All-terrain crawler adaptive advancing method

Abstract

The invention relates to the technical field of mechanical engineering, in particular to an all-terrain crawler belt adaptive advancing method. Comprising an all-terrain crawler belt, the all-terrain crawler belt comprises a crawler belt body, a supporting frame, three driving wheels and a plurality of auxiliary wheels, when the all-terrain crawler belt advances, the height of the all-terrain crawler belt is adjusted by adjusting the angles of two supporting arms and the height of the driving wheels on the top, and the all-terrain crawler belt meets the advancing requirements of spaces with different heights; the driving wheel on one side of the bottom encountering the obstacle, the auxiliary wheels and the other driving wheel at the bottom are sequentially lifted up to avoid the obstacle and fall down, and meanwhile, the driving wheel at the top falls down to compensate the deformation length of the bottom of the crawler belt. Through the unique triangular layout formed by the three driving wheels, the V-shaped supporting arms with the adjustable angles and the height sliding adjustment of the top driving wheels, active and continuous adjustment of the overall advancing height of the crawler belt is achieved.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, specifically to an all-terrain tracked adaptive travel method. Background Technology

[0002] In existing technologies, tracked mobility devices are widely used in engineering machinery, special vehicles, and robots due to their excellent ground adhesion and obstacle-crossing capabilities. However, traditional tracked structures typically have a fixed geometry, making it difficult to dynamically adjust their travel height, track contact shape, and length according to terrain or spatial constraints. When dealing with complex terrain, especially when traversing height-restricted spaces (such as low passages and pipes) or continuous irregular obstacles (such as steps and piles of rocks), traditional tracked devices often exhibit insufficient adaptability. Specifically, this manifests as: a fixed overall height, making it impossible to actively lower the track to pass through low areas; inflexible changes in track contact shape during obstacle crossing, easily leading to machine overturning or track derailment; and a lack of an effective dynamic compensation mechanism for track tension, resulting in track slack, slippage, or failure to engage with the drive wheels during obstacle crossing. Therefore, there is an urgent need for an all-terrain tracked mobility method that can actively adjust travel height, flexibly adapt to complex terrain, and stably cross obstacles. Summary of the Invention

[0003] To address the above problems, this invention provides an all-terrain tracked adaptive travel method.

[0004] The technical solution adopted by the present invention to solve its technical problem is: an all-terrain tracked adaptive travel method, including an all-terrain track, the all-terrain track including a track, a support frame, three drive wheels and several auxiliary wheels, the three drive wheels are arranged in a triangular structure with a wide bottom and a narrow top, the several auxiliary wheels are located between the two drive wheels at the bottom and arranged in a row, the support frame is equipped with two V-shaped support arms, several telescopic cylinders and a slide rail, the two drive wheels at the bottom are respectively connected to the lower ends of the two support arms, the auxiliary wheels are connected to the lower ends of the telescopic cylinders, and the drive wheels at the top are slidably configured with the slide rail; When the all-terrain track is in motion, the height of the all-terrain track can be adjusted by adjusting the angle of the two support arms and the height of the top drive wheel to adapt to the travel needs of different height spaces. When avoiding obstacles, the drive wheel on the side of the bottom that encounters the obstacle, several auxiliary wheels, and another drive wheel at the bottom are raised in sequence to avoid the obstacle and then fall down. At the same time, the top drive wheel falls down to compensate for the deformation length of the bottom of the track.

[0005] As an optimization, the support frame is fixedly connected to the machine body, and a first drive motor is arranged between the middle part of the support arm and the support frame. The first drive motor is used to drive the support arm to swing. An arc-shaped guide groove is arranged at the upper end of the support arm, and a limit rod is arranged at the upper middle part of the support frame. The guide grooves of the two support arms are sleeved on the limit rod.

[0006] As an optimization, connecting teeth are evenly distributed on the inner side of the track, and corresponding gears are configured on the outer periphery of the drive wheel. The gears mesh with the connecting teeth. A second drive motor is configured on the axle of the two bottom drive wheels, and a third drive motor is configured on the axle of the top drive wheel. The second drive motor is fixedly set with the support arm.

[0007] As an optimization, a support spring is provided on the lower inner side of the slide rail, and the third drive motor is located on the upper side of the support spring, with the third drive motor slidingly mounted on the slide rail.

[0008] As an optimization, the auxiliary wheels are non-powered wheels, and several auxiliary wheels are arranged horizontally and parallel to each other. The auxiliary wheels are in contact with the inner side of the track to ensure stable contact between the track and the ground.

[0009] As an optimization, the telescopic cylinder is arranged vertically, with its fixed end fixedly connected to the support frame and its extended end rotatably connected to the axle of the auxiliary wheel.

[0010] The beneficial effects of this plan are as follows: Through a unique triangular layout consisting of three drive wheels, combined with an adjustable-angle V-shaped support arm and a height-sliding adjustment for the top drive wheel, the overall travel height of the tracks can be actively and continuously adjusted. This allows the device to flexibly adjust its posture according to actual terrain or space height limitations, enabling it to rise to cross ditches or lower to traverse low and narrow spaces, significantly expanding its application scenarios. During obstacle avoidance, by controlling the sequential raising and lowering of the drive wheel and auxiliary wheel on one side of the bottom and the drive wheel on the other side, a smooth obstacle-crossing action similar to "stepping" is achieved, ensuring the contact area with the ground. This process, in conjunction with the lowering of the top drive wheel, dynamically compensates for the loss of effective ground contact length of the track bottom caused by the raising of the bottom wheel assembly, maintaining the stability of track tension and drive engagement at all times. This effectively avoids the risk of violent shaking of the machine body, track derailment, or power interruption during obstacle crossing, and improves the stability and reliability of obstacle crossing. Attached Figure Description

[0011] Figure 1 This is an isometric view of the present invention.

[0012] Figure 2 This is a schematic diagram of the main view of the present invention.

[0013] Figure 3This is a top view of the present invention.

[0014] Figure 4 This is a schematic diagram of the back axis of the present invention.

[0015] Figure 5 This is a rear view schematic diagram of the present invention.

[0016] Among them, 1. support frame, 2. drive wheel, 3. auxiliary wheel, 4. support arm, 5. telescopic cylinder, 6. slide rail, 7. first drive motor, 8. guide groove, 9. limit rod, 10. connecting tooth, 11. third drive motor, 12. second drive motor. Detailed Implementation

[0017] like Figures 1-5 As shown, an all-terrain tracked adaptive travel method includes an all-terrain track, which includes a track, a support frame 1, three drive wheels 2 and several auxiliary wheels 3. The three drive wheels 2 are arranged in a triangular structure with a wider bottom and a narrower top. The several auxiliary wheels 3 are located between the two drive wheels 2 at the bottom and are arranged in a row. The support frame 1 is equipped with two V-shaped support arms 4, several telescopic cylinders 5 and a slide rail 6. The two drive wheels 2 at the bottom are respectively connected to the lower ends of the two support arms 4, the auxiliary wheels 3 are connected to the lower ends of the telescopic cylinders 5, and the drive wheels 2 at the top are slidably configured with the slide rail 6. When the all-terrain track is in motion, the height of the all-terrain track can be adjusted by adjusting the angle of the two support arms 4 and the height of the top drive wheel 2 to adapt to the travel needs of different height spaces. When avoiding obstacles, the drive wheel 2 on the side of the bottom that encounters the obstacle, several auxiliary wheels 3, and another drive wheel 2 at the bottom are raised in sequence to avoid the obstacle and then fall down. At the same time, the top drive wheel 2 falls down to compensate for the deformation length of the bottom of the track.

[0018] It adopts a triangular drive wheel layout with a wider bottom and a narrower top, which forms the geometric basis of the track system. The two bottom drive wheels 2 serve as the main load-bearing and driving fulcrums, while the top drive wheel 2 serves as the key node for tension and height adjustment. This layout provides a stable support surface when static, and can efficiently change the geometry of the entire track envelope (such as ground contact length, ground clearance, and track tilt angle) during dynamic adjustments (such as changing the angle of the support arm 4 or the height of the top wheel), thereby achieving active height adjustment and adaptive shape when crossing obstacles.

[0019] For core structural components (such as support frame 1 and support arm 4), it is recommended to use high-strength aluminum alloy (such as 6061-T6 or 7075) or high-strength steel (such as Q345 or alloy structural steel) to reduce weight as much as possible while ensuring rigidity and strength. For components requiring high wear resistance (such as the teeth of drive wheel 2), surface-hardened medium carbon steel or inlaid wear-resistant alloy blocks can be used.

[0020] The specific dimensions (diameter and width) of the drive wheel 2 and auxiliary wheel 3 need to be designed to match the weight of the target machine, the required ground pressure, and the track pitch. For example, the pitch circle diameter of the drive wheel 2 can be an integer multiple of the track pitch to ensure smooth meshing.

[0021] like Figure 3 As shown, the support frame 1 is fixedly connected to the machine body. A first drive motor 7 is arranged between the middle part of the support arm 4 and the support frame 1. The first drive motor 7 is used to drive the support arm 4 to swing. An arc-shaped guide groove 8 is arranged at the upper end of the support arm 4. A limit rod 9 is arranged at the upper end of the middle part of the support frame 1. The guide grooves 8 of the two support arms 4 are sleeved on the limit rod 9.

[0022] The support frame 1 is the main body connecting the machine body and the traveling mechanism. The two V-shaped support arms 4 are the core actuators for active track posture control. Driven by the first drive motor 7, the support arms 4 swing around their hinge point with the support frame 1, changing the lateral distance and longitudinal height difference between the two bottom drive wheels 2, thereby directly adjusting the ground contact shape of the track bottom and the vehicle's ground clearance. The arc-shaped guide groove 8 at the upper end of the support arm 4 cooperates with the limiting rod 9 fixed to the support frame 1, forming a precision guiding and limiting mechanism. This mechanism ensures the stability of the support arm 4's trajectory during swinging, and its swing angle is strictly limited within the arc range of the guide groove 8, preventing mechanical interference and overload, and improving the controllability and reliability of the action.

[0023] The support arm 4 needs to withstand alternating bending stress, and it is recommended to use high-strength alloy steel forging or precision casting, followed by heat treatment. The working surface of the guide groove 8 can be surface hardened (such as nitriding) to enhance wear resistance. Connecting teeth 10 are evenly distributed on the inner side of the track, and corresponding gears are configured on the outer periphery of the drive wheel 2. The gears mesh with the connecting teeth 10. The second drive motor 12 is configured on the axle of the two bottom drive wheels 2, and the third drive motor 11 is configured on the axle of the top drive wheel 2. The second drive motor 12 is fixedly installed with the support arm 4.

[0024] A three-motor independent drive system is adopted. The two drive wheels 2 at the bottom are directly driven by the second drive motor 12, providing the main traction force for movement. The drive wheel 2 at the top is driven by the third drive motor 11, whose main function, in addition to providing auxiliary driving force, is to dynamically compensate for the track length and maintain constant tension by sliding on the slide rail 6. The connecting teeth 10 on the inner side of the track mesh with the gears on the drive wheels 2 to form a positive transmission, which has high transmission efficiency and strong anti-slip capability.

[0025] When traveling on flat surfaces, the three drive motors can work synchronously and in coordination. When crossing obstacles or adjusting height, the control system can independently control the speed and direction of each motor. For example, when one side of the bottom wheel assembly lifts up to cross an obstacle, the second drive motor 12 on that side can briefly brake or reverse to coordinate with the track movement; at the same time, the third drive motor 11 drives the top wheel to move down, releasing more track length to compensate for the redundancy under the track caused by the bottom wheel assembly lifting up, and preventing the track from becoming slack.

[0026] The first drive motor 7 can be a high-torque DC servo motor or a stepper motor to achieve precise angle control of the support arm 4. The second and third drive motors 11 and 12 need to be high-power-density, high-overload-capacity DC brushless motors or AC servo motors, and equipped with planetary gear reducers to increase output torque.

[0027] like Figure 4 As shown, a support spring is provided on the lower inner side of the slide rail 6, and the third drive motor 11 is located on the upper side of the support spring. The third drive motor 11 is slidably disposed with the slide rail 6.

[0028] The three drive motors 11 are mounted on the slide rail 6 and can slide vertically. A support spring on the lower inner side of the slide rail 6 forms a passive elastic tensioning and cushioning system. This spring constantly applies a downward preload to the third drive motor 11 (and the top drive wheel 2), maintaining basic tension of the track during static and normal driving. During dynamic processes (such as when obstacle crossing causes changes in track length requirements), the spring allows the top wheel to move up and down rapidly, absorbing impact and instantly compensating for length changes, making it a key adaptive cushioning element for maintaining the track in optimal working condition. When the track bottom length needs to be increased (such as when lifting the wheel to overcome an obstacle), the track tension increases, overcoming the preload of the support spring and pulling the top wheel down along the slide rail 6, automatically releasing the length. After the obstacle is overcome and the bottom wheel assembly descends, the track loosens, and the elasticity of the support spring pushes the top wheel up, re-tightening the track. The entire process can be passively and quickly responded to, or actively controlled by the third drive motor 11.

[0029] The slide rail 6 requires high straightness and a low coefficient of friction; hardened steel guide rails or linear bearings can be used. The support spring should be made of silicon-chromium alloy spring steel with high fatigue life.

[0030] The auxiliary wheel 3 is a non-powered wheel, and several auxiliary wheels 3 are arranged horizontally and parallel to each other. The auxiliary wheels 3 are in contact with the inner side of the track to ensure stable contact between the track and the ground.

[0031] The auxiliary wheel 3 is a non-powered driven wheel. Its core function is to support the track's ground contact section, ensuring continuous and stable contact with the ground, increasing the ground contact area, evenly distributing pressure, improving traction, and reducing track wear. Multiple auxiliary wheels 3 are arranged in a row, forming a support effect similar to a "tracked trolley." The vertical height of each auxiliary wheel 3 is controlled by an independent telescopic cylinder 5.

[0032] like Figure 4 As shown, the telescopic cylinder 5 is vertically arranged, the fixed end of the telescopic cylinder 5 is fixedly connected to the support frame 1, and the extended end of the telescopic cylinder 5 is rotatably connected to the wheel axle of the auxiliary wheel 3.

[0033] The telescopic cylinder 5 can be an electric actuator, a hydraulic cylinder, or a pneumatic cylinder. When crossing an obstacle, the control system can instruct the auxiliary wheels 3 located in front of the obstacle to retract (raise) sequentially, creating space for the drive wheels 2 to lift their legs and cross the obstacle, forming a "stepping" motion. During normal driving, all telescopic cylinders 5 can extend to a uniform height, or adaptively adjust according to slight undulations in the ground to optimize the distribution of ground pressure.

[0034] The auxiliary wheel 3 can be made of a steel core covered with polyurethane or rubber to reduce vibration and noise. The cylinder body of the telescopic cylinder 5 is made of high-strength aluminum alloy or stainless steel, and the piston rod surface is plated with hard chrome for wear resistance and rust prevention.

[0035] How to use: Start the system and reset all mechanisms. The support arm 4 is positioned at the default deployment angle, and the top drive wheel 2 is located in the upper part of the slide rail 6 under the action of the support spring. All telescopic cylinders 5 extend, so that the auxiliary wheel 3 and the bottom drive wheel 2 jointly support the track ground section. The second and third drive motors 11 are controlled to operate in coordination, driving the tracks forward, backward, or turn. At this time, the device is similar to a traditional tracked vehicle, but the ground support is more even and smooth.

[0036] In the low-ceiling space traversal mode, when encountering a height-restricted passage (such as a pipe or a low hole), a height adjustment procedure is activated.

[0037] Step 1: The control system commands the two first drive motors 7 to operate synchronously, driving the two side support arms 4 to swing outwards, so that the two bottom drive wheels 2 move away from each other.

[0038] Step 2: Simultaneously, control the third drive motor 11 to actively drive the top drive wheel 2 to slide downwards along the slide rail 6, or allow it to passively move downwards, releasing the track length and coordinating with the retraction of the bottom wheel assembly.

[0039] Step 3: As needed, some telescopic cylinders 5 can be shortened simultaneously to raise the height of auxiliary wheels 3.

[0040] The coordinated actions described above significantly reduce the overall envelope height of the track system, lowering the vehicle's center of gravity and allowing for safe passage through low-lying areas. After passage, the steps are reversed to restore the normal travel height.

[0041] Obstacle Course Mode: Step 1 (Approach and Attitude Preparation): The vehicle approaches the obstacle. Based on sensor information, the control system pre-adjusts the support arm 4 to a suitable initial angle for obstacle crossing and ensures track tension.

[0042] Step Two (Front Wheel Assembly Obstacle Crossing): When the bottom drive wheel 2 on one side (e.g., the right side) contacts the obstacle, the first drive motor 7 on that side activates, driving the right support arm 4 to swing upward and lift the right drive wheel 2. Simultaneously, the telescopic cylinders 5 of several auxiliary wheels 3 at the front of that side retract sequentially, lifting them up. The second drive motor 12 on the right side adjusts its torque output.

[0043] Step 3 (Track Length Compensation and Rear Wheel Set Follow-up): During the lifting of the right wheel set, the required length below the track increases. The top drive wheel 2, under the action of the support spring (or actively controlled by the third drive motor 11), moves down along the slide rail 6 to perform real-time length compensation and keep the track taut. After the right wheel set crosses the obstacle, the support arm 4 swings down, and the drive wheel 2 and auxiliary wheel 3 fall back to their original positions in sequence.

[0044] Step 4 (Opposite Wheel Set Overcoming Obstacle): Subsequently, the left bottom drive wheel 2 contacts the obstacle, and the actions of Step 2 and Step 3 are repeated to achieve the obstacle crossing of the left wheel set.

[0045] Step 5 (Top Wheel Reset): After all bottom wheel sets have passed the obstacle, the required length of the track is restored, and the elasticity of the support spring (or the active control of the third drive motor 11) pushes the top drive wheel 2 back to the initial position on the upper part of the slide rail 6, and the track is re-tensioned.

[0046] By sequentially controlling the left and right bottom wheel sets to "lift the leg - step - land", and coordinating with the dynamic compensation of the top wheel, a smooth and continuous "stepping" obstacle crossing is achieved.

[0047] Adaptive mode for complex terrain: In unstructured terrain characterized by loose rocks, undulations, and unevenness, the device can enter an adaptive mode. The telescopic cylinder 5 can be independently fine-tuned based on preset pressure or simple terrain feedback, allowing the auxiliary wheel 3 to adapt to slight ground undulations and maintain good track contact. The angle of the support arm 4 and the height of the top wheel can also be dynamically adjusted slightly to optimize vehicle posture and stability.

[0048] The above steps are a principle description. In practical applications, sensors such as distance, tilt angle, and pressure need to be integrated, and a central controller needs to realize closed-loop coordinated control of each execution unit to ensure the accuracy, smoothness and safety of the action.

[0049] The above-described specific embodiments are merely specific examples of the present invention. The patent protection scope of the present invention includes, but is not limited to, the product form and style of the above-described specific embodiments. Any all-terrain tracked adaptive travel method that conforms to the claims of the present invention, and any appropriate changes or modifications made thereto by those skilled in the art, shall fall within the patent protection scope of the present invention.

Claims

1. A method for adapting to all-terrain tracked movement, characterized in that: The system includes an all-terrain track, which includes a track, a support frame (1), three drive wheels (2) and several auxiliary wheels (3). The three drive wheels (2) are arranged in a triangular structure with a wide bottom and a narrow top. Several auxiliary wheels (3) are located between the two drive wheels (2) at the bottom and are arranged in a row. The support frame (1) is equipped with two V-shaped support arms (4), several telescopic cylinders (5) and a slide rail (6). The two drive wheels (2) at the bottom are respectively connected to the lower ends of the two support arms (4), and the auxiliary wheels (3) are connected to the lower ends of the telescopic cylinders (5). The drive wheels (2) at the top are slidably configured with the slide rail (6). When the all-terrain track is moving, the height of the all-terrain track can be adjusted by adjusting the angle of the two support arms (4) and the height of the top drive wheel (2) to adapt to the travel needs of different height spaces. When avoiding obstacles, the drive wheel (2) on the side of the bottom that encounters the obstacle, several auxiliary wheels (3), and another drive wheel (2) at the bottom are raised in sequence to avoid the obstacle and fall down. At the same time, the top drive wheel (2) falls down to compensate for the deformation length of the bottom of the track.

2. The all-terrain tracked adaptive travel method according to claim 1, characterized in that: The support frame (1) is fixedly connected to the machine body. A first drive motor (7) is arranged between the middle part of the support arm (4) and the support frame (1). The first drive motor (7) is used to drive the support arm (4) to swing. An arc-shaped guide groove (8) is arranged at the upper end of the support arm (4). A limit rod (9) is arranged at the upper middle part of the support frame (1). The guide grooves (8) of the two support arms (4) are sleeved on the limit rod (9).

3. The all-terrain tracked adaptive travel method according to claim 1, characterized in that: Connecting teeth (10) are evenly distributed on the inner side of the track. Corresponding gears are arranged on the outer periphery of the drive wheel (2). The gears mesh with the connecting teeth (10). The second drive motor (12) is arranged on the shaft of the two bottom drive wheels (2). The third drive motor (11) is arranged on the shaft of the top drive wheel (2). The second drive motor (12) is fixedly set with the support arm (4).

4. The all-terrain tracked adaptive travel method according to claim 3, characterized in that: A support spring is provided on the lower inner side of the slide rail (6), and the third drive motor (11) is located on the upper side of the support spring. The third drive motor (11) is slidably disposed with the slide rail (6).

5. The all-terrain tracked adaptive travel method according to claim 1, characterized in that: The auxiliary wheel (3) is a non-powered wheel. Several auxiliary wheels (3) are arranged horizontally and parallel to each other. The auxiliary wheel (3) is in contact with the inner side of the track to ensure stable contact between the track and the ground.

6. The all-terrain tracked adaptive travel method according to claim 1, characterized in that: The telescopic cylinder (5) is set vertically, and the fixed end of the telescopic cylinder (5) is fixedly connected to the support frame (1), while the extended end of the telescopic cylinder (5) is rotatably connected to the axle of the auxiliary wheel (3).

Images