Deformable wheel-track combined type mobile robot for soft and bumpy terrains

Abstract

The transformable wheel-track combined type mobile robot comprises a transformable hub, a transmission mechanism and an outer track, the transformable hub comprises three outer gears, three supporting hubs, a transmission sleeve, a power main shaft, an intermittent clutch mechanism, a forward and reverse rotation mechanism, a bottom disc and a guide rail disc, the transmission sleeve is arranged on the outer side of a shaft body of the power main shaft, keeps static and is connected with three outer gears and three supporting hubs which are evenly distributed at intervals through a connecting rod mechanism, and the intermittent clutch mechanism is located above the forward and reverse rotation mechanism, is disconnected or connected with the forward and reverse rotation mechanism, drives the forward and reverse rotation mechanism to rotate forwards or reversely and drives the guide rail disc to rotate forwards or reversely. The three outer gears and the three supporting hubs limit the rotating angle on the guide rail disc, the transmission mechanism is connected with a shaft body of the power main shaft and the three outer gears, and the outer crawler belt is meshed with the outer sides of the three outer gears. Through the deformation of the deformation hub, the adaptability to the terrain is improved, the contact area is increased in the triangle-like state, and the pressure intensity is reduced.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation, and in particular to a deformable wheel-track composite mobile robot for soft and bumpy terrain. Background Art

[0002] As global exploration and mining activities continue to expand, there is a growing demand for robots that can move efficiently in complex terrains, especially in soft terrains such as beaches, mud, and snow. Traditional robots use wheeled or tracked mobile mechanisms in soft terrains, but they are still limited by terrain conditions and cannot exert their due mobility. Therefore, the design of a deformable wheel-track composite mobile robot for soft and bumpy terrains has become a hot research direction.

[0003] In the existing wheel-track composite mobile robot, such as the wheel-track composite mobile robot chassis with announcement number CN115743329A, the mobile mode switching component and the crawler walking component are switched under the action of the mobile mode switching mechanism, and the suspension shock-absorbing component is also required for shock absorption. The overall structure is complex, and the suspension of the mobile mode switching component or the crawler walking component that is not used after switching will not only affect the terrain when used in soft and bumpy terrain, but also its own weight is a burden. Although this wheel-track composite mobile robot can switch between wheel and crawler modes, its carrying capacity is limited in soft and bumpy terrain, and its mobility is limited. Summary of the invention

[0004] In order to solve the problem in the prior art that the mobile mechanism of the robot has low load-bearing capacity and limited mobility in soft or bumpy terrain, the present invention proposes a deformable wheel-track composite mobile robot for soft and bumpy terrain.

[0005] The technical solution of the present invention is achieved in this way: A deformable wheel-track composite mobile robot for soft and bumpy terrains comprises: a deformable wheel hub, a transmission mechanism and an outer track, wherein the deformable wheel hub comprises three outer gears, three support hubs, a transmission sleeve, a power main shaft, an intermittent clutch mechanism, a forward and reverse mechanism, a bottom disc and a guide plate, wherein the transmission sleeve is arranged outside the shaft body of the power main shaft and is connected thereto and remains stationary, wherein the transmission sleeve is connected to the three outer gears and the three support hubs through a connecting rod mechanism, wherein the outer gears and the support hubs are arranged at intervals and are evenly distributed and are retractable, wherein the intermittent clutch mechanism is arranged between the shaft body and the bottom disc, wherein the forward and reverse mechanism is arranged between the bottom disc and the guide plate, wherein the intermittent clutch mechanism is disconnected from or connected to the forward and reverse mechanism, and can drive the forward and reverse mechanism to rotate forward or reverse, and the forward and reverse mechanism drives the guide plate to rotate forward or reverse; Three external gears and three supporting hubs limit the rotation angle on the guide rail disc, the shaft body of the power main shaft and the three external gears are connected through a transmission mechanism, and the external crawler is meshed on the outside of the three external gears; The power main shaft rotates, and the transmission mechanism drives the three external gears to rotate. The three external gears retract and the three supporting hubs extend outward to form a circular state. The outer track engages the external gears and is pressed on the supporting hub to form a circular wheel body. When deformation is required, the intermittent clutch mechanism connects the forward and reverse mechanism and drives it to rotate and drives the guide plate to rotate. The rotation of the guide plate drives the three external gears and the three supporting hubs to rotate around the transmission sleeve. Under the action of the connecting rod mechanism, the three external gears extend outward and the three supporting hubs retract to form a quasi-triangular state. The outer track engages the external gears and is pressed on the supporting hub to form a quasi-triangular wheel body.

[0006] Preferably, the transmission sleeve includes a cylinder body, three long protruding rods and three groups of protruding rods, the three long protruding rods are evenly distributed on the outer circumference of the cylinder and have different heights, the three groups of protruding rods are located on one side of the three long protruding rods and are evenly distributed on the outer circumference of the cylinder, the three groups of protruding rods have the same height, each group of protruding rods includes two first protruding rods correspondingly distributed along the axis and a second protruding rod staggered with the two first protruding rods; the outer ends of the long protruding rod, the first protruding rod and the second protruding rod are set as grooves with openings on three sides, which are used for articulated connecting rod mechanisms.

[0007] Preferably, three convex rings are arranged at intervals at the front end of the shaft body of the power main shaft, and the heights of the three long convex rods correspond to the heights of the three convex rings respectively. The transmission mechanism includes: three auxiliary wheels, three rollers and three transmission belts. The three auxiliary wheels are respectively hinged at the ends of the three long convex rods, and the three rollers are respectively coaxially fixed above the three external gears and rotate synchronously with the three external gears and are flush with the three auxiliary wheels. A transmission belt is connected to a convex ring and the corresponding auxiliary wheel and roller. When the power main shaft rotates, the three external gears are driven to rotate respectively through the three transmission belts.

[0008] Preferably, three groups of limit cards are arranged on the disc body of the guide rail disc, each group of limit cards includes a high limit card and a low limit card, the high limit card is used to limit the rotation of the support hub, and the low limit card is used to limit the rotation of the external gear.

[0009] Preferably, support rods are fixed at both ends of the axle of any external gear, the two support rods are respectively hinged to the two first connecting rods of the connecting rod mechanism, the two first connecting rods are respectively hinged to the two first convex rods of any group of convex rods, the connecting rod of the connecting arc hub of any supporting hub is hinged to a second connecting rod of the connecting rod mechanism, the second connecting rod is hinged to the second convex rod of any group of convex rods, and the three external gears and the three supporting hubs are respectively connected to the three groups of convex rods of the transmission sleeve through the connecting rod mechanism.

[0010] Preferably, a limit block is connected to the support rod on the side of each external gear adjacent to the guide rail disk, a limit block is stuck in a low limit card, and the connecting rod of any supporting hub is stuck in a high limit card. The guide rail disk limits the rotation angle of the external gear and the supporting hub, and the rotation of the guide rail disk drives the external gear and the supporting hub to rotate.

[0011] Preferably, the intermittent clutch mechanism includes a deformation switch mechanism and a clutch driving mechanism, the deformation switch mechanism includes a bottom gear, a transmission gear set, a gear plate, an intermittent gear set, and a connecting gear set, the bottom gear is fixed to the bottom end of the shaft body of the power main shaft, the two ends of an L-shaped connecting rod are respectively connected to the bottom end of the shaft body and the back of the gear plate through bearings, the front of the gear plate is provided with inner bevel teeth and outer bevel teeth, the connecting shaft of the connecting gear set is arranged on the bottom disc and extends out and the other side is connected to the forward and reverse mechanism, the connecting upper gear of the connecting gear set is located on one side of the bottom disc, the transmission upper gear and the transmission lower gear connected by the transmission shaft of the transmission gear set are respectively meshed with the inner bevel teeth of the bottom gear and the gear plate, the intermittent upper gear and the intermittent lower gear connected by the transmission shaft of the intermittent gear set can respectively mesh with the outer bevel teeth of the gear plate and the connecting upper gear, the transmission shaft of the intermittent gear set is connected to the bottom disc, the intermittent upper gear includes a plurality of bevel gear teeth and a toothless part, and a stop rod is provided along its axial direction at the end of the intermittent upper gear facing the gear plate; The clutch drive mechanism includes a drive motor, a long and short rod, and a paddle. The drive motor is fixed to the back of the gear plate. The long and short rods perpendicular to the drive motor are fixed on the drive motor. The distances between the two ends of the long and short rods and the motor shaft are different. A through hole is provided between the inner conical teeth and the outer conical teeth of the gear plate. A paddle passes through the through hole. A square retaining groove is fixed on the back of the gear plate below the drive motor. A spring is provided in the square retaining groove so that its elastic force is along the axial direction of the through hole, and the spring is connected to one end of the paddle. The paddle is located in the through hole, the toothless part of the intermittent upper gear faces the gear plate, the gear plate rotates by itself, and the intermittent clutch mechanism is in a disconnected state. After the driving motor is started, it drives the long and short rods to rotate, so that the long end of the long and short rods presses against the paddle and extends out of the through hole. The paddle rotates with the gear plate, and the part of the paddle extending out of the gear plate pushes the baffle rod on the intermittent upper gear when rotating, pushing the intermittent upper gear to rotate, and then the conical gear teeth of the intermittent upper gear mesh with the outer conical teeth of the gear plate to rotate. When the intermittent upper gear rotates without the meshing part, the paddle pushes the baffle rod to rotate again, and the intermittent clutch mechanism is in a closed state, driving the forward and reverse mechanism to rotate; when the intermittent clutch mechanism needs to be disconnected, the driving motor drives the long and short rods to rotate, so that the long end of the long and short rods separates from the paddle, and the paddle is reset to the through hole under the action of the spring, and the short end of the long and short rods can press against the paddle.

[0012] Preferably, the forward and reverse mechanism comprises a forward gear, a reverse gear and a guide rail gear, the forward gear is fixed to the other side of the connecting shaft connecting the gear set, a plurality of arc-shaped forward deflecting pins coaxial with the forward gear are fixed to the front face of the forward gear, the reverse gear is connected to the bottom disc through the reverse wheel shaft and meshes with the forward gear, a plurality of arc-shaped reverse deflecting pins coaxial with the reverse gear are fixed to the front face of the reverse gear, the guide rail gear is connected to the bottom disc through the guide wheel shaft, the bottom end of the guide wheel shaft is fixed to the guide rail disc through a spline, the guide rail gear is higher than the forward gear and the reverse gear, and the forward deflecting pin and the reverse deflecting pin can be located in the tooth groove of the guide rail gear; The forward gear rotates to drive the reverse gear to rotate. The forward gear rotates clockwise at a certain angle. The forward pin is located in the tooth groove of the guide gear and drives the guide gear to reverse. The guide gear drives the guide plate to reverse. The forward gear rotates until the forward pin completely leaves the guide gear. The reverse pin on the reverse gear is located in the tooth groove of the guide gear and drives the guide gear to rotate forward. The guide gear drives the guide plate to rotate forward. The angle at which the forward rotation pin is moved and the angle at which the reverse rotation pin is moved are consistent with the angles required for the guide plate to rotate forward and reversely.

[0013] Preferably, the outer side of the arc-shaped hub of the support hub is arranged as an arc-shaped groove, a plurality of support wheels are evenly arranged in the arc-shaped groove, and the outer sides of the support wheels extend beyond the arc-shaped groove.

[0014] The beneficial effects of the present invention are as follows: the deformable wheel-track composite mobile robot for soft and pothole-prone terrain of the present invention adopts a deformable wheel hub, which quickly switches between a circular and a quasi-triangular shape, and combines a transmission mechanism and an outer track to form a circular wheel body and a quasi-triangular wheel body. The circular wheel body is used on flat ground, and the quasi-triangular wheel body is used on soft or pothole-prone terrain, thereby improving the adaptability to the terrain, increasing the contact area between the outer track and the soft or pothole-prone terrain, reducing the pressure, ensuring that the robot remains mobile, and solving the problem of limited mobility. The mobile mechanism of the reconfigurable robot does not change the rotation of the power spindle when the deformable wheel hub is deformed, thereby improving the stability of the deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a circular state schematic diagram of the deformable wheel-track composite mobile robot facing soft and bumpy terrain of the present invention; Figure 2It is a schematic diagram of a triangular state of the deformable wheel-track composite mobile robot facing soft and bumpy terrain of the present invention; Figure 3 for Figure 1 and Figure 2 The structural schematic diagram of the transmission sleeve shown; Figure 4 for Figure 1 A schematic diagram of the side structure of the deformed hub shown; Figure 5 for Figure 1 The structural schematic diagram of the guide plate shown; Figure 6 It is a structural schematic diagram of the intermittent clutch mechanism of the present invention; Figure 7 for Figure 6 The schematic diagram of the structure of the gear plate connection shown; Figure 8 for Figure 6 The structural schematic diagram of the intermittent gear set shown; Fig. 9 It is a structural schematic diagram of the forward and reverse rotation mechanism of the present invention; Fig.10 It is a schematic structural diagram of the support hub of the present invention.

[0017] In the figure: 1. Outer track; 2. Outer gear; 3. Support hub; 4. Transmission sleeve; 5. Power spindle; 6. Intermittent clutch mechanism; 7. Forward and reverse mechanism; 8. Guide plate; 9. Bottom disc; 11. Auxiliary wheel; 12. Roller; 13. Transmission belt; 21. Support rod; 22. First connecting rod; 23. Second connecting rod; 24. Limit block; 40. Long protrusion; 41. First protrusion; 42. Second protrusion, 43. Groove; 51. Protruding ring; 61. Bottom gear; 62. Transmission gear set; 63. Gear plate; 64. Intermittent gear set; 65. Connecting gear set; 66. Stop rod; 67. Drive motor; 68. Long and short rods; 69. Paddle; 70. Square stop groove; 71. Forward gear; 72. Reverse gear; 73. Guide gear; 74. Forward pin; 75. Reverse pin; 76. Spline; 81. Limit card. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.

[0019] Example 1: Figure 1 and Figure 2 The deformable wheel-track composite mobile robot for soft and bumpy terrain shown in the figure comprises: a deformable wheel hub, a transmission mechanism and an outer track 1, the deformable wheel hub comprises three outer gears 2, three support hubs 3, a transmission sleeve 4, a power main shaft 5, an intermittent clutch mechanism 6, a forward and reverse mechanism 7, a guide plate 8 and a bottom disc 9, the transmission sleeve 4 is connected to the outside of the shaft body of the power main shaft 5 through a bearing and remains static, the transmission sleeve 4 connects the three outer gears 2 and the three support hubs 3 through a connecting rod mechanism, the outer gears 2 and the support hubs 3 are arranged at intervals and are evenly distributed and retractable, the intermittent clutch mechanism 6 is arranged between the power main shaft 5 and the bottom disc 9, the forward and reverse mechanism 7 is arranged between the bottom disc 9 and the guide plate 8, the intermittent clutch mechanism 6 is disconnected or closed with the forward and reverse mechanism 7, and can drive the forward and reverse mechanism 7 to rotate forward or reverse, and the forward and reverse mechanism 7 has The movable guide rail disc 8 rotates forward or reverse; the three external gears 2 and the three supporting hubs 3 limit the rotation angle on the guide rail disc 8, the shaft of the power main shaft and the three external gears are connected through a transmission mechanism, and the outer track 1 is engaged with the outside of the three external gears 2; the power main shaft 5 rotates, and the transmission mechanism drives the three external gears 2 to rotate, the three external gears 2 shrink inward and the three supporting hubs 3 extend outward to form a circular state, the outer track 1 engages with the external gears and is pressed on the supporting hub 3 to form a circular wheel body; when deformation is required, the intermittent clutch mechanism 6 connects to the forward and reverse mechanism 7 and drives it to rotate and drive the guide rail disc 8 to rotate, the rotation of the guide rail disc 8 drives the three external gears and the three supporting hubs to rotate around the transmission sleeve 4, and under the action of the connecting rod mechanism, the three external gears extend outward and the three supporting hubs shrink inward to form a quasi-triangular state, the outer track engages with the external gears and is pressed on the support hub to form a quasi-triangular wheel body.

[0020] The intermittent clutch mechanism cooperates with the forward and reverse mechanism intermittently. When the forward and reverse mechanism needs to rotate, the intermittent clutch mechanism drives the forward and reverse mechanism to rotate. When the forward and reverse mechanism does not need to rotate, the intermittent clutch mechanism is disconnected from the forward and reverse mechanism, and the rotation of the power spindle does not affect the forward and reverse mechanism. The deformation of the external gear and the support hub can be completed quickly, so that the vehicle can respond quickly when facing terrain changes, which not only improves the adaptability to complex terrain, but also greatly enhances the safety and reliability of driving.

[0021] like Figure 3 As shown, the transmission sleeve 4 includes a cylinder body, three long protruding rods 40 and three groups of protruding rods. The three long protruding rods 40 are evenly distributed on the outer periphery of the cylinder and have different heights. The three groups of protruding rods are located on one side of the three long protruding rods and are evenly distributed on the outer periphery of the cylinder. The three groups of protruding rods have the same height. Each group of protruding rods includes two first protruding rods 41 correspondingly distributed along the axis and a second protruding rod 42 staggered with the two first protruding rods; the outer ends of the long protruding rod, the first protruding rod and the second protruding rod are set as a groove body 43 with three-side openings for a hinged connecting rod mechanism.

[0022] As shown in Figure 4, three convex rings 51 are arranged at intervals at the front end of the shaft body of the power main shaft 5, and the heights of the three long convex rods 40 correspond to the heights of the three convex rings 51 respectively. The transmission mechanism includes: three auxiliary wheels 11, three rollers 12 and three transmission belts 13. The three auxiliary wheels 11 are respectively hinged at the ends of the three long convex rods 40, and the three rollers 12 are respectively coaxially fixed above the three external gears 2 and rotate synchronously with the same axis and are flush with the three auxiliary wheels 11. A transmission belt 13 is connected to a convex ring 51 and the corresponding auxiliary wheel 11 and roller 12. When the power main shaft 5 rotates, the three external gears 2 are respectively driven to rotate through the three transmission belts 13.

[0023] The transmission mechanism combines the structural design of the deformable hub to synchronously and stably transmit the power of the power main shaft to the three external gears, and the outer track on the external gears moves under the drive of the external gears. The three convex rings on the power main shaft are limited respectively, corresponding to the long convex rods of different heights on the transmission sleeve. The three rollers and auxiliary wheels have different heights to avoid interference between the three transmission belts and do not affect the three external gears being located on the same plane.

[0024] like Figure 5 As shown, three groups of limit cards 81 are arranged on the plate body of the guide plate 8, each group of limit cards includes a high limit card and a low limit card, the high limit card is used to limit the rotation of the support hub, and the low limit card is used to limit the rotation of the external gear. The three groups of limit cards not only prevent the three external gears and the three support hubs from excessive deformation during the deformation process, but also play a supporting role.

[0025] like Figure 2 and Figure 4 As shown, the two ends of the wheel shaft of any external gear 2 are respectively fixed with support rods 21, the two support rods are respectively hinged to the two first connecting rods 22 of the connecting rod mechanism, the two first connecting rods 22 are respectively hinged to the two first convex rods 41 of any group of convex rods, the connecting rod of the arc-shaped hub of any supporting hub 3 is hinged to a second connecting rod 23 of the connecting rod mechanism, the second connecting rod is hinged to the second convex rod of any group of convex rods, and the three external gears and the three supporting hubs are respectively connected to the three groups of convex rods of the transmission sleeve through the connecting rod mechanism. A limit block 24 is connected to the support rod on the side of each external gear 2 close to the guide plate, a limit block 24 is stuck in a low limit card, and the connecting rod of any supporting hub 3 is stuck in a high limit card. The guide plate limits the rotation angle of the external gear and the supporting hub, and the rotation of the guide plate drives the external gear and the supporting hub to rotate.

[0026] The transmission sleeve does not rotate, and the first protrusions distributed axially on the transmission sleeve can be stably connected to the upper and lower ends of the external gear, thereby increasing the stability of the external gear operation. The external gear and the support hub can extend or retract due to the characteristics of the connecting rod mechanism, and the guide plate limits the positions of the external gear and the support hub. The rotation of the guide plate drives the external gear and the support hub to extend or retract relative to the transmission sleeve without affecting other structures.

[0027] The intermittent clutch mechanism realizes its function. The structure of the intermittent clutch mechanism of the present invention is as follows: Figures 6 to 8 As shown, the intermittent clutch mechanism 6 includes a deformation switch mechanism and a clutch drive mechanism. The deformation switch mechanism includes a bottom gear 61, a transmission gear set 62, a gear plate 63, an intermittent gear set 64, and a connecting gear set 65. The bottom gear 61 is fixed to the bottom end of the shaft body of the power main shaft 5. The two ends of an L-shaped connecting rod are respectively connected to the bottom end of the shaft body and the back of the gear plate through bearings. The gear plate 63 is provided with inner conical teeth and outer conical teeth. The connecting shaft of the connecting gear set 65 is arranged on the bottom disc 9 and extends out and the other side is connected to the forward and reverse mechanism 7. The connecting upper gear of the connecting gear set 65 is located on one side of the bottom disc 9. The transmission upper gear and the transmission lower gear connected by the transmission shaft of the movable gear set 62 respectively mesh with the inner conical teeth of the bottom gear 61 and the gear plate 63, and the intermittent upper gear and the intermittent lower gear connected by the transmission shaft of the intermittent gear set 64 can respectively mesh with the outer conical teeth of the gear plate and the connected upper gear. The transmission shaft of the intermittent gear set 64 is connected to the bottom disc 9, and the intermittent upper gear 641 includes a plurality of conical gear teeth and a toothless part, and a stop rod 66 is arranged along its axial direction at the end of the intermittent upper gear facing the gear plate; the clutch drive mechanism includes a drive motor 67, a long and short rod 68, and a paddle 69. The drive motor 67 is fixed on the gear plate. On the back of the wheel disc 63, a long and short rod 68 perpendicular to the drive motor is fixed, and the distances between the two ends of the long and short rod 68 and the motor shaft are different. A through hole is set between the inner conical teeth and the outer conical teeth of the gear disc 63, and a paddle 69 passes through the through hole. A square retaining groove 70 is fixed on the back of the gear disc below the drive motor. A spring is set in the square retaining groove 70 so that its elastic force is along the axial direction of the through hole, and the spring is connected to one end of the paddle; the paddle is located in the through hole, and the toothless part of the intermittent upper gear faces the gear disc, the gear disc rotates by itself, and the intermittent clutch mechanism is in a disconnected state. After the drive motor is started, the long and short rods are driven to rotate, so that The long end of the long and short rods presses against the paddle and extends out of the through hole. The paddle rotates with the gear plate. The part of the paddle extending out of the gear plate pushes the baffle rod on the intermittent upper gear when rotating, pushing the intermittent upper gear to rotate. After that, the conical gear teeth of the intermittent upper gear mesh with the outer conical teeth of the gear plate and rotate. When the intermittent upper gear rotates without the meshing part, the paddle pushes the baffle rod to rotate again, and the intermittent clutch mechanism is in a closed state, driving the forward and reverse mechanism to rotate; when the intermittent clutch mechanism needs to be disconnected, the driving motor drives the long and short rods to rotate, so that the long end of the long and short rods is separated from the paddle, and the paddle is reset to the through hole under the action of the spring, and the short end of the long and short rods can press against the paddle.

[0028] like Fig. 9As shown, the forward and reverse mechanism 7 includes a forward gear 71, a reverse gear 72 and a guide rail gear 73. The forward gear 71 is fixed to the other side of the connecting shaft connecting the gear set. The front of the forward gear 71 is fixed with a plurality of arc-shaped forward detent pins 74 coaxial with the forward gear 71. The reverse gear 72 is connected to the bottom disk 9 through a reverse wheel shaft and meshes with the forward gear 71. The front of the reverse gear 72 is fixed with a plurality of arc-shaped reverse detent pins 75 coaxial with the reverse gear 72. The top of the guide wheel shaft where the guide rail gear 73 is located is connected to the bottom disk, and the bottom end is fixed to the guide rail disk through a spline 76. The guide rail gear 73 is higher than the forward gear and the reverse gear. Pin 74 and reverse pin 75 can be located in the tooth groove of guide rail gear 73; the forward gear 71 rotates clockwise by a certain angle, the forward pin 74 is located in the tooth groove of the guide rail gear and drives the guide gear to reverse, the guide rail gear 73 drives the guide plate to reverse, the forward gear 71 rotates until the forward pin completely leaves the guide gear, the forward gear 71 rotates to drive the reverse gear 72 to rotate, the reverse pin 75 on the reverse gear 72 is located in the tooth groove of the guide gear 73 and drives the guide gear forward, and the guide rail gear 73 drives the guide plate to rotate forward; the angle at which the forward pin is driven and the angle at which the reverse pin is driven are consistent with the angle required for the guide plate to reverse and forward.

[0029] The forward and reverse mechanism rotates under the drive of the connected gear set, and adjusts the forward and reverse directions according to the rotation angle. While changing the direction of rotation, the main driving direction is not changed, thereby driving the rotation of the guide plate to achieve the deformation of the deformable hub. The rotation of the forward and reverse mechanism does not change the rotation direction of the power spindle, and is completely driven by the drive of the intermittent clutch mechanism and the structure of the forward and reverse mechanism to achieve the deformation of the deformable hub and maintain the stability of the deformation.

[0030] like Fig.10 As shown, the outer side of the arc-shaped hub of any support hub 3 is set as an arc-shaped groove, and a number of support wheels are evenly arranged in the arc-shaped groove, and the outer side of the support wheel exceeds the arc-shaped groove; a connecting rod is stuck in the high limit clamp of the guide plate. The support wheel on the outer side of the support hub converts the force between the support hub and the outer track from sliding friction to rolling friction, greatly reducing the friction between the two and increasing the life of the support hub.

[0031] When the deformable wheel-track composite mobile robot facing soft and bumpy terrain moves on a flat road, the outer gear retracts and the support hub extends outward, and the deformed wheel hub is in a circular state. When the support hub is fully extended, the connecting rod of the support hub, the second connecting rod and the second protruding rod of the transmission sleeve are exactly in a straight line. At this time, the high limit card of the guide plate wraps the connecting rod of the support hub to lock the second connecting rod, prohibiting the connecting part of the connecting rod of the support hub and the second connecting rod from moving left and right. The support hub is continuously subjected to the radial support force of the transmission sleeve, so that it can play a role in supporting the shape of the entire wheel hub; although the outer gear is subjected to the support force of the transmission sleeve, the support rod of the outer gear has an angle with the first protruding rod of the transmission sleeve, but because the low limit card on the guide plate offsets the force perpendicular to the radial direction, leaving only the radial force, it is also subjected to the support force and fits with the outer track to transmit power. The circular state of the deformed wheel hub helps to reduce the friction resistance when driving on flat ground, thereby improving driving efficiency and saving energy.

[0032] When moving on soft terrain or bumpy terrain, the deformed wheel hub changes from a circular state to a quasi-triangular state, and the transmission sleeve remains fixed, providing support force when the outer gear rotates to "push" the outer gear out; and providing pulling force when the support hub rotates to "pull" the support hub back. The rotation of the outer gear and the support hub depends on the rotation of the guide plate, and the rotation of the guide plate depends on the intermittent clutch mechanism to drive the forward and reverse mechanism. The intermittent clutch mechanism is closed with the forward and reverse mechanism, and the rotation of the power spindle synchronously drives the forward and reverse mechanism to rotate, thereby driving the guide plate to rotate counterclockwise. The low limit card and the high limit card on the guide plate will drive the outer gear and the support hub inside it to rotate counterclockwise, the outer gear extends outward and the support hub shrinks inward, and the deformed wheel hub is deformed into a quasi-triangle, which increases the contact area between the outer track and the soft terrain, reduces the pressure, and ensures that it remains mobile.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A deformable wheel-track composite mobile robot for soft and bumpy terrain, characterized by: include: A deformable wheel hub, a transmission mechanism and an outer crawler track. The deformable wheel hub includes three outer gears, three support hubs, a transmission sleeve, a power main shaft, an intermittent clutch mechanism, a forward and reverse mechanism, a bottom disc and a guide plate. The transmission sleeve is arranged outside the shaft body of the power main shaft and is connected thereto and remains stationary. The transmission sleeve is connected to the three outer gears and the three support hubs through a connecting rod mechanism. The outer gears and the support hubs are arranged at intervals and are evenly distributed and retractable. The intermittent clutch mechanism is arranged between the shaft body and the bottom disc. The forward and reverse mechanism is arranged between the bottom disc and the guide plate. The intermittent clutch mechanism is disconnected or connected to the forward and reverse mechanism, and can drive the forward and reverse mechanism to rotate forward or reverse. The forward and reverse mechanism drives the guide plate to rotate forward or reverse. Three external gears and three supporting hubs limit the rotation angle on the guide rail disc, the shaft body of the power main shaft and the three external gears are connected through a transmission mechanism, and the external crawler is meshed on the outside of the three external gears; The power main shaft rotates, and the transmission mechanism drives the three external gears to rotate. The three external gears retract and the three supporting hubs extend outward to form a circular state. The outer track engages the external gears and is pressed on the supporting hub to form a circular wheel body. When deformation is required, the intermittent clutch mechanism connects the forward and reverse mechanism and drives it to rotate and drives the guide plate to rotate. The rotation of the guide plate drives the three external gears and the three supporting hubs to rotate around the transmission sleeve. Under the action of the connecting rod mechanism, the three external gears extend outward and the three supporting hubs retract to form a quasi-triangular state. The outer track engages the external gears and is pressed on the supporting hub to form a quasi-triangular wheel body.

2. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 1 is characterized in that: The transmission sleeve includes a cylinder body, three long protruding rods and three groups of protruding rods. The three long protruding rods are evenly distributed on the outer circumference of the cylinder and have different heights. The three groups of protruding rods are located on one side of the three long protruding rods and are evenly distributed on the outer circumference of the cylinder. The three groups of protruding rods have the same height. Each group of protruding rods includes two first protruding rods correspondingly distributed along the axis and a second protruding rod staggered with the two first protruding rods. The outer ends of the long protruding rod, the first protruding rod and the second protruding rod are set as grooves with openings on three sides for an articulated connecting rod mechanism.

3. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 2 is characterized in that: Three convex rings are arranged at intervals at the front end of the shaft body of the power main shaft, and the heights of the three long convex rods correspond to the heights of the three convex rings respectively. The transmission mechanism includes: three auxiliary wheels, three rollers and three transmission belts. The three auxiliary wheels are respectively hinged at the ends of the three long convex rods, and the three rollers are respectively coaxially fixed above the three external gears and rotate synchronously with the three external gears and are flush with the three auxiliary wheels. A transmission belt is connected to a convex ring and the corresponding auxiliary wheel and roller. When the power main shaft rotates, the three external gears are driven to rotate respectively through the three transmission belts.

4. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 2, characterized in that: The guide plate body is provided with three groups of limit cards, each group of limit cards includes a high limit card and a low limit card, the high limit card is used to limit the rotation of the support hub, and the low limit card is used to limit the rotation of the external gear.

5. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 4 is characterized in that: Support rods are fixed at both ends of the axle of any external gear, and the two support rods are respectively hinged to the two first connecting rods of the connecting rod mechanism, and the two first connecting rods are respectively hinged to the two first convex rods of any group of convex rods, and the connecting rod of the arc-shaped hub connected to any supporting hub is hinged to a second connecting rod of the connecting rod mechanism, and the second connecting rod is hinged to the second convex rod of any group of convex rods, and the three external gears and the three supporting hubs are respectively connected to the three groups of convex rods of the transmission sleeve through the connecting rod mechanism.

6. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 5 is characterized in that: A limit block is connected to the support rod on one side of each external gear adjacent to the guide rail disc, a limit block is stuck in a low limit card, and a connecting rod of any supporting hub is stuck in a high limit card. The guide rail disc limits the rotation angle of the external gear and the supporting hub, and the rotation of the guide rail disc drives the external gear and the supporting hub to rotate.

7. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 1, characterized in that: The intermittent clutch mechanism includes a deformation switch mechanism and a clutch drive mechanism. The deformation switch mechanism includes a bottom gear, a transmission gear set, a gear plate, an intermittent gear set, and a connecting gear set. The bottom gear is fixed to the bottom end of the shaft body of the power main shaft. The two ends of an L-shaped connecting rod are respectively connected to the bottom end of the shaft body and the back of the gear plate through bearings. The front of the gear plate is provided with inner bevel teeth and outer bevel teeth. The connecting shaft of the connecting gear set is arranged on the bottom disc and extends out and the other side is connected to the forward and reverse mechanism. The connecting upper gear of the connecting gear set is located on one side of the bottom disc. The transmission upper gear and the transmission lower gear connected by the transmission shaft of the transmission gear set are respectively meshed with the inner bevel teeth of the bottom gear and the gear plate. The intermittent upper gear and the intermittent lower gear connected by the transmission shaft of the intermittent gear set can respectively mesh with the outer bevel teeth of the gear plate and the connecting upper gear. The transmission shaft of the intermittent gear set is connected to the bottom disc. The intermittent upper gear includes a plurality of bevel gear teeth and a toothless part, and a stop rod is arranged along its axial direction at the end of the intermittent upper gear facing the gear plate. The clutch drive mechanism includes a drive motor, a long and short rod, and a paddle. The drive motor is fixed to the back of the gear plate. The long and short rods perpendicular to the drive motor are fixed on the drive motor. The distances between the two ends of the long and short rods and the motor shaft are different. A through hole is provided between the inner conical teeth and the outer conical teeth of the gear plate. A paddle passes through the through hole. A square retaining groove is fixed on the back of the gear plate below the drive motor. A spring is provided in the square retaining groove so that its elastic force is along the axial direction of the through hole, and the spring is connected to one end of the paddle. The paddle is located in the through hole, the toothless part of the intermittent upper gear faces the gear plate, the gear plate rotates by itself, and the intermittent clutch mechanism is in a disconnected state. After the driving motor is started, it drives the long and short rods to rotate, so that the long end of the long and short rods presses against the paddle and extends out of the through hole. The paddle rotates with the gear plate, and the part of the paddle extending out of the gear plate pushes the baffle rod on the intermittent upper gear when rotating, pushing the intermittent upper gear to rotate, and then the conical gear teeth of the intermittent upper gear mesh with the outer conical teeth of the gear plate to rotate. When the intermittent upper gear rotates without the meshing part, the paddle pushes the baffle rod to rotate again, and the intermittent clutch mechanism is in a closed state, driving the forward and reverse mechanism to rotate; when the intermittent clutch mechanism needs to be disconnected, the driving motor drives the long and short rods to rotate, so that the long end of the long and short rods separates from the paddle, and the paddle is reset to the through hole under the action of the spring, and the short end of the long and short rods can press against the paddle.

8. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 7 is characterized in that: The forward and reverse mechanism comprises a forward gear, a reverse gear and a guide rail gear, wherein the forward gear is fixed to the other side of the connecting shaft connecting the gear set, a plurality of arc-shaped forward deflecting pins coaxial with the forward gear are fixed to the front face of the forward gear, the reverse gear is connected to the bottom disc through the reverse wheel shaft and meshes with the forward gear, a plurality of arc-shaped reverse deflecting pins coaxial with the reverse gear are fixed to the front face of the reverse gear, the guide rail gear is connected to the bottom disc through the guide wheel shaft, the bottom end of the guide wheel shaft is fixed to the guide rail disc through a spline, the guide rail gear is higher than the forward gear and the reverse gear, and the forward deflecting pin and the reverse deflecting pin can be located in the tooth groove of the guide rail gear; The forward gear rotates to drive the reverse gear to rotate. The forward gear rotates clockwise at a certain angle. The forward pin is located in the tooth groove of the guide gear and drives the guide gear to reverse. The guide gear drives the guide plate to reverse. The forward gear rotates until the forward pin completely leaves the guide gear. The reverse pin on the reverse gear is located in the tooth groove of the guide gear and drives the guide gear to rotate forward. The guide gear drives the guide plate to rotate forward. The angle of the forward rotation pin and the angle of the reverse rotation pin are consistent with the angle required for the guide plate to rotate forward and reverse.

9. The deformable wheel-track composite mobile robot for soft and bumpy terrain according to claim 5, characterized in that: The outer side of the arc-shaped hub of the support hub is arranged as an arc-shaped groove, a plurality of support wheels are evenly arranged in the arc-shaped groove, and the outer side of the support wheels exceeds the arc-shaped groove.

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