Double variable length swing arm wheel-track composite multi-modal walking mechanism

Abstract

A dual-variable-length swing-arm wheel-track composite multimodal walking mechanism includes a body unit, a track unit, a track transmission unit, a walking drive motor, walking wheels, a walking wheel transmission unit, a walking wheel swing-rotation attitude adjustment motor, and a walking wheel swing-rotation attitude adjustment transmission unit. This invention, through the rational design of the swing arm posture and the relative positional changes between the wheels and tracks, enables the walking mechanism to switch between multiple motion modes under different working conditions, significantly improving its adaptability to complex terrain and multi-task scenarios, and achieving multimodal, high-mobility walking functionality. In turning or stationary rotation conditions, an inverted swing walking mode can be adopted, achieving steering only through point contact between the wheels and the ground. This effectively reduces the demand for high torque output from the drive system during turning, allowing the tracks and wheels to share a high-speed, low-torque drive motor. While ensuring steering maneuverability, this improves the overall motion efficiency and rapid movement capability of the walking mechanism.

Description

Technical Field

[0001] This invention belongs to the technical field of mobile robot walking mechanisms, and in particular relates to a dual variable length swing arm wheel track composite multimodal walking mechanism. Background Technology

[0002] With the continuous development of mobile robot technology, the demand for mobile robots to operate in complex terrains and multiple application scenarios is gradually increasing. As the core functional component of mobile robots, the structure and performance level of the walking mechanism directly affect the mobility and environmental adaptability of mobile robots.

[0003] Currently, the most common forms of locomotion mechanisms for mobile robots include tracked, wheeled, and composite structures that combine tracks and wheels.

[0004] For tracked locomotives, because the tracks are in surface contact with the ground, they can effectively distribute the load during movement, reduce the pressure on the ground per unit area, and have good ground adaptability and passability. Compared with wheeled locomotives, in soft ground, complex terrain, and environments with steps and obstacles, they can rely on the larger track coverage area and continuous support characteristics to achieve smooth movement up and down steps and over obstacles.

[0005] In existing tracked walking mechanisms, due to the large contact area between the track and the ground during turning, significant lateral relative sliding is required between the track and the ground when turning or rotating in place to meet the speed difference required for turning. However, this also significantly increases the frictional resistance between the track and the ground, resulting in a much higher drive wheel torque required for turning conditions compared to straight-line walking conditions, leading to a significant increase in energy consumption.

[0006] To meet mobility requirements such as stationary rotation or small-radius turning, existing tracked walking mechanisms typically employ a high-ratio reduction drive to improve the output torque of the drive system under low-speed conditions.

[0007] However, with a fixed drive motor power, the increase in reduction ratio inevitably limits the maximum output speed of the tracks, thus restricting the maximum travel speed of the entire machine. It is often necessary to make a trade-off between load-bearing capacity, steering maneuverability and travel speed, and it is difficult to simultaneously achieve high-speed travel and high-maneuverability steering performance.

[0008] Therefore, it is essential to develop a composite walking mechanism that can maintain the track's high load-bearing capacity and obstacle-crossing ability while flexibly switching between multiple walking modes, and taking into account low steering resistance, high mobility and high walking speed. Summary of the Invention

[0009] To address the problems existing in the prior art, this invention provides a dual-variable-length swing arm and wheel-track composite multimodal walking mechanism. Through the rational design of the swing arm posture and the relative positional changes between the wheels and tracks, the walking mechanism can switch between multiple motion modes under different working conditions, significantly improving its adaptability to complex terrain and multi-task scenarios, and achieving multimodal, highly maneuverable walking functions. In particular, in turning or stationary rotation conditions, an inverted swing walking mode can be adopted, achieving steering only through point contact between the wheels and the ground. This effectively reduces the demand for high torque output from the drive system during turning, allowing the tracks and wheels to share a high-speed, low-torque drive motor. While ensuring steering maneuverability, this improves the overall motion efficiency and rapid movement capability of the walking mechanism.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: a dual-variable-length swing-arm wheel-track composite multimodal walking mechanism, comprising a body unit, a track unit, a track transmission unit, a walking drive motor, a walking wheel, a walking wheel transmission unit, a walking wheel swing-adjustment motor, and a walking wheel swing-adjustment transmission unit; the track unit is disposed on the body unit; the track transmission unit is located between the track unit and the walking drive motor; the walking drive motor is disposed on the body unit; the walking wheel is disposed on the walking wheel transmission unit, and the walking wheel transmission unit is disposed between the walking drive motor and the walking wheel; the walking wheel swing-adjustment motor is disposed on the body unit; and the walking wheel swing-adjustment transmission unit is disposed between the walking wheel swing-adjustment motor and the walking wheel.

[0011] The number of assemblies consisting of the track unit, track transmission unit, walking drive motor, walking wheel, walking wheel transmission unit, walking wheel swing adjustment motor and walking wheel swing adjustment transmission unit is two, and the two assemblies are distributed symmetrically on the left and right sides of the body unit.

[0012] The body unit includes a main frame, a sub-frame, and an adapter sleeve; one end of the adapter sleeve is fixedly connected to the front side of the main frame, and the central axis of the adapter sleeve is perpendicular to the front-rear central axis of the main frame; the sub-frame is fixedly connected to the other end of the adapter sleeve.

[0013] The main frame has a battery and control compartment in the middle.

[0014] The track unit includes a walking track, a driving track wheel, and a driven track wheel; the driving track wheel is rotatably connected to the front end of the main frame via bearings; the driven track wheel is rotatably connected to the rear end of the main frame via bearings; the walking track is driven between the driving track wheel and the driven track wheel.

[0015] The track drive unit includes a track drive drive gear, a track drive driven gear, and a track drive shaft; one end of the track drive shaft is coaxially and fixedly connected to the central wheel shaft of the drive track wheel, and the other end of the track drive shaft is rotatably connected to the main frame through a bearing; the track drive driven gear is coaxially and fixedly mounted on the track drive shaft; the track drive drive gear is coaxially and fixedly mounted on the motor shaft of the travel drive motor, and the travel drive motor is fixedly mounted on the main frame.

[0016] The walking wheel transmission unit includes a primary drive shaft, a secondary drive shaft, a final drive shaft, a swing arm connecting rod, a first synchronous belt assembly, and a second synchronous belt assembly. The primary drive shaft is coaxially mounted inside an adapter sleeve and is rotatably connected to the adapter sleeve via bearings. One end of the primary drive shaft is coaxially fixed to the motor shaft of the walking drive motor, and the other end of the primary drive shaft is connected to the secondary drive shaft via the primary drive shaft. The secondary drive shaft is parallel to the primary drive shaft and is rotatably connected to the sub-frame via bearings. The final drive shaft is parallel to the secondary drive shaft. The second synchronous belt assembly connects the final drive shaft and the secondary drive shaft. One end of the swing arm connecting rod is hinged to the secondary drive shaft via bearings, and the other end of the swing arm connecting rod is hinged to the final drive shaft via bearings. The walking wheel is coaxially fixed to the outer end of the final drive shaft.

[0017] The first synchronous belt assembly includes a first driving pulley, a first driven pulley, and a first synchronous belt; the first driving pulley is coaxially fixedly mounted on the primary drive shaft; the first driven pulley is coaxially fixedly mounted on the secondary drive shaft; the first synchronous belt drives and connects the first driving pulley and the first driven pulley. The second synchronous belt assembly includes a second driving pulley, a second driven pulley, and a second synchronous belt; the second driving pulley is coaxially fixedly mounted on the secondary drive shaft; the second driven pulley is coaxially fixedly mounted on the final drive shaft; the second synchronous belt drives and connects the second driving pulley and the second driven pulley.

[0018] The walking wheel swaying and attitude adjustment transmission unit includes a walking wheel swaying and attitude adjustment drive gear, a walking wheel swaying and attitude adjustment driven gear, a swaying force transmission frame, a slide rail bracket, and a slider support. The walking wheel swaying and attitude adjustment drive gear is coaxially fixedly mounted on the motor shaft of the walking wheel swaying and attitude adjustment motor, which is fixedly mounted on the main frame. The walking wheel swaying and attitude adjustment driven gear is coaxially mounted on an adapter sleeve, and is rotatably connected to the adapter sleeve via bearings. The swaying force transmission frame is fixedly connected to the wheel surface of the walking wheel swaying and attitude adjustment driven gear. The slide rail bracket is fixedly connected to the swaying force transmission frame and adopts a parallel double-rail structure. The slider end of the slider support is slidably connected to the slide rail bracket, and the support end of the slider support is hinged to the final stage transmission shaft via bearings.

[0019] The control method of the dual variable-length swing arm wheel-track composite multimodal walking mechanism is as follows: Through the coordinated drive of the walking drive motor and the walking wheel swing adjustment motor, adjustable coupling is achieved between the walking wheel and the walking track in terms of spatial position, grounding state, and force distribution, thus constructing multimodal walking capability. The output power of the walking drive motor is transmitted to the track transmission unit and the walking wheel transmission unit respectively, driving the walking wheel and the walking track in a linkage manner. The walking wheel swing adjustment motor drives the swing arm connecting rod to swing around the final stage transmission shaft through the walking wheel swing adjustment transmission unit. Through the coupling effect of the swing motion and the guide sliding, the swing arm produces an equivalent length change, thereby changing the spatial posture and grounding relationship of the walking wheel relative to the body unit. By adjusting the control parameters of the walking drive motor and the walking wheel swing adjustment motor, the dual variable-length swing arm wheel-track composite multimodal walking mechanism can selectively operate in at least one of the following modes: ① The body unit and track unit are in a horizontal position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground, which is a pure tracked ground walking mode; ② The body unit and track unit are in an inclined posture, and both the walking wheels and the walking tracks are on the ground in a wheel-track composite ground walking mode; ③ The body unit and track unit are in a vertical position, the walking track is off the ground, and only the walking wheels are in contact with the ground, which is a two-wheel inverted pendulum balance standing mode. ④ The body unit and track unit are in a vertical position, the walking track is off the ground, and only the walking wheels are in contact with the ground. The movement mode of the two-wheeled inverted pendulum balance is achieved by adjusting the front and rear position of the body unit to change the center of gravity. ⑤ The body unit and track unit are in a vertical position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground, which is a dual-track inverted pendulum balance standing mode. ⑥ The body unit and track unit are in a vertical position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground. The movement is achieved by adjusting the swing position of the walking wheels to change the center of gravity. This is a dual-track inverted pendulum balance movement mode. ⑦ By adjusting the swing arm angle and the body posture, switch from the dual-wheel inverted pendulum balance movement mode to the wheel-track composite step-up mode; ⑧ By adjusting the swing arm angle and the body posture, switch from the dual-track inverted pendulum balance movement mode to the wheel-track composite step-up mode.

[0020] The beneficial effects of this invention are: The dual-variable-length swing arm wheel-track composite multimodal walking mechanism of the present invention, through the rational design of the swing arm posture and the relative positional changes between the wheels and tracks, enables the walking mechanism to switch between multiple motion modes under different working conditions, significantly improving the adaptability of the walking mechanism to complex terrain and multi-task scenarios, and realizing multimodal, highly maneuverable walking functions; especially in turning or stationary rotation conditions, an inverted swing walking mode can be adopted, and the mechanism can turn by only the point contact between the wheels and the ground, effectively reducing the demand for high torque output of the drive system during turning, allowing the tracks and wheels to share a high-speed, low-torque drive motor, thus improving the overall motion efficiency and rapid movement capability of the walking mechanism while ensuring steering maneuverability. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention; Figure 2 This is a schematic diagram of the combined structure of the body unit (subframe and adapter sleeve not shown) and track unit of the present invention; Figure 3 This is a schematic diagram of the combined structure of the track unit, track transmission unit and walking drive motor of the present invention. Figure 4 This is a schematic diagram of the combined structure of the body unit (partial), the walking wheel swing adjustment motor, the walking wheel transmission unit, the walking wheel swing adjustment transmission unit and the walking wheel of the present invention. Figure 5 This is a schematic diagram of the combined structure of the walking wheel swing attitude adjustment motor, the walking wheel transmission unit, the walking wheel swing attitude adjustment transmission unit and the walking wheel of the present invention. Figure 6 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention in the pure tracked ground walking mode; Figure 7 This is a schematic diagram of the dual variable length swing arm wheel-track composite multimodal walking mechanism of the present invention in the wheel-track composite ground walking mode; Figure 8 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention in the dual-wheel inverted pendulum balance standing mode; Figure 9 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention in the dual-wheel inverted pendulum balance movement mode; Figure 10 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention in the dual track inverted pendulum balance standing mode. Figure 11This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention in the dual track inverted pendulum balance movement mode. Figure 12 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention switching from the dual-wheel inverted pendulum balance movement mode to the wheel track composite step-up mode. Figure 13 This is a schematic diagram of the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention switching from the dual track inverted pendulum balance movement mode to the wheel track composite step-up mode. In the diagram, 1—walking drive motor, 2—walking wheel, 3—walking wheel swing adjustment motor, 4—main frame, 5—sub-frame, 6—adapter sleeve, 7—walking track, 8—drive track wheel, 9—driven track wheel, 10—track drive drive gear, 11—track drive driven gear, 12—track drive shaft, 13—first stage drive shaft, 14—secondary drive shaft, 15—last stage drive shaft, 16—swing arm connecting rod, 17—first drive pulley, 18—first driven pulley, 19—first synchronous belt, 20—second drive pulley, 21—second driven pulley, 22—second synchronous belt, 23—walking wheel swing adjustment drive gear, 24—walking wheel swing adjustment driven gear, 25—swing transmission frame, 26—slide rail bracket, 27—slider support, 28—battery and control compartment. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1-5 As shown, a dual-variable-length swing-arm wheel-track composite multimodal walking mechanism includes a body unit, a track unit, a track transmission unit, a walking drive motor 1, a walking wheel 2, a walking wheel transmission unit, a walking wheel swing-adjustment motor 3, and a walking wheel swing-adjustment transmission unit. The track unit is mounted on the body unit. The track transmission unit is located between the track unit and the walking drive motor 1. The walking drive motor 1 is mounted on the body unit. The walking wheel 2 is mounted on the walking wheel transmission unit, which is located between the walking drive motor 1 and the walking wheel 2. The walking wheel swing-adjustment motor 3 is mounted on the body unit. The walking wheel swing-adjustment transmission unit is located between the walking wheel swing-adjustment motor 3 and the walking wheel 2.

[0024] The number of assemblies consisting of the track unit, track transmission unit, walking drive motor 1, walking wheel 2, walking wheel transmission unit, walking wheel swing adjustment motor 3, and walking wheel swing adjustment transmission unit is two sets, and the two sets of assemblies are distributed symmetrically in a left-right mirror image on the body unit.

[0025] The body unit includes a main frame 4, a sub-frame 5, and an adapter sleeve 6; one end of the adapter sleeve 6 is fixedly connected to the front side of the main frame 4, and the central axis of the adapter sleeve 6 is perpendicular to the front-rear central axis of the main frame 4; the sub-frame 5 is fixedly connected to the other end of the adapter sleeve 6.

[0026] The main frame 4 has a battery and control compartment 28 in the middle.

[0027] The track unit includes a walking track 7, a driving track wheel 8, and a driven track wheel 9; the driving track wheel 8 is rotatably connected to the front end of the main frame 4 via a bearing; the driven track wheel 9 is rotatably connected to the rear end of the main frame 4 via a bearing; the walking track 7 is drive-connected between the driving track wheel 8 and the driven track wheel 9.

[0028] The track drive unit includes a track drive drive gear 10, a track drive driven gear 11, and a track drive shaft 12. One end of the track drive shaft 12 is coaxially and fixedly connected to the central wheel shaft of the drive track wheel 8, and the other end of the track drive shaft 12 is rotatably connected to the main frame 4 through a bearing. The track drive driven gear 11 is coaxially and fixedly mounted on the track drive shaft 12. The track drive drive gear 10 is coaxially and fixedly mounted on the motor shaft of the travel drive motor 1, and the travel drive motor 1 is fixedly mounted on the main frame 4.

[0029] The walking wheel transmission unit includes a primary transmission shaft 13, a secondary transmission shaft 14, a final transmission shaft 15, a swing arm connecting rod 16, a first synchronous belt assembly, and a second synchronous belt assembly. The primary transmission shaft 13 is coaxially mounted inside the adapter sleeve 6, and the primary transmission shaft 13 is rotatably connected to the adapter sleeve 6 via a bearing. One end of the primary transmission shaft 13 is coaxially fixed to the motor shaft of the walking drive motor 1, and the other end of the primary transmission shaft 13 is connected to the secondary transmission shaft 14 via the primary transmission shaft 13. The drive shaft 14 is parallel to the primary drive shaft 13, and the secondary drive shaft 14 is rotatably connected to the auxiliary frame 5 via bearings; the final drive shaft 15 is parallel to the secondary drive shaft 14; the second synchronous belt assembly is connected between the final drive shaft 15 and the secondary drive shaft 14; one end of the swing arm connecting rod 16 is hinged to the secondary drive shaft 14 via bearings, and the other end of the swing arm connecting rod 16 is hinged to the final drive shaft 15 via bearings; the traveling wheel 2 is coaxially fixed to the outer end of the final drive shaft 15.

[0030] The first synchronous belt assembly includes a first driving pulley 17, a first driven pulley 18, and a first synchronous belt 19; the first driving pulley 17 is coaxially fixedly mounted on the primary drive shaft 13; the first driven pulley 18 is coaxially fixedly mounted on the secondary drive shaft 14; the first synchronous belt 19 is tractively connected between the first driving pulley 17 and the first driven pulley 18. The second synchronous belt assembly includes a second driving pulley 20, a second driven pulley 21, and a second synchronous belt 22; the second driving pulley 20 is coaxially fixedly mounted on the secondary drive shaft 14; the second driven pulley 21 is coaxially fixedly mounted on the final drive shaft 15; the second synchronous belt 22 is tractively connected between the second driving pulley 20 and the second driven pulley 21.

[0031] The walking wheel swaying and attitude adjustment transmission unit includes a walking wheel swaying and attitude adjustment drive gear 23, a walking wheel swaying and attitude adjustment driven gear 24, a swaying force transmission frame 25, a slide rail bracket 26, and a slider support 27. The walking wheel swaying and attitude adjustment drive gear 23 is coaxially fixedly mounted on the motor shaft of the walking wheel swaying and attitude adjustment motor 3, which is fixedly mounted on the main frame 4. The walking wheel swaying and attitude adjustment driven gear 24 is coaxially mounted on the adapter sleeve 6, and is rotatably connected to the adapter sleeve 6 via bearings. The swaying force transmission frame 25 is fixedly connected to the wheel surface of the walking wheel swaying and attitude adjustment driven gear 24. The slide rail bracket 26 is fixedly connected to the swaying force transmission frame 25 and adopts a parallel double-rail structure. The slider end of the slider support 27 is slidably connected to the slide rail bracket 26, and the support end of the slider support 27 is hinged to the final stage transmission shaft 15 via bearings.

[0032] The control method of the dual variable length swing arm wheel-track composite multimodal walking mechanism is as follows: Through the coordinated drive of the walking drive motor 1 and the walking wheel swing adjustment motor 3, the walking wheel 2 and the walking track 7 are adjusted in terms of spatial position, grounding state, and force distribution, thus constructing multimodal walking capability. The output power of the walking drive motor 1 is transmitted to the track transmission unit and the walking wheel transmission unit respectively, driving the walking wheel 2 and the walking track 7 to move in a linked manner. The walking wheel swing adjustment motor 3 drives the swing arm connecting rod 16 to swing around the final stage transmission shaft 15 through the walking wheel swing adjustment transmission unit. Through the coupling effect of the swing motion and the guide sliding, the swing arm produces an equivalent length change, thereby changing the spatial posture and grounding relationship of the walking wheel 2 relative to the body unit. By adjusting the control parameters of the walking drive motor 1 and the walking wheel swing adjustment motor 3, the dual variable length swing arm wheel-track composite multimodal walking mechanism can selectively be in at least one of the following working modes: ① The body unit and track unit are in a horizontal position, the walking wheels 2 are off the ground, and only the walking track 7 is in contact with the ground, which is a pure tracked ground walking mode; ② The body unit and track unit are in an inclined posture, and the walking wheels 2 and walking tracks 7 are both grounded in a wheel-track composite ground walking mode; ③ The body unit and track unit are in a vertical position, the walking track 7 is off the ground, and only the walking wheel 2 is in contact with the ground, which is a double-wheel inverted pendulum balance standing mode. ④ The body unit and track unit are in a vertical position, the walking track 7 is off the ground, and only the walking wheel 2 is in contact with the ground. The movement mode of the double-wheel inverted pendulum balance is achieved by adjusting the front and rear position of the body unit to change the center of gravity. ⑤ The body unit and track unit are in a vertical position, the walking wheels 2 are off the ground, and only the walking track 7 is in contact with the ground, which is a double track inverted pendulum balance standing mode. ⑥ The body unit and track unit are in a vertical position, the walking wheels 2 are off the ground, and only the walking tracks 7 are in contact with the ground. The movement mode of the double tracked inverted pendulum balance is achieved by adjusting the swing position of the walking wheels 2 to change the center of gravity. ⑦ By adjusting the swing arm angle and the body posture, switch from the dual-wheel inverted pendulum balance movement mode to the wheel-track composite step-up mode; ⑧ By adjusting the swing arm angle and the body posture, switch from the dual-track inverted pendulum balance movement mode to the wheel-track composite step-up mode.

[0033] The working process of the present invention will be described below with reference to the accompanying drawings: When the travel drive motor 1 starts, its power is output synchronously in two paths to drive the travel wheels 2 and the travel tracks 7. The first path of power, output from the motor shaft of the travel drive motor 1, drives the track drive drive gear 10 to rotate, which in turn drives the driven track drive gear 11, which in turn drives the track drive shaft 12 and the drive track wheel 8 to rotate, ultimately causing the travel tracks 7 to rotate between the drive track wheel 8 and the driven track wheel 9. The second path of power, output from the motor shaft of the travel drive motor 1, drives the primary drive shaft 13 to rotate. The primary drive shaft 13 drives the secondary drive shaft 14 to rotate via the first synchronous belt assembly, and the secondary drive shaft 14 drives the final drive shaft 15 to rotate via the second synchronous belt assembly, ultimately driving the travel wheels 2 to rotate.

[0034] When the walking wheel sway adjustment motor 3 is started, the motor shaft of the walking wheel sway adjustment motor 3 drives the walking wheel sway adjustment drive gear 23 to rotate, which in turn drives the walking wheel sway adjustment driven gear 24 meshing with it to rotate. The walking wheel sway adjustment driven gear 24 will further drive the sway transmission frame 25 and the slide rail bracket 26 to sway around the central axis of the primary transmission shaft 13. During the swaying motion of the slide rail bracket 26, the slider support 27 drives the final stage transmission shaft 15 and the swing arm connecting rod 16 to sway around the central axis of the secondary transmission shaft 14. At the same time, the slider support 27 slides linearly along the slide rail bracket 26, realizing the position adjustment of the slider support 27 on the slide rail bracket 26. Finally, the swaying motion of the final stage transmission shaft 15 around the central axis of the secondary transmission shaft 14 drives the drive walking wheel 2 to sway synchronously.

[0035] like Figure 6 As shown, when the dual variable length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the pure track ground walking mode, the body unit and the track unit are in a horizontal posture, only the walking track 7 is in contact with the ground, and the driving walking wheel 2 is not in contact with the ground. At this time, the ground walking needs are met only by relying on the walking track 7.

[0036] like Figure 7 As shown, when the dual variable length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the wheel-track composite ground walking mode, the body unit and the track unit are in an inclined posture as a whole. The walking track 7 and the driven track wheel 9 are in contact with the ground, and the walking track 7 and the driving track wheel 8 are in a disengaged state. The driving walking wheel 2 is also in contact with the ground. At this time, the ground walking needs are met by the cooperation of the driving walking wheel 2 and the walking track 7.

[0037] like Figure 8 As shown, when the dual-variable-length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the dual-wheel inverted pendulum balance standing mode, the body unit and track unit are in a vertical posture, with only the driving wheel 2 in contact with the ground, and the track 7 not in contact with the ground. In the dual-wheel inverted pendulum balance standing mode, the height distance between the body unit and the track unit and the ground can be changed by adjusting the swing position of the driving wheel 2.

[0038] like Figure 9 As shown, when the dual-variable-length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the dual-wheel inverted pendulum balance movement mode, the body unit and track unit are in a vertical posture, with only the driving wheel 2 in contact with the ground, and the track 7 not in contact with the ground. In the dual-wheel inverted pendulum balance movement mode, the center of gravity of the mechanism as a whole is changed by adjusting the front and rear positions of the body unit and track unit, thereby adjusting the movement speed by changing the center of gravity.

[0039] like Figure 10As shown, when the dual-length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the dual-track inverted pendulum balance standing mode, the body unit and track unit are in a vertical posture, with only the walking track 7 and the driven track wheel 9 in contact with the ground, while the driving walking wheel 2 is not in contact with the ground. In the dual-track inverted pendulum balance standing mode, the overall compactness of the mechanism can be changed by adjusting the swing position of the driving walking wheel 2.

[0040] like Figure 11 As shown, when the dual-length swing arm wheel-track composite multimodal walking mechanism of the present invention is in the dual-track inverted pendulum balance movement mode, the body unit and track unit are in a vertical posture, with only the walking track 7 and the driven track wheel 9 in contact with the ground, while the driving walking wheel 2 is not in contact with the ground. In the dual-track inverted pendulum balance standing mode, the center of gravity of the entire mechanism is changed by adjusting the swing position of the driving walking wheel 2, thereby adjusting the movement speed.

[0041] like Figure 12 As shown, when the dual variable length swing arm wheel track composite multimodal walking mechanism of the present invention switches from the dual-wheel inverted pendulum balance movement mode to the wheel track composite step-climbing mode, when the mechanism moves to the front edge of the first step, the body unit and track unit are first adjusted from the vertical state to the forward tilting posture until the walking track 7 contacts the edge of the step. Then, the driving wheel 2 is lifted up so that the driving wheel 2 is separated from the ground. Finally, the walking track 7 is used to meet the step-climbing requirements.

[0042] like Figure 13 As shown, when the dual variable length swing arm wheel-track composite multimodal walking mechanism of the present invention switches from the dual track inverted pendulum balance movement mode to the wheel-track composite step-climbing mode, when the entire mechanism moves to the leading edge of the first step, the body unit and track unit are first adjusted from a vertical state to a forward tilted posture until the driving wheel 2 contacts the step surface. Then, the driving wheel 2 is lifted upward to disengage from the step surface, thereby allowing the walking track 7 to contact the edge of the step. Finally, the walking track 7 is used to meet the step-climbing requirements.

[0043] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A dual-variable-length swing arm wheel-track composite multimodal walking mechanism, characterized in that: The system includes a body unit, a track unit, a track drive unit, a travel drive motor, a travel wheel, a travel wheel drive unit, a travel wheel sway adjustment motor, and a travel wheel sway adjustment transmission unit. The track unit is mounted on the body unit. The track drive unit is located between the track unit and the travel drive motor. The travel drive motor is mounted on the body unit. The travel wheel is mounted on the travel wheel drive unit, which is located between the travel drive motor and the travel wheel. The travel wheel sway adjustment motor is mounted on the body unit. The travel wheel sway adjustment transmission unit is located between the travel wheel sway adjustment motor and the travel wheel.

2. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 1, characterized in that: The number of assemblies consisting of the track unit, track transmission unit, walking drive motor, walking wheel, walking wheel transmission unit, walking wheel swing adjustment motor and walking wheel swing adjustment transmission unit is two, and the two assemblies are distributed symmetrically on the left and right sides of the body unit.

3. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 1, characterized in that: The body unit includes a main frame, a sub-frame, and an adapter sleeve; one end of the adapter sleeve is fixedly connected to the front side of the main frame, and the central axis of the adapter sleeve is perpendicular to the front-rear central axis of the main frame. The subframe is fixedly connected to the other end of the adapter sleeve.

4. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 3, characterized in that: The main frame has a battery and control compartment in the middle.

5. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 3, characterized in that: The track unit includes a walking track, a driving track wheel, and a driven track wheel; the driving track wheel is rotatably connected to the front end of the main frame via bearings; the driven track wheel is rotatably connected to the rear end of the main frame via bearings; the walking track is driven between the driving track wheel and the driven track wheel.

6. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 5, characterized in that: The track drive unit includes a track drive drive gear, a track drive driven gear, and a track drive shaft; one end of the track drive shaft is coaxially and fixedly connected to the central wheel shaft of the drive track wheel, and the other end of the track drive shaft is rotatably connected to the main frame through a bearing; the track drive driven gear is coaxially and fixedly mounted on the track drive shaft; the track drive drive gear is coaxially and fixedly mounted on the motor shaft of the travel drive motor, and the travel drive motor is fixedly mounted on the main frame.

7. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 3, characterized in that: The walking wheel transmission unit includes a primary drive shaft, a secondary drive shaft, a final drive shaft, a swing arm connecting rod, a first synchronous belt assembly, and a second synchronous belt assembly. The primary drive shaft is coaxially mounted inside an adapter sleeve and is rotatably connected to the adapter sleeve via bearings. One end of the primary drive shaft is coaxially fixed to the motor shaft of the walking drive motor, and the other end of the primary drive shaft is connected to the secondary drive shaft via the primary drive shaft. The secondary drive shaft is parallel to the primary drive shaft and is rotatably connected to the sub-frame via bearings. The final drive shaft is parallel to the secondary drive shaft. The second synchronous belt assembly connects the final drive shaft and the secondary drive shaft. One end of the swing arm connecting rod is hinged to the secondary drive shaft via bearings, and the other end of the swing arm connecting rod is hinged to the final drive shaft via bearings. The walking wheel is coaxially fixed to the outer end of the final drive shaft.

8. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 7, characterized in that: The first synchronous belt assembly includes a first driving pulley, a first driven pulley, and a first synchronous belt; the first driving pulley is coaxially fixedly mounted on the primary drive shaft; the first driven pulley is coaxially fixedly mounted on the secondary drive shaft; the first synchronous belt drives and connects the first driving pulley and the first driven pulley. The second synchronous belt assembly includes a second driving pulley, a second driven pulley, and a second synchronous belt; the second driving pulley is coaxially fixedly mounted on the secondary drive shaft; the second driven pulley is coaxially fixedly mounted on the final drive shaft; the second synchronous belt drives and connects the second driving pulley and the second driven pulley.

9. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 7, characterized in that: The walking wheel swaying and attitude adjustment transmission unit includes a walking wheel swaying and attitude adjustment drive gear, a walking wheel swaying and attitude adjustment driven gear, a swaying force transmission frame, a slide rail bracket, and a slider support. The walking wheel swaying and attitude adjustment drive gear is coaxially fixedly mounted on the motor shaft of the walking wheel swaying and attitude adjustment motor, which is fixedly mounted on the main frame. The walking wheel swaying and attitude adjustment driven gear is coaxially mounted on an adapter sleeve, and is rotatably connected to the adapter sleeve via bearings. The swaying force transmission frame is fixedly connected to the wheel surface of the walking wheel swaying and attitude adjustment driven gear. The slide rail bracket is fixedly connected to the swaying force transmission frame and adopts a parallel double-rail structure. The slider end of the slider support is slidably connected to the slide rail bracket, and the support end of the slider support is hinged to the final stage transmission shaft via bearings.

10. The dual variable length swing arm wheel-track composite multimodal walking mechanism according to claim 1, characterized in that, The control method is as follows: Through the coordinated drive of the walking drive motor and the walking wheel sway adjustment motor, adjustable coupling in spatial position, grounding state, and force distribution between the walking wheel and the walking track is achieved, constructing a multi-modal walking capability. The output power of the walking drive motor is transmitted to the track transmission unit and the walking wheel transmission unit respectively, driving the walking wheel and the walking track in a linked manner. The walking wheel sway adjustment motor drives the swing arm linkage to sway around the final stage transmission shaft through the walking wheel sway adjustment transmission unit. Through the coupling effect of the swaying motion and the guide sliding, the swing arm produces an equivalent length change, thereby changing the spatial posture and grounding relationship of the walking wheel relative to the machine unit. By adjusting the control parameters of the walking drive motor and the walking wheel sway adjustment motor, the dual variable length swing arm wheel-track composite multi-modal walking mechanism can selectively operate in at least one of the following modes: ① The body unit and track unit are in a horizontal position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground, which is a pure tracked ground walking mode; ② The body unit and track unit are in an inclined posture, and both the walking wheels and the walking tracks are on the ground in a wheel-track composite ground walking mode; ③ The body unit and track unit are in a vertical position, the walking track is off the ground, and only the walking wheels are in contact with the ground, which is a two-wheel inverted pendulum balance standing mode. ④ The body unit and track unit are in a vertical position, the walking track is off the ground, and only the walking wheels are in contact with the ground. The movement mode of the two-wheeled inverted pendulum balance is achieved by adjusting the front and rear position of the body unit to change the center of gravity. ⑤ The body unit and track unit are in a vertical position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground, which is a dual-track inverted pendulum balance standing mode. ⑥ The body unit and track unit are in a vertical position, the walking wheels are off the ground, and only the walking tracks are in contact with the ground. The movement is achieved by adjusting the swing position of the walking wheels to change the center of gravity. This is a dual-track inverted pendulum balance movement mode. ⑦ By adjusting the swing arm angle and the body posture, switch from the dual-wheel inverted pendulum balance movement mode to the wheel-track composite step-up mode; ⑧ By adjusting the swing arm angle and the body posture, switch from the dual-track inverted pendulum balance movement mode to the wheel-track composite step-up mode.

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