A deformable crawler chassis

Abstract

The present invention discloses a deformable crawler chassis based on dual drive motors and dual servos, which is used for obstacle crossing of low-lying crawler robot chassis. The chassis includes four parts: a front crawler group, a rear crawler group, a deformable clutch, and a frame. The front crawler group and the rear crawler group directly contact the ground to achieve basic movement; the deformable clutch is used to change the front crawler group between the first clutch position, the second clutch position, and the third clutch position, thereby changing the shape of the chassis to adapt to different terrains; the frame is used to fix the front crawler group, the rear crawler group, and the deformable clutch. This deformable crawler chassis makes up for the problems of large space occupation and low load capacity of traditional high-passability crawler chassis, realizes simple installation of the crawler chassis and simple working principle analysis, and realizes high-performance obstacle crossing of low-height crawler robot chassis with a more streamlined and reliable structure. The present invention has a simple structure, high interchangeability of parts, is easy to manufacture, and is easy to promote and apply.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler chassis, and in particular to a deformable crawler chassis controlled by dual drive motors and dual servos. Background Art

[0002] Tracked chassis is the main technology for high-terrain passability robot chassis. Currently, there are three main types of tracked chassis used in robots: the first is a double-track chassis with two tracks arranged on the left and right; the second is a multi-track chassis with other joint motors driving the deformation of the tracks in addition to the left and right tracks; and the third is a track-wheel chassis with tracks instead of individual wheels. However, all three types of tracked chassis have their own obvious shortcomings. In order to increase the passability, the double-track chassis and the track-wheel chassis increase the chassis height and volume, which makes it difficult to design a miniaturized chassis; the multi-track chassis can be designed as a miniaturized chassis because it can change the shape of the tracks to adapt to the terrain under the drive of joint motors or other controllable turning devices, but the addition of joint motors or other controllable turning devices increases the cost, and because the joint motors or other controllable turning devices directly drive the track swing arm, the load-bearing capacity of this chassis is limited. For example, the prior art discloses a "tracked chassis structure for a sweeping robot", in which the deformation of the sweeping robot chassis is driven by a hydraulic cylinder driving the first base plate bracket. Summary of the Invention

[0003] The purpose of the present invention is to solve the above-mentioned defects in the prior art and provide a deformable crawler chassis based on dual drive motors and dual servos control, so as to realize simple mechanical design and simple control of the crawler chassis, and realize the high-performance obstacle crossing function of the crawler chassis with a more reliable and simple mechanical structure.

[0004] The purpose of the present invention can be achieved by taking the following technical solutions:

[0005] A deformable crawler chassis includes a vehicle frame, a track assembly, and a deformable clutch. The assembly portion of the frame comprises an aluminum tube frame 25, vertical connectors 26, dual-bearing seat docking members 27, and single-bearing seat docking members 28. The aluminum tube frame 25 is formed into a rectangular frame by four aluminum tubes. The four aluminum tubes are fixed to the vertical connectors 26 by screws to limit the position of the four aluminum tubes. The dual-bearing seat docking members 27 are mirror images, three on each side, and are installed in pre-reserved holes in the aluminum tube frame 25. The single-bearing seat docking members 28 are mirror images, one on each side, and are installed in pre-reserved holes in the aluminum tube frame 25. The dual-bearing seat docking members 27 are used to secure two bearing seats 23, while the single-bearing seat docking members 28 are used to secure one bearing seat 23. The vertical connectors 26 secure the aluminum tube frame 25 into a stable planar quadrilateral structure, enabling the frame to bear the mass of other mechanisms and possess a certain degree of impact resistance and strength.

[0006] The track group is a mirror image of the left and right sides of the mechanism, wherein the assembly part of the single-side track group includes a front track group frame 1, a front driven track auxiliary frame 2, a driving track wheel 3, a drive motor 4, a front driving track 5, a track wheel group 6, a front driven track 7, a front driven track wheel 8, a flange bearing 9, a flange bearing baffle 10, a front driven shaft 11, a tightening sleeve 12, a middle shaft 14, a rear track driving wheel 15, a rear track 16, a rear middle shaft 18, a rear track driven wheel 19, a rear axle 20, a middle shaft driven clutch plate 21, a front track group driven clutch plate 22, a bearing seat 23, and a connecting plate 24. On the front track group frame 1, from front to back, the drive motor 4, the front track group frame 1, and the front track group frame 1 are sequentially assembled. The flange bearing 9 in the middle, the flange bearing 9 at the rear of the front track assembly frame 1, and the flange bearing baffles 10 are all installed on the flange bearings 9 at the middle and rear of the front track assembly frame 1 for axial limitation. The central shaft 14 is installed and radially limited on the flange bearing 9 in the middle of the front track assembly frame 1. The front driven shaft 11 is installed and radially limited on the flange bearing 9 at the rear of the front track assembly frame 1. The drive motor 4 drives the active track wheel 3 through the expansion sleeve 12. The active track wheel 3 drives the front active track 5. The front active track 5 drives the track wheel group 6 fixed to the central shaft 14. The track wheel group 6 drives the front driven track 7. The front driven track 7 drives the front driven track wheel 8 fixed to the front driven shaft 11. Through the limitation and lubrication of the flange bearing 9 and the connection relationship between the various parts, the power of the drive motor 4 is transmitted to the front active track 5 and the front driven track 7 step by step, realizing the basic movement of the front active track 5 and the front driven track 7 driven by the drive motor 4.

[0007] The assembly part of the single-sided track group transmits power to the rear track driving wheel 15 and the central shaft driven clutch plate 21 through the track wheel group 6 fixedly connected to the central shaft 14. The rear track driving wheel 15 drives the rear track 16, and the rear track drives the rear track driven wheel 19 fixedly connected to the rear shaft 20. Therefore, the power of the drive motor 4 is transmitted to the rear track 16, realizing the basic movement of the rear track 16 driven by the drive motor 4. At the same time, the power transmitted by the drive motor 4 to the central shaft 14 is transmitted to the central shaft driven clutch plate 21 through the fixed relationship, providing power for the deformation clutch part.

[0008] The assembly portion of the single-sided track assembly is equipped with a front driven track auxiliary frame 2 between the track wheel assembly 6 and the central shaft driven clutch plate 21. The front driven track auxiliary frame 2 is equipped with two flange bearings 9 that are concentric with the flange bearing 9 located in the middle of the front track assembly frame 1 and the flange bearing 9 located at the rear of the front track assembly frame 1. The above flange bearings 9 are axially limited by a fixed flange bearing baffle 10. The flange bearing baffle 10 is located on the side of the front driven track auxiliary frame 2 close to the track wheel assembly 6. On the side of the front driven track auxiliary frame 2 close to the central shaft driven clutch plate 21, a front track assembly driven clutch plate 22 is fixedly assembled on the front driven track auxiliary frame 2, concentric with the central shaft. The front driven track auxiliary frame 2 and the front track assembly frame 1 are isolated and supported by four spacers 13. The installation of this part increases the number of flange bearings 9 on the middle shaft 14 and the front driven shaft 11, thereby reducing the bending and shaking of the front driven shaft 11 and the middle shaft 14 caused by the virtual position and insufficient rigidity of the parts, thereby increasing the service life of the mechanism. At the same time, the front track group driven clutch plate 22 is fixedly assembled on the front driven track auxiliary frame 2, and the deformation clutch will lock the positional relationship between the front active track 5 and the front driven track 7 through the fixed connection relationship between the front track group driven clutch plate 22, the front driven track auxiliary frame 2, the pad 13, and the front track group frame 1.

[0009] In the assembly of the single-sided track assembly, the central axle 14 is mounted on a dual-bearing seat docking piece 27 and a single-bearing seat docking piece 28 on the front side of the vehicle frame via three bearing seats 23 located on the sides of the front track assembly frame 1 and on both sides of the rear track driving wheel 15, limiting the axial and radial movement and bending of the central axle 14. The rear axle 20 is mounted on a dual-bearing seat docking piece 27 on the rear side of the vehicle frame via two bearing seats 23 located on both sides of the rear track driven wheel 19, limiting the axial and radial movement of the rear axle 20. The several bearing seats 23 mounted on the frame limit and lubricate the various drive shafts of the track assembly, and through the assembly relationship, the relative position of the track assembly and the vehicle frame is fixed.

[0010] The deformation clutch is a mirrored left and right side mechanism. The assembly part of the single-sided deformation clutch includes a mobile clutch plate 29, a servo 30, a servo seat 31, a servo disc 32, a connecting rod 33, a vertical rotating piece 34, and a hinge 35. The servo seat 31 is fixed to the aluminum tube frame 25 of the frame by bolts, and the servo 30 is fixed to the servo seat 31 by bolts. A crank-shaped servo disc 32 is installed on the output shaft of the servo 30 by screws. The servo disc 32 is hinged to the connecting rod 33, and the connecting rod 33 is hinged to the vertical rotating piece 34. The vertical rotating piece 34 is fixed to the mobile clutch plate 29 by screws. The mobile clutch plate 29 is hinged to the frame by a hinge 35, and when the hinge 35 is expanded at 90 degrees, the mobile clutch plate 29 is located in the middle of the central shaft driven clutch plate 21 of the crawler group on its side and the driven clutch plate 22 of the front crawler group. The clutch part is fixed on the vehicle frame, and the power of the steering gear 30 is transmitted to the mobile clutch plate 29 through the connecting rod mechanism, thereby controlling the movement of the steering gear 30 to change the deformation clutch state.

[0011] Furthermore, the mirror-image left and right side mechanisms in the crawler assembly are connected by a connecting plate 24. The mirror-image left and right side mechanisms in the crawler assembly are fixed as a whole and move together.

[0012] Furthermore, a rear track support wheel 17 fixedly connected to the rear center shaft 18 is provided between the rear track driving wheel 15 and the rear track driven wheel 19 of the single-side track assembly. The rear center shaft 18 is fixed to a dual-bearing seat docking piece 27 on the middle side of the frame via two bearing seats 23. The dual-bearing seat docking piece 27 is used to limit the axial and radial movement of the rear center shaft 18. The addition of the rear track support wheel 17 increases the ground support points of the rear track 16, solves the problem of insufficient ground contact area caused by the elastic deformation of the rear track 16 during operation, and makes the rear track 16 have greater rigidity when the ground support area is small, and maintains a nearly parallel state with the frame.

[0013] The present invention has the following advantages and effects compared to the prior art:

[0014] 1. The crawler chassis disclosed in the present invention has a simple composition principle, high parts interchangeability, and is easy to manufacture.

[0015] 2. The deformable transmission part of the crawler chassis disclosed in the present invention has a stable structure, and the structure has low load requirements on the transmission parts and active parts. It rationally utilizes the cooperation of the drive motor and the servo to achieve deformation, and can achieve high adaptability to different terrains through the different shapes of the chassis after deformation.

[0016] 3. The crawler chassis disclosed in the present invention has a low overall height, a low center of gravity, and occupies a small space, which greatly reduces the risk of rollover of the crawler chassis on high-undulating terrain. The deformation control part is completed by the steering gear controlling the movement of the clutch plate through the connecting rod mechanism, which saves space and is not easy to be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 It is a schematic diagram of the overall structure of the crawler chassis disclosed in the present invention;

[0019] Figure 2 It is a schematic diagram of the frame portion of the crawler chassis disclosed in the present invention;

[0020] Figure 3 It is a front view of the crawler assembly portion of the crawler chassis disclosed in the present invention;

[0021] Figure 4 It is a top view of the crawler assembly portion of the crawler chassis disclosed in the present invention;

[0022] Figure 5 It is a front view of the deformed clutch portion of the crawler chassis disclosed in the present invention;

[0023] Figure 6 It is a front view of the central shaft driven clutch plate and the movable clutch plate of the crawler chassis disclosed in the present invention when locked;

[0024] Figure 7 It is a front view of the crawler chassis disclosed in the present invention in a first clutch position;

[0025] Figure 8 It is a front view of the crawler chassis disclosed in the present invention in the second clutch position;

[0026] Figure 9 It is a front view of the crawler chassis disclosed in the present invention in the third clutch position;

[0027] Among them, 1-front crawler frame, 2-front driven crawler auxiliary frame, 3-active crawler wheel, 4-drive motor, 5-front active crawler, 6-track wheel group, 7-front driven crawler, 8-front driven crawler wheel, 9-flange bearing, 10-flange bearing baffle, 11-front driven shaft, 12-expansion sleeve, 13-pad column, 14-middle shaft, 15-rear crawler driving wheel, 16-rear crawler, 17-rear crawler support wheel, 18-rear Middle shaft, 19-rear track driven wheel, 20-rear axle, 21-middle shaft driven clutch plate, 22-front track group driven clutch plate, 23-bearing seat, 24-connecting plate, 25-aluminum tube frame, 26-vertical connecting piece, 27-double bearing seat docking piece, 28-single bearing seat docking piece, 29-movable clutch plate, 30-servo, 31-servo seat, 32-servo disc, 33-connecting rod, 34-vertical rotating piece, 35-hinge. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] Example 1

[0030] like Figure 1 As shown, this embodiment discloses a deformable crawler chassis mechanism, which includes three parts: a frame, a crawler assembly, and a deformable clutch.

[0031] like Figure 2 As shown, the vehicle frame comprises an aluminum tube frame 25, vertical connectors 26, dual-bearing seat docking members 27, and single-bearing seat docking members 28. The vertical connectors 26 are screwed to secure the four aluminum tubes in the aluminum tube frame 25, forming a rectangular frame. The dual-bearing seat docking members 27 are mirror images, three on each side, for a total of six, and are installed in the reserved holes of the aluminum tube frame 25. The single-bearing seat docking members 28 are mirror images, one on each side, for a total of two, and are installed in the reserved holes of the aluminum tube frame 25. The dual-bearing seat docking members 27 can secure two bearing seats 23, while the single-bearing seat docking members 28 can secure one bearing seat 23. The multiple bearing seats 23 on the vehicle frame serve to limit and support the center axle 14, rear center axle 15, and rear axle 20 of the front track assembly.

[0032] like Figure 3As shown, the assembly part of the single-sided track group includes a front track group frame 1, a front driven track auxiliary frame 2, a driving track wheel 3, a drive motor 4, a front driving track 5, a track wheel group 6, a front driven track 7, a front driven track wheel 8, a flange bearing 9, a flange bearing baffle 10, a front driven shaft 11, a expansion sleeve 12, a pad 13, a middle shaft 14, a rear track driving wheel 15, a rear track 16, a rear track support wheel 17, a rear middle shaft 18, a rear track driven wheel 19, a rear axle 20, a middle shaft driven clutch plate 21, a front track group driven clutch plate 22, a bearing seat 23, and a connecting plate 24. On the front track assembly frame 1, a drive motor 4, a flange bearing 9 located in the middle of the front track assembly frame 1, and a flange bearing 9 located at the rear of the front track assembly frame 1 are sequentially assembled from front to rear. Flange bearing baffles 10 are installed on the flange bearings 9 located in the middle and rear of the front track assembly frame 1 for axial limitation. A central shaft 14 is installed and radially limited on the flange bearing 9 located in the middle of the front track assembly frame 1. A front driven shaft 11 is installed and radially limited on the flange bearing 9 located at the rear of the front track assembly frame 1. The drive motor 4 drives the active track wheel 3 through the expansion sleeve 12. The active track wheel 3 drives the front active track 5. The front active track 5 drives the track wheel group 6 fixedly connected to the central shaft 14. The track wheel group 6 drives the front driven track 7. The front driven track 7 drives the front driven track wheel 8 fixedly connected to the front driven shaft 11.

[0033] The track wheel assembly 6, which is fixed to the central axle 14, transmits power to the rear track driving wheel 15 and the central axle driven clutch plate 21. The rear track driving wheel 15 drives the rear track 16, which in turn drives the rear track driven wheel 19 fixed to the rear axle 20. A rear track support wheel 17, fixed to the rear central axle 18, is located between the rear track driving wheel 15 and the rear track driven wheel 19. The rear central axle 18 is fixed to a dual-bearing seat docking member 27 on the center side of the vehicle frame via two bearing seats 23, restricting the axial and radial movement of the rear central axle 18. Therefore, the output power of the drive motor 4 is transmitted sequentially through the driving track wheel 3, the front driving track 5, the track wheel assembly 6, the front driven track 7, the front driven track wheel 8, the central axle 14, the rear track driving wheel 15, the rear track 16, and the rear track driven wheel 19. Enables normal movement in mobile situations.

[0034] A front driven track auxiliary frame 2 is installed between the track wheel assembly 6 and the central shaft driven clutch plate 21. The front driven track auxiliary frame 2 is equipped with two flange bearings 9, which are concentric with the flange bearings 9 located in the middle of the front track assembly frame 1 and the flange bearings 9 located at the rear of the front track assembly frame 1. Both flange bearings 9 are additionally installed and fixed with flange bearing baffles 10 for axial limitation. The additional flange bearing baffles 10 are located on the side of the front driven track auxiliary frame 2 close to the track wheel assembly 6. On the side of the front driven track auxiliary frame 2 close to the central shaft driven clutch plate 21, a front track assembly driven clutch plate 22 is fixedly assembled on the front driven track auxiliary frame 2, concentric with the central shaft. The front driven track auxiliary frame 2 and the front track assembly frame 1 of the single-sided track assembly are isolated and supported by four spacers 13. The main function of the front driven track auxiliary frame 2 is to support and limit the vehicle's shape through deformation clutching.

[0035] like Figure 4 As shown, the track assembly's left and right mechanisms are partially mirrored. In the assembly of a single track assembly, the center axle 14 is mounted on a dual-bearing seat docking piece 27 and a single-bearing seat docking piece 28 at the front of the vehicle frame via three bearing blocks 23 located on the sides of the front track assembly frame 1 and on either side of the rear track driving wheel 15, restricting axial and radial movement and bending of the center axle 14. The rear axle 20 is mounted on a dual-bearing seat docking piece 27 at the rear of the vehicle frame via two bearing blocks 23 located on either side of the rear track driven wheel 19, restricting axial and radial movement of the rear axle 20. The mirrored left and right mechanisms are connected by a connecting plate 24.

[0036] like Figure 5 As shown, the deformable clutch mirrors the left and right side mechanisms of the vehicle frame. The assembly of the single-sided deformable clutch includes a movable clutch plate 29, a servo 30, a servo seat 31, a servo disc 32, a connecting rod 33, a vertical rotating member 34, and a hinge 35. The servo seat 31 is bolted to the aluminum tube frame 25 of the vehicle frame. The servo 30 is also bolted to the servo seat 31. The crank-shaped servo disc 32 is screwed to the output shaft of the servo 30. The servo disc 32 is hinged to the connecting rod 33, which is hinged to the vertical rotating member 34. The vertical rotating member 34 is screwed to the movable clutch plate 29. The movable clutch plate 29 is hinged to the vehicle frame via a hinge 35. When the hinge 35 is extended 90 degrees, the movable clutch plate 29 is located directly between the center shaft driven clutch plate 21 and the front track driven clutch plate 22 of the crawler group on that side of the vehicle frame.

[0037] Therefore, the frame part realizes the fixation of the overall frame of the deformable crawler chassis, the track group part realizes the movement of the deformable crawler chassis, and the deformation clutch part realizes the change of the shape of the deformable crawler chassis.

[0038] The working method of a deformable crawler chassis disclosed in this embodiment is as follows:

[0039] In the initial state, the deformation clutches on both sides of the vehicle body are locked on the front track driven clutch plates 22 of the mirror-image moving clutch plates 29 on both sides. The locked state of the front track driven clutch plates 22 and the moving clutch plates 29 is as follows: Figure 6 As shown, in addition, the locked state of the middle shaft driven clutch plate 21 and the movable clutch plate 29 is the same as its principle. The crawler group is fixed in the first clutch position, as shown in FIG. Figure 7 As shown. The first clutch position is the most commonly used clutch position. In this position, the angle between the front active track 5 and the rear track 16 is 24 degrees, and the front driven track 7 is parallel to the rear track 16. The 24-degree inclination between the front active track 5 and the rear track 16 enables the vehicle to overcome obstacles on undulating urban roads. By partially mirroring the track assembly to form the front active track 5, rear track 16, and front driven track 7 on the left and right sides of the vehicle, the vehicle's basic forward, reverse, left, and right turning functions can be achieved by the opposite differential rotation and the same direction rotation of the drive motor 4.

[0040] When the deformation clutch is in operation, the servo 30 of the deformation clutch mechanism on the left side of the vehicle body first drives the movable clutch plate 29 on that side through the crank-connecting rod mechanism, shifting it from being locked on the front track assembly driven clutch plate 22 to being locked on the central shaft driven clutch plate 21 on that side. At the same time, the servo 30 of the deformation clutch mechanism on the right side of the vehicle body, through the crank-connecting rod mechanism, drives the movable clutch plate 29 on that side from being locked on the front track assembly driven clutch plate 22 to being locked on the central shaft driven clutch plate 21 on that side. The deformation clutches on both sides of the vehicle body move separately to maintain the track assembly stationary. If both sides move simultaneously, the movable clutch plates 29 on both sides will inevitably be centered between the front track assembly driven clutch plate 22 and the central shaft driven clutch plate 21. In this case, the degrees of freedom of the front track assembly frame 1 are not fully restricted, resulting in turbulent movement. When the movable clutch plates 29 on both sides of the vehicle body are locked on the driven clutch plates 21 of the central shaft on that side during deformation clutching, the drive motors 4 on both sides rotate in the opposite direction, driving the front crawler frames 1 on both sides to rotate around the central shafts 14 on both sides, thereby realizing the change of the clutch state.

[0041] By controlling the number of rotations of the drive motors 4 on both sides in the first clutch position, the motor output shaft on the left side of the crawler chassis rotates 24 degrees counterclockwise, and the crawler group moves from the first clutch position to the second clutch position. Figure 8Following the same principle, the servo 30 of the deformable clutch mechanism on the left side of the vehicle body first drives the movable clutch plate 29 on that side through the crank-connecting rod mechanism, shifting the locking position from the central shaft driven clutch plate 21 to the locking position on the front crawler track assembly driven clutch plate 22. Meanwhile, the servo 30 of the deformable clutch mechanism on the right side of the vehicle body drives the movable clutch plate 29 on that side through the crank-connecting rod mechanism, shifting the locking position from the central shaft driven clutch plate 21 to the locking position on the front crawler track assembly driven clutch plate 22. At this point, the crawler track assembly is partially fixed in the second clutch position. The included angle between the front active track 5 and the rear track 16 is 48 degrees, and the included angle between the front driven track 7 and the rear track 16 is -24 degrees. Therefore, the front of the crawler chassis is supported by the front driven track 7 approaching the front driven track wheel 8 to contact the ground. At the same time, because the included angle between the front active track 5 and the rear track 16 changes from 24 degrees to 48 degrees, the approach angle of the crawler chassis is further increased, which can achieve the passage of high obstacles.

[0042] By controlling the number of rotations of the drive motors 4 on both sides in the first clutch position, the motor output shaft on the left side of the crawler chassis rotates 24 degrees clockwise in the opposite direction, and the crawler group moves from the first clutch position to the third clutch position. Figure 9 As shown in the figure, the same principle applies: the servo 30 of the deformable clutch mechanism on the left side of the vehicle body first drives the movable clutch plate 29 on that side through a crank-connecting rod mechanism, shifting the locking position from the central shaft driven clutch plate 21 to the locking position on the front track assembly driven clutch plate 22. Meanwhile, the servo 30 of the deformable clutch mechanism on the right side of the vehicle body drives the movable clutch plate 29 on that side through a crank-connecting rod mechanism, shifting the locking position from the central shaft driven clutch plate 21 to the locking position on the front track assembly driven clutch plate 22. The track assembly is now partially fixed in the third clutch position. The front driving track 5 is parallel to the rear track 16, and the angle between the front driven track 7 and the rear track 16 is 24 degrees. Therefore, the actual wheelbase of the crawler chassis in contact with the ground becomes the center distance between the driving track wheel 3 and the rear track driven wheel 19. This significantly increases the ground contact area of ​​the crawler chassis, making it possible to pass long-span continuous obstacles, such as stairs.

[0043] Based on the same control principle, by controlling the movement of the servo 30 of the deformation clutch part and the drive motor 4 of the track group part, the track chassis can be switched back and forth between the first clutch position, the second clutch position, and the third clutch position to pass through complex terrain.

[0044] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A deformable crawler chassis, characterized in that: The crawler chassis includes a frame, a crawler assembly, and a deformable clutch, wherein: The assembly part of the frame includes an aluminum tube frame (25), a vertical connector (26), a double bearing seat docking piece (27), and a single bearing seat docking piece (28). The aluminum tube frame (25) is formed into a rectangular frame by four aluminum tubes. The four aluminum tubes are fixed to the vertical connector (26) by screws to limit the above four aluminum tubes. The double bearing seat docking piece (27) is a left-right mirror image, three on each side, and is installed on the reserved hole of the aluminum tube frame (25). The single bearing seat docking piece (28) is a left-right mirror image, one on each side, and is installed on the reserved hole of the aluminum tube frame (25). The double bearing seat docking piece (27) is used to fix two bearing seats (23), and the single bearing seat docking piece (28) is used to fix one bearing seat (23). The crawler group is a mirror image of a left and right side mechanism, wherein the assembly part of the single-side crawler group includes a front crawler group frame (1), a front driven crawler auxiliary frame (2), a driving crawler wheel (3), a driving motor (4), a front driving crawler (5), a crawler wheel group (6), a front driven crawler (7), a front driven crawler wheel (8), a flange bearing (9), a flange bearing baffle (10), a front driven shaft (11), a tightening sleeve (12), a middle shaft (14), a rear crawler driving wheel (15), a rear crawler (16), a rear middle shaft (18), a rear crawler driven wheel (19), a rear shaft (20), a middle shaft driven clutch plate (21), a front crawler group driven clutch plate (22), a bearing seat (23), and a connecting plate (24). On the front crawler group frame (1), the driving motor (4), the front crawler group frame (1) and the clutch plate (21) are assembled in sequence from front to back. The flange bearing (9) in the middle, the flange bearing (9) at the rear of the front crawler frame (1), the flange bearing baffles (10) at the middle and rear of the front crawler frame (1) are all installed with flange bearing baffles (10) for axial limitation, the flange bearing (9) at the middle of the front crawler frame (1) is installed and radially limited on the middle shaft (14), the flange bearing (9) at the rear of the front crawler frame (1) is installed and radially limited on the front driven shaft (11), the driving motor (4) drives the active crawler wheel (3) through the expansion sleeve (12), the active crawler wheel (3) drives the front active crawler (5), the front active crawler (5) drives the crawler wheel group (6) fixed on the middle shaft (14), the crawler wheel group (6) drives the front driven crawler (7), and the front driven crawler (7) drives the front driven crawler wheel (8) fixed on the front driven shaft (11); The assembly part of the single-side crawler group transmits power to the rear crawler driving wheel (15) and the middle shaft driven clutch plate (21) through the crawler wheel group (6) fixedly connected to the middle shaft (14), the rear crawler driving wheel (15), and the middle shaft driven clutch plate (21). The rear crawler driving wheel (15) drives the rear crawler (16), and the rear crawler drives the rear crawler driven wheel (19) fixedly connected to the rear shaft (20). The assembly portion of the single-sided crawler group is provided with a front driven crawler auxiliary frame (2) between the crawler wheel group (6) and the middle shaft driven clutch plate (21); the front driven crawler auxiliary frame (2) is provided with two flange bearings (9) which are respectively concentric with the flange bearing (9) located in the middle of the front crawler group frame (1) and the flange bearing (9) located at the rear of the front crawler group frame (1); and the above flange bearings (9) are axially limited by a fixed flange bearing baffle (10); the flange bearing baffle (10) is located on a side of the front driven crawler auxiliary frame (2) close to the crawler wheel group (6); on a side of the front driven crawler auxiliary frame (2) close to the middle shaft driven clutch plate (21), a front crawler group driven clutch plate (22) is fixedly assembled on the front driven crawler auxiliary frame (2) concentric with the middle shaft; The assembly part of the single-side crawler group is characterized in that the middle shaft (14) is mounted on a double-bearing seat docking piece (27) and a single-bearing seat docking piece (28) on the front side of the vehicle frame through three bearing seats (23) respectively located on the sides of the front crawler group frame (1) and on both sides of the rear crawler driving wheel (15), thereby limiting the axial and radial movement and bending of the middle shaft (14); the rear shaft (20) is mounted on the double-bearing seat docking piece (27) on the rear side of the vehicle frame through two bearing seats (23) respectively located on both sides of the rear crawler driven wheel (19), thereby limiting the axial and radial movement of the rear shaft (20); The deformation clutch is a mirror image of the left and right side mechanisms. The assembly part of the single-side deformation clutch includes a movable clutch plate (29), a steering gear (30), a steering gear seat (31), a steering gear disc (32), a connecting rod (33), a vertical rotating member (34), and a hinge (35). The steering gear seat (31) is fixed to the aluminum tube frame (25) of the vehicle frame by bolts, the steering gear (30) is fixed to the steering gear seat (31) by bolts, and a crank-shaped steering gear is installed on the output shaft of the steering gear (30) by screws. The steering gear disc (32) is hinged to the connecting rod (33), the connecting rod (33) is hinged to the vertical rotating member (34), the vertical rotating member (34) is fixed to the movable clutch plate (29) by screws, the movable clutch plate (29) is hinged to the vehicle frame by a hinge (35), and when the hinge (35) is unfolded at 90 degrees, the movable clutch plate (29) is located in the middle of the central shaft driven clutch plate (21) of the crawler group on its side and the driven clutch plate (22) of the front crawler group.

2. A deformable crawler chassis according to claim 1, characterized in that: The mirror-image left and right side mechanisms in the crawler assembly are connected via a connecting plate (24).

3. The deformable crawler chassis according to claim 1, characterized in that: The front driven crawler auxiliary frame (2) and the front crawler assembly frame (1) of the single-sided crawler assembly assembly part are isolated and supported by four pad columns (13).

4. The deformable crawler chassis according to claim 1, characterized in that: A rear crawler support wheel (17) fixedly connected to a rear middle shaft (18) is provided between the rear crawler driving wheel (15) and the rear crawler driven wheel (19) of the single-sided crawler assembly part. The rear middle shaft (18) is fixed to a double-bearing seat docking piece (27) on the middle side of the vehicle frame through two bearing seats (23). The double-bearing seat docking piece (27) is used to limit the axial and radial movement of the rear middle shaft (18).

Images