An active variable configuration explosion-proof crawler robot

Abstract

The present invention discloses an active variable configuration explosion-proof crawler robot, which belongs to the field of robots and includes a front section, a middle section and a rear section. Among them, the middle section is equipped with control and power supply equipment and task loads; middle section track wheels are installed on both sides of the middle section; the front section and the rear section have the same structure and are symmetrically arranged front and back, and track wheels are installed on both sides; and the two are hinged to the middle section through the side arms installed thereon to form a rotating pair; at the same time, a crossbeam is installed on the side wall, and a push rod motor is connected between the crossbeam and the bottom of the middle section through a rotating pair; the push rod motor can realize the overall rotation of the front section and the rear section around the rotating pair connected to the middle section. In this way, the robot can overcome obstacles by coordinating the rotation of the front section and the rear section. The robot of the present invention has a relatively simple structure and strong adaptability to complex terrains. It can realize inspection, auxiliary transportation, equipment detection and other functions and has multiple functions.

Description

Technical Field

[0001] The present invention belongs to the field of robotics and relates to an active variable configuration explosion-proof crawler robot. Specifically, the robot is a six-wheel drive crawler robot used in hazardous areas such as chemical plants and outdoor coal mines. The robot meets Exd IIB T4 explosion-proof requirements, has the ability to navigate complex terrain, is powered by its own battery, and can assist or replace manual labor in tasks such as inspection, security, and cargo handling. Background Art

[0002] Industries like coal mining and the chemical industry hold a vital and irreplaceable position in today's society, but their risks cannot be ignored, with numerous accidents occurring in these sectors every year. The rapid development of robotics technology is making it possible to replace or assist human workers.

[0003] Existing robotic platforms are typically designed for environments with flat surfaces and regular paths, such as factory buildings and substations. These environments are relatively simple, allowing robots to perform tasks such as inspections and handling along predetermined paths. However, the applicability of these robotic platforms is limited in complex environments such as chemical plants and coal mines. These environments often feature uneven terrain, varying slopes, and even various obstacles such as rocks, waste, and other obstructions. In these situations, robots need to possess greater adaptability and flexibility to assist or replace manual labor in tasks such as security inspections, item handling, and equipment status monitoring. Furthermore, robotic platforms must be explosion-proof to operate in hazardous 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. This robot uses a differential drive system and is used for leak detection in large petrochemical enterprises. In the same year, Örebro University 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.) This robot is used to detect hazardous 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 robot platforms with explosion-proof capabilities used in the above-mentioned dangerous scenarios are common 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 control. Summary of the Invention

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

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

[0008] The middle section, the robot's main body, consists of a frame structure that carries the control and power supply equipment and payload. Track wheels are symmetrically mounted on the left and right sides of the middle section. The control and power supply equipment includes the middle section motor driver, battery, and computer. The payload includes a 3D camera and lidar.

[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 track wheel.

[0010] The front section motor driver is installed in the middle of the front section and fixedly mounted 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 and right arms of the front section are fixedly mounted on the left and right sides of the top surface of the front section. Both have the same structure and are L-shaped arms. The left and right arms of the front section are symmetrically arranged on the left and right sides, with one end being 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 and right arms of the front section are hinged ends facing the rear, 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 and right arms of the front section. The middle part of the push rod motor connecting beam is hinged to the output end of the front section push rod motor to form a revolute pair. A hinge joint is designed at the body end of the front section push rod motor for connecting to the middle section. The rear section structure is the same as that of the front section.

[0011] The front section of the above 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 rotating 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 rotating pair; the rear section is symmetrically arranged with the front section front and back, 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 rotating 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 rotating 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 front section push rod motor; 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 so that the middle section reaches the top of the rear side of the obstacle; after the middle section climbs onto the obstacle, the rear section is controlled to lift to lower the center of gravity of the robot and reduce the inclination of the vehicle body; 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 retract.

[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, combining the advantages of crawlers and multi-wheel drive. Its ground contact area and support points are increased, making it more adaptable and capable of overcoming obstacles in complex and uneven terrain.

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

[0016] 3. The six-wheel drive crawler structure of the active variable-configuration explosion-proof crawler robot of this invention offers higher reliability and redundancy. Even if one or two track wheels fail or are damaged, the others can continue to provide power and support. This redundant design significantly improves the robot's reliability, making it more fault-tolerant in harsh environments, helping to reduce maintenance times and improve mission 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. Compared with the whole-track robot, for gullies on the ground, this robot can lift the front and rear sections to increase the overall length so as to cross longer obstacles. At the same time, 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 beneficial 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 This 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 This 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 This 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 This is a schematic diagram of the active configuration-changing explosion-proof crawler robot of the present invention being lifted up when encountering an obstacle;

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

[0028] Figure 10 This is a schematic diagram of the active variable configuration explosion-proof crawler robot of the present invention, wherein the rear section is lifted up and the middle section is lifted to overcome obstacles;

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

[0030] In the picture:

[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 link assembly

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

[0038] 202-middle track wheel 203-base 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 section 202g-middle elastic link assembly 202g1-fixed sleeve

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

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

[0045] The present invention will be described in further 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 profile, 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 middle section main frame 201 is divided into three sections: upper, middle, and lower. The lower section houses the middle section motor driver 204, which controls the middle section's drive motor. Enclosed in an explosion-proof box, the middle section houses an explosion-proof battery 205, which powers the device's electrical components. Enclosed in an explosion-proof box, the battery 205 is secured to the middle section main frame 201. The upper section houses a computer 206, which sends control commands and receives and processes feedback from various components. Enclosed in an explosion-proof box, the computer 206 is secured to the middle section main frame 201.

[0050] Meanwhile, three laser radars 207 and two 3D cameras 208 are mounted on the outer walls of the main frame 201. The three laser radars 207 are supported and fixed by brackets designed above the front and left and right side walls of the main frame 201, with their vertical positions corresponding to each other, and are used to detect surrounding obstacles. The two 3D cameras 208 are fixedly mounted on the top of the front and rear sides of the main frame 201, with their lenses facing forward and backward, respectively, to capture real-time front-to-back 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 crawler 202f and a middle section elastic connecting rod assembly 202g, as shown 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 sets of two middle section driven wheels 202d, each set of two. The five sets of middle section driven wheels 202d are arranged around the middle section driving wheel 202c. Two sets of middle section driven wheels 202d are respectively arranged in front and behind the middle section driving wheel 202c, and the other three sets of middle section driven wheels 202d are located below the middle section driving wheel 202c, 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 two middle section auxiliary wheels 202e. These two sets of middle section auxiliary wheels 202e are respectively positioned 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 mounted on both ends of the axle via bearings; the axle is fixedly mounted in corresponding openings on both sides of the middle section wheel frame 202a. The installation of the middle section auxiliary wheels 202e maintains the shape of the middle section track 202f and supports it.

[0056] The middle track section 202f is mounted around the periphery of the aforementioned overall structure, contacting the middle driving wheel 202c, the middle driven wheel 202d, and the middle auxiliary wheel 202e. The internal teeth of the middle track section 202f mesh with the external teeth of the middle driving wheel 202c. The middle drive motor 202a drives the middle driving wheel 202c, thereby driving the middle track section 202f. The lateral position of the middle track section 202f is limited by shoulders designed on the outer circumference of each middle driving wheel, ensuring that the middle track section 202f does not dislodge during movement. The middle driving wheels 202c, the middle driven wheels 202d, and the middle auxiliary wheels 202e are arranged in a pentagonal pattern, giving the middle track section 202f a pentagonal configuration. The portion of the middle track section below the middle driving wheels where the three middle driven wheels 202d contact the horizontal ground is in contact.

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

[0058] The base 202g7 is fixedly mounted between the two side frames of the middle wheel frame 202a. The end of the fixed sleeve 202g1 is fixed to the base 202g7, with its axis perpendicular to the axle of the middle driven wheel 202d behind the middle driving wheel 202c and at a 25° angle to the horizontal plane. The rear portion of the spring 202g3 is set within the fixed sleeve 202g1, with its end contacting the bottom end of the fixed sleeve 202g1. The front portion of the spring 202g3 is set within the movable sleeve 202g2, with its front end contacting the front end of the movable sleeve 202g2. The movable sleeve 202g2 is sleeved onto the exterior of the fixed sleeve 202g1. A graphite copper sleeve is also installed between the fixed sleeve 202g1 and the movable sleeve 202g2 to reduce friction between them. 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 located on either side of the fixed sleeve 202g1 and are fixed to the inner walls of the two side frames of the middle wheel frame 202a along the axial direction of the fixed sleeve 202g1. Axle connecting rods 202g6 are fixedly mounted on the two slide rails 202g4, extending along the sliding direction of the slide rails. The front ends of the two axle connecting rods 202g6 are designed with annular joints and are fixedly connected to the ends of the axle of the middle section driven wheel 202d behind the middle section driving wheel 202c. This ensures that the springs constantly apply an outward thrust to the axle of the middle section driven wheel 202d, thereby maintaining the outer shape of the middle section track 202f and ensuring that the middle section track 202f remains in a taut 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 the two side frames of the middle section wheel frame 202a, and the middle section connecting rods are inserted and fixed in the through holes. The inner ends of the two middle section connecting rods are respectively fixedly connected by two connecting seats on the side of the bottom of the middle section 2 to complete the installation between the middle section track wheel 202 and the middle section 2.

[0061] The front section 1 and the back 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] The front section motor driver 102 is enclosed in an explosion-proof housing and fixedly mounted 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 mounted on the left and right sides of the top surface of the front section platform 101. Both have the same structure, being L-shaped arms with a reinforcing beam 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, with one end being a fixed end fixed to the left and right sides of the top surface of the front section platform 101, respectively. The other ends of the front section left arm 103 and the front section right arm 104 are hinged ends facing rearward, with hinged joints installed at the ends for connection to the middle section 2.

[0064] A push rod motor connecting beam 106 is installed between the bends of the front section's left arm 103 and right arm 104. A hinged joint is designed in the middle of this beam, which is hingedly connected to the output end of the front section's push rod motor 105 to form a revolute joint. The front section's push rod motor 105 is fixedly mounted on a support 109, the rear of which is designed with a hinged joint 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. Figure 6 shown.

[0066] The front wheel frame 107a comprises two symmetrical side frames. The upper portions of these two frames are rectangular plate-like structures, while the lower portions comprise a three-link structure 107h, connected end to end by a pivot. The ends of the three-link structure 107h are hinged to the ends of the bottom edges of the upper side frames via pivots, forming a revolute joint. Together with the upper portion of the front wheel frame 107a, the three-link structure 107h forms a parallelogram. The top opening of the front wheel frame 107a fits over the output shaft of the reducer of the front drive motor 108 and is secured to the reducer.

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

[0068] There are four sets of two front-section driven wheels 107c, each arranged around the front-section driving wheel 107b. One set of driven wheels 107c is located behind the front-section driving wheel 107b, while the other three sets are located below the front-section driven wheels 107c behind the front-section driving wheel 107b, arranged in a front-to-back direction. In each set of driven wheels 107c, two front-section driven wheels 107c are mounted on either end of the axle via bearings. The axles of the rearward-directed driven wheels 107c are connected to the front-section wheel frame via a front-section elastic link assembly 107d, which primarily serves to tension the front track 107e. The other three axles 107c are fixedly mounted within three openings in the middle link of the three-link structure at the bottom of the two side frames of the front-section wheel frame 107a.

[0069] Two front auxiliary wheels 107d are mounted on the axle via bearings at each end and positioned below the front driving wheel 107b. The axle is fixedly mounted on the front link of the three-link structure 107h. The front auxiliary wheels 107d maintain the shape and support of the front track 202f.

[0070] The front track section 107e is mounted around the periphery of the aforementioned overall structure, contacting the front driving wheel 107b, the front driven wheel 107c, and the front auxiliary wheel 107. The internal teeth of the front track section 107e mesh with the external teeth on the circumference of the front driving wheel 107b. The front drive motor 108 drives the front driving wheel 107b to rotate, driving the front track section 107e. The lateral position of the front track section 107e is limited by shoulders designed on the circumferential outer sides of each front driving wheel 107b, ensuring that the front track section 107e does not dislodge laterally during movement. The front driving wheel 107b, the front driven wheel 107c, and the front auxiliary wheel 107 are arranged in a parallelogram shape, giving the front track section 107e a parallelogram-shaped configuration. The portion of the front track section 107e contacting the three lower driven wheels 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; the front section base is fixedly mounted between the upper portions of the two side frames of the front section wheel frame 107a, with its axis forming a 30° angle with the horizontal. It connects to the axle of the front section driven wheel 107c behind the front section driving wheel 107b. Thus, the front section elastic link assembly 107f maintains the shape of the front section track 107e and ensures that the front section track 107e remains in a tensioned state.

[0072] The front track wheel 107 of the above-mentioned structure has through-holes at opposite positions on the upper portions of the two side frames of the front wheel frame 107a. A front link is inserted and fixed into the through-holes. The inner ends of the front link are fixedly connected to the connecting seats designed on the top surface of the side of the front platform 101. Simultaneously, the connecting shafts at both ends of the three-link structure 107h at the lower portions of the two side frames of the front wheel frame 107a are respectively fixedly connected to two connecting seats designed on the bottom surface of the side of the front platform 101, completing the installation between the front track wheel 107 and the front section 1. The design of the bottom three-link structure 107h of the front track wheel 107 can increase the terrain adaptability of the front track wheel 107, and the provision of a shock absorber 107g within the front track wheel 107 can achieve shock absorption of 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-described structure is hinged to the left and right hinged seats on the front side of the middle section main frame 201 via hinged joints at the ends of its left and right arms, forming a revolute pair. Simultaneously, the rear hinged joint of the support base 109 of the front section push rod motor 105 is hinged to the hinged seat mounted on the front side of the bottom plate 203 of the middle section main frame 201, forming a revolute pair. The rear section 3 is symmetrically arranged with the front section. It is hinged to the left and right hinged seats on the rear side of the middle section main frame 201 via hinged joints at the ends of its left and right arms, forming a revolute pair. Simultaneously, the rear hinged joint of the support base of the rear section push rod motor is hinged to the hinged seat mounted on the rear side of the bottom plate 203 of the middle section main frame 201, forming a revolute pair. Thus, the push rod motors in the front section 1 and rear section 3 can drive the front and rear sections to be raised and lowered relative to the middle section, enabling the robot to overcome obstacles.

[0074] When the push rod motors in the front section 1 and the rear section 3 of the robot 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 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 approximately 1 / 4 of the height of the middle section 2 toward the bottom plate, the overall mass is approximately 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 arms on both sides and lifts it to a certain height (specifically adjusted according to the obstacle crossing situation of the front section. If the front wheels cannot cross the obstacle, increase the height of the front section 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 Figure 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 the figure. Figure 10 Then control the robot to move forward to complete the process of climbing over the obstacle, as shown in Figure 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 by: Including the front section, middle section and back section; The middle section, the robot's main body, is a frame structure equipped with control and power supply equipment and a mission payload. The middle section has track wheels symmetrically installed on both sides. The control and power supply equipment includes a 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; the 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, both are 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 the ends are installed with hinge joints for connecting to the middle section; A push rod motor connecting beam is installed between the left arm 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 to connect to the middle section; The structure of the rear section is the same as that of the front section; The front section of the above 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 rotating 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 rotating pair; the rear section is symmetrically arranged with the front section front and back, 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 rotating 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 rotating pair.

2. The active configuration-changing 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 configuration-changing explosion-proof crawler robot according to claim 1, characterized in that: The middle section track wheel includes a middle section drive motor, a middle section wheel frame, a middle section driving wheel, a middle section driven wheel, a middle section auxiliary wheel, and a middle section 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 to the output shaft of the reducer of the middle section drive motor; there are five groups of middle section driven wheels, two in each group; the five groups of middle section driven wheels are arranged around the middle section driving wheel; two groups of middle section driven wheels are respectively arranged in front of and behind the middle section driving wheel, and the other three groups of middle section driven wheels are located below the middle section driving wheel, 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 track; There are two sets of middle section auxiliary wheels, two in each set; the two sets of middle section auxiliary wheels are respectively set between the front and rear middle section driven wheels and the three middle section driven wheels below the middle section driving wheel, which are used to maintain the shape of the middle section crawler and support the middle section crawler; The middle track is sleeved on the outer periphery of the above-mentioned overall structure and contacts the middle driving wheel, the middle driven wheel and the middle auxiliary wheel; The above-mentioned middle section driving wheel, middle section driven wheel and middle section auxiliary wheel are arranged in a pentagonal shape, so that the middle section track has a pentagonal configuration, and the part of the middle section track contacted by the middle section driven wheel below the middle section driving wheel is in contact with the horizontal ground.

4. The active configuration-changing explosion-proof crawler robot according to claim 1, characterized in that: The front track wheel includes 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 is fixed to the reducer of the front drive motor; The front section driving wheel is coaxially fixed to the output shaft of the reducer of the front section drive 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 around 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 main wheels behind the front section driving wheel, arranged in the front-to-back direction; the wheel axles of the front section driven wheels located behind the front section driving wheel are connected to the front section wheel frame via the front section elastic connecting rod assembly; The front auxiliary wheels are a set of two, set below the front driving wheel and installed on the front connecting rod in the three-link structure; The two ends of the shock absorber are respectively fixedly mounted on the connecting shaft on the upper part 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 contacts the front driving wheel, the front driven wheel and the front auxiliary wheel; The front section driving wheel, front section driven wheel and front section auxiliary wheel are arranged in a parallelogram shape, so that the front section crawler has a parallelogram configuration, and the part of the front section crawler contacted by the three front section driven wheels at the bottom is in contact with the horizontal ground.

5. The active configuration-changing explosion-proof crawler robot according to claims 3 and 4, characterized in that: The elastic connecting rod assembly includes a fixed sleeve, a movable sleeve, a spring, a slide rail, an 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 contacts the bottom end of the fixed sleeve; the front part of the spring is arranged in the movable sleeve, and the front end contacts 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 to 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 configuration-changing 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 axes of the arms on both sides; then the robot moves forward to allow the front section to 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. After the rear section crosses the obstacle, the rear section is controlled to retract.

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