Active variable-configuration anti-explosion tracked robot

Abstract

The invention discloses an active variable-configuration anti-explosion tracked robot, which belongs to the field of robots and comprises a front section, a middle section and a rear section. Wherein control and power supply equipment and task loads are carried on the middle section; middle section crawler wheels are installed on the two sides of the middle section. The front section and the rear section have the same structure and are symmetrically arranged front and back; the two are hinged with the middle joint through side arms mounted on the two to form a revolute pair; meanwhile, a cross beam is mounted on the side wall, and a push rod motor is connected between the cross beam and the bottom of the middle section through a revolute pair; the front section and the rear section can integrally rotate around the rotating pair connected with the middle section through the push rod motor. Therefore, obstacle crossing of the robot can be achieved through coordinated rotation of the front section and the rear section. The robot is relatively simple in structure, high in adaptability to complex terrains and capable of achieving multiple functions such as routing inspection, auxiliary carrying and equipment detection.

Description

Technical Field

[0001] The present invention belongs to the field of robots and relates to an active variable configuration explosion-proof crawler robot, specifically a six-drive crawler robot used in dangerous areas such as chemical plants and outdoor coal mines, meeting Exd IIB T4 explosion-proof requirements, having the ability to pass through complex terrains, having its own battery power supply, and being able to assist or replace manual labor in solving tasks such as inspection, security, and article handling. Background Art

[0002] Industries such as coal mining and chemical industry are important and irreplaceable in today's society, but their dangers cannot be ignored. Many accidents occur in these industries every year. Nowadays, the rapid development of robot technology makes it possible to replace or assist manual labor.

[0003] Existing robot platforms are usually designed for environments with flat ground and regular paths, such as factory buildings and substations. These environments are relatively simple, and robots can perform inspections and transportation along predetermined paths. However, the applicability of these robot platforms is limited in complex environments such as chemical plants and coal mines. These environments often have uneven terrain, slope changes, and even various obstacles such as stones, waste and other obstacles. In this case, robots need to have higher adaptability and flexibility to assist or replace manual tasks such as security inspections, object handling, and equipment status detection. At the same time, the robot platform must also have explosion-proof capabilities to work in dangerous environments.

[0004] In 2012, the University of Kassel in Germany developed a prototype of a trapezoidal crawler explosion-proof robot, Soldan S, Bonow G, Kroll A. RoboGas~(Inspector)-A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results[J].2012. The robot adopts differential drive and is applied to gas leakage detection scenarios in large petrochemical enterprises. In the same year, the University of Örebro in Sweden designed an all-terrain four-wheel differential mobile robot, Bennetts VH, Lilienthal AJ, Khaliq AA. Gasbot: A mobile robotic platform for methane leak detection and emission monitoring[J].2012. The robot is used to detect dangerous gas leaks and emissions. In 2018, Mitsubishi Heavy Industries, Ltd. of Japan developed the "EX ROVR" explosion-proof robot, Shukutani K, Onishi K, Onishi N, et al. Development of Explosion-Proof Autonomous Plant Operation Robot for Petrochemical Plants[J]. Mitsubishi Heavy Industries Technical Review, 2018, 55(4): 1-6. The robot is a four-arm, pressurized explosion-proof robot used in high-risk plant areas such as natural gas stations and hydrogen storage stations.

[0005] According to literature research, most of the robot platforms with explosion-proof capabilities and used in the above-mentioned dangerous scenarios are common full-body crawler, swing-arm crawler or wheeled robots. Ordinary crawler and wheeled robots have simple structures, but relatively limited terrain adaptability; swing-arm crawler robots have strong terrain adaptability, but relatively complex structures and complex controls. Summary of the invention

[0006] In order to solve the problem that the existing explosion-proof robot platform has insufficient terrain adaptability, or has high terrain adaptability but complex structure, the present invention proposes an active variable configuration explosion-proof crawler robot with a relatively simple structure, strong adaptability to complex terrain, and can realize inspection, auxiliary transportation, equipment detection and other functions.

[0007] The active variable configuration explosion-proof crawler robot of the present invention comprises a front section, a middle section and a rear section.

[0008] The middle section is the body of the robot, with a frame structure, equipped with control and power supply equipment and mission payloads; the middle section track wheels are symmetrically installed on the left and right sides. The control and power supply equipment includes the middle section motor driver, battery and computer; the mission payload includes a 3D camera and a laser radar.

[0009] The front section comprises a front section platform, a front section left side arm, a front section right side wall, a front section push rod motor, a front section push rod motor mounting plate, a push rod motor connecting beam, and a front section crawler wheel.

[0010] Among them, the front section motor driver is installed in the middle of the front section and fixedly installed in the middle of the top surface of the front section platform. Front track wheels are installed on both sides of the front section platform. The left arm of the front section and the right arm of the front section are fixedly installed on the left and right sides of the top surface of the front section. The two have the same structure and are both L-shaped arms; the left arm of the front section and the right arm of the front section are symmetrically arranged on the left and right sides, and one end is a fixed end fixed on the left and right sides of the top surface of the front section platform respectively. The other ends of the left arm of the front section and the right arm of the front section are hinged ends facing backwards, and hinge joints are installed at the ends for connecting to the middle section. A push rod motor connecting beam is installed between the left arm of the front section and the right arm of the front section. The middle part of the push rod motor connecting beam is hinged with the output end of the front section push rod motor to form a revolute pair; the body end of the front section push rod motor is designed with a hinge joint for connecting to the middle section. The rear section structure is the same as the front section structure.

[0011] The front section of the above-mentioned structure is hinged to the left and right hinged seats on the front side of the middle section through the hinged joints at the left and right arm ends to form a revolving pair; at the same time, the hinged joint on the front section push rod motor is hinged to the hinged seat installed at the bottom of the front side of the middle section to form a revolving pair; the rear section is symmetrically arranged front and back with the front section, and is connected to the left and right hinged seats on the rear side of the middle section through the hinged joints at the left and right arm ends to form a revolving pair; at the same time, the hinged joint on the rear section push rod motor is connected to the hinged seat installed at the bottom of the rear side of the middle section to form a revolving pair.

[0012] The active variable configuration explosion-proof crawler robot of the present invention walks on flat ground. When the push rod motors in the front section and the rear section are in the middle position, the tracks at the bottom three driving wheels of the front, middle and rear track wheel groups are in contact with the ground at the same time; when encountering an obstacle, the entire front section is first controlled to rotate and lift around the hinge shafts of the arms on both sides through the push rod motor of the front section; then the robot is moved forward to make the front section climb onto the obstacle; then the front section is retracted, and the middle section is lifted to make it reach the top of the rear side of the obstacle; after the middle section climbs onto the obstacle, the rear section is controlled to lift, so that the center of gravity of the robot is lowered and the inclination of the vehicle body becomes smaller; then the robot is controlled to move forward to complete the process of climbing over the obstacle, and after the rear section has crossed the obstacle, the rear section is controlled to be retracted.

[0013] The advantages of the present invention are:

[0014] 1. The active variable configuration explosion-proof crawler robot of the present invention adopts a six-wheel drive crawler structure, which combines the advantages of crawlers and multi-wheel drives. Its ground contact area and support points are increased, making it more adaptable and capable of overcoming obstacles when facing complex and uneven terrains;

[0015] 2. The active variable configuration explosion-proof crawler robot of the present invention has a six-drive crawler structure that can improve the load capacity of the robot. With the same mass, each wheel is assigned a smaller load, so it can carry heavier objects or equipment;

[0016] 3. The active variable configuration explosion-proof crawler robot of the present invention has a six-wheel drive crawler structure with higher reliability and redundancy. Even if one or two crawler wheels fail or are damaged, the other crawler wheels can still continue to provide power and support. This redundant design greatly improves the reliability of the robot, making it more fault-tolerant in harsh environments, helping to reduce maintenance times and improve task completion rates;

[0017] 4. The active variable configuration explosion-proof crawler robot of the present invention can rely on the active deformation structure to lift or retract the front and rear sections. For ground gullies, compared with the whole crawler robot, this robot can lift the front and rear sections to increase the overall length so as to cross longer obstacles, and the body posture is also more stable.

[0018] 5. The active variable configuration explosion-proof crawler robot of the present invention can rely on the active deformation mechanism to first lift the front section to help it climb over the obstacle, then retract the front section to facilitate the middle section to climb over the obstacle, and then lift the rear section to reduce the angle between the robot and the ground, which is helpful for the robot to cross the obstacle, thereby completing the climbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the active variable configuration explosion-proof crawler robot of the present invention;

[0020] Figure 2 It is a schematic diagram of the middle section structure of the active variable configuration explosion-proof crawler robot of the present invention;

[0021] Figure 3 It is a schematic diagram of the overall structure of the middle track wheel of the active variable configuration explosion-proof crawler robot of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the elastic connecting rod assembly in the middle track wheel;

[0023] Figure 5 This is a schematic diagram of the front section structure of the active variable configuration explosion-proof crawler robot of the present invention.

[0024] Figure 6 This is a schematic diagram of the overall structure of the front track wheel of the active variable configuration explosion-proof crawler robot of the present invention;

[0025] Figure 7 This is a schematic diagram of the active variable configuration explosion-proof crawler robot of the present invention walking on a horizontal ground;

[0026] Figure 8 It is a schematic diagram of the active variable configuration explosion-proof crawler robot of the present invention being lifted up when encountering an obstacle;

[0027] Fig. 9 This is a schematic diagram of the front section of the active variable configuration explosion-proof crawler robot of the present invention after crossing an obstacle;

[0028] Fig.10 It is a schematic diagram of the active variable configuration explosion-proof crawler robot of the present invention, in which the rear section is lifted up and the middle section is lifted up to overcome obstacles;

[0029] Fig.11 This is a schematic diagram of the active variable configuration explosion-proof crawler robot of the present invention being retracted after crossing an obstacle.

[0030] In the figure:

[0031] 1-First quarter 2-Middle quarter 3-Last quarter

[0032] 101-front section platform 102-front section motor driver 103-front section left arm

[0033] 104-front section right side wall 105-front section push rod motor 106-push rod motor connecting beam

[0034] 107- front track wheel 108- front drive motor 109- support seat

[0035] 107a- front wheel frame 107b- front driving wheel 107c- front driven wheel

[0036] 107d- front section auxiliary wheel 107e- front section crawler 107f- front section elastic connecting rod assembly

[0037] 107g- shock absorber 107h- three-link structure 201- middle section main frame

[0038] 202-middle track wheel 203-bottom plate 204-middle motor driver

[0039] 205-Battery 206-Computer 207-LiDAR

[0040] 208-3D camera 202a-middle section drive motor 202b-middle section wheel frame

[0041] 202c- middle section driving wheel 202d- middle section driven wheel 202e- middle section auxiliary wheel

[0042] 202f-middle track 202g-middle elastic link assembly 202g1-fixed sleeve

[0043] 202g2-moving sleeve 202g3-spring 202g4-slide rail

[0044] 202g5-wheel axle connecting rod 202g6-base DETAILED DESCRIPTION

[0045] The present invention is further described in detail below with reference to the accompanying drawings.

[0046] The active variable configuration explosion-proof crawler robot of the present invention comprises a front section 1, a middle section 2 and a rear section 3. Figure 1 shown.

[0047] like Figure 2 As shown, the middle section 2 serves as the body of the robot, including a middle section main frame 201, middle section track wheels 202, control and power supply equipment, and task payload.

[0048] Among them, the middle section main frame 201 is a rectangular cross-section bottom made of aluminum profiles, which is fixedly installed in the middle of the base plate 203 made of aluminum alloy; the main frame 201 is mainly used to carry task payloads, control and power supply equipment, so most of the mass of the robot is located in the middle section 2.

[0049] The interior of the middle section main frame 201 is divided into three parts: upper, middle and lower. Among them, the lower part is provided with a middle section motor driver 204 for realizing the control of the middle section drive motor; the middle section motor driver 204 is fixedly installed on the bottom plate 203 through an explosion-proof box package. An explosion-proof battery 205 is provided in the middle part for powering various electrical components of the device; the battery 205 is packaged in an explosion-proof box and fixed on the middle section main frame 201. A computer 206 is provided in the upper part for sending control commands and receiving feedback data from various parts and processing the data. The computer 206 is packaged in an explosion-proof box and fixed on the middle section main frame 201.

[0050] At the same time, three laser radars 207 and two 3D cameras 208 are mounted on the outer wall of the main frame 201; the three laser radars 207 are supported and fixed by brackets designed above the front side wall and the left and right side walls of the main frame 201, and the three longitudinal positions correspond to each other, and are respectively used to detect surrounding obstacle information. The two 3D cameras 208 are respectively fixedly installed on the top of the front side and the rear side of the main frame 201, with the lenses facing the front and rear directions respectively, for real-time acquisition of front and rear direction images and depth information.

[0051] The middle section track wheels 202 are symmetrically arranged on the left and right sides of the middle section main frame 201; the middle section track wheels 202 include a middle section drive motor 202a, a middle section wheel frame 202b, a middle section driving wheel 202c, a middle section driven wheel 202d, a middle section auxiliary wheel 202e, a middle section track 202f and a middle section elastic connecting rod assembly 202g, such as Figure 3 shown.

[0052] The middle wheel frame 202b has two plate-shaped side frames; the top opening of the middle wheel frame is sleeved on the outside of the reducer output shaft of the middle drive motor 202a and is fixed to the reducer of the middle drive motor 202a.

[0053] The middle section driving wheel 202c is arranged between the two side frames of the middle section wheel frame 202b, and is coaxially fixed with the reducer output shaft of the middle section driving motor 202a.

[0054] There are five groups of middle section driven wheels 202d, two in each group; the five groups of middle section driven wheels 202d are arranged outside the middle section driving wheel 202c. Among them, two groups of middle section driven wheels 202d are respectively arranged in front and behind the middle section driving wheel 202c, and the other three groups of middle section driven wheels 202d are located below the middle section driving wheel 202c and arranged in the front-to-back direction. In each group of middle-section driven wheels 202d, two middle-section driven wheels 202c are respectively installed on the two ends of the wheel axle through bearings; among them, the axle of the middle-section driven wheel 202d in front of the middle-section driving wheel 202c and the axles of the three middle-section driven wheels 202d below the middle-section driving wheel 202c are fixedly installed in the corresponding openings on the two side frames of the middle-section wheel frame 202a; the axle of the middle-section driven wheel 202d behind the middle-section driving wheel 202c is connected to the two side frames of the middle-section wheel frame 202a through the middle-section elastic connecting rod assembly 202g, which mainly plays the role of tensioning the middle-section track 202f.

[0055] There are two sets of middle section auxiliary wheels 202e, two in each set. The two sets of middle section auxiliary wheels 202e are respectively arranged between the front and rear middle section driven wheels 202d and the three middle section driven wheels 202d below the middle section driving wheel 202c. Similarly, each set of middle section auxiliary wheels 202e is installed at both ends of the axle through bearings; the axle is fixedly installed in the corresponding openings on the two side frames of the middle section wheel frame 202a. The middle section auxiliary wheels 202 are installed to maintain the shape of the middle section crawler 202f and support the middle section crawler 202f.

[0056] The middle track 202f is sleeved on the periphery of the above-mentioned overall structure, and contacts with the middle section driving wheel 202c, the middle section driven wheel 202d and the middle section auxiliary wheel 202e. The inner teeth of the middle track 202f mesh with the outer teeth of the middle section driving wheel 202c on the circumference. The middle section driving motor 202a drives the middle section driving wheel 202c to rotate, driving the middle track 202f to move. The lateral position of the middle track 202f is limited by the shoulders designed on the circumferential outer side of each middle section driving wheel to ensure that the middle track 202f will not slip out laterally during the movement. The middle section driving wheel 202c, the middle section driven wheel 202d and the middle section auxiliary wheel 202e are arranged in a pentagonal shape, so that the middle track 202f has a pentagonal configuration, and the part of the middle track contacted by the three middle section driven wheels 202d below the middle section driving wheel contacts the horizontal ground.

[0057] like Figure 4 As shown, the above-mentioned middle section elastic connecting rod assembly 202g includes a fixed sleeve 202g1, a movable sleeve 202g2, a spring 202g3, a slide rail 202g4, an axle connecting rod 202g5 and a base 202g6.

[0058] Among them, the base 202g7 is fixedly installed between the two side frames of the middle section wheel frame 202a. The end of the fixed sleeve 202g1 is fixed on the base 202g7, and the axis is perpendicular to the axle of the middle section driven wheel 202d behind the middle section driving wheel 202c, and the angle with the horizontal plane is 25°. The rear part of the spring 202g3 is arranged in the fixed sleeve 202g1, and the end is in contact with the bottom end of the fixed sleeve 202g1; the front part of the spring 202g3 is arranged in the movable sleeve 202g2, and the front end is in contact with the front end of the movable sleeve 202g2; the movable sleeve 202g2 is sleeved on the outside of the fixed sleeve 202g1; and a graphite copper sleeve is also arranged between the fixed sleeve 202g1 and the movable sleeve 202g2 to reduce the friction between the two. An annular joint is designed on the front end surface of the movable sleeve 202g2, which is fixedly sleeved on the middle part of the axle of the middle section driven wheel 202d behind the middle section driving wheel 202c.

[0059] The two slide rails 202g4 are respectively located on both sides of the fixed sleeve 202g1, and are fixed to the inner walls of the two sides of the middle section wheel frame 202a along the axial direction of the fixed sleeve 202g1; the two slide rails 202g4 are fixedly installed with axle connecting rods 202g6 arranged along the sliding direction of the slide rails. The front ends of the two axle connecting rods 202g6 are designed with annular joints, which are fixedly sleeved on both ends of the axle of the middle section driven wheel 202d behind the middle section driving wheel 202c. Therefore, the spring can always apply an outward thrust to the axle of the middle section driven wheel 202d, thereby achieving the purpose of maintaining the shape of the middle section crawler 202f and ensuring that the middle section crawler 202f is in a tensioned state.

[0060] The middle section track wheel 202 of the above-mentioned structure has two front and rear through holes at corresponding positions in the middle of both sides of the frame, and a middle section connecting rod is inserted and fixed in the through holes. The inner ends of the two middle section connecting rods are respectively fixedly connected to the bottom side of the middle section 2 by two connecting seats to complete the installation between the middle section track wheel 202 and the middle section 2.

[0061] The front section 1 and the rear section 3 have the same structure. Figure 5 As shown, the structure of Section 1 is described in detail below:

[0062] The front section 1 includes a front section platform 101, a front section motor driver 102, a front section left arm 103, a front section right wall 104, a front section push rod motor 105, a front section push rod motor mounting plate 105, a push rod motor connecting beam 106, a front section track wheel 107 and a front section drive motor 108.

[0063] Among them, the front section motor driver 102 is encapsulated by an explosion-proof shell and fixedly installed in the middle of the top surface of the front section platform 101. The front section left arm 103 and the front section right arm 104 are fixedly installed on the left and right sides of the top surface of the front section platform 101. The two have the same structure and are both L-shaped arms. A reinforcing beam is designed between the two ends to stabilize the overall L-shaped structure. The front section left arm 103 and the front section right arm 104 are symmetrically arranged on the left and right sides, one end of which is a fixed end fixed on the left and right sides of the top surface of the front section platform 101; the other end of the front section left arm 103 and the front section right arm 104 is a hinged end facing backwards, and a hinged head is installed at the end for connecting the middle section 2.

[0064] A push rod motor connecting beam 106 is installed between the bending positions of the front section left arm 103 and the front section right arm 104. A hinge joint is designed in the middle of the push rod motor connecting beam 106, which is hingedly connected with the output end of the front section push rod motor 105 to form a revolute pair. The body end of the front section push rod motor 105 is fixedly installed on a support seat 109, and a hinge joint is designed on the rear side of the support seat 109 for connecting to the middle section 2.

[0065] The front track wheels 107 are symmetrically arranged on the left and right sides of the front section 1. The front track wheels 107 include a front wheel frame 107a, a front driving wheel 107b, a front driven wheel 107c, a front auxiliary wheel 107d, a front track 107e, a front elastic link assembly 107f and a shock absorber 107g, as shown in FIG. Figure 6 shown.

[0066] The front wheel frame 107a includes two symmetrical side frames, the upper part of which is a rectangular plate-shaped structure, and the lower part is a three-link structure 107h connected head to tail through a rotating shaft. The two ends of the three-link structure 107h are respectively hinged with the two ends of the bottom edge of the upper part of the side frame through a rotating shaft to form a revolving pair; the three-link structure 107h and the upper part of the front wheel frame 107 together form a parallelogram structure. The top opening of the front wheel frame 107a is sleeved on the outside of the reducer output shaft of the front drive motor 108, and is fixed to the reducer of the front drive motor 108.

[0067] The front section driving wheel 107 b is arranged between the upper parts of the two side frames of the front section wheel frame 107 a and is coaxially fixed with the reducer output shaft of the front section driving motor 108 .

[0068] There are four groups of front section driven wheels 107c, two in each group; the four groups of front section driven wheels 107c are arranged outside the front section driving wheel 107b. Among them, one group of front section driven wheels 107c is arranged behind the front section driving wheel 107b, and the other three groups of front section driven wheels 107c are located below the front section driven wheels 107c behind the front section driving wheel 107b, and are arranged in the front-to-back direction; in each group of front section driven wheels 107c, two front section driven wheels 107c are respectively installed on both ends of the axle through bearings; among them, the axle of the front section driven wheel 107c located behind the front section driving wheel 107b is connected to the front section wheel frame through the front section elastic connecting rod assembly 107d, which mainly plays the role of tensioning the front section crawler 107e. The axles 107c of the other three front section driven wheels are fixedly installed in the three openings opened on the middle connecting rod in the three connecting rod structure at the lower part of the two side frames of the front section wheel frame 107a.

[0069] There are two front section auxiliary wheels 107d, which are installed at both ends of the axle through bearings and are arranged below the front section driving wheel 107b. The axle is fixedly installed on the connecting rod located at the front side of the three-link structure 107h. The front section auxiliary wheels 107d are installed to maintain the shape of the front section crawler 202f and support the front section crawler 202f.

[0070] The front crawler 107e is sleeved on the periphery of the above-mentioned overall structure and contacts the front driving wheel 107b, the front driven wheel 107c and the front auxiliary wheel 107. The inner teeth of the front crawler 107e mesh with the outer teeth on the circumference of the front driving wheel 107b, and the front driving motor 108 drives the front driving wheel 107b to rotate, driving the front crawler 107e to move. The lateral position of the front crawler 107e is limited by the shoulders designed on the circumferential outer side of each front driving wheel 107b to ensure that the front crawler 107e will not slip out laterally during the movement. The front driving wheel 107b, the front driven wheel 107c and the front auxiliary wheel 107 are arranged in a parallelogram shape, so that the front crawler 107e has a parallelogram configuration, and the part of the front crawler 107e contacted by the three front driven wheels at the bottom is in contact with the horizontal ground.

[0071] The front section elastic link assembly 107f has the same structure as the middle section elastic link assembly 202g; wherein, the front section base is fixedly installed between the upper parts of the two side frames of the front section wheel frame 107a, with the axis forming an angle of 30° with the horizontal, and connected to the wheel axle of the front section driven wheel 107c behind the front section driving wheel 107b. Thus, the front section elastic link assembly 107f is used to maintain the shape of the front section crawler 107e and ensure that the front section crawler 107e is in a tensioned state.

[0072] The front track wheel 107 of the above structure has through holes at the upper relative positions of the two side frames of the front track wheel 107a, in which the front track connecting rod is inserted and fixed, and the inner end of the front track connecting rod is fixedly connected to the connecting seat designed on the top surface of the side of the front track platform 101; at the same time, the connecting shafts at both ends of the three-link structure 107h at the lower part of the two side frames of the front track wheel 107a are respectively fixedly connected to the two connecting seats designed on the bottom surface of the side of the front track platform 101; the installation between the front track wheel 107 and the front section 1 is completed. The front track wheel 107 can increase the terrain adaptability of the front track wheel 107 through the design of the bottom three-link structure 107h, and the shock absorption of the front track wheel 107 is realized by arranging the shock absorber 107g in the front track wheel 107. The two ends of the shock absorber 107g are respectively fixedly mounted on the upper connecting shafts of the two side frames of the front wheel frame 107a and the connecting shafts between the front connecting rods in the three-link structure 107h at the lower part of the two side frames; and the axis is perpendicular to the front connecting rod.

[0073] The front section 1 of the above structure is respectively hinged to the left and right hinged seats on the front side of the middle section main frame 201 through the hinged joints at the left and right sides of the arm ends to form a revolving pair; at the same time, the hinged joint at the rear side of the support seat 109 of the front section push rod motor 105 is hinged to the hinged seat installed at the front side of the bottom plate 203 of the middle section main frame 201 to form a revolving pair. The rear section 3 is symmetrically arranged with the front section, and is respectively hinged to the left and right hinged seats on the rear side of the middle section main frame 201 through the hinged joints at the left and right sides of the arm ends to form a revolving pair; at the same time, the hinged joint at the rear side of the support seat of the rear section push rod motor is hinged to the hinged seat installed at the rear side of the bottom plate 203 of the middle section main frame 201 to form a revolving pair. Thus, the push rod motors in the front section 1 and the rear section 3 can drive the front section and the rear section to be lifted and lowered relative to the middle section, so as to realize the obstacle crossing of the robot of the present invention.

[0074] When the push rod motors in the front section 1 and the rear section 3 of the robot of the present invention are in the middle position, the tracks of the three driving wheels at the bottom of the front, middle and rear track wheels are in contact with the ground at the same time, and the robot can walk on the flat ground. Figure 7 At this time, the overall front-to-back length of the robot of the present invention is 1130 mm, the width is 705 mm, and the height is 726 mm.

[0075] The robot of the present invention can bear a load greater than 50 kg; the overall center of gravity is located at a position about 1 / 4 of the height of the middle section 2 toward the bottom plate, the overall mass is about 180 kg, the comprehensive endurance time is 8 hours, and the explosion-proof level of each component is not lower than Exd IIB T4.

[0076] When encountering some low obstacles (less than 10 cm in height), the crawler wheels of the present invention can directly cross over them in the above-mentioned flat ground walking state without the front and rear sections moving.

[0077] When encountering a high single-step obstacle, the robot of the present invention first controls the entire front section 1 to rotate around the hinge axes of the two side arms and lift it to a certain height through the front section push rod motor 105 (specific adjustment is made according to the obstacle crossing situation of the front section. If the front wheels cannot cross the obstacle, the height of the front section is increased until the obstacle can be crossed). Figure 8 Then move the robot forward so that the front section 1 can climb the obstacle, as shown in Fig. 9 As shown in the figure, during the process, the middle section 2 leaves the ground; then, the front section 1 is retracted, and the middle section 2 is lifted so that the middle section 2 passes over the top of the rear side of the obstacle. After the middle section climbs onto the obstacle, the rear section is controlled to lift up, so that the center of gravity of the robot is lowered and the inclination of the body becomes smaller, as shown in FIG. Fig.10 As shown; then control the robot to move forward to complete the obstacle climbing process, as shown Fig.11 As shown; after the rear section passes the obstacle, control the rear section to retract.

Claims

1. An active variable configuration explosion-proof crawler robot, characterized in that: It includes the front section, middle section and back section; The middle section is the body of the robot, and the main body is a frame structure, equipped with control and power supply equipment and mission payload; the middle section track wheels are symmetrically installed on the left and right sides; the control and power supply equipment includes the middle section motor driver, battery and computer; the mission payload includes a 3D camera and a laser radar; The front section includes a front section platform, a front section left arm, a front section right wall, a front section push rod motor, a front section push rod motor mounting plate, a push rod motor connecting beam, and a front section track wheel; Among them, the front section motor driver is installed in the middle of the front section, which is fixedly installed in the middle of the top surface of the front section platform; front track wheels are installed on both sides of the front section platform; the left arm of the front section and the right arm of the front section are fixedly installed on the left and right sides of the top surface of the front section, and the two have the same structure and are both L-shaped arms; the left arm of the front section and the right arm of the front section are symmetrically arranged on the left and right sides, and one end is a fixed end fixed on the left and right sides of the top surface of the front section platform respectively; the other end of the left arm of the front section and the right arm of the front section are hinged ends facing backwards, and hinge joints are installed at the ends for connecting the middle section; A push rod motor connecting beam is installed between the left arm of the front section and the right arm of the front section. The middle part of the push rod motor connecting beam is hinged with the output end of the front section push rod motor to form a revolute pair; a hinged joint is designed at the body end of the front section push rod motor for connecting the middle section; The structure of the rear section is the same as that of the front section; The front section of the above-mentioned structure is hinged to the left and right hinged seats on the front side of the middle section through the hinged joints at the left and right arm ends to form a revolving pair; at the same time, the hinged joint on the front section push rod motor is hinged to the hinged seat installed at the bottom of the front side of the middle section to form a revolving pair; the rear section is symmetrically arranged front and back with the front section, and is connected to the left and right hinged seats on the rear side of the middle section through the hinged joints at the left and right arm ends to form a revolving pair; at the same time, the hinged joint on the rear section push rod motor is connected to the hinged seat installed at the bottom of the rear side of the middle section to form a revolving pair.

2. The active variable configuration explosion-proof crawler robot according to claim 1, characterized in that: The control and power supply equipment on the middle section and the motor drivers on the front and rear sections are all enclosed in explosion-proof casings with an explosion-proof grade of no less than Exd IIBT4.

3. The active variable configuration explosion-proof crawler robot according to claim 1, characterized in that: The middle track wheel comprises a middle drive motor, a middle wheel frame, a middle driving wheel, a middle driven wheel, a middle auxiliary wheel and a middle track; The opening on the top of the middle wheel frame is sleeved on the outside of the reducer output shaft of the middle drive motor and is fixed to the reducer of the middle drive motor; The middle section driving wheel is coaxially fixed with the output shaft of the reducer of the middle section driving motor; there are five groups of middle section driven wheels, two in each group; the five groups of middle section driven wheels are arranged on the periphery of the middle section driving wheel; among them, two groups of middle section driven wheels are respectively arranged in front and rear of the middle section driving wheel, and the other three groups of middle section driven wheels are located below the middle section driving wheel and arranged in the front-to-back direction; the wheel axle of the middle section driven wheel behind the middle section driving wheel is connected to the middle section wheel frame through an elastic connecting rod assembly, and the elastic connecting rod assembly controls the driven wheel to tension the middle section crawler; There are two sets of middle section auxiliary wheels, two in each set; the two sets of middle section auxiliary wheels are respectively arranged between the front and rear middle section driven wheels and the three middle section driven wheels below the middle section driving wheel, and are used to maintain the shape of the middle section crawler and support the middle section crawler; The middle crawler track is sleeved on the outer periphery of the above-mentioned overall structure and contacts with the middle driving wheel, the middle driven wheel and the middle auxiliary wheel; The middle section driving wheel, middle section driven wheel and middle section auxiliary wheel are arranged in a pentagonal shape, so that the middle section crawler has a pentagonal configuration, and the part of the middle section crawler contacted by the middle section driven wheel below the middle section driving wheel contacts the horizontal ground.

4. The active variable configuration explosion-proof crawler robot according to claim 1, characterized in that: The front track wheel comprises a front wheel frame, a front driving wheel, a front driven wheel, a front auxiliary wheel, a front track, and a shock absorber; The upper part of the front wheel frame is a rectangular structure, and the lower part is a three-link structure; the two ends of the three-link structure are connected to the upper part of the wheel frame through a rotating shaft to form a rotating pair; the top opening of the front wheel frame is sleeved on the outside of the reducer output shaft of the front drive motor and fixed to the reducer of the front drive motor; The front section driving wheel is coaxially fixed with the output shaft of the reducer of the front section driving motor 108; there are four groups of front section driven wheels, two in each group; the four groups of front section driven wheels are arranged on the periphery of the front section driving wheel; one group of front section driven wheels is arranged behind the front section driving wheel, and the other three groups of front section driven wheels are located below the front section driven wheels behind the front section driving wheel, and are arranged in the front-to-back direction; the wheel axle of the front section driven wheel located behind the front section driving wheel is connected to the front section wheel frame through the front section elastic connecting rod assembly; The front section auxiliary wheels are a set of two, arranged below the front section driving wheel, and installed on the connecting rod located at the front side of the three-link structure; The two ends of the shock absorber are respectively fixedly mounted on the upper connecting shaft of the front wheel frame and the connecting shaft on the front connecting rod in the three-link structure; and the axis is perpendicular to the front connecting rod; The front crawler track is sleeved on the outer periphery of the above-mentioned overall structure and is in contact with the front driving wheel, the front driven wheel and the front auxiliary wheel; The front section driving wheel, the front section driven wheel and the front section auxiliary wheel are arranged in a parallelogram shape, so that the front section crawler track has a parallelogram configuration, and the part of the front section crawler track contacted by the three front section driven wheels at the bottom is in contact with the horizontal ground.

5. An active variable configuration explosion-proof crawler robot as claimed in claims 3 and 4, characterized in that: The elastic connecting rod assembly includes a fixed sleeve, a movable sleeve, a spring, a slide rail, a wheel axle connecting rod and a base; Among them, the base is fixedly installed on the wheel frame; the end of the fixed sleeve is fixed on the base, the rear part of the spring is arranged in the fixed sleeve, and the end is in contact with the bottom end of the fixed sleeve; the front part of the spring is arranged in the movable sleeve, and the front end is in contact with the front end of the movable sleeve; the movable sleeve is sleeved on the outside of the fixed sleeve; a joint is designed on the front end surface of the movable sleeve, which is fixed on the driven wheel axle; the slide rail is installed on the wheel frame and is arranged axially along the fixed sleeve; the wheel axle connecting rod is fixedly installed on the slide rail; the front end of the wheel axle connecting rod is fixed to both ends of the driven wheel axle.

6. The active variable configuration explosion-proof crawler robot according to claim 1, characterized in that: When walking on flat ground, when the push rod motors in the front and rear sections are in the middle position, the tracks at the bottom three driving wheels of the front, middle and rear track wheels are in contact with the ground at the same time; when encountering an obstacle, the front section push rod motor is first used to control the entire front section to rotate and lift around the hinge shafts of the arms on both sides; then the robot moves forward to make the front section climb onto the obstacle; then, the front section is retracted, and the middle section is lifted so that it reaches the top of the rear side of the obstacle; After the middle section climbs over the obstacle, the rear section is controlled to rise, so that the center of gravity of the robot is lowered and the inclination of the vehicle body becomes smaller; then the robot is controlled to move forward to complete the process of climbing over the obstacle, and after the rear section has crossed the obstacle, the rear section is controlled to be retracted.

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