Distributed power unit applied to all-terrain wheeled robot

Abstract

The distributed power units are arranged on the two sides of a vehicle body correspondingly, each distributed power unit comprises a power bridge shell, driving shafts, a transmission assembly and a driving motor, the driving shafts are rotationally arranged at the two ends of the power bridge shell correspondingly, tires are arranged at one ends of the driving shafts correspondingly, and the driving motors are arranged at the other ends of the driving shafts correspondingly. A driving motor is installed in the middle of one side of the power bridge shell, and the output end of the driving motor drives the two driving shafts to rotate through a transmission assembly in the power bridge shell. The transmission assembly comprises a driving shaft, a driving gear, driven shafts, driven gears, a first chain wheel and a second chain wheel, the driving shaft is rotationally arranged in the power bridge shell, one end of the driving shaft is connected with the output end of the driving motor, the other end of the driving shaft is provided with the driving gear, and the left and right sides of the driving gear are engaged with the driven gears respectively; the driven gears are arranged on two driven shafts correspondingly, first chain wheels are arranged on the driven shafts correspondingly, and the first chain wheels are in transmission connection with second chain wheels arranged on the driving shafts through chains, so that the driving motor drives the two tires to rotate through the transmission assembly, modular power units are adopted, and each power bridge can be independently driven to run through the driving motor. One or more power units are used for assembling, so that the requirement for different load capacities of the robot is met.

Description

Technical Field

[0001] The invention relates to a power unit, in particular to a distributed power unit applied to a low-speed all-terrain wheeled robot. Background Art

[0002] An all-terrain wheeled robot refers to a robot that can travel on any terrain. It can move freely on terrain where ordinary vehicles are difficult to maneuver. All-terrain robots have multiple uses and are not restricted by road conditions. At present, the traditional all-terrain robot drive system outputs power from the motor or generator in the vehicle body to the gearbox, and then directly connects the output shafts at both ends of the gearbox to the tires on both sides to achieve power drive. This power drive method will cause components such as motors to occupy a large amount of space in the vehicle body, and it is relatively cumbersome to inspect and disassemble. Chinese patent document CN202223200378.5 discloses an explosion-proof all-terrain intelligent robot platform for mining. In this application, a drive axle is set on both sides of the frame, and a tire is set at each end of the drive axle. The two tires are driven to rotate by the motor in the middle. In this application, the overall structure of the drive axle is relatively fixed and cannot be assembled modularly, resulting in limited application scenarios for all-terrain robots. Summary of the invention

[0003] In view of the above problems, the present invention discloses a distributed power unit applied to an all-terrain wheeled robot, which adopts a modular structure design to realize the assembly function and meet the application requirements of different scenarios.

[0004] The specific technical solutions are as follows:

[0005] A distributed power unit applied to an all-terrain wheeled robot, the number of which is at least two and which are respectively arranged on both sides of the vehicle body, each distributed power unit comprises a power bridge housing, a drive shaft, a transmission assembly and a drive motor, a drive shaft is respectively arranged at both ends of the power bridge housing for horizontal rotation, a tire is respectively arranged at one end of the two drive shafts, the drive motor is installed in the middle of one side of the power bridge housing, and the output end of the drive motor drives the two drive shafts to rotate through the transmission assembly in the power bridge housing; the transmission assembly comprises a driving shaft, a driving gear, a driven shaft, a driven gear, a first sprocket and a second sprocket, the driving shaft is horizontally rotatably arranged in the power bridge housing, one end of the driving shaft is connected to the output end of the drive motor, and the other end is provided with a driving gear, the left and right sides of the driving gear are respectively meshed and connected with a driven gear, and the two driven gears are respectively arranged on the two driven shafts, the two ends of the driven shaft are rotatably connected to the power bridge housing, and the first sprocket is arranged on the driven shaft, and the first sprocket is transmission-connected with the second sprocket arranged on the drive shaft through a chain, so that the drive motor drives the two tires to rotate through the transmission assembly.

[0006] Furthermore, a chain tensioner for tensioning the upper and lower sections of the chain is provided in the power bridge housing, and the chain tensioner includes a tensioning seat, a tensioning gear, and a movable rod. There are two tensioning seats and they are symmetrically distributed up and down. The middle parts of the two tensioning seats are hingedly connected to the side walls of the power bridge housing through pins, and one tensioning gear is rotatably set on the ends of the two tensioning seats that are away from each other. The two tensioning gears are respectively located on the outsides of the upper and lower sections of the chain and meshed with them; the adjacent ends of the two tensioning seats are hingedly connected to one end of the movable rod, and the movable rod is horizontally arranged, and the movable rod is adjusted and translated by a tension adjustment assembly on the outer wall of the power bridge housing, so that the two tensioning seats rotate along the pins driven by the movable rod and press the upper and lower sections of the chain through the tensioning gears.

[0007] Furthermore, the tensioning seats include two tensioning plates and a baffle, the two tensioning plates are symmetrically arranged, the tensioning gear is rotatably arranged between one ends of the two tensioning plates, and a channel for the chain to pass through is formed between the two tensioning plates, the two tensioning plates are located at one end outside the tensioning gear and are connected by the baffle, and a plurality of circular holes for the pin shaft to pass through are opened in the middle of the tensioning plate.

[0008] Furthermore, the tension adjustment assembly includes two fixed blocks, two guide rods, a movable block, and an adjusting screw. The two fixed blocks are fixed on the outer wall of the power bridge housing, the guide rod is horizontally arranged between the two fixed blocks, and the movable block is slidably arranged on the two guide rods. The movable block is horizontally rotatably connected to one end of the adjusting screw, the adjusting screw passes through one of the fixed blocks and is connected to a thread, so that the adjusting screw rotates and drives the movable block to translate under the action of the thread of the fixed block; a connecting rod is horizontally arranged on one side of the movable block, one end of the connecting rod passes through the power bridge housing and is fixedly connected to one end of the movable rod, and a sliding port for the movement of the connecting rod is transversely provided on the side wall of the power bridge housing, so that the movable block drives the movable rod to translate by connecting to the sliding port, so as to adjust the tension of the chain.

[0009] Furthermore, the power bridge housing includes a mounting plate and a cover plate. The mounting plate is a rectangular flat plate structure. A bearing plate is extended from the upper end of the mounting plate. A plurality of mounting holes are horizontally opened on the bearing plate. The cover plate is fixed to the mounting plate by fasteners and covers the outside of the transmission assembly.

[0010] Furthermore, a positioning bracket is provided in the power bridge housing, and two sides of the positioning bracket are fixedly connected to two sides of the power bridge housing, the driving shaft is horizontally penetrated through the middle of the positioning bracket, and the driven shaft is horizontally penetrated through both ends of the positioning bracket, and positioning holes are respectively opened on both sides of the positioning bracket at the positions of the driving shaft and the driven shaft, and the positioning holes are rotatably connected to the driving shaft and the driven shaft through bearings.

[0011] Furthermore, protective plates are provided on both sides of the second sprocket. The two protective plates are arranged close to the two sides of the chain. Through holes are opened in the centers of the two protective plate sleeves for the drive shaft to pass through. The two protective plates are connected and fixed by fasteners, and the two protective plates are fixedly connected to one side of the power bridge housing by a fixing rod.

[0012] Furthermore, a mounting sleeve is provided in the middle of the drive shaft, one end of the mounting sleeve is fixed to one side of the power bridge housing, and the two ends of the mounting sleeve are rotatably connected to the middle of the drive shaft through bearing seats respectively, and one end of the drive shaft extends into the power bridge housing and is rotatably connected to the other side of the power bridge housing through the bearing seat.

[0013] Furthermore, the bearing seat includes two hoop rings and a spherical bearing, the outer side surface of the spherical bearing is spherically arranged, the two hoop rings are symmetrically arranged and sleeved on the outside of the spherical bearing, the outer edges of the two hoop rings are connected and fixed by fasteners, and the inner side walls of the two hoop rings are spherically arranged and adapted to the outer side of the spherical bearing, thereby realizing the positioning of the spherical bearing by the two hoop rings.

[0014] Furthermore, one end of the driving shaft is sleeved with a wheel hub sleeve, the tire is arranged on the wheel hub sleeve, and the wheel hub sleeve and the driving shaft are rotatably connected via a bearing, a through hole is provided at the front end of the wheel hub sleeve for the driving shaft to pass through, and positioning grooves are provided at the front end surface of the wheel hub sleeve and the front end surface of the driving shaft, so that the front end of the wheel hub sleeve and the front end of the driving shaft can be clutched through a shaft head lock assembly, and the shaft head lock assembly includes a key block and a key pressing strip, the key block is embedded in the positioning groove arranged on the front end surface of the driving shaft, and both ends of the key block extend to the positioning grooves on the wheel hub sleeve, and the key pressing strip is fixed to the front end surface of the wheel hub sleeve by fasteners and presses and limits the key block.

[0015] The beneficial effects of the present invention are embodied in:

[0016] (1) The present invention adopts a modular power unit, and each power bridge can be independently driven by a drive motor. By assembling one or more power units, the robot can meet the different load requirements and can be applied to vehicle body structures of different lengths and widths.

[0017] (2) The power unit of the present invention has a compact structure. The driving motor drives the two driving shafts to rotate through the driving shaft and the transmission assembly, thereby realizing the synchronous rotation of the two tires. The tires of the power units on both sides of the vehicle body rotate in opposite directions, thereby realizing the in-situ rotation function of the all-terrain unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front structural schematic diagram of the power unit of the present invention.

[0019] Figure 2It is a schematic diagram of the back structure of the power unit of the present invention.

[0020] Figure 3 It is a schematic diagram of the internal structure of the power unit of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the power unit after the tires are removed in the present invention.

[0022] Figure 5 It is a structural schematic diagram of the transmission component in the present invention.

[0023] Figure 6 It is the front view of the transmission assembly in the present invention.

[0024] Figure 7 It is a schematic structural diagram of the chain tensioner in the present invention.

[0025] Explanation of the accompanying drawings: power bridge housing 1, cover plate 11, slide 111, mounting plate 12, bearing plate 121, mounting hole 1211, drive shaft 2, hub sleeve 21, positioning groove 22, key block 23, key pressure strip 24, mounting sleeve seat 25, bearing seat 26, clamp ring 261, spherical bearing 262, tire 3, transmission assembly 4, driving shaft 41, driving gear 42, driven shaft 43, driven gear 44, first sprocket 45, second sprocket 46, chain 47, positioning bracket 48, protective plate 49, positioning hole 481, chain tensioner 5, tensioning seat 51, tensioning plate 511, round hole 5111, baffle 512, tensioning gear 52, movable rod 53, pin 54, tension adjustment assembly 6, fixed block 61, guide rod 62, movable block 63, adjusting screw 64, connecting rod 65, drive motor 7. DETAILED DESCRIPTION

[0026] In order to make the technical solution of the present invention clearer, the present invention is further described below in conjunction with the accompanying drawings. Any equivalent replacement of the technical features of the technical solution of the present invention and any solution derived from conventional reasoning shall fall within the protection scope of the present invention. The fixed connection and fixed setting mentioned in the present invention are all common connection methods in the mechanical field, including welding, bolt and nut connection, and screw connection.

[0027] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0028] See also Figure 1-7 The present embodiment provides a distributed power unit for an all-terrain wheeled robot, the number of which is at least two and evenly arranged on both sides of the vehicle body, each distributed power unit includes a power bridge housing 1, a drive shaft 2, a transmission assembly 4 and a drive motor 7, the power bridge housing includes a mounting plate 12 and a cover plate 11, the mounting plate 12 is a rectangular flat plate structure, the mounting plate 12 is used to connect and fix with one side of the vehicle body, a bearing plate 121 is extended from the upper end of the mounting plate 12, the thickness of the bearing plate 121 is greater than the mounting plate 12, and a plurality of mounting holes 1211 are horizontally opened on the bearing plate 121 and are used to play a connecting and bearing role, and the cover plate 11 is fixed to the mounting plate 12 by fasteners and is covered on the outside of the transmission assembly 4. A drive shaft 2 is respectively arranged at both ends of the power bridge housing for horizontal rotation, and tires 3 are respectively arranged at one end of the two drive shafts 2. A drive motor 7 is installed in the middle of one side of the power bridge housing, and the drive motor 7 in this embodiment adopts an explosion-proof permanent magnet synchronous motor. The output end of the drive motor 7 drives the two drive shafts 2 to rotate through the transmission assembly 4 in the power bridge housing. The transmission assembly 4 includes a driving shaft 41, a driving gear 42, a driven shaft 43, a driven gear 44, a first sprocket 45, and a second sprocket 46. The driving shaft 41 is horizontally rotatably arranged in the power bridge housing 1. One end of the driving shaft 41 is connected to the output end of the driving motor 7, and a driving gear 42 is arranged on the other end. The left and right sides of the driving gear 42 are respectively meshed and connected with a driven gear 44. The two driven gears 44 are respectively arranged on two driven shafts 43. Both ends of the driven shaft 43 are rotatably connected to the power bridge housing. The driven shaft 43 is provided with a first sprocket 45. The first sprocket 45 is transmission-connected to the second sprocket 46 arranged on the driving shaft 2 through a chain 47, so that the driving motor 7 drives the two tires 3 to rotate through the transmission assembly 4.

[0029] In this embodiment, chain tensioners 5 for tensioning the upper and lower sections of the two chains 47 are respectively provided at both ends of the power bridge housing 1. The chain tensioner 5 includes a tensioning seat 51, a tensioning gear 52, and a movable rod 53. There are two tensioning seats 51 and they are symmetrically distributed up and down. The middle parts of the two tensioning seats 51 are hingedly connected to the side walls of the power bridge housing through pins 54 respectively. A tensioning gear 52 is rotatably set on the ends away from each other of the two tensioning seats 51. The two tensioning gears 52 are respectively located on the outer sides of the upper and lower sections of the chain 47 and meshed with them; the adjacent ends of the two tensioning seats 51 are hingedly connected to one end of the movable rod 53. The movable rod 53 is horizontally set, and the movable rod 53 is adjusted and translated by the tension adjustment component 6 on the outer wall of the power bridge housing, so that the two tensioning seats 51 are driven by the movable rod 53 to rotate along the pin 54 and press the upper and lower sections of the chain 47 through the tensioning gear 52 to achieve tension adjustment of the chain 47.

[0030] The tensioning seats 51 each include two tensioning plates 511 and a baffle 512. The two tensioning plates 511 are symmetrically arranged. A tensioning gear 52 is rotatably arranged between one ends of the two tensioning plates 511, and a channel for the chain 47 to pass through is formed between the two tensioning plates 511. The two tensioning plates 511 are located at one end of the outer side of the tensioning gear 52 and are connected by the baffle 512. The baffle 512 is used to prevent debris from entering the tensioning gear 52. A plurality of circular holes 5111 for the pin shaft 54 ​​to pass through are opened in the middle of the tensioning plate 511 to facilitate the installation and adjustment of the tensioning seat 51.

[0031] In this embodiment, the tension adjustment component 6 includes two fixed blocks 61, two guide rods 62, a movable block 63, and an adjusting screw 64. The two fixed blocks 61 are fixed on the outer wall of the cover plate 11, and a guide rod is horizontally arranged between the two fixed blocks 61. The movable block 63 is slidably arranged on the two guide rods. One end of the movable block 63 is horizontally rotatably connected to the adjusting screw 64. The adjusting screw 64 passes through one of the fixed blocks 61 and is connected with a thread, so that the adjusting screw 64 rotates and drives the movable block 63 to translate under the action of the thread of the fixed block 61; a connecting rod 65 is horizontally arranged on one side of the movable block 63, one end of the connecting rod 65 passes through the cover plate 11 and is fixedly connected to one end of the movable rod 53, and a sliding port 111 for the movement of the connecting rod 65 is transversely arranged on the side wall of the cover plate 11, so that the movable block 63 drives the movable rod 53 to translate by connecting to it, thereby realizing the tension adjustment of the chain 47. The operation is simple and convenient, and the normal operation of the transmission component 4 is ensured.

[0032] In this embodiment, a positioning bracket 48 is provided in the power bridge housing 1, and the two sides of the positioning bracket 48 are fixedly connected to the two sides of the power bridge housing. A driving shaft 41 is horizontally penetrated through the middle of the positioning bracket 48, and a driven shaft 43 is horizontally penetrated through both ends of the positioning bracket 48. Positioning holes 481 are respectively opened on both sides of the positioning bracket 48 at the positions of the driving shaft 41 and the driven shaft 43, and the positioning holes 481 are respectively connected to the driving shaft 41 and the driven shaft 43 through bearings.

[0033] In this embodiment, the diameter of the driving gear 42 is smaller than that of the driven gear 44, and the diameter of the second sprocket 46 is larger than that of the first sprocket 45. Protective plates 49 are provided on both sides of the second sprocket 46. The two protective plates 49 are arranged close to the two sides of the chain 47, and the outer adjacent ends of the two protective plates 49 are bent to form folded plates, which are located on the outer side of the chain 47 to protect and position the chain 47. The two protective plates 49 have openings in the center for the drive shaft 2 to pass through. The two protective plates 49 are connected and fixed by fasteners, and the two protective plates 49 are fixedly connected to one side of the power bridge housing through a fixing rod.

[0034] A mounting sleeve 25 is sleeved in the middle of the drive shaft 2, one end of the mounting sleeve 25 is fixed to one side of the power bridge housing, and the two ends of the mounting sleeve 25 are rotatably connected to the middle of the drive shaft 2 through bearing seats 26 respectively. One end of the drive shaft extends into the power bridge housing 1 and is rotatably connected to the other side of the power bridge housing 1 through the bearing seat 26, thereby realizing the rotational positioning of the drive shaft 2.

[0035] The bearing seat 26 includes two hoop rings 261 and a spherical bearing 262. The outer side surface of the spherical bearing 262 is spherically set. The two hoop rings 261 are symmetrically set and sleeved on the outside of the spherical bearing 262. The outer edges of the two hoop rings 261 are connected and fixed by fasteners, and the inner side walls of the two hoop rings 261 are spherically set and matched with the outer side of the spherical bearing 262, so that the two hoop rings 261 can clamp and position the spherical bearing 262. The use of this bearing structure can enable the bearing to be quickly installed and disassembled, which is convenient for maintenance.

[0036] One end of the drive shaft 2 is sleeved with a hub sleeve 21, a tire 3 is arranged on the hub sleeve 21, and the hub sleeve 21 is rotatably connected with the drive shaft 2 through a bearing, a through hole for the drive shaft 2 to pass through is provided at the front end of the hub sleeve 21, and a positioning groove 22 is provided on the front end surface of the hub sleeve 21 and the front end surface of the drive shaft 2, so that the front end of the hub sleeve 21 and the front end of the drive shaft 2 can be clutched through the shaft head lock assembly, and the shaft head lock assembly includes a key block 23 and a key pressing strip 24, the key block 23 is embedded in the positioning groove 22 arranged on the front end surface of the drive shaft 2, and the two ends of the key block 23 extend to the positioning groove 22 on the hub sleeve 21, and the key pressing strip 24 is fixed to the front end surface of the hub sleeve 21 by a fastener and presses and limits the key block 23. When the all-terrain robot needs to be towed or pushed, the key pressing strip 24 and the key block 23 are removed by tools, so that the hub sleeve 21 can be idling around the drive shaft 2, which is simple to operate and meets the towing or pushing requirements of the all-terrain wheeled robot.

[0037] During assembly, multiple power units can be installed on both sides of the vehicle body in sequence according to the length of the vehicle body, and then a control unit and a power supply can be installed in the middle of the vehicle body to form a four-wheel or eight-wheel unmanned vehicle platform, realizing modular splicing to meet the needs of robots with different load capacities, lengths, and widths. When the unmanned vehicle platform turns, the left and right steering functions are realized through the speed difference of the tires 3 of the power units on both sides of the vehicle body; when the unmanned vehicle platform rotates and turns around, the tires 3 of the power units on both sides of the vehicle body rotate in opposite directions to realize the function of sliding rotation in situ.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A distributed power unit for an all-terrain wheeled robot, the number of which is at least two and which are respectively arranged on both sides of the vehicle body, It is characterized in that Each distributed power unit comprises a power bridge housing (1), a drive shaft (2), a transmission assembly (4) and a drive motor (7); a drive shaft (2) is horizontally rotatably arranged at each end of the power bridge housing; a tire (3) is provided at one end of each of the two drive shafts (2); the drive motor (7) is installed in the middle of one side of the power bridge housing (1); the output end of the drive motor (7) drives the two drive shafts (2) to rotate through the transmission assembly (4) in the power bridge housing; the transmission assembly (4) comprises a driving shaft (41), a driving gear (42), a driven shaft (43), a driven gear (44), a first sprocket (45), and a second sprocket (46); the driving shaft (41) The horizontally rotating drive shaft (41) is arranged in the power bridge housing, one end of the driving shaft (41) is connected to the output end of the driving motor (7), and the other end is provided with a driving gear (42). The left and right sides of the driving gear (42) are respectively meshed with a driven gear (44), and the two driven gears (44) are respectively arranged on two driven shafts (43). The two ends of the driven shaft (43) are rotatably connected to the power bridge housing, and the driven shaft (43) is provided with a first sprocket (45). The first sprocket (45) is transmission-connected to a second sprocket (46) arranged on the driving shaft (2) through a chain (47), so that the driving motor (7) drives the two tires (3) to rotate through the transmission assembly (4).

2. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that The power bridge housing (1) is provided with a chain tensioner (5) for tensioning the upper and lower sections of the chain (47), the chain tensioner (5) comprising a tensioning seat (51), a tensioning gear (52), and a movable rod (53), the tensioning seats (51) being two in number and symmetrically distributed up and down, the middle parts of the two tensioning seats (51) being hingedly connected to the side wall of the power bridge housing through a pin shaft (54), the tensioning gear (52) being rotatably arranged on the ends of the two tensioning seats (51) which are away from each other, and the two tensioning seats (51) being respectively provided with a tensioning gear (52) which is rotatably arranged on the ends of the two tensioning seats (51). The gears (52) are respectively located on the outside of the upper and lower sections of the chain (47) and meshed therewith; the adjacent ends of the two tensioning seats (51) are hingedly connected to one end of the movable rod (53); the movable rod (53) is horizontally arranged, and the movable rod (53) is adjusted and translated by the tension adjustment component (6) on the outer wall of the power bridge housing (1), so that the two tensioning seats (51) are driven by the movable rod (53) to rotate along the pin shaft (54) and press the upper and lower sections of the chain (47) through the tensioning gear (52).

3. A distributed power unit for an all-terrain wheeled robot as claimed in claim 2, It is characterized in that The tensioning seat (51) comprises two tensioning plates (511) and a baffle (512), the two tensioning plates (511) are symmetrically arranged, the tensioning gear (52) is rotatably arranged between one end of the two tensioning plates (511), and a passage for the chain (47) to pass through is formed between the two tensioning plates (511), the two tensioning plates (511) are located at one end outside the tensioning gear (52) and are connected by the baffle (512), and a plurality of circular holes (5111) for the pin shaft (54) to pass through are opened in the middle of the tensioning plate (511).

4. A distributed power unit for an all-terrain wheeled robot as claimed in claim 2, It is characterized in that The tension adjustment assembly (6) comprises two fixed blocks (61), two guide rods (62), a movable block (63), and an adjusting screw (64); the two fixed blocks (61) are fixed on the outer wall of the power bridge housing; the guide rod is horizontally arranged between the two fixed blocks (61); the movable block (63) is slidably arranged on the two guide rods; one end of the movable block (63) is horizontally rotatably connected to the adjusting screw (64); the adjusting screw (64) passes through one of the fixed blocks (61) and is threadedly connected to the movable block (63); The adjusting screw rod (64) rotates and drives the movable block (63) to translate under the action of the thread of the fixed block (61); a connecting rod (65) is horizontally arranged on one side of the movable block (63); one end of the connecting rod (65) passes through the power bridge housing and is fixedly connected to one end of the movable rod (53); and a sliding opening (111) for the movement of the connecting rod (65) is transversely arranged on the side wall of the power bridge housing (1), so that the movable block (63) drives the movable rod (53) to translate by connecting to the sliding opening, thereby realizing the tension adjustment of the chain (47).

5. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that The power bridge housing (1) comprises a mounting plate (12) and a cover plate (11); the mounting plate (12) is a rectangular flat plate structure; a bearing plate (121) is extended from the upper end of the mounting plate (12); a plurality of mounting holes (1211) are transversely opened on the bearing plate (121); the cover plate (11) is fixed to the mounting plate (12) by fasteners and is covered on the outside of the transmission assembly (4).

6. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that A positioning bracket (48) is provided in the power bridge housing (1), and two sides of the positioning bracket (48) are fixedly connected to two sides of the power bridge housing. The driving shaft (41) is horizontally penetrated through the middle of the positioning bracket (48), and the driven shaft (43) is horizontally penetrated through both ends of the positioning bracket (48). Positioning holes (481) are respectively opened on both sides of the positioning bracket (48) at the positions of the driving shaft (41) and the driven shaft (43), and the positioning holes (481) are rotatably connected to the driving shaft (41) and the driven shaft (43) through bearings.

7. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that Protective plates (49) are provided on both sides of the second sprocket (46). The two protective plates (49) are arranged close to the two sides of the chain (47). A through hole is provided in the center of the two protective plates (49) for the drive shaft (2) to pass through. The two protective plates (49) are connected and fixed by fasteners, and the two protective plates (49) are fixedly connected to one side of the power bridge housing by a fixing rod.

8. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that The middle part of the drive shaft (2) is sleeved with a mounting sleeve (25), one end of the mounting sleeve (25) is fixed to one side of the power bridge housing, the two ends of the mounting sleeve (25) are rotatably connected to the middle part of the drive shaft (2) via bearing seats (26), and one end of the drive shaft extends into the power bridge housing and is rotatably connected to the other side of the power bridge housing via the bearing seat (26).

9. A distributed power unit for an all-terrain wheeled robot as claimed in claim 8, It is characterized in that The bearing seat (26) comprises two hoop rings (261) and a spherical bearing (262); the outer side surface of the spherical bearing (262) is spherically arranged; the two hoop rings (261) are symmetrically arranged and sleeved on the outer side of the spherical bearing (262); the outer edges of the two hoop rings (261) are connected and fixed by fasteners; and the inner side walls of the two hoop rings (261) are spherically arranged and matched with the outer side of the spherical bearing (262), so that the two hoop rings (261) can position the spherical bearing (262).

10. A distributed power unit for an all-terrain wheeled robot as claimed in claim 1, It is characterized in that A hub sleeve (21) is sleeved on one end of the drive shaft (2), the tire (3) is arranged on the hub sleeve (21), and the hub sleeve (21) and the drive shaft (2) are rotatably connected via a bearing, a through hole for the drive shaft (2) to pass through is provided at the front end of the hub sleeve (21), and a positioning groove (22) is provided on the front end surface of the hub sleeve (21) and the front end surface of the drive shaft (2), so that the front end of the hub sleeve (21) and the front end of the drive shaft (2) are clutched via a shaft head lock assembly, the shaft head lock assembly comprising a key block (23) and a key pressing strip (24), the key block (23) being embedded in the positioning groove (22) arranged on the front end surface of the drive shaft (2), and both ends of the key block (23) extending to the positioning groove (22) on the hub sleeve (21), and the key pressing strip (24) being fixed to the front end surface of the hub sleeve (21) via a fastener and pressing and limiting the key block (23).

Images