Multi-mode deformable track mobile robot capable of walking by imitating ostrich toes and moving method of multi-mode deformable track mobile robot

Abstract

The invention discloses a multi-mode deformable crawler belt mobile robot capable of walking by simulating ostrich toes. The multi-mode deformable crawler belt mobile robot comprises a front end guide wheel, a front thrust wheel, a rear thrust wheel, a driving wheel, a tensioning wheel and a crawler belt, the track is formed by connecting a plurality of track sections; a locking mechanism is arranged on each track section and is used for locking the track; the front-end guide wheels are arranged on the two sides of the front-end guide wheel branch pipe, and a locking driving assembly is further arranged on the front-end guide wheel branch pipe and used for driving the locking mechanism to conduct locking. The front thrust wheel and the rear thrust wheel are arranged on the two sides of the thrust wheel branch pipe, and an unlocking assembly is arranged outside the lower thrust wheel branch pipe. The unlocking assembly is used for driving the locking mechanism to conduct unlocking. The invention further discloses a moving method of the multi-mode deformable caterpillar band moving robot capable of simulating the ostrich toes to walk. Through the cooperation of the locking mechanisms between the track sections, the thrust wheels and the front guide wheel adjusting mechanisms, the mechanical characteristics of ostrich toe simulation can be achieved on sand and soft grounds, and therefore the adhesive force and traction force of the track are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile robot equipment, and in particular relates to a multi-modal deformable track mobile robot that imitates ostrich toe walking, and also relates to a moving method of the multi-modal deformable track mobile robot that imitates ostrich toe walking. Background Art

[0002] Mobile robots are playing an increasingly important role in many fields such as modern industry, rescue, and exploration. Multimodal tracked mobile robots have certain advantages over wheeled robots in adapting to complex terrains due to their unique track structure. They can travel on unstructured roads such as mountains, muddy, and rugged terrains. Therefore, they are widely used in disaster relief, field exploration, military operations, and other scenarios.

[0003] However, the existing multimodal tracked mobile robots still expose some significant deficiencies in practical applications. There is a lack of adaptive adjustment mechanism when the tracks are driven. When faced with complex and changeable ground shapes, such as undulating mountains and wilderness full of rocks, the robot cannot adjust the track contact conditions according to the real-time terrain, making it difficult for the track surface to fit perfectly with the ground shape, which not only reduces the stability of the robot's driving, but may also cause the robot to slip and jam during driving. On soft ground, such as sand and mud, its traction ability is weak, and the adhesion coefficient between the driving mechanism and the ground cannot be adjusted in real time according to the demand for driving force, making it difficult to achieve a better driving state, which greatly limits the robot's operating efficiency and passing ability in such special terrains. These problems seriously restrict the further application and development of multimodal tracked mobile robots in complex environments and need to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-modal deformable crawler mobile robot that imitates ostrich toe walking, so as to solve the problem of low adhesion of existing robots under soft road conditions.

[0005] Another object of the present invention is to provide a moving method of a multi-modal deformable tracked mobile robot that imitates ostrich toe walking.

[0006] The technical solution adopted by the present invention is a multi-modal deformable crawler mobile robot imitating ostrich toe walking, which includes two front idler wheels, two front track rollers, two rear track rollers, a drive wheel, two tension wheels and a crawler; the crawler is connected by a plurality of crawler links; a locking mechanism is provided on each crawler link for locking the crawler; the two front idler wheels are arranged on both sides of the front idler wheel branch pipe, and the two tension wheels are arranged on both sides of the tension wheel branch pipe; a locking drive assembly is also provided on the front idler wheel branch pipe, and the locking drive assembly is used to drive the locking mechanism to lock; the two front track rollers and the two rear track rollers are both arranged on both sides of the track roller branch pipe, and an unlocking assembly is arranged outside the lower track roller branch pipe; the unlocking assembly is used to drive the locking mechanism to unlock; the front idler wheel, the front track rollers, the rear track rollers, the drive wheel and the tension wheels are all meshed with the crawler.

[0007] The characteristics of the present invention also lie in that One end of the tension wheel branch pipe is provided with a motor, the output shaft of the motor is connected to the front idler wheel branch pipe drive lead screw, the front idler wheel branch pipe drive lead screw is sleeved in the front idler wheel branch pipe and pushes the front idler wheel branch pipe to move. One end of the tension wheel branch pipe close to the motor at the top is provided with a first Ω-shaped connecting tile, and the two open ends of the first Ω-shaped connecting tile are fixed to the top of the tension wheel branch pipe by bolts; a first bearing is connected inside the first Ω-shaped connecting tile, the two tension wheels are connected by a shaft, and the shaft is connected with the first bearing in a matching manner; the end of the front idler wheel branch pipe is provided with a second Ω-shaped connecting tile, the two open ends of the second Ω-shaped connecting tile are vertically connected to the front idler wheel branch pipe, a second bearing is connected inside the second Ω-shaped connecting tile, the two front idler wheels are connected by a shaft, and the shaft is connected with the second bearing in a matching manner.

[0008] The locking drive assembly includes a lock tongue lever drive motor box connected to the closed end of the second Ω-shaped connecting tile. A drive motor is arranged inside the lock tongue lever drive motor box. A support plate is arranged inside the lock tongue lever drive motor box. The motor shaft of the drive motor passes through the support plate and is connected to the lock tongue lever drive gear. A first fixed shaft and a second fixed shaft are horizontally arranged side by side inside the lock tongue lever drive motor box. A rack meshing with the lock tongue lever drive gear is also arranged inside the lock tongue lever drive motor box. A wavy connecting plate is welded to the side of the rack. The wavy connecting plate can extend out of the lock tongue lever drive motor box. The wavy connecting plate is arranged on the surfaces of the first fixed shaft and the second fixed shaft, and drives the rack and the wavy connecting plate to slide on the surfaces of the first fixed shaft and the second fixed shaft through the lock tongue lever drive gear.

[0009] A central branch pipe is provided at the bottom of the tensioning wheel branch pipe. The bottom of the central branch pipe is connected to the lower idler wheel branch pipe. The two side parts of the central branch pipe and the lower idler wheel branch pipe are connected by a branch pipe connecting plate. A third Ω-shaped connecting tile is provided at the bottom of the branch pipe connecting plate. A rear idler wheel bearing is connected inside the third Ω-shaped connecting tile. Two rear idler wheels are connected by a shaft, and the shaft is connected to the rear idler wheel bearing in a mating manner; a long hole is provided at the bottom of the lower idler wheel branch pipe. Slide rails are provided on both sides of the long hole. A slide plate is slidably connected between the two slide rails. A vertical plate is vertically provided in the middle of the slide plate. A through hole is provided in the vertical plate part, and a hollow cylindrical shell horizontally passes through the through hole; a front idler wheel lead screw driving motor is provided inside one end of the lower idler wheel branch pipe. The output shaft of the front idler wheel lead screw driving motor is connected to the front idler wheel driving lead screw, and the front idler wheel driving lead screw passes through the hollow cylindrical shell; the bottom of the slide plate is connected to the open end of the fourth Ω-shaped connecting tile. A front idler wheel bearing is connected inside the fourth Ω-shaped connecting tile. Two front idler wheels are connected by a shaft, and the shaft is connected to the front idler wheel bearing in a mating manner.

[0010] The unlocking assembly includes an eight-shaped support plate provided at the bottom of the fourth Ω-shaped connecting tile. An eight-shaped clamping plate is provided at the end of the eight-shaped support plate. The middle part of the eight-shaped clamping plate is connected to the large end part of the eight-shaped support plate.

[0011] A driving wheel is provided between the two branch pipe connecting plates. Flange plates are provided on both sides of the driving wheel. The two flange plates are respectively connected to the large end parts of the trumpet-shaped sleeve rods. The small end parts of the trumpet-shaped sleeve rods are connected to cylindrical sleeves. The two cylindrical sleeves are respectively connected to the two branch pipe connecting plates through bearings. Splines are provided inside the two trumpet-shaped sleeve rods. A motor driving shaft passes through the two cylindrical sleeves. The splines on the splines and the motor driving shaft cooperate to drive the driving wheel to move.

[0012] Each crawler link includes a convex-shaped bottom plate. Connecting plates are connected to both sides of the bottom plate. Through holes are provided on the two connecting plates. Connecting plate blocks are also provided on both sides of the bottom plate. The blocks are connected to the connecting plates. An arc-shaped groove is provided on the block. A locking tongue is cooperatively provided in the arc-shaped groove. A through hole is provided in the block. A crawler connecting shaft passes through the through hole for connecting the connecting plate of the next crawler link. Two sleeves are sleeved on the outer wall of the crawler connecting shaft. The two sleeves are respectively located at both ends of the crawler connecting shaft. Two arc-shaped paddles are provided on each sleeve.

[0013] The two side parts of the wavy connecting plate can be in contact with the side parts of the two arc-shaped paddles located in the middle of the crawler connecting shaft and push the sleeve to move left and right. The two side parts of the eight-shaped clamping plate can be respectively in contact with the side parts of the two arc-shaped paddles and push the sleeve to move towards the inside of the crawler link along the axis of the crawler connecting shaft.

[0014] Another technical solution adopted by the present invention is a moving method of a multi-modal deformable crawler mobile robot imitating ostrich toe walking, specifically: When operating in the normal mode, the driving wheel is rotated by the motor, and the driving wheel drives the front idler wheel and the rear idler wheel, thereby driving the crawler to rotate for normal mode operation; When operating in the ostrich-toe-like walking mode, the wavy connecting plate, the front idler wheel branch pipe driving motor, and the idler wheel lead screw driving motor act simultaneously. The wavy connecting plate pushes the sleeve located on the crawler connecting shaft to reciprocate, causing the locking tongue to insert into the arc-shaped groove to achieve the locking of adjacent crawler sections. After the locking, the entire crawler rotates and moves along the crawler asymptotic slope to the front of the front idler wheel. When the two sides of the eight-shaped splint are respectively in contact with the side of an arc-shaped flap located in the middle of the crawler connecting shaft and the side of the arc-shaped flap located at the end, the two arc-shaped flaps push the sleeve to move towards the inner side of the crawler section along the axis of the connecting shaft, thereby driving the locking tongue to extend out of the arc-shaped groove to achieve the unlocking of adjacent crawler sections.

[0015] The beneficial effects of the present invention are as follows: Through the cooperation between the locking mechanism between crawler sections and the idler wheel and front idler wheel adjustment mechanisms, the ostrich-toe-like mechanical characteristics can be achieved on sandy and soft ground, thereby improving the adhesion and traction of the crawler on this type of ground. The adjustment of the idler wheels and front idler wheels can also achieve safe and convenient replacement and maintenance of the crawler. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 2 is a connection diagram of the tensioning wheel branch pipe and the front idler wheel branch pipe in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 3 is a schematic structural diagram of the locking drive assembly in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 4 is a connection diagram of the central branch pipe and the lower idler wheel branch pipe in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 5 is a schematic structural diagram (one) of the lower idler wheel branch pipe in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 6 is a schematic structural diagram (two) of the lower idler wheel branch pipe in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 7 is an assembly diagram of the front idler wheel and the rear idler wheel in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 8 is an assembly diagram of the driving wheel in the multi-modal deformable crawler mobile robot with ostrich-toe-like walking of the present invention; Figure 9 It is an assembly drawing of the flange and the flared sleeve rod in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention; Figure 10 It is a schematic structural diagram of the crawler section in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention; Figure 11 It is a schematic diagram of crawler unlocking in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention; Figure 12 It is a schematic diagram of the 20-degree locking of two crawler sections in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention; Figure 13 It is a schematic diagram of the -20-degree locking of two crawler sections in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention; Figure 14 It is a schematic diagram of the multi-modal crawler cross-country mode in the multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention.

[0017] In the figure, 1. Crawler section, 2. Front idler branch pipe, 3. Front idler, 4. Lower road wheel branch pipe, 5. Front road wheel, 6. Rear road wheel, 7. Driving wheel, 8. Driving wheel shaft, 9. Driving wheel bearing, 10. Branch pipe connecting plate, 11. Front idler branch pipe driving motor, 12. Central branch pipe, 13. Tensioning wheel, 14. First Ω-shaped connecting tile, 15. Tensioning wheel branch pipe, 16. Front idler branch pipe driving lead screw, 17. Lock tongue lever driving motor box, 18. Lock tongue lever driving gear, 19. Wavy connecting plate, 20. Second Ω-shaped connecting tile, 21. Second bearing, 22. Bracket plate, 23. Front road wheel bearing, 24. Slide plate, 25. Front road wheel driving lead screw, 26. Rear road wheel bearing, 27. Front road wheel lead screw driving motor, 28. Motor, 29. First bearing, 30. Arc-shaped flap, 31. Crawler connecting shaft, 32. Lock tongue, 33. Rack, 34. Third Ω-shaped connecting tile, 35. Fourth Ω-shaped connecting tile, 36. Inverted V-shaped support plate, 37. Inverted V-shaped clamping plate, 38. Vertical plate, 39. Hollow cylindrical housing, 40. Flange, 41. Flared sleeve rod, 42. Cylindrical sleeve, 43. Base plate, 44. Connecting plate, 45. Block, 46. Sleeve, 47. First fixed shaft, 48. Second fixed shaft. Detailed implementation manners

[0018] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0019] Embodiment 1 The multi-modal deformable crawler mobile robot that imitates the ostrich toe walking of the present invention, as Figure 1As shown in the figure, it includes two front idler wheels 3, two front carrier wheels 5, two rear carrier wheels 6, a drive wheel 7 and two tension wheels 13; the front idler wheels 3, front carrier wheels 5, rear carrier wheels 6, drive wheel 7 and tension wheels 13 are all engaged with the crawler, and the crawler is composed of a number of crawler links 1 connected by crawler connecting shafts; a locking mechanism is provided on each crawler link 1 for locking the crawler; The two front idler wheels 3 are arranged on both sides of the front idler wheel branch pipe 2, and the two tension wheels 13 are arranged on both sides of the tension wheel branch pipe 15; a locking drive assembly is also provided on the front idler wheel branch pipe 2, and the locking drive assembly is used to drive the locking mechanism to lock; The two front carrier wheels 5 and the two rear carrier wheels 6 are both arranged on both sides of the carrier wheel branch pipe 4, a slide plate 24 is provided at the bottom of the lower carrier wheel branch pipe 4, and an unlocking assembly is provided outside the slide plate 24; the unlocking assembly is used to drive the locking mechanism to unlock; The drive wheel 7 is used to drive the crawler to move; Embodiment 2 As Figure 2 shown, the tension wheel branch pipe 15 and the front idler wheel branch pipe 2 are arranged side by side. The interiors of the tension wheel branch pipe 15 and the front idler wheel branch pipe 2 are both hollow. One end of the tension wheel branch pipe 15 is provided with a motor 28. The output shaft of the motor 28 is connected to the front idler wheel branch pipe driving lead screw 16. The front idler wheel branch pipe driving lead screw 16 is sleeved in the front idler wheel branch pipe 2 and pushes the front idler wheel branch pipe 2 to move. There is a gap between the end of the front idler wheel branch pipe driving lead screw 16 and the end of the front idler wheel branch pipe 2; at one end of the tension wheel branch pipe 15 close to the motor 28, a first Ω-shaped connecting tile 14 is provided. The two open ends of the first Ω-shaped connecting tile 14 are fixed to the top of the tension wheel branch pipe 15 by bolts; a first bearing 29 is connected inside the first Ω-shaped connecting tile 14. The two tension wheels 13 are connected by a shaft, and the shaft is connected to the first bearing 29 in a matching manner, so that the two tension wheels 13 are located on both sides of the tension wheel branch pipe 15; The end of the front idler wheel branch pipe 2 is provided with a second Ω-shaped connecting tile 20. The two open ends of the second Ω-shaped connecting tile 20 are vertically connected to the front idler wheel branch pipe 2. A second bearing 21 is connected inside the second Ω-shaped connecting tile 20. The two front idler wheels 3 are connected by a shaft, and the shaft is connected to the second bearing 21 in a matching manner, so that the two front idler wheels 3 are located on both sides of the front idler wheel branch pipe 2; As Figure 3As shown in the figure, the locking drive assembly includes a lock tongue lever drive motor box 17 connected to the closed end of the second Ω-shaped connecting tile 20. One end of the lock tongue lever drive motor box 17 is open. A drive motor is arranged inside the lock tongue lever drive motor box 17. A support plate 22 is arranged inside the lock tongue lever drive motor box 17. The motor shaft of the drive motor passes through the support plate 22 and is connected to a lock tongue lever drive gear 18. A first fixed shaft 47 and a second fixed shaft 48 are horizontally arranged side by side inside the lock tongue lever drive motor box 17. A rack 33 meshing with the lock tongue lever drive gear 18 is further arranged inside the lock tongue lever drive motor box 17. The rack 33 is horizontally arranged. A wavy connecting plate 19 is welded to the side of the rack 33. The wavy connecting plate 19 can extend out of the lock tongue lever drive motor box 17. The wavy connecting plate 19 is arranged on the surfaces of the first fixed shaft 47 and the second fixed shaft 48, and the radian is adapted. The rack 33 and the wavy connecting plate 19 are driven by the lock tongue lever drive gear 18 to slide on the surfaces of the first fixed shaft 47 and the second fixed shaft 48. As Figure 4 and Figure 5 shown in the figure, a central branch pipe 12 is arranged at the bottom of the tension pulley branch pipe 15. The bottom of the central branch pipe 12 is connected to a lower idler wheel branch pipe 4. The two side parts of the central branch pipe 12 and the lower idler wheel branch pipe 4 are connected by a branch pipe connecting plate 10. A third Ω-shaped connecting tile 34 is arranged at the bottom of the branch pipe connecting plate 10. A rear idler wheel bearing 26 is connected inside the third Ω-shaped connecting tile 34. Two rear idler wheels 6 are connected by a shaft. The shaft is connected with the rear idler wheel bearing 26 in a matching way, so that the two rear idler wheels 6 are located on both sides of the lower idler wheel branch pipe 4. As Figure 6 shown in the figure, a long hole is arranged at the bottom of the lower idler wheel branch pipe 4. Slide rails are arranged on both sides of the long hole. A slide plate 24 is slidably connected between the two slide rails. A vertical plate 38 is vertically arranged in the middle of the slide plate 24. There is a gap between the top of the vertical plate 38 and the top of the lower idler wheel branch pipe 4. A through hole is arranged in the middle of the vertical plate 38. A hollow cylindrical shell 39 horizontally passes through the through hole. As Figure 7 shown in the figure, a front idler wheel lead screw drive motor 27 is arranged inside one end of the lower idler wheel branch pipe 4. The output shaft of the front idler wheel lead screw drive motor 27 is connected to a front idler wheel drive lead screw 25. The front idler wheel drive lead screw 25 passes through the hollow cylindrical shell 39. The bottom of the slide plate 24 is connected to the open end of a fourth Ω-shaped connecting tile 35. A front idler wheel bearing 23 is connected inside the fourth Ω-shaped connecting tile 35. Two front idler wheels 5 are connected by a shaft. The shaft is connected with the front idler wheel bearing 23 in a matching way, so that the two front idler wheels 5 are located on both sides of the lower idler wheel branch pipe 4. The unlocking assembly includes an eight-shaped support plate 36 arranged at the bottom of the fourth Ω-shaped connecting tile 35. An eight-shaped clamping plate 37 is arranged at the end of the eight-shaped support plate 36. The middle part of the eight-shaped clamping plate 37 is connected to the large end part of the eight-shaped support plate 36. As Figure 8 and Figure 9 shown, a driving wheel 7 is arranged between two branch pipe connecting plates 10. Flange plates 40 are arranged on both sides of the driving wheel 7. The two flange plates 40 are respectively connected to the large end parts of horn-shaped sleeve rods 41. The small end parts of the horn-shaped sleeve rods 41 are connected to cylindrical sleeve pipes 42. The two cylindrical sleeve pipes 42 are respectively connected to the two branch pipe connecting plates 10 through bearings. Splines are arranged inside the two horn-shaped sleeve rods 41. Motor drive shafts penetrate through the two cylindrical sleeve pipes 42. The splines are matched with the splines on the motor drive shafts to drive the driving wheel 7 to move; As Figure 10 shown, each crawler link 1 includes a bottom plate 43 in a convex shape. Connecting plates 44 are connected to both sides of the bottom plate 43. Through holes are arranged on the two connecting plates 44. Connecting plate blocks 45 are also arranged on both sides of the bottom plate 44. The blocks 45 are connected to the connecting plates 44. Arc-shaped grooves are arranged on the blocks 44. The radian on both sides of the arc-shaped groove is different. A locking tongue 32 is arranged in the arc-shaped groove in a matching way. Through holes are arranged on the blocks 44. Crawler connecting shafts 31 penetrate through the through holes to connect the connecting plates 44 of the next crawler link 1. Two sleeve pipes 46 are sleeved on the outer wall of the crawler connecting shaft 31. The two sleeve pipes 46 are respectively located at both ends of the crawler connecting shaft 31. Two arc-shaped paddles 30 are arranged on each sleeve pipe 46; Both side parts of the wavy connecting plate 19 can be in contact with the side parts of two arc-shaped paddles 30 located in the middle of the crawler connecting shaft 31 and push the sleeve pipes 46 to move left and right. Both side parts of the eight-shaped clamping plate 37 can be in contact with the side parts of the two arc-shaped paddles 30 and push the sleeve pipes 46 to move towards the inner side of the crawler link 1 along the axis of the crawler connecting shaft 31; Embodiment 3 When the driving wheel 7 moves, when both side parts of the wavy connecting plate 19 are respectively in contact with the adjacent side parts of two arc-shaped paddles 30 located in the middle of the crawler connecting shaft 31, the two sleeve pipes 46 move left and right through the wavy connecting plate 19, and when in contact, the wavy connecting plate 19 is not in contact with the outer wall of the crawler connecting shaft 31; and insert one of the locking tongues 32 into the arc-shaped groove to lock two adjacent crawler links 1; When the driving wheel 7 continues to move, when both side parts of the eight-shaped clamping plate 37 are respectively in contact with the side part of one arc-shaped paddle 30 located in the middle of the crawler connecting shaft 31 and the side part of the arc-shaped paddle 30 located at the end, the two arc-shaped paddles 30 push the sleeve pipes 46 to move towards the inner side of the crawler link 1 along the axis of the connecting shaft, thereby driving the locking tongue 32 to extend out of the arc-shaped groove to unlock the crawler link 1.

[0020] The active adaptive bionic structure design of the crawler is based on the biomechanical characteristics of ostrich toes. Under normal driving conditions, it has a large contact area, reducing the large-rigidity contact with hard road surfaces. When passing through unconventional road surfaces such as tidal flats and soft sandy lands, it can imitate the biomechanical characteristics of ostrich toes, enabling itself to have a certain ability to prevent sinking, cross sand, and cross tidal flats. A lead screw and a motor are used to adjust the position of the idler wheels. Under the condition of a fixed length of the crawler, combined with the locking mechanism of the crawler, the front end of the crawler in contact with the ground can be controllably flattened and curled, thus realizing the mechanical characteristics imitating the ostrich sole in environments such as soft sandy lands and tidal flats.

[0021] Example 4 The multi-modal deformable crawler mobile robot of the present invention that imitates the walking of ostrich toes has the following working principle: The walking mode imitating the characteristics of ostrich toes (referred to as the sand-crossing mode). In this mode, the wavy connecting plate 19, the front idler wheel branch pipe driving motor 11, and the idler wheel lead screw driving motor 27 need to act simultaneously. The wavy connecting plate 19 pushes the sleeve 46 located on the crawler connecting shaft 31 to move reciprocally, so that the locking tongue 32 is inserted into the arc-shaped groove, realizing the locking of adjacent crawler links 1. After locking, the entire crawler rotates with the crawler and moves along the asymptotic slope of the crawler to the front of the front idler wheel 5. When the two sides of the eight-shaped clamping plate 37 are respectively in contact with the side of an arc-shaped dial 30 in the middle of the crawler connecting shaft 31 and the side of the arc-shaped dial 30 at the end, the two arc-shaped dials 30 push the sleeve 46 to move towards the inside of the crawler link 1 along the axis of the connecting shaft, and then drive the locking tongue 32 to extend out of the arc-shaped groove, realizing the unlocking of the crawler link 1. As Figure 11 shown, in this process, the front idler wheel branch pipe driving motor 28 drives the front idler wheel branch pipe driving lead screw 16, the front idler wheel branch pipe 2, and the front idler wheel 3 to move; the idler wheel lead screw driving motor 27 drives the idler wheel slide plate driving lead screw 25, the support slide plate 24, and the front idler wheel 5 to move, ensuring the tension of the entire crawler. During the process, the front asymptotic slope of the crawler is not in contact with the lower idler wheel branch pipe 4 to prevent the crawler from being stuck.

[0022] Example 5 Furthermore, in the common normal driving mode (cruise mode), in this mode, the crawler link is in the unlocked mode. The driving wheel 7 is driven to rotate by the motor, and the driving wheel 7 drives the front idler wheel 5 and the rear idler wheel 6, and then drives the crawler to rotate to complete the cruise mode.

[0023] Example 6 For the realization of the mechanical characteristics imitating ostrich toes, when the adjacent crawler connecting shafts pass through the wavy connecting plate, the sleeve located on the crawler connecting shaft is pushed to a position 20 degrees relative to the positive of the corresponding crawler link, as Figure 12 shown, so that one side of the locking tongue is inserted between the crawler links and the other side is pulled out; when the next adjacent crawler connecting shaft passes through, the sleeve is pushed to a position of -20 degrees relative to the corresponding, as Figure 13As shown, insert the other locking tongue into the track link and pull out one side; when the track connecting shaft of the next adjacent link passes by, push it to the corresponding -20-degree position; when the track connecting shaft of the next adjacent link passes by, push it to the corresponding +20-degree position. Each four track links form a cycle, causing the formation of a wall-like protrusion on the progressive inclined surface of the track (as Figure 14 shown).

[0024] The two-toed feet of ostriches have been in direct contact with sand for a long time. After optimization, a special shape has been formed on the soles of their feet that can fix sand, limit the flow of sand, prevent slipping, and efficiently cross sand. When ostriches move on sandy ground, their toenails have an effect similar to that of shoe nails, playing a role in traction and fixing sand. When ostriches run, their toenails will dig into the sand, increasing the fixing ability of the ostrich's feet and improving the traction performance. The wall-like protrusions formed on the progressive inclined surface of the track in the present invention can simulate the contact between the ostrich's toenails and the ground when in contact with the ground (as Figure 14 shown), improving the traction of the track. During this process, the front idler and the front carrier roller will cooperate to adjust to ensure that there is an appropriate tension on the track; the middle groove surface of the curved surface of the third toe sole of the ostrich foot has an obvious effect of fixing sand and limiting the flow of sand. The front and back movement of the rear carrier roller 6 and the front carrier roller 5 in the present invention enables the track between the two rollers to simulate the middle groove of the third toe of the ostrich foot, enabling the track to have the ability to fix sand and limit the flow of sand when driving on soft ground.

Claims

1. A multi-modal deformable tracked mobile robot that imitates ostrich toe walking, characterized in that: The invention comprises two front guide wheels (3), two front supporting rollers (5), two rear supporting rollers (6), a driving wheel (7), two tensioning wheels (13) and a crawler track; the crawler track is formed by connecting a plurality of crawler track sections (1); each crawler track section (1) is provided with a locking mechanism for locking the crawler track; the two front guide wheels (3) are arranged on both sides of a front guide wheel branch pipe (2); the two tensioning wheels (13) are arranged on both sides of a tensioning wheel branch pipe (15); the front guide wheel branch pipe (2) is also provided with a locking drive component, and the locking drive component is used to drive the locking mechanism to lock; the two front supporting rollers (5) and the two rear supporting rollers (6) are arranged on both sides of the supporting roller branch pipe (4), and an unlocking component is arranged outside the lower supporting roller branch pipe (4); the unlocking component is used to drive the locking mechanism to unlock; the front guide wheel (3), the front supporting roller (5), the rear supporting roller (6), the driving wheel (7) and the tensioning wheel (13) are all engaged with the crawler track.

2. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 1, characterized in that: A motor (28) is provided at one end of the tension wheel branch pipe (15); an output shaft of the motor (28) is connected to a front guide wheel branch pipe driving screw (16); the front guide wheel branch pipe driving screw (16) is sleeved in the front guide wheel branch pipe (2) and pushes the front guide wheel branch pipe (2) to move; a first Ω-shaped connecting shoe (14) is provided at one end of the top of the tension wheel branch pipe (15) close to the motor (28); two open ends of the first Ω-shaped connecting shoe (14) are fixed to the top of the tension wheel branch pipe (15) by bolts; the first An Ω-shaped connecting shoe (14) is internally connected to a first bearing (29), and the two tension wheels (13) are connected via a shaft, which is cooperatively connected to the first bearing (29); a second Ω-shaped connecting shoe (20) is provided at the end of the front guide wheel branch pipe (2), and the two open ends of the second Ω-shaped connecting shoe (20) are vertically connected to the front guide wheel branch pipe (2), and the second Ω-shaped connecting shoe (20) is internally connected to a second bearing (21), and the two front guide wheels (3) are connected via a shaft, which is cooperatively connected to the second bearing (21).

3. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 2, characterized in that: The locking drive assembly comprises a bolt lever drive motor box (17) connected to the closed end of the second Ω-shaped connecting shoe (20), a drive motor is arranged inside the bolt lever drive motor box (17), a bracket plate (22) is arranged inside the bolt lever drive motor box (17), a motor shaft of the drive motor passes through the bracket plate (22) and is connected to the bolt lever drive gear (18), a first fixed shaft (47) and a second fixed shaft (48) are arranged horizontally side by side inside the bolt lever drive motor box (17), and the bolt lever drive motor box (17) is provided with a plurality of fixed shafts (47, 48) and a plurality of fixed shafts (48) arranged side by side. 17) is also provided with a rack (33) meshing with the bolt lever driving gear (18), a wavy connecting plate (19) is welded to the side of the rack (33), the wavy connecting plate (19) can extend out of the bolt lever driving motor box (17), the wavy connecting plate (19) is provided on the surface of the first fixed shaft (47) and the second fixed shaft (48), and the rack (33) and the wavy connecting plate (19) are driven by the bolt lever driving gear (18) to slide on the surface of the first fixed shaft (47) and the second fixed shaft (48).

4. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 3, characterized in that: A central branch pipe (12) is provided at the bottom of the tension wheel branch pipe (15), and a lower roller branch pipe (4) is connected to the bottom of the central branch pipe (12). The central branch pipe (12) and the lower roller branch pipe (4) are connected at both sides via a branch pipe connecting plate (10). A third Ω-type connecting shoe (34) is provided at the bottom of the branch pipe connecting plate (10), and a rear roller bearing (26) is connected inside the third Ω-type connecting shoe (34). The two rear rollers (6) are connected via a shaft, and the shaft is matched and connected to the rear roller bearing (26). A long hole is provided at the bottom of the lower roller branch pipe (4), and slide rails are provided on both sides of the long hole. A slide plate (24) is slidably connected between the two slide rails, and the slide plate (24) A vertical plate (38) is vertically arranged in the middle of the vertical plate (38), a through hole is arranged in the middle of the vertical plate (38), and a hollow cylindrical shell (39) passes through the through hole horizontally; a front roller screw drive motor (27) is arranged inside one end of the lower roller support pipe (4), and the output shaft of the front roller screw drive motor (27) is connected to the front roller drive screw (25), and the front roller drive screw (25) passes through the hollow cylindrical shell (39); the bottom of the slide plate (24) is connected to the open end of the fourth Ω-type connecting shoe (35), and the fourth Ω-type connecting shoe (35) is connected to the front roller bearing (23), and the two front rollers (5) are connected by a shaft, and the shaft is matched with the front roller bearing (23).

5. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 4, characterized in that: The unlocking assembly comprises an eight-shaped support plate (36) arranged at the bottom of the fourth Ω-shaped connecting tile (35), an eight-shaped clamping plate (37) is arranged at the end of the eight-shaped support plate (36), and the middle part of the eight-shaped clamping plate (37) is connected to the large end of the eight-shaped support plate (36).

6. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 5, characterized in that: A driving wheel (7) is arranged between the two branch pipe connecting plates (10), and flanges (40) are arranged on both sides of the driving wheel (7). The two flanges (40) are respectively connected to the large ends of the trumpet-shaped sleeve rod (41), and the small ends of the trumpet-shaped sleeve rod (41) are connected to the cylindrical sleeves (42). The two cylindrical sleeves (42) are respectively connected to the two branch pipe connecting plates (10) through bearings. Splines are arranged inside the two trumpet-shaped sleeve rods (41), and motor drive shafts are passed through the two cylindrical sleeves (42). The splines cooperate with the splines on the motor drive shaft to drive the driving wheel (7) to move.

7. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 6, characterized in that: Each track segment (1) comprises a convex-shaped bottom plate (43), connecting plates (44) are connected to the bottom plate (43) on both sides, through holes are provided on the two connecting plates (44), connecting plate clamping blocks (45) are also provided on both sides of the bottom plate (44), the clamping blocks (45) are connected to the connecting plates (44), an arc-shaped groove is provided on the clamping block (44), a locking tongue (32) is provided in the arc-shaped groove, a through hole is provided on the clamping block (44), a track connecting shaft (31) passes through the through hole, and is used to connect the connecting plate (44) of the next track segment (1), and the outer wall of the track connecting shaft (31) is sleeved with two sleeves (46), the two sleeves (46) are respectively located at two ends of the track connecting shaft (31), and each sleeve (46) is provided with two arc-shaped paddles (30).

8. The multi-modal deformable crawler mobile robot imitating ostrich toe walking as claimed in claim 7, characterized in that: The two side portions of the wavy connecting plate (19) can be connected to the side portions of two arc-shaped paddles (30) located in the middle of the track connecting shaft (31), and push the sleeve (46) to move left and right. The two side portions of the eight-shaped clamping plate (37) can be connected to the side portions of the two arc-shaped paddles (30) respectively, and push the sleeve (46) to move along the axis of the track connecting shaft (31) toward the inside of the track section (1).

9. A method for moving a multi-modal deformable track mobile robot that imitates ostrich toe walking, which is implemented by using the multi-modal deformable track mobile robot that imitates ostrich toe walking as claimed in claim 8, characterized in that: Specifically: When the normal mode is in operation, the motor drives the driving wheel (7) to rotate, and the driving wheel (7) drives the front supporting roller (5) and the rear supporting roller (6), thereby driving the crawler track to rotate, and the normal mode is in operation; When the walking mode imitating the characteristics of ostrich toes is performed, the wavy connecting plate (19), the front guide wheel branch pipe driving motor (11) and the supporting roller screw driving motor (27) act simultaneously, the wavy connecting plate (19) pushes the sleeve (46) located on the crawler connecting shaft (31) to reciprocate, so that the locking tongue (32) is inserted into the arc groove, thereby locking the adjacent crawler sections (1). After the crawler section (1) is locked, the entire crawler section rotates with the crawler section, and moves along the crawler asymptotic slope to the front of the front supporting roller (5). When the two sides of the eight-shaped clamping plate (37) are respectively connected with the side of an arc-shaped paddle (30) located in the middle of the crawler connecting shaft (31) and the side of the arc-shaped paddle (30) located at the end, the two arc-shaped paddles (30) push the sleeve (46) to move along the axis of the connecting shaft toward the inner side of the crawler section (1), thereby driving the locking tongue (32) to extend out of the arc groove, thereby unlocking the adjacent crawler section (1).

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