All-terrain independent four-wheel-drive tracked robot

Abstract

The invention provides an all-terrain independent four-wheel-drive crawler-type robot, and relates to the field of robots, the all-terrain independent four-wheel-drive crawler-type robot comprises a skeleton mechanism and four sets of independently-driven advancing mechanisms, and each advancing mechanism comprises a shape adjusting assembly, a driving wheel assembly, a driven wheel and a crawler belt; the driving wheel assembly comprises a circular driving wheel, a built-in motor, a planetary gear unit, a supporting shaft and an output shaft, a central transmission shaft of the built-in motor drives the planetary gear unit, the planetary gear unit drives the driving wheel to rotate, and the motor unit drives the output shaft and a connecting plate to rotate; through the integrated design, the tracked robot can change the form of the advancing mechanism according to the terrain, adjust the contact area between the track and the ground and adjust the crawling angle of the advancing mechanism, so that the tracked robot can easily get out of trouble and adapt to the complex working condition environment; and the output torque of the built-in motor is effectively increased, the control performance of the hub is greatly improved, and the market value is huge.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a full-terrain independent four-wheel tracked robot. BACKGROUND

[0002] The tracked robot mainly refers to the robot with tracked chassis mechanism. The tracked mobile robot has the advantages of large traction, not easy to slip, good off-road performance, etc. It can carry cameras, detectors and other equipment to replace humans to do some dangerous work (such as explosive ordnance disposal, chemical detection, etc.), and reduce unnecessary casualties.

[0003] Patent No. CN113305802A, patent name a full-terrain with swing arm tracked remote control investigation and search and rescue robot, specifically discloses a full-terrain with swing arm tracked remote control investigation and search and rescue robot, which comprises a protective cover, a U-shaped bottom plate, a connecting column, a bolt, a connecting fastening plate, a battery module, an antenna module, an industrial computer, a camera, a DC motor, a servo motor, a tracked connecting plate, a tracked drive wheel, a fastening pin and an anti-skid tracked shoe; it is used for environmental investigation in various terrains and environments to provide decision basis for search and rescue. The present application utilizes detachable motors and other components, which can adjust the position within a certain range to meet the needs of different sizes of structures in engineering; the remote control operation of the present application is relatively simple, the personnel training period is relatively short, and a large amount of manpower and time expenditure is saved; in addition, the hub motor technology is also known as the wheel-in motor technology, and its biggest feature is that the power device, transmission device and brake device are integrated together into the hub, so that the mechanical part of the electric vehicle is greatly simplified. Since the hub motor has the characteristics of single-wheel independent driving, it can easily realize full-time four-wheel drive on the hub motor driven vehicle, regardless of front drive, rear drive or four-wheel drive. At the same time, the hub motor can realize differential steering similar to tracked vehicles by differentiating the speed or even reversing the left and right wheels, greatly reducing the turning radius of the vehicle, and almost realizing the in-place steering in special cases, which is very valuable for special vehicles.

[0004] As mentioned in the background, a full-terrain with swing arm tracked remote control investigation and search and rescue robot, the existing tracked robot usually needs to walk on the ground with the maximum contact area, but this running mode will greatly increase the energy consumption of the tracked robot, and the existing tracked robot has great limitations in full-terrain working conditions due to its own climbing angle and driving mode, and its escape ability is limited. In addition, the current hub motor adopts a customized motor structure, but due to the limitation of its structure, the speed of the rotor of the hub motor is the same as the speed of the hub itself, which causes the output torque of the existing hub motor to be limited. When the output torque increases, the power of the hub motor increases greatly, and the control performance is poor. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the deficiencies in the prior art, and to provide a full-terrain independent four-wheel drive tracked robot, which can change the shape of the traveling mechanism, adjust the contact area of the track with the ground, and adjust the climbing angle of the traveling mechanism, through integrated design, so that the tracked robot can easily escape from trouble and adapt to complex working conditions, and through the optimization design of the driving wheel assembly, the output torque of the built-in motor is effectively increased, and the control performance of the hub is greatly enhanced.

[0006] The present application is implemented by the following technical solutions:

[0007] A full-terrain independent four-wheel drive tracked robot, comprising a skeleton mechanism and four groups of independently driven traveling mechanisms, the traveling mechanism supporting the skeleton mechanism, the traveling mechanism comprising a shape adjustment assembly, a driving wheel assembly, a driven wheel and a track, the driving wheel assembly driving the driven wheel through the track, the driving wheel assembly comprising a circular driving wheel, a built-in motor, a planetary gear unit, a support shaft and an output shaft, the built-in motor and the planetary gear unit being arranged in the driving wheel, the support shaft and the output shaft being arranged on both sides of the driving wheel, and the support shaft and the output shaft being rotatably connected to the driving wheel through bearings, the housing of the built-in motor being fixedly connected to the output shaft, the central transmission shaft of the built-in motor driving the planetary gear unit, the planetary gear unit driving the driving wheel to rotate, the driving wheel being connected to the driven wheel through two groups of left and right symmetrically arranged connecting plates, the driving wheel and the driven wheel being rotatably connected to the connecting plates through bearings, the support shaft and the output shaft of the driving wheel assembly being fixedly connected to the connecting plates, the track being annularly sleeved on the driving wheel and the driven wheel, the driving wheel driving the driven wheel through the track, the shape adjustment assembly comprising a motor unit, the motor unit being fixedly installed on the skeleton mechanism, the motor unit driving the output shaft and the connecting plate to rotate.

[0008] As can be seen from the above technical solution, the present application adopts four groups of independently driven traveling mechanisms, the central transmission shaft of the built-in motor in the driving wheel assembly drives the planetary gear unit, the planetary gear unit drives the driving wheel to rotate, and the motor unit drives the output shaft and the connecting plate to rotate, thereby through integrated design, the tracked robot can change the shape of the traveling mechanism, adjust the contact area of the track with the ground, and adjust the climbing angle of the traveling mechanism, so that the tracked robot can easily escape from trouble and adapt to complex working conditions, and the built-in motor can use mature motor equipment on the market, without special customization, easy to obtain and low cost, the housing of the built-in motor is fixedly connected to the output shaft, so the housing of the built-in motor acts as a stator, and the central transmission shaft of the built-in motor drives the planetary gear mechanism, at this time the central transmission shaft of the built-in motor is driven by the rotor, the planetary gear mechanism drives the driving wheel to rotate, and through optimization design, the output torque of the built-in motor is effectively increased, and the control performance of the hub is greatly enhanced.

[0009] According to the technical scheme, preferably, the form adjusting assembly further comprises a speed reduction unit, the motor unit drives the output shaft through the speed reduction unit, the speed reduction unit comprises a speed reduction gear in multi-stage meshing transmission, the speed reduction gear is rotationally connected with the framework mechanism through a rotating shaft, and a rotating gear in meshing transmission with the speed reduction gear is fixedly connected on the output shaft.

[0010] As can be seen, in the technical scheme, the speed reduction unit can increase the output torque of the motor unit and the power of the track robot, and the speed reduction gear in multi-stage meshing transmission can effectively increase the output torque of the motor unit.

[0011] According to the technical scheme, preferably, the planetary gear unit comprises a central sun gear, a planetary gear set, a ring gear and a planetary gear carrier, the built-in motor drives the central sun gear to rotate through a central transmission shaft, the ring gear is fixed relative to the shell of the built-in motor, the planetary gear set is in meshing transmission with the central sun gear and the ring gear, the planetary gear set drives the planetary gear carrier to rotate, and the planetary gear carrier drives the driving wheel to rotate.

[0012] As can be seen, in the technical scheme, the planetary gear set is in meshing transmission with the central sun gear and the ring gear, the central sun gear rotates under the drive of the central transmission shaft, and the ring gear is fixed relative to the shell of the built-in motor, at this time, the planetary gear set can drive the planetary gear carrier to rotate, and the planetary gear carrier drives the driving wheel to rotate stably.

[0013] According to the technical scheme, preferably, the central sun gear is coaxially and fixedly connected with the central transmission shaft of the built-in motor, the inner side of the ring gear is provided with an inner tooth ring in meshing transmission with the planetary gear set, the planetary gear carrier supports the planetary gear set, the ring gear is fixedly connected with the shell of the built-in motor through a connecting part, the connecting part is rotationally connected with the driving wheel through a bearing, and the planetary gear carrier is fixedly connected with the driving wheel.

[0014] According to the technical scheme, preferably, the planetary gear set comprises three groups of planetary gears arranged at equal angles around the central sun gear, the planetary gears are in meshing transmission with the central sun gear and the ring gear, the planetary gear carrier is coaxially and fixedly connected with the driving wheel, and the planetary gear carrier is provided with three groups of connecting shafts rotationally connected with the planetary gears coaxially.

[0015] As can be seen, in the technical scheme, since the ring gear is fixedly connected with the shell of the built-in motor through the connecting part, and the planetary gears are in meshing transmission with the central sun gear and the ring gear, at this time, the planetary gears can drive the planetary gear carrier to rotate around the central axis, and the planetary gear carrier is coaxially and fixedly connected with the driving wheel, so the driving wheel can rotate synchronously.

[0016] According to the technical scheme, preferably, the front end of the connecting plate is provided with a tensioning assembly for pulling the driven wheel.

[0017] It can be seen that in the technical scheme, the tensioning assembly can pull and tension the driven wheel, thereby facilitating the staff to disassemble, maintain and assemble the track.

[0018] According to the technical scheme, preferably, the tensioning assembly comprises a fixing member and a pull rod, the connecting plate is provided with a strip-shaped sliding hole matched with the central shaft of the driven wheel, the fixing member is fixedly connected with the end of the connecting plate, the pull rod is threadedly connected with the fixing member, and the end of the pull rod is rotationally connected with the central shaft of the driven wheel.

[0019] It can be seen that in the technical scheme, after the staff completes the installation of the track, the pull rod can be screwed by using a wrench, the pull rod is threadedly connected with the fixing member, so that the pull rod pulls the driven wheel away from the driving wheel, thereby realizing the tensioning and locking of the driven wheel.

[0020] According to the technical scheme, preferably, the skeleton mechanism comprises a wheel hub frame body and a damping frame body, the traveling mechanism supports the wheel hub frame body, the damping frame body is erected on the wheel hub frame body through a damping assembly, and the motor unit and the speed reduction unit are fixedly arranged on the inner side of the wheel hub frame body.

[0021] It can be seen that in the technical scheme, the damping effect of the equipment carried on the damping frame body can be effectively improved through the optimized damping design.

[0022] According to the technical scheme, preferably, the built-in motor is a servo motor.

[0023] It can be seen that in the technical scheme, the servo motor as the built-in motor is not only high in precision, but also easy to obtain.

[0024] The present application has the following advantages:

[0025] (1) The present application adopts four groups of independently driven traveling mechanisms, the central transmission shaft of the built-in motor in the driving wheel assembly drives the planetary gear unit, the planetary gear unit drives the driving wheel to rotate, the motor unit drives the output shaft and the connecting plate to rotate, thereby realizing the shape change of the track robot according to the terrain through the integrated design, adjusting the contact area of the track with the ground, and adjusting the climbing angle of the traveling mechanism, realizing easy escape from trouble, and adapting to complex working conditions;

[0026] (2) The damping frame body is erected on the wheel hub frame body through the damping assembly, the motor unit and the speed reduction unit are fixedly arranged on the inner side of the wheel hub frame body, and the damping effect of the equipment carried on the damping frame body is improved through the optimized damping design.

[0027] (3) The housing of the built-in motor is fixedly connected with the output shaft, the housing of the built-in motor serves as a stator, and the central transmission shaft of the built-in motor drives the planetary gear mechanism, at this time, the central transmission shaft of the built-in motor is driven by the rotor, the planetary gear mechanism drives the driving wheel to rotate, and then the output torque of the built-in motor is effectively increased through optimization design, and the control performance of the hub is greatly enhanced;

[0028] (4) The built-in motor can adopt mature motor equipment on the market, without special customization, easy to obtain and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The axial side structure schematic diagram of the application is shown;

[0030] Figure 2 The axial side structure schematic diagram of the traveling mechanism in the application is shown;

[0031] Figure 3 The top view structure schematic diagram of the application is shown;

[0032] Figure 4 The axial side structure schematic diagram of the driving wheel assembly in the application is shown; Figure 3 The axial side structure schematic diagram of the driving wheel assembly in the application is shown;

[0033] Figure 5 The axial side structure schematic diagram of the driving wheel assembly in the application is shown;

[0034] Figure 6 The axial side structure schematic diagram of the driving wheel assembly in the application is shown;

[0035] Figure 7 The top view structure schematic diagram of the driving wheel assembly in the application is shown;

[0036] Figure 8 The axial side structure schematic diagram of the driving wheel assembly in the application is shown; Figure 7 The axial side structure schematic diagram of the driving wheel assembly in the application is shown;

[0037] Figure 9 The axial side structure schematic diagram of the driving wheel assembly in the application is shown; Figure 7 The axial side structure schematic diagram of the driving wheel assembly in the application is shown;

[0038] BRIEF DESCRIPTION OF DRAWINGS

[0039] 1, skeleton mechanism; 2, traveling mechanism; 3, shape adjusting assembly; 4, driving wheel assembly; 5, driven wheel; 6, track; 7, driving wheel; 8, built-in motor; 9, planetary gear unit; 10, support shaft; 11, output shaft; 12, center transmission shaft; 13, center sun gear; 14, planetary gear set; 15, ring gear; 16, planetary gear carrier; 17, connecting plate; 18, motor unit; 19, speed reduction unit; 20, speed reduction gear; 21, rotating gear; 22, hub frame body; 23, shock absorbing frame body; 24, shock absorbing assembly; 25, connecting part; 26, tensioning assembly; 27, fixing piece; 28, pull rod. DETAILED DESCRIPTION

[0040] In order to make the technical personnel in the technical field better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and the best embodiment. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative labor belong to the scope of protection of the present application.

[0041] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation of the application.

[0042] As shown in the figure, the present application provides an all-terrain independent four-wheel drive tracked robot, comprising a skeleton mechanism 1 and four groups of independently driven traveling mechanisms 2, wherein the traveling mechanisms 2 support the skeleton mechanism 1, the traveling mechanisms 2 comprise a shape adjustment assembly 3, a drive wheel assembly 4, a driven wheel 5 and a track 6, the drive wheel assembly 4 drives the driven wheel 5 through the track 6, the drive wheel assembly 4 comprises a circular driving wheel 7, an internal motor 8, a planetary gear unit 9, a support shaft 10 and an output shaft 11, the internal motor 8 and the planetary gear unit 9 are arranged in the driving wheel 7, the support shaft 10 and the output shaft 11 are arranged on both sides of the driving wheel 7, and the support shaft 10 and the output shaft 11 are both rotationally connected with the driving wheel 7 through bearings, the housing of the internal motor 8 is fixedly connected with the output shaft 11, the central transmission shaft 12 of the internal motor 8 drives the planetary gear unit 9, and the planetary gear unit 9 drives the driving wheel 7 to rotate, wherein the planetary gear unit 9 comprises a central sun gear 13, a planetary gear set 14, a ring gear 15 and a planetary gear carrier 16, the internal motor 8 drives the central sun gear 13 to rotate through the central transmission shaft 12, the ring gear 15 is fixed relative to the housing of the internal motor 8, the planetary gear set 14 is in meshing transmission with the central sun gear 13 and the ring gear 15, the planetary gear set 14 drives the planetary gear carrier 16 to rotate, the planetary gear carrier 16 drives the driving wheel 7 to rotate, the driving wheel 7 is connected with the driven wheel 5 through two groups of left and right symmetrical connecting plates 17, the driving wheel 7 and the driven wheel 5 are both rotationally connected with the connecting plates 17 through bearings, the support shaft 10 and the output shaft 11 of the drive wheel assembly 4 are both fixedly connected with the connecting plates 17, the track 6 is annularly sleeved on the driving wheel 7 and the driven wheel 5, the driving wheel 7 drives the driven wheel 5 through the track 6, the shape adjustment assembly 3 comprises a motor unit 18 and a speed reduction unit 19, the motor unit 18 is fixedly installed on the skeleton mechanism 1, the motor unit 18 drives the output shaft 11 and the connecting plates 17 to rotate through the speed reduction unit 19, and the speed reduction unit 19 comprises a plurality of meshing transmission speed reduction gears 20, the speed reduction gears 20 are rotationally connected with the skeleton mechanism 1 through a rotating shaft, the output shaft 11 is fixedly connected with a rotating gear 21 in meshing transmission with the speed reduction gears 20, the speed reduction unit 19 can increase the output torque of the motor unit 18 and increase the power of the tracked robot, the plurality of meshing transmission speed reduction gears 20 can effectively increase the output torque of the motor unit 18, in addition, the skeleton mechanism 1 comprises a hub frame body 22 and a shock absorbing frame body 23, the traveling mechanisms 2 support the hub frame body 22, the shock absorbing frame body 23 is arranged on the hub frame body 22 through a shock absorbing assembly 24, the motor unit 18 and the speed reduction unit 19 are fixedly arranged on the inner side of the hub frame body 22, thereby effectively improving the shock absorbing effect of the equipment carried on the shock absorbing frame body 23 through the optimized shock absorbing design.

[0043] It can be seen that in the above technical solution, the application adopts four groups of independently driven traveling mechanisms 2, the center transmission shaft 12 of the built-in motor 8 in the driving wheel assembly 4 drives the planetary gear unit 9, the planetary gear unit 9 drives the driving wheel 7 to rotate, the motor unit 18 drives the output shaft 11 and the connecting plate 17 to rotate, and the integrated design makes the track robot change the shape of the traveling mechanism 2 according to the terrain, adjusts the contact area of the track 6 with the ground, and can adjust the climbing angle of the traveling mechanism 2, realizes easy escape, adapts to complex working conditions, and the built-in motor 8 can use mature motor equipment on the market, without special customization, easy to obtain and low cost, the shell of the built-in motor 8 is fixedly connected with the output shaft 11, so the shell of the built-in motor 8 acts as a stator, and the center transmission shaft 12 of the built-in motor 8 drives the planetary gear mechanism, at this time the center transmission shaft 12 of the built-in motor 8 is driven by the rotor, the planetary gear mechanism drives the driving wheel 7 to rotate, and the output torque of the built-in motor 8 is effectively increased through optimization design, which greatly enhances the control performance of the hub.

[0044] Working process:

[0045] Climbing angle adjustment of the track robot: the motor unit 18 drives the rotating gear 21 through the multi-stage meshing transmission reduction gear 20, since the rotating gear 21 is fixedly connected with the output shaft 11 and the connecting plate 17, and the output shaft 11 is coaxially and rotationally connected with the driving wheel 7, at this time the output shaft 11 drives the connecting plate 17 and the driven wheel 5 to rotate around the output shaft 11 by a set angle, thereby realizing adjustment of the traveling mechanism 2.

[0046] Forward and backward movement of the track robot: the center transmission shaft 12 of the built-in motor 8 drives the planetary gear unit 9, the planetary gear set 14 of the planetary gear unit 9 meshes with the center sun gear 13 and the ring gear 15 for transmission, the planetary gear set 14 drives the planetary gear carrier 16 to rotate, and the planetary gear carrier 16 drives the driving wheel 7 to rotate, at this time the climbing angle of the track robot does not change, and the driving wheel 7 drives the driven wheel 5 to rotate through the track 6, thereby realizing forward and backward movement of the track robot.

[0047] Further, the center sun gear 13 is coaxially and fixedly connected with the center transmission shaft 12 of the built-in motor 8, the inner side of the ring gear 15 is provided with an inner tooth ring for meshing transmission with the planetary gear set 14, the planetary gear carrier 16 supports the planetary gear set 14, the ring gear 15 is fixedly connected with the shell of the built-in motor 8 through the connecting part 25, the connecting part 25 is rotationally connected with the driving wheel 7 through a bearing, and the planetary gear carrier 16 is fixedly connected with the driving wheel 7.

[0048] Further, the planetary gear set 14 comprises three groups of planetary gears which are equiangularly arranged around the periphery of the sun gear 13, the planetary gears are in meshing transmission with the sun gear 13 and the ring gear 15, the planetary gear carrier 16 is coaxially fixedly connected with the driving wheel 7, the planetary gear carrier 16 is provided with three groups of connecting shafts which are coaxially rotationally connected with the planetary gears, since the ring gear 15 is fixedly connected with the housing of the built-in motor 8 through the connecting part 25, and the planetary gears are in meshing transmission with the sun gear 13 and the ring gear 15, at this time, the planetary gears can drive the planetary gear carrier 16 to rotate around the central axis thereof, and the planetary gear carrier 16 is coaxially fixedly connected with the driving wheel 7, therefore, the driving wheel 7 can synchronously rotate.

[0049] Further, the front end of the connecting plate 17 is provided with a tensioning assembly 26 which can pull and tension the driven wheel 5, thereby facilitating the staff to disassemble, maintain and assemble the track 6.

[0050] Further, the tensioning assembly 26 comprises a fixing part 27 and a pull rod 28, the connecting plate 17 is provided with a strip-shaped sliding hole which is adapted to the central shaft of the driven wheel 5, the fixing part 27 is fixedly connected with the end of the connecting plate 17, the pull rod 28 is threadedly connected with the fixing part 27, the end of the pull rod 28 is rotationally connected with the central shaft of the driven wheel 5, after the staff completes the assembly of the track 6, the staff can use a wrench to screw the pull rod 28, since the pull rod 28 is threadedly connected with the fixing part 27, thereby making the pull rod 28 pull the driven wheel 5 away from the driving wheel 7, thereby realizing the tensioning and locking of the driven wheel 5.

[0051] Further, the built-in motor 8 is a servo motor, as the built-in motor 8, the servo motor is not only high in precision, but also easy to obtain.

[0052] Obviously, the above embodiments are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the implementation modes. The changes or variations which are derived from the above are still within the protection scope of the present application.

Claims

1. An all-terrain independent four-wheel drive tracked robot, characterized in that, The system includes a frame structure and four independently driven traveling mechanisms. Each traveling mechanism supports the frame structure and includes a shape adjustment assembly, a drive wheel assembly, driven wheels, and tracks. The drive wheel assembly drives the driven wheels via the tracks. Each drive wheel assembly includes a circular drive wheel, a built-in motor, a planetary gear unit, a support shaft, and an output shaft. The built-in motor and the planetary gear unit are located within the drive wheel. The support shaft and the output shaft are located on both sides of the drive wheel and are rotatably connected to the drive wheel via bearings. The housing of the built-in motor is fixedly connected to the output shaft. The central drive shaft of the built-in motor drives the planetary gear unit, which in turn drives the drive wheel to rotate. The drive wheel is connected to the driven wheel via two sets of symmetrically arranged connecting plates. Both the drive wheel and the driven wheel are rotatably connected to the connecting plates via bearings. The support shaft and output shaft of the drive wheel assembly are fixedly connected to the connecting plates. The track is annularly fitted onto the drive wheel and the driven wheel, and the drive wheel drives the driven wheel via the track. The shape adjustment assembly includes a motor unit, which is fixedly mounted on the frame mechanism. The motor unit drives the output shaft and the connecting plates to rotate.

2. The all-terrain independent four-wheel drive tracked robot according to claim 1, characterized in that, The shape adjustment component also includes a reduction unit. The motor unit drives the output shaft through the reduction unit. The reduction unit includes a multi-stage meshing reduction gear. The reduction gear is rotatably connected to the skeleton mechanism through a rotating shaft. A rotating gear that meshes with the reduction gear is fixedly connected to the output shaft.

3. The all-terrain independent four-wheel drive tracked robot according to claim 1, characterized in that, The planetary gear unit includes a central sun gear, a planetary gear set, a ring gear, and a planetary gear carrier. The built-in motor drives the central sun gear to rotate via a central drive shaft. The ring gear is fixed relative to the housing of the built-in motor. The planetary gear set meshes with the central sun gear and the ring gear, and the planetary gear set drives the planetary gear carrier to rotate. The planetary gear carrier drives the drive wheel to rotate.

4. The all-terrain independent four-wheel drive tracked robot according to claim 3, characterized in that, The central sun gear is coaxially and fixedly connected to the central drive shaft of the built-in motor. The inner side of the gear ring is provided with an internal gear ring that meshes with the planetary gear set. The planetary gear carrier supports the planetary gear set. The gear ring is fixedly connected to the housing of the built-in motor through a connecting part. The connecting part is rotatably connected to the driving wheel through a bearing. The planetary gear carrier is fixedly connected to the driving wheel.

5. The all-terrain independent four-wheel drive tracked robot according to claim 4, characterized in that, The planetary gear set includes three sets of planetary gears arranged at equal angles around the central sun gear. The planetary gears mesh with the central sun gear and the ring gear for transmission. The planetary gear carrier is coaxially and fixedly connected to the driving gear. The planetary gear carrier is provided with three sets of connecting shafts that are coaxially and rotatably connected to the planetary gears.

6. The all-terrain independent four-wheel drive tracked robot according to claim 1, characterized in that, The front end of the connecting plate is provided with a tensioning component that pulls the driven wheel.

7. The all-terrain independent four-wheel drive tracked robot according to claim 6, characterized in that, The tensioning assembly includes a fixing member and a pull rod. The connecting plate is provided with a strip-shaped sliding hole adapted to the central axis of the driven wheel. The fixing member is fixedly connected to the end of the connecting plate. The pull rod is threadedly connected to the fixing member. The end of the pull rod is rotatably connected to the central axis of the driven wheel.

8. The all-terrain independent four-wheel drive tracked robot according to claim 1, characterized in that, The frame structure includes a wheel hub frame and a shock absorber frame. The traveling mechanism supports the wheel hub frame. The shock absorber frame is mounted on the wheel hub frame via a shock absorber assembly. The motor unit and the reduction unit are fixed inside the wheel hub frame.

9. The all-terrain independent four-wheel drive tracked robot according to claim 1, characterized in that, The built-in motor is a servo motor.

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