Single-section crawler belt moving platform
By designing a single-section tracked mobile platform and adopting a steerable track and transmission structure, the miniaturization and steering problems of existing tracked mobile platforms in confined spaces and complex environments have been solved, achieving stable movement and low power consumption, and meeting the requirements of lightweight design.
Patent Information
- Application Number
- CN202511817169.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-04
- Publication Date
- 2026-03-03
AI Technical Summary
Existing tracked mobile platforms are difficult to miniaturize and lighten in confined spaces and complex environments, and their steering ability is insufficient, resulting in high power consumption and easy chassis scraping against the ground.
A single-section tracked mobile platform was designed, which adopts a steerable track, a drive pulley transmission structure and a steering transmission structure to achieve steering of the front of the vehicle relative to the vehicle body. The steering and driving of the track are realized through worm gear transmission and synchronous belt assembly, reducing sliding friction.
It achieves stable movement in confined and complex spaces, reduces power consumption, avoids chassis scraping against the ground, meets lightweight design requirements, and improves passability and load-to-weight ratio.
Smart Images
Figure CN121590655A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of tracked mobile platform technology, specifically a single-section tracked mobile platform. Background Technology
[0002] Conventional tracked mobile platforms or tracked reconnaissance robots are typically multi-segment tracked mobile mechanisms, including side-by-side dual-track and tandem multi-segment tracked mechanisms. Side-by-side dual-track mechanisms achieve steering through differential movement of the two tracks, while tandem multi-segment tracked mechanisms achieve steering through deformation of the joints between each track segment. Both types of mechanisms have high dimensional requirements, occupy a large space, and are unsuitable for confined disaster site environments with buried structures. Both types experience significant sliding friction with the ground during steering, resulting in high power consumption and hindering lightweight design, especially for side-by-side dual-track mechanisms. Furthermore, the chassis of side-by-side dual-track mechanisms, due to height limitations, is prone to scraping against the ground, resulting in poor mobility.
[0003] To achieve miniaturization and lightweighting of robots for post-disaster exploration in confined and complex spaces, single-section tracked mobile mechanisms are the preferred choice. However, currently, tracked mobile platforms in the form of single-section tracked mobile mechanisms generally lack the ability to turn, which limits their application scenarios. Summary of the Invention
[0004] To address the aforementioned problems, the present invention aims to provide a single-section tracked mobile platform.
[0005] The objective of this invention is achieved through the following technical solution: A single-section tracked mobile platform includes a vehicle body, a vehicle head, a track drive motor, a steerable track, a drive pulley transmission structure, a drive pulley, a driven pulley, a drive pulley shaft, a driven pulley shaft, a steering drive motor, and a steering transmission structure. The front end of the vehicle head is provided with a drive pulley shaft mounting bracket. The drive pulley shaft is rotatably mounted on the drive pulley shaft mounting bracket of the vehicle head. The drive pulley is located in the middle of the drive pulley shaft. The housing of the track drive motor is located inside the vehicle head. The drive shaft of the track drive motor is connected to the drive pulley shaft through a drive pulley transmission structure and is used to drive the drive pulley shaft to rotate. The rear end of the vehicle body is provided with a driven pulley shaft mounting bracket, the driven pulley shaft is rotatably mounted on the driven pulley shaft mounting bracket of the vehicle body, and the driven pulley is located in the middle of the driven pulley shaft; The steering transmission structure is disposed between the front end of the vehicle body and the rear end of the vehicle head. The housing of the steering drive motor is installed inside the vehicle body. The drive shaft of the steering drive motor is connected to the steering transmission structure and is used to drive the vehicle head to turn left and right relative to the vehicle body. The steerable track is fitted onto the outside of the whole consisting of the vehicle body, the front end, the steering transmission structure, the drive pulley, and the driven pulley. On the inner circumferential surface of the steerable track, at the center position in the width direction of the steerable track, two annular guides arranged parallel to each other are protruding. An annular groove is formed between the two annular guides. The portion of the steerable track located inside the annular groove is provided with a toothed surface. The drive pulley and the driven pulley respectively mesh with the toothed surface inside the annular groove. Several V-shaped steering notches are evenly opened on the outer peripheral edges on both sides in the length direction of the steerable track. The projections of the axial centerline of the drive pulley onto the horizontal plane and the axial centerline of the drive pulley shaft onto the horizontal plane are both perpendicular to the length direction of the vehicle head. The projections of the axial centerline of the driven pulley onto the horizontal plane and the axial centerline of the driven pulley shaft onto the horizontal plane are both perpendicular to the length direction of the vehicle body.
[0006] The drive pulley transmission structure includes a drive reducer, a transmission gear A, a transmission gear B, and a transmission gear C. The transmission gear A is connected to the drive pulley shaft via key A. The housing of the drive reducer is also installed inside the vehicle head. The drive shaft of the track drive motor is connected to the power input end of the drive reducer. The power output shaft of the drive reducer is connected to the transmission gear C. The transmission gear B is rotatably mounted on the vehicle head and meshes with both the transmission gear C and the transmission gear A.
[0007] The steering transmission structure includes a worm gear housing, a worm, a worm wheel, a rotation output component, and a worm wheel central shaft; The worm gear outer housing is disposed at the front end of the vehicle body. The rear end of the rotation output component is rotatably disposed on the lower side outside the worm gear. The front end of the rotation output component is connected to the rear end of the vehicle head. The rear end of the rotation output component is connected to the lower end of the worm gear central shaft. The axial center line of the worm gear central shaft is arranged in the vertical direction. The worm gear central shaft is connected to the worm gear through key B. The worm gear is located in the worm gear outer housing. A part of the worm is located in the worm gear outer housing and meshes with the worm gear. The other part of the worm extends out of the worm gear outer housing and is connected to the drive shaft of the steering drive motor.
[0008] The worm gear extending beyond the outer casing of the worm wheel is connected to the drive shaft of the steering drive motor via a timing belt assembly located inside the vehicle body.
[0009] A transmission gear D is connected to the central shaft of the worm gear and above the worm gear via key B. A transition gear mounting bracket is provided on the upper part of the worm gear housing. A transition gear shaft is rotatably mounted between the transition gear mounting bracket and the worm gear housing. The axial center line of the transition gear shaft is parallel to the axial center line of the worm gear central shaft. Transmission gears E and F are connected to the transition gear shaft via key C. Transmission gear F is located above transmission gear E. Transmission gear E meshes with transmission gear D. The transmission gear D is connected to the central shaft of the worm gear and above the worm gear housing via key B. A transmission gear G is rotatably connected to the upper side of D. The transmission gear G meshes with the transmission gear F. An upper guide wheel frame is connected to the transmission gear G via key D. The upper guide wheel frame is connected to the lower guide wheel frame via several outer frames. The upper guide wheel frame is located on the upper side of the adapter gear mounting bracket, and the lower guide wheel frame is located on the lower side of the worm gear outer box. An upper steering guide wheel assembly is provided on the upper side of the upper guide wheel frame, and a lower steering guide wheel assembly is provided on the lower side of the lower guide wheel frame. The upper steering guide wheel assembly and the lower steering guide wheel assembly are respectively used in conjunction with two annular guide bars forming the annular groove.
[0010] The transmission gear D is rotatably connected to the upper part of the worm gear outer casing, and the transmission gear G is rotatably connected to the adapter gear mounting bracket.
[0011] The lower guide wheel frame and the rotating output component are rotatably connected via bearing A.
[0012] The front of the vehicle is also provided with a lower front pressure guide wheel assembly and an upper front pressure guide wheel assembly, and the body of the vehicle is also provided with a lower rear pressure guide wheel assembly and an upper rear pressure guide wheel assembly. Each of the upper steering guide wheel assembly, lower steering guide wheel assembly, lower front pressure guide wheel assembly, upper front pressure guide wheel assembly, lower rear pressure guide wheel assembly and upper rear pressure guide wheel assembly includes a guide wheel shaft, a central guide wheel and two side guide wheels used in conjunction. The central guide wheel is set on the corresponding guide wheel shaft, and the two corresponding side guide wheels are also set on the corresponding guide wheel shaft. The two corresponding side guide wheels are located on the left and right sides of the corresponding central guide wheel, respectively. The upper guide wheel frame has a guide wheel shaft connecting seat on its upper side for rotatably connecting with the guide wheel shaft of the upper steering guide wheel assembly; the lower guide wheel frame has a guide wheel shaft connecting seat on its lower side for rotatably connecting with the guide wheel shaft of the lower steering guide wheel assembly; the upper side of the front of the vehicle has a guide wheel shaft connecting seat at its rear position for rotatably connecting with the guide wheel shaft of the upper front pressure guide wheel assembly; the lower side of the front of the vehicle has a guide wheel shaft connecting seat at its rear position for rotatably connecting with the guide wheel shaft of the lower front pressure guide wheel assembly; the upper side of the vehicle body has a guide wheel shaft connecting seat at its front position for rotatably connecting with the guide wheel shaft of the upper rear pressure guide wheel assembly; the lower side of the vehicle body has a guide wheel shaft connecting seat at its front position for rotatably connecting with the guide wheel shaft of the lower rear pressure guide wheel assembly. All of the central guide wheels extend into the annular groove. Each side guide wheel located to the left of the corresponding central guide wheel is located to the left of the entire two annular guide bars. Each side guide wheel located to the right of the corresponding central guide wheel is located to the right of the entire two annular guide bars.
[0013] The outer frame has two parts, located on the left and right sides of the length direction of the steerable track, respectively. Each outer frame has a support wheel A rotatably mounted on the side away from the worm gear box. The left and right sides of the front of the vehicle and the left and right sides of the vehicle body are also rotatably mounted with several support wheels A. The positions of all the support wheels A on the left side of the length direction of the steerable track correspond one-to-one with the positions of all the support wheels A on the right side of the length direction of the steerable track. The drive pulley shaft has support wheels B rotatably mounted at both ends of its axial direction, and the driven pulley shaft has support wheels C rotatably mounted at both ends of its axial direction.
[0014] The outer peripheral surface of all support wheels A, B, and C is frustum-shaped. The outer peripheral profile of the side of each support wheel A, B, and C closest to the steerable track is larger than the outer peripheral profile of the side of the support wheel A, B, or C furthest from the steerable track.
[0015] The advantages and positive effects of this invention are as follows: 1. The single-section tracked mobile platform proposed in this invention has a front end that can rotate relative to the vehicle body and achieve its own steering. It operates stably and reliably, which better meets the requirements of miniaturization and lightweighting of post-disaster confined and complex space exploration robots, and has a wider range of applications.
[0016] 2. Compared to existing dual-track differential steering principles, this invention reduces sliding friction loss by replacing sliding friction with rolling friction during turning. This improved driving efficiency results in better maneuverability under the same power conditions and increases the load-to-weight ratio. The strength requirements for the drive and transmission structures are also lower than those for dual-track or multi-track platforms where sliding friction is dominant during turning, effectively solving the problem of lightweight design.
[0017] 3. The single-section tracked mobile platform of the present invention can effectively save space and avoid chassis scraping by the steerable track set on the outside. The mobile platform can be designed to be flat and have a lower center of gravity, which can effectively reduce its own weight and structural size. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall half-section structure of the present invention; Figure 3 This is a schematic diagram of the drive belt pulley transmission structure of the present invention; Figure 4 This is one of the schematic diagrams showing the arrangement of the steering transmission structure of the present invention; Figure 5 This is a second schematic diagram of the steering transmission structure of the present invention; Figure 6 This is a schematic diagram of the lower front pressure guide wheel assembly of the present invention; Figure 7 This is one of the partial structural schematic diagrams of the steerable track of the present invention; Figure 8 This is a second schematic diagram of a portion of the steerable track of the present invention.
[0019] In the diagram: 1 is the vehicle body, 2 is the front of the vehicle, 3 is the track drive motor, 4 is the steerable track, 401 is the annular guide bar, 402 is the annular groove, 5 is the drive pulley, 6 is the driven pulley, 7 is the drive pulley shaft, and 8 is the steering drive motor. 9 is the drive reducer, 10 is the transmission gear A, 11 is the transmission gear B, 12 is the transmission gear C, and 13 is the key A; 14 is the worm gear outer housing, 15 is the worm, 16 is the worm gear, 17 is the rotation output component, 18 is the worm gear central shaft, 19 is key B, 20 is the transmission gear D, 21 is the adapter gear mounting bracket, 22 is the adapter gear shaft, 23 is key C, 24 is the transmission gear E, 25 is the transmission gear F, 26 is the transmission gear G, 27 is key D, 28 is the upper guide wheel frame, 29 is the outer frame, 30 is the lower guide wheel frame, 31 is the upper steering guide wheel assembly, 32 is the lower steering guide wheel assembly, 33 is bearing A, 34 is the lower front pressure guide wheel assembly, 35 is the upper front pressure guide wheel assembly, 36 is the lower rear pressure guide wheel assembly, and 37 is the upper rear pressure guide wheel assembly. 38 is the guide wheel shaft, 39 is the central guide wheel, and 40 is the side guide wheel; 41 is support wheel A, 42 is support wheel B, and 43 is support wheel C; 44 is bearing B, 45 is key E, and 46 is key F. Detailed Implementation
[0020] The following is in conjunction with the appendix Figures 1-8 The present invention will be described in further detail below.
[0021] A single-section tracked mobile platform, such as Figures 1-8 As shown, this embodiment includes a vehicle body 1, a vehicle head 2, a track drive motor 3, a steerable track 4, a drive pulley transmission structure, a drive pulley 5, a driven pulley 6, a drive pulley shaft 7, a driven pulley shaft, a steering drive motor 8, and a steering transmission structure.
[0022] The front end of the vehicle head 2 is provided with a drive pulley shaft mounting bracket. The drive pulley shaft 7 is rotatably mounted on the drive pulley shaft mounting bracket of the vehicle head 2. The drive pulley 5 is mounted in the middle of the drive pulley shaft 7 via key F 46. The housing of the track drive motor 3 is located inside the vehicle head 2. The drive shaft of the track drive motor 3 is connected to the drive pulley shaft 7 through the drive pulley transmission structure and is used to drive the drive pulley shaft 7 to rotate.
[0023] The rear end of the vehicle body 1 is provided with a driven pulley shaft mounting bracket. The driven pulley shaft is rotatably mounted on the driven pulley shaft mounting bracket of the vehicle body 1, and the driven pulley 6 is located in the middle of the driven pulley shaft. In this embodiment, the specific arrangement of the drive pulley shaft 7, drive pulley 5, driven pulley shaft, and driven pulley 6 all adopt existing technology.
[0024] The steering transmission structure is located between the front end of the vehicle body 1 and the rear end of the hood 2. The housing of the steering drive motor 8 is installed inside the vehicle body 1. The drive shaft of the steering drive motor 8 is connected to the steering transmission structure and is used to drive the hood 2 to turn left and right relative to the vehicle body 1. In this embodiment, both the track drive motor 3 and the steering drive motor 8 are commercially available motor products, and their operation is controlled by corresponding controllers located inside the vehicle body 1 or the hood 2.
[0025] The steerable track 4 is integrally fitted onto the outer side of the vehicle body 1, the front end 2, the steering transmission structure, the drive pulley 5, and the driven pulley 6. Two parallel annular guide strips 401 are protruding from the inner circumferential surface of the steerable track 4 at the center of its width direction. An annular groove 402 is formed between the two annular guide strips 401. The portion of the steerable track 4 located inside the annular groove 402 has a toothed surface. The drive pulley 5 and the driven pulley 6 respectively mesh with the toothed surface inside the annular groove 402. Several V-shaped steering notches are evenly distributed on the outer circumferential edges on both sides of the steerable track 4 along its length direction. A partial structural diagram of the steerable track 4 in this embodiment can be found in [reference needed]. Figure 7 and Figure 8 The angle corresponding to each V-shaped turning notch is as follows: Figure 7 All angles shown are 30°, corresponding to the maximum turning angle of the steerable track 4 as follows: Figure 8 As shown in the figure, 30° is the maximum turning angle of the steerable track 4, which is determined by the angle corresponding to the V-shaped turning notch.
[0026] The projections of the axial centerline of the drive pulley 5 and the axial centerline of the drive pulley shaft 7 onto the horizontal plane are both perpendicular to the length direction of the vehicle head 2. Similarly, the projections of the axial centerline of the driven pulley 6 and the axial centerline of the driven pulley shaft onto the horizontal plane are both perpendicular to the length direction of the vehicle body 1. The drive pulley 5 is rotated by the track drive motor 3, causing the steerable track 4 to roll forward or backward. The driven pulley 6 rotates with the steerable track 4, thus achieving the overall forward and backward movement of the single-section tracked moving platform. Two annular guide bars 401 prevent the drive pulley 5 and the driven pulley 6 from disengaging from the annular groove 402 and provide guidance to ensure reliable driving of the steerable track 4.
[0027] Specifically, such as Figure 3 As shown, the drive pulley transmission structure in this embodiment includes a drive reducer 9, transmission gear A 10, transmission gear B 11, and transmission gear C 12. Transmission gear A 10 is connected to the drive pulley shaft 7 via key A 13. The housing of the drive reducer 9 is also installed inside the front of the vehicle 2. The drive shaft of the track drive motor 3 is connected to the power input end of the drive reducer 9, and the power output shaft of the drive reducer 9 is connected to the transmission gear C 12. Transmission gear B 11 is rotatably mounted on the front of the vehicle 2, and meshes with transmission gear C 12 and transmission gear A 10. In this embodiment, the drive reducer 9 is a commercially available product. By setting up the drive pulley transmission structure, the direct connection of the track drive motor 3 to the drive pulley shaft 7 can be avoided, which would cause the overall structure to occupy too much space in the width direction. The transmission gear set composed of transmission gear A 10, transmission gear B 11, and transmission gear C 12 can have a small reduction ratio to coordinate the relevant parameters of the track drive motor 3 and the drive reducer 9.
[0028] Specifically, such as Figure 4 and Figure 5 As shown, the steering transmission structure in this embodiment includes a worm gear outer housing 14, a worm 15, a worm gear 16, a rotation output component 17, and a worm gear central shaft 18.
[0029] The worm gear outer housing 14 is located at the front end of the vehicle body 1. The rear end of the rotation output component 17 is rotatably located on the lower side of the worm gear outer housing 14. The front end of the rotation output component 17 is connected to the rear end of the vehicle head 2. The rear end of the rotation output component 17 is connected to the lower end of the worm gear central shaft 18 by screws. The axial center line of the worm gear central shaft 18 is set in the vertical direction. The worm gear central shaft 18 is connected to the worm gear 16 by key B 19. The worm gear 16 is located in the worm gear outer housing 14. A part of the worm 15 is located in the worm gear outer housing 14 and meshes with the worm gear 16. The other part of the worm 15 extends out of the worm gear outer housing 14 and is connected to the drive shaft of the steering drive motor 8. The steering drive motor 8 can drive the rotation output component 17 to rotate relative to the worm gear outer housing 14 through the worm 15 and worm gear 16 in the worm gear outer housing 14, that is, to control the rotation of the vehicle head 2 relative to the vehicle body 1.
[0030] In this embodiment, the extension of the worm gear 15 to the worm wheel, and another part of the worm gear housing 14, are connected to the drive shaft of the steering drive motor 8 via a synchronous belt assembly. The synchronous belt assembly is located inside the vehicle body 1 and has its own reduction ratio, ensuring reliable transmission. In this embodiment, the synchronous belt assembly adopts the existing technology's composition of two synchronous pulleys and one synchronous belt.
[0031] In this embodiment, a transmission gear D 20 is connected to the worm gear central shaft 18 and above the worm gear 16 via key B 19. A transition gear mounting bracket 21 is provided on the upper part of the worm gear outer housing 14. A transition gear shaft 22 is rotatably connected between the transition gear mounting bracket 21 and the worm gear outer housing 14. The axial centerline of the transition gear shaft 22 is parallel to the axial centerline of the worm gear central shaft 18. Transmission gears E 24 and F 25 are connected to the transition gear shaft 22 via key C 23. Transmission gear F 25 is located above transmission gear E 24, and transmission gear E 24 meshes with transmission gear D 20. A transmission gear G 26 is rotatably connected to the worm gear central shaft 18 and above transmission gear D 20 via bearing B 44. Transmission gear G 26 meshes with transmission gear F 25. A key D 19 is connected to transmission gear G 26. The upper guide wheel frame 28 is connected to the worm gear mounting bracket 21. The upper guide wheel frame 28 is connected to the lower guide wheel frame 30 through two outer frame frames 29. The upper guide wheel frame 28 is located on the upper side of the adapter gear mounting bracket 21, and the lower guide wheel frame 30 is located on the lower side of the worm gear outer box 14. The upper guide wheel frame 28 has an upper steering guide wheel assembly 31 on its upper side, and the lower guide wheel frame 30 has a lower steering guide wheel assembly 32 on its lower side. The upper steering guide wheel assembly 31 and the lower steering guide wheel assembly 32 are respectively used in conjunction with the two annular guide bars 401 forming the annular groove 402. The arrangement of the upper steering guide wheel assembly 31 and the lower steering guide wheel assembly 32 ensures that the steerable track 4 does not shift laterally when turning, prevents the steerable track 4 from falling off when turning, and maintains tension. Through the coordinated arrangement of the worm gear central shaft 18, transmission gears D 20, E 24, F 25, G 26, upper guide wheel frame 28, and lower guide wheel frame 30, the upper guide wheel frame 28 and lower guide wheel frame 30 can rotate together with the rotating output component 17 according to a preset transmission ratio. In this embodiment, the gear ratio of transmission gear D 20 to transmission gear E 24 is 15:21, and the reduction ratio is 1.4. The gear ratio of transmission gear F 25 to transmission gear G 26 is also 15:21, and the reduction ratio is 1.4. The total reduction ratio of the two gear sets with a reduction ratio of 1.4 is 1.96. Therefore, the speed ratio of transmission gear D 20 to transmission gear G 26 is 1.96≈2. This allows for smooth steering when the steering angle of the upper steering guide wheel assembly 31 and the lower steering guide wheel assembly 32 is half the steering angle of the vehicle head 2.
[0032] In this embodiment, the transmission gear D 20 is rotatably connected to the upper part of the worm gear outer housing 14 via bearing C, and the transmission gear G 26 is rotatably connected to the adapter gear mounting bracket 21 via bearing D, further ensuring stable rotation at each corresponding point. In this embodiment, the worm gear 16 is also connected to the rotation output component 17 via key E 45, ensuring reliable torque transmission between them. The lower guide wheel frame 30 is rotatably connected to the rotation output component 17 via bearing A 33, ensuring stable rotation of the lower guide wheel frame 30 relative to the rotation output component 17.
[0033] In this embodiment, the front of the vehicle 2 is also provided with a lower front pressure guide wheel assembly 34 and an upper front pressure guide wheel assembly 35, and the vehicle body 1 is also provided with a lower rear pressure guide wheel assembly 36 and an upper rear pressure guide wheel assembly 37, in order to further reduce the possibility of the corresponding steering track guide wheel disengaging from the annular groove 402 when turning. The upper steering guide wheel assembly 31, lower steering guide wheel assembly 32, lower front pressure guide wheel assembly 34, upper front pressure guide wheel assembly 35, lower rear pressure guide wheel assembly 36 and upper rear pressure guide wheel assembly 37 each include a guide wheel shaft 38, a central guide wheel 39 and two side guide wheels 40 used in conjunction.
[0034] The upper guide wheel frame 28 has a guide wheel shaft connecting seat on its upper side for rotatably connecting with the guide wheel shaft 38 of the upper steering guide wheel assembly 31. The lower guide wheel frame 30 has a guide wheel shaft connecting seat on its lower side for rotatably connecting with the guide wheel shaft 38 of the lower steering guide wheel assembly 32. The upper side of the front of the vehicle 2 has a guide wheel shaft connecting seat at its rear position for rotatably connecting with the guide wheel shaft 38 of the upper front pressure guide wheel assembly 35. The lower side of the front of the vehicle 2 has a guide wheel shaft connecting seat at its rear position for rotatably connecting with the guide wheel shaft 38 of the lower front pressure guide wheel assembly 34. The upper side of the vehicle body 1 has a guide wheel shaft connecting seat at its front position for rotatably connecting with the guide wheel shaft 38 of the upper rear pressure guide wheel assembly 37. The lower side of the vehicle body 1 has a guide wheel shaft connecting seat at its front position for rotatably connecting with the guide wheel shaft 38 of the lower rear pressure guide wheel assembly 36. The arrangement of the guide wheel shaft connecting seats at each location adopts existing technology.
[0035] All central guide wheels 39 extend into the annular groove 402. The side guide wheels 40 located to the left of each corresponding central guide wheel 39 are respectively located on the left side of the entire two annular guide bars 401, and the side guide wheels 40 located to the right of each corresponding central guide wheel 39 are respectively located on the right side of the entire two annular guide bars 401. For example... Figure 6As shown, taking the front guide wheel assembly 34 as an example, the central guide wheel 39 is mounted on the corresponding guide wheel shaft 38, and two corresponding side guide wheels 40 are also mounted on the corresponding guide wheel shaft 38. The two corresponding side guide wheels 40 are located on the left and right sides of the corresponding central guide wheel 39, respectively. Each guide wheel assembly utilizes three guide wheels, namely, the gap between the two wheels formed by one central guide wheel 39 and two side guide wheels 40, to hold two annular guide strips 401, thereby guiding the steerable track 4.
[0036] In this embodiment, two outer frame frames 29 are located on the left and right sides of the length direction of the steerable track 4, respectively. A support wheel A 41 is rotatably provided on the side of each outer frame frame 29 away from the worm gear outer box 14. Several support wheels A 41 are also rotatably provided on the left and right sides of the front of the vehicle and the left and right sides of the vehicle body 1. The positions of all support wheels A 41 on the left side of the length direction of the steerable track 4 correspond one-to-one with the positions of all support wheels A 41 on the right side of the length direction of the steerable track 4. Support wheels B 42 are rotatably provided at both ends of the axial direction of the drive pulley shaft 7, and support wheels C 43 are rotatably provided at both ends of the axial direction of the driven pulley shaft. In this embodiment, the outer diameters of support wheels A 41, B 42, and C 43 can be arbitrarily and reasonably selected according to requirements, and none of them have the freedom of active rolling. In this embodiment, the outer peripheral surfaces of all support wheels A 41, B 42, and C 43 are frustum-shaped. The outer peripheral contour of the side of each support wheel A 41, B 42, and C 43 closest to the steerable track 4 is larger than the outer peripheral contour of the side of the support wheel A 41, B 42, or C 43 furthest from the steerable track 4. By arranging the support wheels A 41, B 42, and C 43, when the single-section tracked mobile platform travels on flat ground, theoretically, each support wheel A 41, B 42, or C 43 will only have one point of contact with the ground. This arrangement effectively reduces resistance caused by unequal speeds on the left and right sides when turning or on uneven surfaces.
Claims
1. A single-section tracked mobile platform, characterized in that: Includes vehicle body (1), vehicle head (2), track drive motor (3), steerable track (4), drive pulley transmission structure, drive pulley (5), driven pulley (6), drive pulley shaft (7), driven pulley shaft, steering drive motor (8), and steering transmission structure; The front end of the vehicle head (2) is provided with a drive pulley shaft mounting bracket. The drive pulley shaft (7) is rotatably mounted on the drive pulley shaft mounting bracket of the vehicle head (2). The drive pulley (5) is located in the middle of the drive pulley shaft (7). The housing of the track drive motor (3) is located inside the vehicle head (2). The drive shaft of the track drive motor (3) is connected to the drive pulley shaft (7) through the drive pulley transmission structure and is used to drive the drive pulley shaft (7) to rotate. The rear end of the vehicle body (1) is provided with a driven pulley shaft mounting bracket, the driven pulley shaft is rotatably mounted on the driven pulley shaft mounting bracket of the vehicle body (1), and the driven pulley (6) is located in the middle of the driven pulley shaft; The steering transmission structure is located between the front end of the vehicle body (1) and the rear end of the vehicle head (2). The housing of the steering drive motor (8) is installed inside the vehicle body (1). The drive shaft of the steering drive motor (8) is connected to the steering transmission structure and is used to drive the vehicle head (2) to turn left and right relative to the vehicle body (1). The steerable track (4) is fitted onto the outside of the whole consisting of the vehicle body (1), the front (2), the steering transmission structure, the drive pulley (5), and the driven pulley (6). Two annular guides (401) are provided on the inner circumferential surface of the steerable track (4) and at the center position in the width direction of the steerable track (4). An annular groove (402) is formed between the two annular guides (401). The portion of the steerable track (4) located inside the annular groove (402) is provided with a toothed surface. The drive pulley (5) and the driven pulley (6) respectively mesh with the toothed surface inside the annular groove (402). Several V-shaped steering notches are evenly opened on the outer circumferential edges on both sides in the length direction of the steerable track (4). The projection of the axial center line of the drive pulley (5) onto the horizontal plane and the projection of the axial center line of the drive pulley shaft (7) onto the horizontal plane are both perpendicular to the length direction of the vehicle head (2). The projection of the axial center line of the driven pulley (6) onto the horizontal plane and the projection of the axial center line of the driven pulley shaft onto the horizontal plane are both perpendicular to the length direction of the vehicle body (1).
2. The single-section tracked mobile platform according to claim 1, characterized in that: The drive pulley transmission structure includes a drive reducer (9), a transmission gear A (10), a transmission gear B (11), and a transmission gear C (12). The transmission gear A (10) is connected to the drive pulley shaft (7) via a key A (13). The housing of the drive reducer (9) is also installed inside the head of the vehicle (2). The drive shaft of the track drive motor (3) is connected to the power input end of the drive reducer (9). The power output shaft of the drive reducer (9) is connected to the transmission gear C (12). The transmission gear B (11) is rotatably mounted on the head of the vehicle (2). The transmission gear B (11) meshes with the transmission gear C (12) and the transmission gear A (10) respectively.
3. The single-section tracked mobile platform according to claim 1, characterized in that: The steering transmission structure includes a worm gear outer box (14), a worm (15), a worm wheel (16), a rotation output component (17), and a worm wheel central shaft (18). The worm gear outer box (14) is disposed at the front end of the vehicle body (1). The rear end of the rotation output component (17) is rotatably disposed on the lower side of the worm gear outer box (14). The front end of the rotation output component (17) is connected to the rear end of the vehicle head (2). The rear end of the rotation output component (17) is connected to the lower end of the worm gear central shaft (18). The axial center line of the worm gear central shaft (18) is set in the vertical direction. The worm gear central shaft (18) is connected to the worm gear (16) through key B (19). The worm gear (16) is located in the worm gear outer box (14). A part of the worm (15) is located in the worm gear outer box (14) and meshes with the worm gear (16). The other part of the worm (15) extends out of the worm gear outer box (14) and is connected to the drive shaft of the steering drive motor (8).
4. A single-section tracked mobile platform according to claim 3, characterized in that: The extension of the worm (15) from the worm gear housing (14) is connected to the drive shaft of the steering drive motor (8) via a timing belt assembly located inside the vehicle body (1).
5. A single-section tracked mobile platform according to claim 3, characterized in that: A transmission gear D (20) is connected to the worm gear central shaft (18) and above the worm gear (16) via key B (19). A transition gear mounting bracket (21) is provided on the upper part of the worm gear outer housing (14). A transition gear shaft (22) is rotatably provided between the transition gear mounting bracket (21) and the worm gear outer housing (14). The axial center line of the transition gear shaft (22) is parallel to the axial center line of the worm gear central shaft (18). A transmission gear E (24) and a transmission gear F (25) are connected to the transition gear shaft (22) via key C (23). The transmission gear F (25) is located above the transmission gear E (24). The transmission gear E (24) meshes with the transmission gear D (20). The transmission gear D (20) is connected to the worm gear central shaft (18). A transmission gear G (26) is rotatably connected to the upper side of the transmission gear, which meshes with the transmission gear F (25). An upper guide wheel frame (28) is connected to the transmission gear G (26) via a key D (27). The upper guide wheel frame (28) is connected to the lower guide wheel frame (30) via several outer frame frames (29). The upper guide wheel frame (28) is located on the upper side of the adapter gear mounting frame (21), and the lower guide wheel frame (30) is located on the lower side of the worm gear outer box (14). An upper steering guide wheel assembly (31) is provided on the upper side of the upper guide wheel frame (28), and a lower steering guide wheel assembly (32) is provided on the lower side of the lower guide wheel frame (30). The upper steering guide wheel assembly (31) and the lower steering guide wheel assembly (32) are respectively used in conjunction with two annular guide bars (401) forming the annular groove (402).
6. A single-section tracked mobile platform according to claim 5, characterized in that: The transmission gear D (20) is rotatably connected to the upper part of the worm gear outer box (14), and the transmission gear G (26) is rotatably connected to the adapter gear mounting bracket (21).
7. A single-section tracked mobile platform according to claim 5, characterized in that: The lower guide wheel frame (30) and the rotating output component (17) are rotatably connected by bearing A (33).
8. A single-section tracked mobile platform according to claim 5, characterized in that: The front of the vehicle (2) is also provided with a lower front pressure guide wheel assembly (34) and an upper front pressure guide wheel assembly (35), and the vehicle body (1) is also provided with a lower rear pressure guide wheel assembly (36) and an upper rear pressure guide wheel assembly (37). The upper steering guide wheel assembly (31), lower steering guide wheel assembly (32), lower front pressure guide wheel assembly (34), upper front pressure guide wheel assembly (35), lower rear pressure guide wheel assembly (36) and upper rear pressure guide wheel assembly (37) each include a guide wheel shaft (38), a central guide wheel (39) and two side guide wheels (40) used in cooperation. The central guide wheel (39) is set on the corresponding guide wheel shaft (38), and the two corresponding side guide wheels (40) are also set on the corresponding guide wheel shaft (38). The two corresponding side guide wheels (40) are located on the left and right sides of the corresponding central guide wheel (39). The upper guide wheel frame (28) has a guide wheel shaft connecting seat on its upper side for rotatably connecting with the guide wheel shaft (38) of the upper steering guide wheel assembly (31). The lower guide wheel frame (30) has a guide wheel shaft connecting seat on its lower side for rotatably connecting with the guide wheel shaft (38) of the lower steering guide wheel assembly (32). The upper side of the front of the vehicle (2) has a guide wheel shaft connecting seat at its rear position for rotatably connecting with the guide wheel shaft (38) of the upper front pressure guide wheel assembly (35). The lower side of the front of the vehicle (2) is provided with a guide wheel shaft connecting seat for rotatably connecting with the guide wheel shaft (38) of the lower front pressure guide wheel assembly (34). The upper side of the vehicle body (1) is provided with a guide wheel shaft connecting seat for rotatably connecting with the guide wheel shaft (38) of the upper rear pressure guide wheel assembly (37). The lower side of the vehicle body (1) is provided with a guide wheel shaft connecting seat for rotatably connecting with the guide wheel shaft (38) of the lower rear pressure guide wheel assembly (36). All of the central guide wheels (39) extend into the annular groove (402), and each side guide wheel (40) located to the left of the corresponding central guide wheel (39) is located to the left of the entire two annular guide bars (401), and each side guide wheel (40) located to the right of the corresponding central guide wheel (39) is located to the right of the entire two annular guide bars (401).
9. A single-section tracked mobile platform according to claim 5, characterized in that: The outer frame (29) has two parts, which are located on the left and right sides of the length direction of the steerable track (4). Each outer frame (29) has a support wheel A (41) rotatably provided on the side away from the worm gear box (14). The left and right sides of the vehicle head (2) and the left and right sides of the vehicle body (1) are also rotatably provided with several support wheels A (41). The positions of all the support wheels A (41) on the left side of the length direction of the steerable track (4) correspond one-to-one with the positions of all the support wheels A (41) on the right side of the length direction of the steerable track (4). The drive pulley shaft (7) has support wheels B (42) rotatably mounted at both ends of its axial direction, and the driven pulley shaft has support wheels C (43) rotatably mounted at both ends of its axial direction.
10. A single-section tracked mobile platform according to claim 9, characterized in that: The outer peripheral surface of all the support wheels A (41), all the support wheels B (42), and all the support wheels C (43) is truncated cone-shaped. The outer peripheral profile of each support wheel A (41), each support wheel B (42), and each support wheel C (43) on the side closest to the steerable track (4) is larger than the outer peripheral profile of the side of the support wheel A (41), support wheel B (42), or support wheel C (43) away from the steerable track (4).