rotate one revolution to support the robot again. Then, the flip drive motor 310 begins to reverse, and the locking wheel 450 drives the variable track mechanism 400 to move laterally inward. At the same time, the locking device 360 ​​moves outward and releases the track rod until it returns to the initial position. During this stage, the travel motor 001 and the travel transmission mechanism 200 do not work, that is, the track 410 does not rotate.

[0084] When the robot is climbing over an obstacle, it may be unable to climb over the obstacle due to insufficient power because the obstacle is too high. At this time, the drive motor 001 starts to work, driving the track 410 to rotate, assisting the robot to climb over the obstacle.

[0085] When passing through a small-diameter channel, the variable track mechanism folds up, and the flip drive motor 310 reverses, driving the folded variable track mechanism to move axially towards the inside of the machine body until it reaches the predetermined position so that the tracked robot can pass through the channel.

[0086] This invention is not limited to the above embodiments. Based on the technical solutions disclosed in this invention, those skilled in the art can make some substitutions and modifications to some of the technical features without creative effort, and all such substitutions and modifications are within the protection scope of this invention.

Claims

1. A traveling device for a track robot, characterized by, The application relates to a caterpillar robot, which comprises a running differential mechanism, a running transmission mechanism and a turnover mechanism. The running differential mechanism comprises a first driving bevel gear, a first driven bevel gear, a half shaft gear, a planetary gear, a half shaft, an output gear and a differential mechanism. The first driving bevel gear of the running differential mechanism is engaged with the first driven bevel gear of the differential mechanism. The half shaft gear is installed on the half shaft and engaged with the planetary gear installed on the differential mechanism. The variable track mechanism is provided with a track, a driving wheel, a track rod, a locking wheel and a track frame, the driving wheel rotates synchronously with the output shaft, drives the track to rotate, and through the axial movement of the locking wheel and the locker on the inner shaft and the mutual locking and releasing, the axial movement of the variable track mechanism and the obstacle crossing of the track robot are realized ； The output gear installed on the end of the half shaft is engaged with the input gear.

2. The traveling device for a track robot according to claim 1, characterized by The planetary gear is fixed by a pair of fixed shafts distributed along the inner wall of the differential mechanism shell. The running transmission mechanism comprises an input gear, an outer shaft, a shaft sleeve and an output shaft.

3. The traveling device for a track robot according to claim 2, wherein The input gear is connected to one side of the outer shaft.

4. The traveling apparatus for a track robot according to claim 1, wherein The shaft sleeve is installed on the other side of the outer shaft, and the output shaft is connected to the shaft sleeve.

5. The traveling apparatus for a track robot according to claim 1, characterized by The output shaft is fastened with the driving wheel. The turnover mechanism comprises a turnover driving motor, a second driving bevel gear, a second driven bevel gear, an inner shaft, a ball bearing and a lock.

6. The traveling apparatus for a track robot according to claim 5, wherein The second driving bevel gear of the turnover mechanism is engaged with the second driven bevel gear of the inner shaft.

7. The traveling apparatus for a track robot according to claim 6, wherein The locking wheel is externally mounted with a ball bearing, and locking holes are uniformly distributed on the inner end surface of the locking wheel, and the locking wheel is connected to the inner shaft 。 8. The traveling apparatus for a track robot according to claim 7, wherein The second driven bevel gear is connected with the inner shaft, and the ball bearing is installed on the inner shaft.

9. A method for traveling of a tracked robot using the apparatus according to any one of claims 1 to 8, characterized by, The inner shaft is connected with the lock wheel on both sides. The variable caterpillar mechanism comprises a caterpillar, a driving wheel, a caterpillar rod, a lock wheel, a supporting wheel and a caterpillar frame. The supporting wheel is fixed on the caterpillar frame. The caterpillar rod is locked on the lock wheel through the connecting rod cover. The lock wheel is connected with the driving wheel through the ball bearing. The driving wheel is fixed on the output shaft. The caterpillar is connected with the running wheel formed by the supporting wheel and the driving wheel. The lock comprises a shell with uniformly distributed convex bosses and a threaded rod connected with a disc. The convex boss passes through the lock hole on the lock wheel and locks the caterpillar rod through the lock groove on the caterpillar rod. In the normal running state, the running motor outputs the torque to drive the output gear of the running differential mechanism to rotate and drive the input gear of the running transmission mechanism to rotate. The input gear is coaxially rotated with the outer shaft. The outer shaft drives the output shaft to rotate and drives the driving wheel to rotate coaxially. The driving wheel drives the triangular caterpillar to rotate. When crossing higher obstacles, the turnover drive motor outputs torque to drive the bevel gear to rotate the inner shaft coaxially, and the inner shaft and the outer shaft do not interfere with each other; the inner shaft drives the locking wheel to rotate, and drives the variable track mechanism to move axially to the outside of the body to avoid the body interfering with the track turnover; the lock moves axially to the inside of the body and locks the track rod with the locking wheel on the variable track mechanism; The turnover drive motor drives the inner shaft to drive the variable track mechanism to turn over, and drives the robot to turn over the obstacle; after successfully crossing the obstacle, the turnover drive motor continues to drive the variable track mechanism to rotate one circle to support the robot again; Then the turnover drive motor reverses, the locking wheel drives the variable track mechanism to move axially to the inside, and the lock moves to the outside and releases the track rod, returning to the initial position; When the robot crosses the obstacle and the obstacle is too high, the robot cannot turn over the obstacle due to insufficient power, the driving motor works to drive the track to rotate and assist the track robot to turn over the obstacle.

10. The driving method for a track robot according to claim 9, characterized in that, In the normal driving state, the turnover mechanism does not work; When crossing higher obstacles, the turnover drive motor rotates, and the driving motor does not work at this stage, and the track does not rotate; When passing through a small-diameter channel, the variable track mechanism is folded, the turnover drive motor reverses, and drives the folded variable track mechanism to move axially to the inside of the body until it reaches a predetermined position, so that the track robot passes through the channel.

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