Multi-terrain operating robot
Patent Information
- Application Number
- CN202611547747.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-10-08
- Publication Date
- 2026-11-03
Smart Images
Figure CN123025867A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of land robot technology, specifically to a multi-terrain operation robot. Background Technology
[0002] The locomotion system is the core component of a land robot. The most common types are wheeled and tracked locomotion systems. Wheeled locomotion systems are simple in structure, low in cost, fast in speed and highly maneuverable, but have weak obstacle crossing ability and limited passability on surfaces such as gravel roads, muddy roads, grass, and snow. Tracked locomotion systems, on the other hand, have good obstacle crossing ability, but have slow speed and weak maneuverability. Besides wheeled and tracked systems, existing technologies have also developed a variety of unconventional locomotion systems, such as legged, creeping, serpentine, and spiral systems. While legged locomotion systems have strong obstacle-crossing and terrain adaptability, they are difficult to control and struggle to achieve high speeds. Creeping locomotion systems rely on changes in body center of gravity and friction on the underside for propulsion, making them suitable for use in confined spaces, but their speed is extremely slow and they have almost no obstacle-crossing ability. Serpentine locomotion systems use lateral swaying to form an S-shaped trajectory, allowing them to penetrate narrow gaps and complex ruins, and they are highly flexible in movement, but they are prone to failure in complex terrain environments such as grass and gravel. Spiral locomotion systems generate traction by rotating a spiral to cut the ground, providing strong grip and stable movement on soft ground, but they have low transmission efficiency, extremely high resistance on hard surfaces, rapid wear, and poor high-speed movement capability.
[0003] The above-mentioned walking systems all have limitations in their scope of application. In some work processes, there are often multi-terrain operation requirements, and these walking systems cannot fully meet the requirements of the entire process, or have insurmountable defects during operation.
[0004] Taking field harvesting as an example, the soil in the fields is relatively soft and uneven, and the farm roads along the fields are often gravel roads or muddy roads, making the road conditions quite harsh. For a harvesting robot to smoothly enter and exit the farmland and move freely to complete the harvesting, its walking system needs to have good passability on such soil. Therefore, most current field harvesting operations use tracked robots. However, existing tracked robots still have at least the following shortcomings in harvesting operations: Firstly, in the arid and windy areas of Inner Mongolia, ridge planting is commonly used in the fields, with parallel furrows arranged alternately in the fields. To avoid damaging the ridges or furrows planted with crops, the robots are required to be able to walk across ridges or furrows. However, the width of the ridges and furrows varies in fields planted with different crops. Although existing tracked robots can walk across ridges or furrows, the span of their tracks is generally not adjustable. This means that different sizes of tracked robots are needed when harvesting crops from different fields.
[0005] Secondly, during cross-field operations, especially in the terraced fields of southeastern Inner Mongolia, where there are earthen embankments with a certain height difference between two fields, existing tracked robots cannot directly cross them. After completing operations in one field, they need to cross that field and detour to another field via the farm road. Since the tracked walking system itself travels slowly, and care must be taken to avoid damaging furrows and crops when crossing fields, this detour is time-consuming and laborious, affecting operational efficiency.
[0006] Third, due to the slow speed and weak maneuverability of tracked robots, existing tracked robots are not suitable for direct use as transport vehicles on external hard surfaces after the harvesting operation is completed. In the harvesting process, additional loading vehicles are often required to load, unload and transport the harvested crops. Summary of the Invention
[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-terrain operation robot that has wheeled, tracked and legged walking modes, and can be applied to multi-terrain operation needs.
[0008] The objective of this invention is achieved through the following technical solution: A multi-terrain operation robot includes a body and four wheel mechanisms, which are respectively installed at the four corners of the body. Each wheel mechanism includes a transverse frame, a servo motor, a wheel hub frame, a belt, a vertical support assembly, and two lateral support assemblies. The transverse frame is slidably connected to the vehicle body, the sliding direction of the transverse frame is parallel to the width direction of the vehicle body, the servo is fixedly mounted on the transverse frame, and the wheel hub frame is fixedly connected to the output shaft of the servo. The vertical support assembly includes a drive motor, an upper pulley, a lower pulley, and a vertical telescopic device. The upper pulley is rotatably connected to the hub frame. The drive motor drives the upper pulley to rotate. The lower pulley is located directly below the upper pulley. The vertical telescopic device includes an arc-shaped support plate and a vertical telescopic element. The lower pulley is rotatably connected to the arc-shaped support plate. The vertical telescopic element is vertically arranged, and its two ends are respectively connected to the hub frame and the arc-shaped support plate. The arc-shaped support plate has its arc-shaped edge facing downwards, and several rollers are rotatably arranged on the arc-shaped support plate. The installation position of the lower pulley is adapted to the several rollers. Two lateral support components are symmetrically arranged on both sides of the vertical support component. Each lateral support component includes a lateral telescopic element, a carriage, and a lateral pulley. The carriage is slidably connected to the hub frame. Both ends of the lateral telescopic element are respectively connected to the carriage and the hub frame. The lateral pulley is rotatably connected to the carriage. The output shaft of the servo motor, the axis of the upper pulley, the axis of the lower pulley, and the axis of the cross pulley are all parallel to the sliding direction of the transverse frame. The belt wraps around the outside of the upper pulley, the lower pulley, and the two cross pulleys, and the upper pulley, the lower pulley, and the two cross pulleys are connected by the belt drive.
[0009] Specifically, the wheel mechanism also includes a lateral drive device for driving the lateral frame to slide on the vehicle body.
[0010] Specifically, a transverse sliding rail is fixedly installed on the transverse frame, and a transverse sliding block is fixedly installed on the vehicle body. The transverse sliding rail and the transverse sliding block are slidably adapted to each other.
[0011] Specifically, the belt is a synchronous belt, and the upper pulley, lower pulley and two cross pulleys are all synchronous pulleys. The outer side of the belt is provided with anti-slip texture.
[0012] Specifically, the rollers are made of bearings, and a plurality of the rollers are evenly distributed along the arc edge of the arc-shaped support plate.
[0013] Specifically, the vertical telescopic device has two vertical telescopic elements and two arc-shaped support plates. The vertical telescopic device also includes a connecting plate. The top ends of the two arc-shaped support plates are fixedly connected to the connecting plate. The ends of the two vertical telescopic elements away from the hub frame are fixedly connected to the connecting plate. The lower pulley is disposed between the two arc-shaped support plates, and the two ends of the lower pulley are rotatably connected to the two arc-shaped support plates respectively.
[0014] Specifically, the vertical telescopic element is selected from electric push rods or hydraulic cylinders, and the lateral telescopic element is selected from electric push rods or hydraulic cylinders.
[0015] Specifically, the drive motor is fixedly mounted on the hub frame, and the output shaft of the drive motor is coaxially and fixedly connected to the upper pulley.
[0016] Specifically, a slide rail is fixedly installed on the hub frame, and a slider is fixedly installed on the slide frame, with the slider slidingly adapted to the slide rail.
[0017] The beneficial effects of this invention are: A multi-terrain operation robot includes a body and four wheel mechanisms, which are respectively installed at the four corners of the body. Each wheel mechanism includes a lateral frame, a servo motor, a hub frame, a belt, a vertical support assembly, and two lateral support assemblies. The vertical support assembly includes a drive motor, an upper pulley, a lower pulley, and a vertical telescopic device. The vertical telescopic device includes an arc-shaped support plate and a vertical telescopic element. The upper pulley is rotatably mounted on the hub frame, and the lower pulley is rotatably mounted on the arc-shaped support plate. The lower pulley is positioned directly below the upper pulley. The vertical distance between the arc-shaped support plate and the hub frame can be adjusted by the vertical support element, thereby adjusting the vertical distance between the lower pulley and the upper pulley. The arc edge of the arc-shaped support plate is rotatably mounted with several rollers, and the installation position of the lower pulley is adapted to the rollers. The lateral support assembly includes a lateral telescopic element, a carriage, and a lateral pulley. The two lateral support assemblies are symmetrically arranged on both sides of the vertical support assembly. The two lateral telescopic elements can drive the two lateral pulleys to move closer or further apart laterally. The upper pulley, lower pulley, and two cross pulleys are connected by belt drive. When the lower pulley descends to its lowest position and the two cross pulleys move closer together to the center and are adapted to tensioning the belt, the wheel mechanism transforms into a wheel shape. At this time, supported by the rollers on the arc edge of the arc-shaped support plate, the lower part of the belt is arc-shaped, which can directly simulate the operating state of the circular tire in contact with the ground when the belt is running. When the lower pulley rises to a position that is basically level with the cross pulleys and the two cross pulleys move away from both ends and are adapted to tensioning the belt, the wheel mechanism transforms into a track shape of a triangular track structure.
[0018] In this multi-terrain robot, when all four wheel mechanisms are converted to wheel mode and driven by their respective drive motors, it enters wheeled walking mode. Due to the small contact area between the wheel mechanism and the ground, the resistance is low, resulting in high speed and strong maneuverability on roads with good conditions. When all four wheel mechanisms are converted to tracked mode and driven by their respective drive motors, it enters tracked walking mode. The large contact area and low pressure between the tracked mechanism and the ground enhance the robot's obstacle-crossing ability and improve its passability on gravel roads, muddy roads, grass, snow, and other road environments. The lateral frame is slidably connected to the vehicle body, with the servo motors fixedly mounted on the lateral frame. The wheel hub frame is fixedly connected to the servo motor's output shaft. Sliding the lateral frame adjusts the extension distance of the wheel mechanism on the side of the vehicle body, thereby adjusting the span of the wheel mechanisms on both sides of the vehicle body, suitable for crossing walking needs of different widths. When all four wheel mechanisms of this multi-terrain robot are converted to wheel mode and driven by their respective servo motors, it enters legged walking mode, further improving its obstacle-crossing ability through climbing and traversing actions.
[0019] Because the vehicle body is lifted to different ground heights in tracked and wheeled modes, the vehicle body's lifting and tilting can be controlled by switching between different wheel mechanisms, making it suitable for various specific environmental applications. Since the wheel mechanism uses a drive motor to power the belt in both tracked and wheeled modes, the belt speed remains constant when the drive motor output speed is constant. For a single wheel mechanism, the tracked and wheeled modes can be switched during movement. For the coordinated control of all wheel mechanisms, maintaining consistent drive motor speeds ensures consistent operating speeds across different wheel configurations. Furthermore, each wheel mechanism can be selected and matched for adaptive control in wheeled, tracked, and legged walking modes, further enhancing its adaptability to complex terrain. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of a multi-terrain operation robot according to the present invention; Figure 2 for Figure 1 A schematic diagram of the installation structure of the four wheel mechanisms on the vehicle body; Figure 3 for Figure 2 Schematic diagram of the wheel mechanism; Figure 4 for Figure 3 The diagram shows the structure of the wheel mechanism in wheel configuration. Figure 5 for Figure 3 The diagram shows the structure of the wheel mechanism in track mode. Figure 6 for Figure 4 The diagram shows the structure of the wheel mechanism after the belt is removed in wheel configuration. Figure 7 for Figure 6 A schematic diagram of the bottom structure; Figure 8 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 1 , Figure 9 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 2 , Figure 10 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 3 , Figure 11 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 4 , Figure 12This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 5 , Figure 13 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 6 , Figure 14 This is a schematic diagram of the obstacle-crossing process of a multi-terrain operation robot in legged walking mode according to the present invention. Figure 7 , In the diagram, 1-vehicle body, 2-lateral movement frame, 3-servo motor, 4-hub frame, 5-belt, 6-drive motor, 7-upper pulley, 8-lower pulley, 9-vertical telescopic element, 10-arc-shaped support plate, 11-lateral telescopic element, 12-slide carriage, 13-lateral pulley, 14-lateral movement drive device, 15-lateral movement slide rail, 16-lateral movement slider, 17-connecting plate, 20-earth embankment, 21-low-position field, 22-high-position field. Detailed Implementation
[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.
[0022] like Figures 1 to 7 As shown, a multi-terrain operation robot includes a body 1 and four wheel mechanisms. The four wheel mechanisms are respectively installed at the four corners of the body 1, so that the multi-terrain operation robot has a classic four-wheel vehicle structure.
[0023] The wheel mechanism includes a transverse frame 2, a servo motor 3, a hub frame 4, a belt 5, a vertical support assembly, and two lateral support assemblies. The transverse frame 2 is slidably connected to the vehicle body 1, and the sliding direction of the transverse frame 2 is parallel to the width direction of the vehicle body 1. The servo motor 3 is fixedly mounted on the transverse frame 2, and the hub frame 4 is fixedly connected to the output shaft of the servo motor 3. The servo motor 3 can drive the hub frame 4 to rotate, and based on the self-locking characteristic of the servo motor 3, the hub frame 4 can be locked at its current angular position when the servo motor 3 stops operating. The vertical support assembly includes a drive motor 6, an upper pulley 7, a lower pulley 8, and a vertical telescopic device. The upper pulley 7 is rotatably mounted on the hub frame 4 via bearings. The drive motor 6 is fixedly mounted on the hub frame, and the output shaft of the drive motor 6 is coaxially fixedly connected to the upper pulley 7. The drive motor 6 is used to drive the upper pulley 7 to rotate. The lower pulley 8 is located directly below the upper pulley 7, and the center line connecting the lower pulley 8 and the upper pulley 7 is vertically aligned. The vertical support assembly has a basically symmetrical structure about this center line as the axis of symmetry. The vertical telescopic device includes an arc-shaped support plate 10 and a vertical telescopic element 9. The lower pulley 8 is rotatably mounted on the arc-shaped support plate 10 via bearings. The vertical telescopic element 9 is vertically arranged, and its two ends are respectively connected to the hub frame 4 and the arc-shaped support plate 10. When the vertical telescopic element 9 is working, it can drive the arc-shaped support plate 10 to rise and fall. The arc-shaped support plate 10 is arranged with its arc edge facing downwards, and several rollers are rotatably arranged on the arc edge of the arc-shaped support plate 10. The installation position of the lower pulley 8 is adapted to the several rollers. The lateral support assembly includes a lateral telescopic element 11, a carriage 12, and a transverse pulley 13. The carriage 12 is slidably connected to the hub frame 4. The two ends of the lateral telescopic element 11 are connected to the carriage 12 and the hub frame 4, respectively. The lateral telescopic element 11 can drive the carriage 12 to slide laterally on the hub frame 4. The transverse pulley 13 is rotatably mounted on the carriage 12 via bearings. The two lateral support assemblies are symmetrically arranged on both sides of the vertical support assembly. The two lateral telescopic elements 11 can drive the two transverse pulleys 13 to move away from each other or towards each other. The output shaft of the servo motor 3, the axis of the upper pulley 7, the axis of the lower pulley 8, and the axis of the transverse pulley 13 are all parallel to the sliding direction of the transverse frame 2. The belt 5 wraps around the outside of the upper pulley 7, the lower pulley 8, and the two transverse pulleys 13. The upper pulley 7, the lower pulley 8, and the two transverse pulleys 13 are connected by the belt 5 for transmission.
[0024] This multi-terrain operation robot has three main walking modes when in use: wheeled, tracked, and legged.
[0025] like Figure 4 , Figure 6 , Figure 7As shown, when the vertical telescopic element 9 in the wheel mechanism drives the arc-shaped support plate 10 and the lower pulley 8 to extend downwards to their lowest position, and the two horizontal pulleys 13 are positioned close to each other, and under the drive of the two horizontal telescopic elements 11, the two horizontal pulleys 13 tension the belt 5 to both sides to maintain structural stability, the belt 5 at the bottom of the wheel mechanism wraps around the lower pulley 8 and the rollers of the arc-shaped support plate 10. Supported by the arc-shaped edge contour of the arc-shaped support plate 10, the belt 5 at this part also has an arc-shaped structure. At this time, the wheel mechanism is transformed into a wheel shape. By driving the upper pulley 7 to rotate through the drive motor 6, the belt 5 can be further driven to rotate under the action of the belt transmission system. When the belt 5 rotates, the part of the belt 5 at the bottom can achieve a wheel-like operation. It should be noted that in traditional wheeled vehicles, although the wheel hub drives the overall rotation of the tire, from the perspective of the contact point between the tire and the ground, the vehicle is actually propelled by the friction between the rotating circular tire surface and the ground. While this wheel mechanism eliminates the overall rotation of the wheel hub in its wheel configuration, it simulates the movement of a circular tire surface in a localized area at the bottom using belt 5, arc-shaped support plate 10, and several rollers. When all four wheel mechanisms are converted to the aforementioned wheel configuration, the multi-terrain robot switches to wheeled walking mode. When the drive motors 6 of the four wheel mechanisms operate synchronously, the multi-terrain robot can move forward or backward. When the drive motors 6 of the wheel mechanisms on both sides of the vehicle body 1 operate at different speeds, the multi-terrain robot can turn. Because the wheel mechanism has high-pair contact with the ground in wheeled walking mode, the contact area is small and the resistance interference is low. Therefore, it can have a fast driving speed and strong maneuverability on roads with good conditions. In the field harvesting process, especially in small-batch harvesting operations, this multi-terrain operation robot can be used directly as a transfer vehicle between the field and the warehouse without the need to equip it with a separate loading vehicle.
[0026] like Figure 5 As shown, when the vertical telescopic element 9 drives the arc-shaped support plate 10 and the lower pulley 8 to rise, the two horizontal pulleys 13 are positioned far apart from each other, and under the drive of the two horizontal telescopic elements 11, the two horizontal pulleys 13 tension the belt 5 on both sides to maintain structural stability, and the wheel mechanism is converted into a triangular tracked form. When all four wheel mechanisms are converted into tracked forms, the multi-terrain operation robot switches to tracked walking mode. When the drive motors 6 of the four wheel mechanisms operate synchronously, they can drive the multi-terrain operation robot forward or backward. When the drive motors 6 of the wheel mechanisms on both sides of the vehicle body 1 operate at different speeds, they can drive the multi-terrain operation robot to turn. In tracked walking mode, the contact area between the wheel mechanism and the ground is large and the pressure is low, which is beneficial to improving the passability on gravel roads, muddy roads, grasslands, snow and other road environments. In the field harvesting process, the tracked walking mode of this multi-terrain operation robot can walk smoothly on soft soil and farm roads.
[0027] like Figure 3 , Figure 4 As shown, in this multi-terrain robot, the wheel mechanism in wheel mode is no longer a complete circular structure with the hub rotating as a whole, but a rigid support structure constructed from the hub frame 4, vertical support components, and two horizontal support components. When the servo motor 3 rotates, it can drive this rigid support structure to rotate away from the wheel's center. Therefore, when all four wheel mechanisms are converted to wheel mode and each wheel mechanism uses the servo motor 3 as its power source, the multi-terrain robot can also enter a legged walking mode. In legged walking mode, the multi-terrain robot has a higher obstacle-crossing ability and can cross platforms of a certain height. The following example illustrates the crossing process from a low-position field 21 to a high-position field 22 during the field harvesting process: Figure 8 As shown, after the multi-terrain operation robot completes the harvesting work in the low-lying field 21, it moves to the vicinity of the earthen embankment 20 between the two fields, and the wheel mechanisms switch to wheel mode; then as... Figure 9 As shown, the multi-terrain robot first moves forward in wheeled mode until the two front wheels are close to the embankment 20. Then, the two rear wheels and the right front wheel support the vehicle body 1, causing the servo motor 3 of the left front wheel to rotate its rigid support structure counterclockwise until the belt 5 of the rigid support structure of the left front wheel presses against the upper side of the embankment 20. Then... Figure 10 As shown, the drive motors 6 of the four wheel mechanisms operate in coordination. The belts 5 of the two rear wheel mechanisms provide forward propulsion to the vehicle body 1, while the belts 5 of the two front wheel mechanisms provide climbing force against the side wall of the embankment 20. At appropriate times, the servo motor 3 of the left front wheel mechanism drives its rigid support structure to continue rotating counterclockwise, raising the front end of the vehicle body 1 so that the rigid support structure of the left front wheel mechanism rests on the ground of the higher field 22 (the top surface of the embankment 20). Then, as... Figure 11 As shown, the left front wheel mechanism and the two rear wheel mechanisms support the vehicle body 1, causing the servo 3 of the right front wheel mechanism to drive its rigid support structure to rotate counterclockwise until the rigid support structure of the right front wheel mechanism also rests on the ground of the high-position field 22; then as... Figure 12 As shown, the servo motors 3 of the four wheel mechanisms drive the rigid support structure to rotate and adjust the angle until the vertical support components of each wheel mechanism are basically perpendicular to the ground. Then, the multi-terrain robot moves forward in wheeled walking mode until the two rear wheel mechanisms are close to the sides of the embankment 20; subsequently... Figure 13 , Figure 14As shown, following the same climbing method as the aforementioned front wheel mechanism, the two rear wheel mechanisms rotate counterclockwise under the drive of the servo motor 3. At the same time, each drive motor 6 operates in coordination, so that the belts 5 of the two front wheel mechanisms provide a forward thrust to the vehicle body 1, and the belts 5 of the two rear wheel mechanisms act on the side of the embankment to provide climbing force. Finally, the two rear wheel mechanisms can move to the higher field 22, completing the entire climbing process of the multi-terrain operation robot from the lower field 21 to the higher field 22.
[0028] This multi-terrain robot adopts a classic four-wheeled vehicle structure. When moving, the chassis of the vehicle body 1 is raised, enabling it to move across ridges during field harvesting (the wheel mechanisms on both sides of the vehicle body 1 are supported in the furrows on either side of the ridge, allowing the vehicle body 1 to cross over the ridges during movement). A lateral movement frame 2 is also installed within the wheel mechanism, slidably connected to the vehicle body 1. By sliding the lateral movement frame 2 parallel to the width of the vehicle body 1, the span range of the wheel mechanisms on both sides of the vehicle body 1 can be adjusted, adapting to the harvesting needs of fields with different ridge widths. In specific implementation, such as... Figure 2 , Figure 3 As shown, the wheel mechanism also includes a lateral drive device 14. The lateral drive device 14 can be an existing mechanism such as an electric push rod, a hydraulic cylinder, or a ball screw. The lateral drive device 14 is used to drive the lateral frame 2 to slide on the vehicle body. When it is necessary to adjust the span, each wheel mechanism can be converted from the track form to the wheel form, thereby reducing the contact area and resistance between the wheel mechanism and the ground. Then, the adjustment of the wheel mechanism's extension distance on the side of the vehicle body 1 can be directly completed through the lateral drive device 14.
[0029] In addition to the three main walking modes mentioned above, since the height at which the vehicle body 1 is lifted off the ground differs between tracked and wheeled modes, it can be used in specific environments. For example, in height-restricted areas on ordinary roads, the four wheel mechanisms can be temporarily converted from wheeled to tracked mode to lower the height of the vehicle body 1 for easy passage; when there are large protruding rocks in the middle of gravel roads, the four wheel mechanisms can be temporarily converted from tracked to wheeled mode to raise the vehicle body 1 for easy passage; different wheel mechanisms can also be used in combination (such as front wheel rear tracked, front tracked rear wheeled, left wheel right tracked, left tracked right wheeled) to achieve tilting forward movement of the vehicle body 1, which is suitable for walking needs in various terrains. It should be understood that in this multi-terrain operation robot, the wheel mechanism uses the drive motor 6 to provide operating power in both tracked and wheeled modes. When the output speed of the drive motor 6 is constant, the speed of the belt 5 will not change. That is, when the output speed of the drive motor 6 is constant, as long as the tension of the belt 5 is maintained by the coordinated action of the vertical telescopic element 9 and the horizontal telescopic element 11, the operating speed consistency during the transition between tracked and wheeled modes can be maintained. For a single wheel mechanism, the transition between tracked and wheeled modes during movement can be achieved. As for the coordinated control of each wheel mechanism, as long as the speed of each drive motor 6 is kept consistent, the operating speed of the wheel mechanisms in different modes can be guaranteed to be consistent.
[0030] It should be noted that the above is only a specific explanation of the application of this multi-terrain operation robot using the harvesting operation process as an example. Based on the terrain adaptability of this multi-terrain operation robot, its application scope is not limited to farmland harvesting work, but can also be applied to multiple fields such as surveying, rescue, and reconnaissance.
[0031] In practice: like Figure 3 As shown, a transverse slide rail 15 is fixedly installed on the transverse frame 2, and a transverse slider 16 is fixedly installed on the vehicle body 1. The transverse slide rail 15 and the transverse slider 16 are slidably adapted to each other. Through the sliding guidance and constraint of the transverse slide rail 15 and the transverse slider 16, it is beneficial to ensure the stability of the wheel mechanism span adjustment process.
[0032] The belt 5 is a synchronous belt, and the upper pulley 7, lower pulley 8 and two transverse pulleys 13 are also synchronous pulleys, which helps to prevent slippage on the inner side of the belt 5 and ensure the stable operation of the belt 5. Anti-slip texture is provided on the outer side of the belt 5, which helps to reduce slippage on the outer side of the belt 5 and improve the stability during the movement.
[0033] The rollers can be directly selected from bearings. Several rollers are evenly distributed along the arc edge of the arc support plate 10, so that the support force at the bottom of the belt 5 under the wheel shape of the wheel mechanism is uniform and stable.
[0034] like Figure 6As shown, the vertical telescopic device has two vertical telescopic elements 9 and two arc-shaped support plates 10. The vertical telescopic device also includes a connecting plate 17. The top ends of both arc-shaped support plates 10 are fixedly connected to the connecting plate 17. The ends of both vertical telescopic elements 9 away from the hub frame 4 are also fixedly connected to the connecting plate 17. A lower pulley 8 is positioned between the two arc-shaped support plates 10, and both ends of the lower pulley 8 are rotatably connected to the two arc-shaped support plates 10. Since the main support point in the wheel configuration is the belt 5 on the outer side of the arc-shaped support plate 10, the entire vertical telescopic device bears a high vertical support force. The above design makes the vertical telescopic device a frame structure, and the support force is provided by two symmetrical vertical telescopic elements 9, which helps to improve its support stability.
[0035] Depending on the requirements, in low-load application environments, the vertical telescopic element 9 and the lateral telescopic element 11 can be electric push rods, whose power is provided by the power source mounted on the vehicle body 1; in high-load application environments and when the vehicle body 1 is equipped with a hydraulic station, the vertical telescopic element 9 and the lateral telescopic element 11 can be hydraulic cylinders.
[0036] like Figure 6 As shown, a slide rail is fixedly installed on the hub frame 4, and a slider is fixedly installed on the slide 12. The slider and the slide rail are slidably matched. The slide 12 achieves a sliding connection with the hub frame 4 through the slider and the slide rail. Under the sliding guidance of the slider and the slide rail, the stability of the sliding action of the slide 12 is ensured, which helps to ensure the control accuracy of the lateral movement of the cross pulley 13.
[0037] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.
Claims
1. A multi-terrain operation robot, comprising a body and four wheel mechanisms, wherein the four wheel mechanisms are respectively installed at the four corners of the body, characterized in that, The wheel mechanism includes a transverse frame, a servo motor, a hub frame, a belt, a vertical support assembly, and two lateral support assemblies; The transverse frame is slidably connected to the vehicle body, the sliding direction of the transverse frame is parallel to the width direction of the vehicle body, the servo is fixedly mounted on the transverse frame, and the wheel hub frame is fixedly connected to the output shaft of the servo. The vertical support assembly includes a drive motor, an upper pulley, a lower pulley, and a vertical telescopic device. The upper pulley is rotatably connected to the hub frame. The drive motor drives the upper pulley to rotate. The lower pulley is located directly below the upper pulley. The vertical telescopic device includes an arc-shaped support plate and a vertical telescopic element. The lower pulley is rotatably connected to the arc-shaped support plate. The vertical telescopic element is vertically arranged, and its two ends are respectively connected to the hub frame and the arc-shaped support plate. The arc-shaped support plate has its arc-shaped edge facing downwards, and several rollers are rotatably arranged on the arc-shaped support plate. The installation position of the lower pulley is adapted to the several rollers. Two lateral support components are symmetrically arranged on both sides of the vertical support component. Each lateral support component includes a lateral telescopic element, a carriage, and a lateral pulley. The carriage is slidably connected to the hub frame. Both ends of the lateral telescopic element are respectively connected to the carriage and the hub frame. The lateral pulley is rotatably connected to the carriage. The output shaft of the servo motor, the axis of the upper pulley, the axis of the lower pulley, and the axis of the cross pulley are all parallel to the sliding direction of the transverse frame. The belt wraps around the outside of the upper pulley, the lower pulley, and the two cross pulleys, and the upper pulley, the lower pulley, and the two cross pulleys are connected by the belt drive.
2. The multi-terrain operation robot according to claim 1, characterized in that, The wheel mechanism also includes a lateral drive device for driving the lateral frame to slide on the vehicle body.
3. The multi-terrain operation robot according to claim 1, characterized in that, A transverse sliding rail is fixedly installed on the transverse frame, and a transverse sliding block is fixedly installed on the vehicle body. The transverse sliding rail and the transverse sliding block are slidably adapted to each other.
4. A multi-terrain operation robot according to claim 1, characterized in that, The belt is a synchronous belt, and the upper pulley, lower pulley and two cross pulleys are all synchronous pulleys. The outer side of the belt is provided with anti-slip texture.
5. A multi-terrain operation robot according to claim 1, characterized in that, The rollers are made of bearings, and a plurality of the rollers are evenly distributed along the arc edge of the arc-shaped support plate.
6. A multi-terrain operation robot according to claim 1, characterized in that, The vertical telescopic device has two vertical telescopic elements and two arc-shaped support plates. The vertical telescopic device also includes a connecting plate. The top ends of the two arc-shaped support plates are fixedly connected to the connecting plate. The ends of the two vertical telescopic elements away from the hub frame are fixedly connected to the connecting plate. The lower pulley is disposed between the two arc-shaped support plates, and the two ends of the lower pulley are rotatably connected to the two arc-shaped support plates respectively.
7. A multi-terrain operation robot according to claim 1, characterized in that, The vertical telescopic element is selected from electric push rods or hydraulic cylinders, and the lateral telescopic element is selected from electric push rods or hydraulic cylinders.
8. A multi-terrain operation robot according to claim 1, characterized in that, The drive motor is fixedly mounted on the hub frame, and the output shaft of the drive motor is coaxially and fixedly connected to the upper pulley.
9. A multi-terrain operation robot according to claim 1, characterized in that, A slide rail is fixedly installed on the hub frame, and a slider is fixedly installed on the slide frame. The slider is slidably adapted to the slide rail.