Deformable wheeled and tracked hybrid mobile robot designed for soft and uneven terrain

Abstract

This invention proposes a deformable wheeled-tracked hybrid mobile robot designed for soft and uneven terrain. The robot comprises a deformable hub, a transmission mechanism, and outer tracks. The deformable hub includes three external gears, three support hubs, a transmission sleeve, a power spindle, an intermittent clutch mechanism, a forward / reverse mechanism, a bottom disc, and a guide rail disc. The transmission sleeve is positioned outside the power spindle and remains stationary, connecting the three evenly spaced external gears and three support hubs via a linkage mechanism. The intermittent clutch mechanism is located above the forward / reverse mechanism and is either disengaged from or engaged with it, driving the mechanism to rotate forward or backward, thus rotating the guide rail disc forward or backward. The three external gears and three support hubs limit the rotation angle on the guide rail disc. The transmission mechanism connects the power spindle shaft and the three external gears, and the outer tracks mesh with the outside of the three external gears. This invention improves terrain adaptability through the deformation of the deformable hub, and the triangular shape increases the contact area and reduces pressure.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation, and in particular to a deformable wheeled-tracked composite mobile robot designed for soft and uneven terrain. Background Art

[0002] With the continuous expansion of global exploration and mining activities, the demand for robots capable of efficient movement in complex terrains is increasing, especially in soft terrains such as beaches, mud, and snow. Traditional robots use wheeled or tracked locomotion mechanisms in soft terrain, but they are still limited by terrain conditions and cannot achieve their full mobility. Therefore, the design of deformable wheeled-tracked hybrid mobile robots for soft and uneven terrains has become a hot research topic.

[0003] Existing wheeled-tracked hybrid mobile robots, such as the chassis of a wheeled-tracked hybrid mobile robot with announcement number CN115743329A, require a complex overall structure. The mobile mode switching component and the tracked walking component switch between each other under the action of a mobile mode switching mechanism, and also require a suspension shock absorption component for vibration reduction. Furthermore, the suspension of the unused mobile mode switching component or tracked walking component after switching not only affects the terrain in soft and uneven terrain but also adds to the burden of its own weight. Although this type of wheeled-tracked hybrid mobile robot can switch between wheeled and tracked modes, its load-bearing capacity and mobility are limited in soft and uneven terrain. Summary of the Invention

[0004] To address the problem that existing robot mobile mechanisms have low load-bearing capacity and limited mobility in soft or uneven terrain, this invention proposes a deformable wheeled-tracked composite mobile robot designed for soft and uneven terrain.

[0005] The technical solution of this invention is implemented as follows:

[0006] A deformable wheeled-tracked hybrid mobile robot designed for soft and uneven terrain includes: a deformable wheel hub, a transmission mechanism, and outer tracks. The deformable wheel hub includes three external gears, three support hubs, a transmission sleeve, a power spindle, an intermittent clutch mechanism, a forward and reverse rotation mechanism, a bottom disc, and a guide rail disc. The transmission sleeve is located on the outside of the power spindle shaft and connected to it, remaining stationary. The transmission sleeve is connected to the three external gears and three support hubs through a linkage mechanism. The external gears and support hubs are spaced apart, evenly distributed, and extendable. The intermittent clutch mechanism is located between the shaft and the bottom disc, and the forward and reverse rotation mechanism is located between the bottom disc and the guide rail disc. The intermittent clutch mechanism can be disconnected from or connected to the forward and reverse rotation mechanism, driving the forward and reverse rotation mechanism to rotate forward or reverse. The forward and reverse rotation mechanism drives the guide rail disc to rotate forward or reverse.

[0007] Three external gears and three support hubs limit the rotation angle on the guide rail disk. The shaft of the power spindle and the three external gears are connected through a transmission mechanism. The outer track meshes with the outside of the three external gears.

[0008] When the main shaft rotates, the transmission mechanism drives three external gears to rotate. The three external gears retract and the three support hubs extend to form a circular shape. The outer track meshes with the external gears and presses against the support hubs to form a circular wheel. When deformation is required, the intermittent clutch mechanism connects to the forward and reverse mechanism and drives it to rotate, which in turn drives the guide disc to rotate. The rotation of the guide disc drives the three external gears and the three support hubs to rotate around the transmission sleeve. Under the action of the linkage mechanism, the three external gears extend and the three support hubs retract to form a triangular shape. The outer track meshes with the external gears and presses against the support hubs to form a triangular wheel.

[0009] Preferably, the transmission sleeve includes a cylinder, three long protruding rods, and three sets of protruding rods. The three long protruding rods are evenly distributed on the outer periphery of the cylinder and have different heights. The three sets 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 sets of protruding rods have the same height. Each set of protruding rods includes two first protruding rods distributed along the axis and one second protruding rod that is offset from the two first protruding rods. The outer ends of the long protruding rods, the first protruding rods, and the second protruding rods are configured as grooves with openings on three sides for hinged linkage mechanisms.

[0010] Preferably, the front end of the power spindle is provided with three convex rings spaced apart, and the height of the three long convex rods corresponds to the height 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 to the ends of the three long convex rods. The three rollers are respectively coaxially fixed above the three external gears and rotate synchronously with them, and are flush with the three auxiliary wheels. One transmission belt is connected to a convex ring and the corresponding auxiliary wheel and roller. When the power spindle rotates, it drives the three external gears to rotate through the three transmission belts respectively.

[0011] Preferably, the guide rail disc is provided with three sets of limit clips, each set of limit clips including a high limit clip and a low limit clip. The high limit clip is used to limit the rotation of the support hub, and the low limit clip is used to limit the rotation of the external gear.

[0012] Preferably, the two ends of the axle of any external gear are fixed with support rods, the two support rods are respectively hinged to the two first links of the linkage mechanism, the two first links are respectively hinged to the two first protrusions of any set of protrusions, the connecting rod of any support hub is hinged to a second link of the linkage mechanism, the second link is hinged to the second protrusion of any set of protrusions, and the three external gears and the three support hubs are respectively connected to the three sets of protrusions of the transmission sleeve through the linkage mechanism.

[0013] Preferably, a limiting block is connected to the support rod on the side of each external gear adjacent to the guide rail disk. One limiting block is locked in a lower limiting block, and the connecting rod of any support hub is locked in a higher limiting block. The guide rail disk limits the rotation angle of the external gear and the support hub, and the rotation of the guide rail disk drives the external gear and the support hub to rotate.

[0014] Preferably, the intermittent clutch mechanism includes a deformable switch mechanism and a clutch drive mechanism. The deformable switch mechanism includes a bottom gear, a transmission gear set, a gear disk, an intermittent gear set, and a connecting gear set. The bottom gear is fixed to the bottom end of the power main shaft. The two ends of an L-shaped connecting rod are connected to the bottom end of the shaft and the back of the gear disk respectively through bearings. The front of the gear disk is provided with inner conical teeth and outer conical teeth. The connecting shaft of the connecting gear set is set on the bottom disk 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 disk. The transmission upper gear and transmission lower gear connected to the transmission shaft of the transmission gear set respectively mesh with the bottom gear and the inner conical teeth of the gear disk. The intermittent upper gear and intermittent lower gear connected to the transmission shaft of the intermittent gear set can respectively mesh with the outer conical teeth of the gear disk and the connecting upper gear. The transmission shaft of the intermittent gear set is connected to the bottom disk. The intermittent upper gear includes several conical teeth and a toothless part, and a stop bar is provided along its axial direction at the end of the intermittent upper gear facing the gear disk.

[0015] The clutch drive mechanism includes a drive motor, a long and short lever, and a paddle. The drive motor is fixed to the back of the gear disk, and a long and short lever perpendicular to it is fixed to the drive motor. The two ends of the long and short lever are at different distances from the motor shaft. A through hole is provided between the inner and outer conical teeth of the gear disk. A paddle passes through the through hole. A square retaining groove is fixed to the back of the gear disk 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.

[0016] The paddle is located inside the through hole, with the toothless part of the intermittent upper gear facing the gear disk. The gear disk rotates on its own, and the intermittent clutch mechanism is in the disengaged state. After the drive motor starts, it drives the long and short rods to rotate, causing the long end of the long and short rods to push the paddle out of the through hole. The paddle rotates with the gear disk, and the part of the paddle extending out of the gear disk pushes the stop bar on the intermittent upper gear when it rotates, pushing the intermittent upper gear to rotate. Then, the conical teeth of the intermittent upper gear mesh with the outer conical teeth of the gear disk and rotate. When the intermittent upper gear rotates without meshing, the paddle pushes the stop bar to rotate again, and the intermittent clutch mechanism is in the closed state, driving the forward and reverse rotation mechanism to rotate. When the intermittent clutch mechanism needs to be disengaged, the drive motor drives the long and short rods to rotate, causing the long end of the long and short rods to disengage from the paddle. The paddle is reset to be located inside the through hole under the action of the spring, and the short end of the long and short rods can push the paddle.

[0017] Preferably, the forward and reverse mechanism includes a forward gear, a reverse gear, and a guide gear. The forward gear is fixed on the other side of the connecting shaft connecting the gear set. Several arc-shaped forward pins are fixed on the front of the forward gear and are coaxial with it. The reverse gear is connected to the bottom disk through a reverse wheel shaft and meshes with the forward gear. Several arc-shaped reverse pins are fixed on the front of the reverse gear and are coaxial with it. The guide gear is connected to the bottom disk through a guide wheel shaft. The bottom end of the guide wheel shaft is fixed to the guide disk through a spline. The guide gear is higher than the forward gear and the reverse gear. The forward pins and the reverse pins can be located in the tooth grooves of the guide gear.

[0018] The forward gear rotates, driving the reverse gear to rotate. The forward gear rotates clockwise by a certain angle, and the forward pin is located in the tooth groove of the guide gear, causing the guide gear to rotate in reverse. The guide gear drives the guide disk to rotate in reverse. When the forward gear rotates until the forward pin is completely away from the guide gear, the reverse pin on the reverse gear is located in the tooth groove of the guide gear, causing the guide gear to rotate in the forward direction. The guide gear drives the guide disk to rotate in the forward direction.

[0019] The angles of the forward and reverse pins are consistent with the angles required for the guide rail to rotate in both directions.

[0020] Preferably, the outer side of the arc-shaped hub of the support hub is provided as an arc-shaped groove, and a plurality of support wheels are evenly arranged in the arc-shaped groove, with the outer side of the support wheels extending beyond the arc-shaped groove.

[0021] The beneficial effects of this invention are as follows: This deformable wheeled-tracked hybrid mobile robot, designed for soft and uneven terrain, employs a deformable hub that rapidly switches between circular and triangular shapes. Combined with a transmission mechanism and outer tracks, it forms a circular wheel and a triangular wheel. The circular wheel is used on flat ground, while the triangular wheel is used on soft or uneven terrain, improving terrain adaptability, increasing the contact area between the outer tracks and the soft or uneven terrain, reducing pressure, ensuring continued movement, and solving the problem of limited mobility. Furthermore, the rotation of the power spindle remains unchanged during the deformation of the deformable hub, enhancing the stability of the deformation. Attached Figure Description

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0023] Figure 1 This is a circular schematic diagram of the deformable wheeled and tracked hybrid mobile robot for soft and bumpy terrain according to the present invention.

[0024] Figure 2 This is a triangular-like state diagram of the deformable wheeled and tracked hybrid mobile robot for soft and bumpy terrain according to the present invention.

[0025] Figure 3 for Figure 1 and Figure 2 The diagram shows the structure of the transmission sleeve.

[0026] Figure 4 for Figure 1 A schematic diagram of the side structure of the deformed wheel hub shown;

[0027] Figure 5 for Figure 1 The diagram shows the structure of the guide rail disk;

[0028] Figure 6 This is a schematic diagram of the intermittent clutch mechanism of the present invention;

[0029] Figure 7 for Figure 6 The diagram shows the structural schematic of the gear disk connection.

[0030] Figure 8 for Figure 6 The diagram shows the structure of the intermittent gear set.

[0031] Figure 9 This is a schematic diagram of the forward and reverse rotation mechanism of the present invention;

[0032] Figure 10 This is a schematic diagram of the support hub of the present invention.

[0033] In the picture:

[0034] 1. Outer track; 2. External gear; 3. Support hub; 4. Transmission sleeve; 5. Power spindle; 6. Intermittent clutch mechanism; 7. Forward and reverse rotation mechanism; 8. Guide rail disc; 9. Bottom disc; 11. Auxiliary wheel; 12. Roller; 13. Transmission belt; 21. Support rod; 22. First connecting rod; 23. Second connecting rod; 24. Limiting block; 40. Long convex rod; 41. First convex rod; 42. Second convex rod; 43. Groove; 51. Convex ring; 61. Bottom gear; 62. Transmission gear set; 63. Gear disc; 64. Intermittent gear set; 65. Connecting gear set; 66. Stop bar; 67. Drive motor; 68. Long and short rods; 69. Paddle; 70. Square stop groove; 71. Forward rotation gear; 72. Reverse rotation gear; 73. Guide rail gear; 74. Forward rotation pin; 75. Reverse rotation pin; 76. Spline; 81. Limiting clip. Detailed Implementation

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] Example 1: As Figure 1 and Figure 2 The deformable wheeled-tracked hybrid mobile robot shown, designed for soft and uneven terrain, includes: a deformable wheel hub, a transmission mechanism, and outer tracks 1. The deformable wheel hub comprises three external gears 2, three support hubs 3, a transmission sleeve 4, a power spindle 5, an intermittent clutch mechanism 6, a forward / reverse mechanism 7, a guide rail disc 8, and a bottom disc 9. The transmission sleeve 4 is connected to the outside of the power spindle 5 via bearings and remains static. The transmission sleeve 4 connects the three external gears 2 and the three support hubs 3 via a linkage mechanism. The external gears 2 and support hubs 3 are spaced apart, evenly distributed, and extendable. The intermittent clutch mechanism 6 is located between the power spindle 5 and the bottom disc 9. The forward / reverse mechanism 7 is located between the bottom disc 9 and the guide rail disc 8. The intermittent clutch mechanism 6 can be disengaged or engaged with the forward / reverse mechanism 7, driving the forward / reverse mechanism 7 to rotate forward or backward. The forward / reverse mechanism 7 carries... The guide rail disk 8 rotates forward or backward; the three external gears 2 and three support hubs 3 limit the rotation angle on the guide rail disk 8. The shaft of the power main shaft and the three external gears are connected through the transmission mechanism. The outer track 1 meshes with the outside of the three external gears 2. When the power main shaft 5 rotates, the transmission mechanism drives the three external gears 2 to rotate. The three external gears 2 retract and the three support hubs 3 extend to form a circular state. The outer track 1 meshes with the external gears and presses against the support hubs 3 to form a circular wheel. When deformation is required, the intermittent clutch mechanism 6 connects to the forward and reverse mechanism 7 and drives it to rotate, which in turn drives the guide rail disk 8 to rotate. The rotation of the guide rail disk 8 drives the three external gears and the three support hubs to rotate around the transmission sleeve 4. Under the action of the linkage mechanism, the three external gears extend and the three support hubs retract to form a triangular state. The outer track meshes with the external gears and presses against the support hubs to form a triangular wheel.

[0037] The intermittent clutch mechanism works intermittently with the forward and reverse rotation mechanism. When the forward and reverse rotation mechanism needs to rotate, the intermittent clutch mechanism drives it to rotate; when the forward and reverse rotation mechanism does not need to rotate, the intermittent clutch mechanism disengages from it, and the rotation of the power main shaft does not affect the forward and reverse rotation mechanism. The deformation of the external gear and support hub can be completed quickly, enabling the vehicle to react rapidly to changes in terrain. This not only improves its adaptability to complex terrain but also greatly enhances driving safety and reliability.

[0038] like Figure 3As shown, the transmission sleeve 4 includes a cylinder, three long protruding rods 40, and three sets 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 sets 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 sets of protruding rods have the same height. Each set of protruding rods includes two first protruding rods 41 distributed along the axis and a second protruding rod 42 that is offset from the two first protruding rods. The outer ends of the long protruding rods, the first protruding rods, and the second protruding rods are set as grooves 43 with three openings on each side for hinged linkage mechanisms.

[0039] As shown in Figure 4, three protruding rings 51 are spaced apart at the front end of the shaft of the power spindle 5. The heights of the three long protruding rods 40 correspond to the heights of the three protruding rings 51. The transmission mechanism includes three auxiliary wheels 11, three rollers 12, and three transmission belts 13. The three auxiliary wheels 11 are respectively hinged to the ends of the three long protruding rods 40. The three rollers 12 are respectively coaxially fixed above the three external gears 2 and rotate synchronously with them, and are flush with the three auxiliary wheels 11. A transmission belt 13 connects a protruding ring 51 to the corresponding auxiliary wheel 11 and roller 12. When the power spindle 5 rotates, it drives the three external gears 2 to rotate through the three transmission belts 13 respectively.

[0040] This transmission mechanism, combined with the structural design of the deformable wheel hub, synchronously and stably transmits power from the main drive shaft to three external gears. The external tracks on the external gears move under the drive of the external gears. The three convex rings on the main drive shaft are respectively limited and correspond to long convex rods of different heights on the transmission sleeve. The three rollers and auxiliary wheels are at different heights to avoid interference between the three transmission belts and to ensure that the three external gears are on the same plane.

[0041] like Figure 5 As shown, the guide rail disk 8 has three sets of limit clips 81 on its body. Each set of limit clips includes a high limit clip and a low limit clip. The high limit clip is used to limit the rotation of the support hub, and the low limit clip is used to limit the rotation of the external gear. The three sets of limit clips not only prevent the three external gears and three support hubs from excessive deformation during the deformation process, but also serve a supporting function.

[0042] like Figure 2 and Figure 4As shown, each external gear 2 has two fixed support rods 21 at both ends of its axle. These two support rods are hinged to two first connecting rods 22 of a linkage mechanism. Each first connecting rod 22 is hinged to one of the two first protrusions 41 of any set of protrusions. The connecting rod of any supporting hub 3 is hinged to a second connecting rod 23 of the linkage mechanism. This second connecting rod is hinged to the second protrusion of any set of protrusions. The three external gears and three supporting hubs are connected to the three sets of protrusions of the transmission sleeve via the linkage mechanism. A limiting block 24 is connected to the support rod adjacent to the guide rail disc on one side of each external gear 2. One limiting block 24 is locked in a lower limiting clip, and the connecting rod of any supporting hub 3 is locked in a higher limiting clip. The guide rail disc limits the rotation angle of the external gears and supporting hubs, and the rotation of the guide rail disc drives the external gears and supporting hubs to rotate.

[0043] The transmission sleeve does not rotate. The first protrusion distributed axially on the transmission sleeve can be stably connected to the upper and lower ends of the external gear, increasing the stability of the external gear's operation. The external gear and the support hub can extend or retract with the help of the linkage mechanism. The guide plate limits the position of the external gear and the support hub. The rotation of the guide plate causes the external gear and the support hub to extend or retract relative to the transmission sleeve without affecting other structures.

[0044] The intermittent clutch mechanism achieves its function, and the structure of the intermittent clutch mechanism of the present invention is as follows: Figures 6 to 8As shown, the intermittent clutch mechanism 6 includes a deformable switch mechanism and a clutch drive mechanism. The deformable switch mechanism includes a bottom gear 61, a transmission gear set 62, a gear disk 63, an intermittent gear set 64, and a connecting gear set 65. The bottom gear 61 is fixed to the bottom end 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 and the back of the gear disk through bearings. The gear disk 63 is provided with internal bevel teeth and external bevel teeth. The connecting shaft of the connecting gear set 65 is set on the bottom disk 9 and extends out, with the other side connected to the forward and reverse rotation mechanism 7. The connecting upper gear of the connecting gear set 65 is located on one side of the bottom disk 9. The transmission shaft of the moving gear set 62 connects to the upper and lower transmission gears, which mesh with the inner conical teeth of the bottom gear 61 and the gear disk 63, respectively. The transmission shaft of the intermittent gear set 64 connects to the intermittent upper and lower gears, which can mesh with the outer conical teeth of the gear disk and the connecting upper gear, respectively. The transmission shaft of the intermittent gear set 64 is connected to the bottom disk 9. The intermittent upper gear 641 includes several conical teeth and a toothless portion, and a stop bar 66 is provided along its axial direction at the end of the intermittent upper gear facing the gear disk. 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 to the gear. On the back of the gear disk 63, a long and short rod 68 is fixed perpendicularly to the drive motor. The two ends of the long and short rod 68 are at different distances from the motor shaft. A through hole is provided between the inner and outer conical teeth of the gear disk 63. A paddle 69 passes through the through hole. A square retaining groove 70 is fixed on the back of the gear disk below the drive motor. A spring is installed 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 disk. The gear disk rotates on its own, and the intermittent clutch mechanism is in the disengaged state. After the drive motor starts, it drives the long and short rod to rotate, making... The long end of the long and short rod presses against the paddle extending out of the through hole. As the gear disk rotates, the part of the paddle extending out of the gear disk actuates the stop bar on the intermittent upper gear, pushing the intermittent upper gear to rotate. Then, the conical teeth of the intermittent upper gear mesh with the outer conical teeth of the gear disk and rotate. When the intermittent upper gear rotates without meshing, the paddle pushes the stop bar to rotate again, and the intermittent clutch mechanism is in the closed state, driving the forward and reverse rotation mechanism to rotate. When the intermittent clutch mechanism needs to be disengaged, the drive motor drives the long and short rod to rotate, causing the long end of the long and short rod to disengage from the paddle. The paddle is reset to its position in the through hole under the action of the spring, and the short end of the long and short rod can press against the paddle.

[0045] like Figure 9As shown, the forward and reverse mechanism 7 includes a forward gear 71, a reverse gear 72, and a guide gear 73. The forward gear 71 is fixed to the other side of the connecting shaft connecting the gear set. Several arc-shaped forward pins 74, coaxial with the forward gear 71, are fixed to the front of the forward gear 71. The reverse gear 72 is connected to the bottom disk 9 via a reverse wheel shaft and meshes with the forward gear 71. Several arc-shaped reverse pins 75, coaxial with the reverse gear 72, are fixed to the front of the reverse gear 72. The top of the guide wheel shaft containing the guide gear 73 is connected to the bottom disk, and the bottom is fixed to the guide disk via a spline 76. The guide gear 73 is higher than the forward and reverse gears. Pin 74 and reversing pin 75 can be located in the tooth groove of guide gear 73; when the forward gear 71 rotates clockwise by a certain angle, the forward pin 74 located in the tooth groove of the guide gear causes the guide gear to rotate in reverse, and the guide gear 73 drives the guide disk to rotate in reverse. When the forward gear 71 rotates until the forward pin is completely away from the guide gear, the forward gear 71 rotates and drives the reversing gear 72 to rotate. The reversing pin 75 on the reversing gear 72 is located in the tooth groove of the guide gear 73 and causes the guide gear to rotate in the forward direction. The guide gear 73 drives the guide disk to rotate in the forward direction. The angle at which the forward pin is turned and the angle at which the reversing pin is turned are consistent with the angle required for the guide disk to rotate in the forward and reverse directions.

[0046] The forward and reverse mechanism rotates under the drive of the connecting gear set. The direction of forward and reverse rotation is adjusted according to the rotation angle, changing the direction of rotation without changing the main drive direction. This drives the rotation of the guide disc, thus deforming the wheel hub. The rotation of the forward and reverse mechanism does not change the rotation direction of the main power shaft; it is achieved entirely through the drive of the intermittent clutch mechanism and the structure of the forward and reverse mechanism, thus deforming the wheel hub and maintaining the stability of the deformation.

[0047] like Figure 10 As shown, the outer side of any support hub 3 is configured with an arc-shaped groove, and several support wheels are evenly arranged in the arc-shaped groove, with the outer sides of the support wheels extending beyond the arc-shaped groove; a connecting rod is locked in the high limit clip of the guide rail plate. The support wheels on the outer side of the support hub change 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 service life of the support hub.

[0048] This invention relates to a deformable wheeled-tracked hybrid mobile robot designed for soft and uneven terrain. When moving on flat surfaces, the external gear retracts and the support hub extends, resulting in a circular deformable wheel hub. When the support hub is fully extended, the connecting rod, the second connecting rod, and the second protrusion of the transmission sleeve are aligned. At this point, the high limit lock of the guide plate locks the connecting rod of the support hub, preventing the connection between the connecting rod and the second connecting rod from moving left or right. The support hub continuously receives radial support from the transmission sleeve, thus supporting the entire wheel hub shape. Although the external gear receives support from the transmission sleeve, and its support rod is at an angle to the first protrusion of the transmission sleeve, the low limit lock on the guide plate cancels out the force perpendicular to the radial direction, leaving only the radial force. Therefore, it also receives support and transmits power in close contact with the outer track. The circular shape of the deformable wheel hub helps reduce frictional resistance when traveling on flat ground, thereby improving travel efficiency and saving energy.

[0049] When moving on soft or uneven terrain, the deformable wheel hub changes from a circular shape to a near-triangular shape. The transmission sleeve remains fixed, providing support when the external gear rotates, pushing it outwards; and providing pull when the support hub rotates, pulling it back. The rotation of the external gear and support hub is achieved by the rotation of the guide plate, which is driven by an intermittent clutch mechanism that drives the forward and reverse rotation mechanism. When the intermittent clutch mechanism and the forward and reverse rotation mechanism are engaged, the rotation of the main power shaft synchronously drives the forward and reverse rotation mechanism, which in turn drives the guide plate to rotate counterclockwise. The low and high limit latches on the guide plate drive the external gear and support hub inside to rotate counterclockwise. The external gear extends outwards and the support hub retracts inwards, deforming the wheel hub into a near-triangular shape. This increases the contact area between the outer track and the soft terrain, reduces pressure, and ensures continued movement.

[0050] 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 principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A deformable wheeled-tracked hybrid mobile robot designed for soft and uneven terrain, characterized in that, include: The system comprises a deformable wheel hub, a transmission mechanism, and outer tracks. The deformable wheel hub includes three external gears, three support hubs, a transmission sleeve, a power spindle, an intermittent clutch mechanism, a forward / reverse mechanism, a bottom disc, and a guide rail disc. The transmission sleeve is located on the outside of the power spindle shaft and connected to it, remaining stationary. The transmission sleeve is connected to the three external gears and three support hubs via a linkage mechanism. The external gears and support hubs are spaced apart, evenly distributed, and retractable. The intermittent clutch mechanism is located between the shaft and the bottom disc, and the forward / reverse mechanism is located between the bottom disc and the guide rail disc. The intermittent clutch mechanism can be disconnected from or connected to the forward / reverse mechanism, driving the forward / reverse mechanism to rotate forward or backward. The forward / reverse mechanism drives the guide rail disc to rotate forward or backward. The intermittent clutch mechanism includes a deformable switch mechanism and a clutch drive mechanism. The deformable switch mechanism includes a bottom gear, a transmission gear set, a gear disk, an intermittent gear set, and a connecting gear set. The bottom gear is fixed to the bottom end of the power main shaft. The two ends of an L-shaped connecting rod are connected to the bottom end of the shaft and the back of the gear disk through bearings, respectively. The front of the gear disk is provided with inner conical teeth and outer conical teeth. The connecting shaft of the connecting gear set is set on the bottom disk and extends out, with the other side connected to the forward and reverse mechanism. The connecting upper gear of the connecting gear set is located on one side of the bottom disk. The transmission upper gear and transmission lower gear connected to the transmission shaft of the transmission gear set respectively mesh with the bottom gear and the inner conical teeth of the gear disk. The intermittent upper gear and intermittent lower gear connected to the transmission shaft of the intermittent gear set can respectively mesh with the outer conical teeth of the gear disk and the connecting upper gear. The transmission shaft of the intermittent gear set is connected to the bottom disk. The intermittent upper gear includes several conical teeth and a toothless part, and a stop bar is provided along its axial direction at the end of the intermittent upper gear facing the gear disk. The clutch drive mechanism includes a drive motor, a long and short lever, and a paddle. The drive motor is fixed to the back of the gear disk, and a long and short lever perpendicular to it is fixed to the drive motor. The two ends of the long and short lever are at different distances from the motor shaft. A through hole is provided between the inner and outer conical teeth of the gear disk. A paddle passes through the through hole. A square retaining groove is fixed to the back of the gear disk 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 inside the through hole, with the toothless part of the intermittent upper gear facing the gear disk. The gear disk rotates on its own, and the intermittent clutch mechanism is in the disengaged state. After the drive motor starts, it drives the long and short rods to rotate, causing the long end of the long and short rods to push the paddle out of the through hole. The paddle rotates with the gear disk, and the part of the paddle extending out of the gear disk pushes the stop bar on the intermittent upper gear when it rotates, pushing the intermittent upper gear to rotate. Then, the conical teeth of the intermittent upper gear mesh with the outer conical teeth of the gear disk and rotate. When the intermittent upper gear rotates without meshing, the paddle pushes the stop bar to rotate again, and the intermittent clutch mechanism is in the closed state, driving the forward and reverse rotation mechanism to rotate. When the intermittent clutch mechanism needs to be disengaged, the drive motor drives the long and short rods to rotate, causing the long end of the long and short rods to disengage from the paddle. The paddle is reset to be located inside the through hole under the action of the spring, and the short end of the long and short rods can push the paddle. The forward and reverse mechanism includes a forward gear, a reverse gear, and a guide gear. The forward gear is fixed on the other side of the connecting shaft of the connecting gear set. Several arc-shaped forward pins are fixed on the front of the forward gear and are coaxial with it. The reverse gear is connected to the bottom disk through a reverse wheel shaft and meshes with the forward gear. Several arc-shaped reverse pins are fixed on the front of the reverse gear and are coaxial with it. The guide gear is connected to the bottom disk through a guide wheel shaft. The bottom end of the guide wheel shaft is fixed to the guide disk through a spline. The guide gear is higher than the forward gear and the reverse gear. The forward pins and the reverse pins can be located in the tooth grooves of the guide gear. The forward gear rotates, driving the reverse gear to rotate. The forward gear rotates clockwise by a certain angle, and the forward pin, located in the tooth groove of the guide gear, moves the guide gear to rotate in reverse. The guide gear then drives the guide disc to rotate in reverse. When the forward gear rotates until the forward pin is completely off the guide gear, the reverse pin on the reverse gear, located in the tooth groove of the guide gear, moves the guide gear to rotate in the forward direction, and the guide gear drives the guide disc to rotate in the forward direction. The angles at which the forward and reverse pins are moved are consistent with the angles required for the guide disc to rotate in the forward and reverse directions. Three external gears and three support hubs limit the rotation angle on the guide rail disk. The shaft of the power spindle and the three external gears are connected through a transmission mechanism. The outer track meshes with the outside of the three external gears. When the power spindle rotates, the transmission mechanism drives the three external gears to rotate. The three external gears retract and the three support hubs extend to form a circular shape. The outer track meshes with the external gears and presses against the support hubs to form a circular wheel. When deformation is required, the intermittent clutch mechanism connects to the forward and reverse mechanism and drives it to rotate, which in turn drives the guide rail disk to rotate. The rotation of the guide rail disk drives the three external gears and the three support hubs to rotate around the transmission sleeve. Under the action of the linkage mechanism, the three external gears extend and the three support hubs retract to form a triangular shape. The outer track meshes with the external gears and presses against the support hubs to form a triangular wheel.

2. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 1, characterized in that, The transmission sleeve includes a cylinder, three long protruding rods, and three sets of protruding rods. The three long protruding rods are evenly distributed on the outer periphery of the cylinder and have different heights. The three sets 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 sets of protruding rods have the same height. Each set of protruding rods includes two first protruding rods distributed along the axis and one second protruding rod that is offset from the two first protruding rods. The outer ends of the long protruding rods, the first protruding rods, and the second protruding rods are set as grooves with openings on three sides for hinged linkage mechanisms.

3. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 2, characterized in that, The front end of the power spindle is provided with three convex rings spaced apart. The height of the three long convex rods corresponds to the height of the three convex rings. The transmission mechanism includes three auxiliary wheels, three rollers, and three transmission belts. The three auxiliary wheels are respectively hinged to the ends of the three long convex rods. The three rollers are respectively coaxially fixed above the three external gears and rotate synchronously with them, and are flush with the three auxiliary wheels. A transmission belt connects a convex ring to the corresponding auxiliary wheel and roller. When the power spindle rotates, it drives the three external gears to rotate through the three transmission belts.

4. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 2, characterized in that, The guide rail disc is equipped with three sets of limit clips. Each set of limit clips includes a high limit clip and a low limit clip. The high limit clip is used to limit the rotation of the support hub, and the low limit clip is used to limit the rotation of the external gear.

5. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 4, characterized in that, Two 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 links of the linkage mechanism. The two first links are respectively hinged to the two first protrusions of any set of protrusions. The connecting rod of the connecting arc hub of any support hub is hinged to a second link of the linkage mechanism. The second link is hinged to the second protrusion of any set of protrusions. The three external gears and the three support hubs are respectively connected to the three sets of protrusions of the transmission sleeve through the linkage mechanism.

6. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 5, characterized in that, Each external gear has a limiting block connected to the support rod on the side adjacent to the guide rail disc. One limiting block is locked in a lower limiting block, and the connecting rod of any support hub is locked in a higher limiting block. The guide rail disc limits the rotation angle of the external gear and the support hub. The rotation of the guide rail disc drives the external gear and the support hub to rotate.

7. The deformable wheeled-tracked composite mobile robot for soft and uneven terrain as described in claim 5, characterized in that, The outer side of the arc-shaped hub of the support hub is provided with an arc-shaped groove, and a number of support wheels are evenly arranged in the arc-shaped groove, with the outer side of the support wheels extending beyond the arc-shaped groove.

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