Obstacle crossing vehicle

Abstract

The utility model discloses an obstacle crossing vehicle. The obstacle crossing vehicle comprises two crawler walking mechanisms and a bottom plate, the crawler walking mechanism comprises a main crawler mechanism, a first swing arm and a second swing arm; the main crawler mechanism comprises a first mounting frame, a first motor, a first driven shaft and a first driving wheel; the first motor is arranged on the first mounting frame and is provided with a first driving shaft; the first driven shaft is rotationally connected to the first mounting frame and is parallel to the first driving shaft; the first driving wheel is fixed on the first driving shaft; the first driving wheel is fixed on the first driven shaft, the first driven wheel is fixed on the first driven shaft, the main crawler belt is hooped on the first driving wheel and the first driven wheel, the first hollow shaft is arranged on the first driving shaft in a sleeving manner and is rotationally connected with the first mounting frame, and the second hollow shaft is arranged on the first driven shaft in a sleeving manner and is rotationally connected with the first mounting frame; the second motor is used for driving the first hollow shaft to rotate; and the third motor is used for driving the second hollow shaft to rotate. The obstacle crossing vehicle is good in obstacle passing capacity.

Description

Technical Field

[0001] The utility model relates to an obstacle-crossing vehicle. Background Art

[0002] Obstacle-crossing vehicles, a crucial component of modern rescue equipment, have a nearly century-long history of development in developed countries. However, currently available vehicles are generally complex and expensive, limiting their practical application in my country. To promote widespread adoption, my country must focus on developing more rational mechanical structures and creating simpler user interfaces. Furthermore, as technology advances, obstacle-crossing vehicles should continue to incorporate advanced sensors and artificial intelligence technologies for smarter and more convenient operation. Currently, the development trend of obstacle-crossing vehicles focuses on reducing size, weight, and streamlined mechanisms. This not only improves vehicle maneuverability and flexibility, but also effectively reduces costs, promoting their widespread adoption in rescue operations. While pursuing performance improvements, it is also important to focus on enhancing obstacle-crossing capabilities and safety to ensure maximum effectiveness in practical applications.

[0003] In order to realize the nested and separated movement function of the drive shaft and the swing arm shaft, the mainstream four-swing arm six-track obstacle crossing vehicles at home and abroad adopt a two-segment shaft structure as the main transmission structure, and use a pair of synchronous wheels as the driving track pulleys. This not only increases the number of shaft hole matching surfaces, but also increases the coaxiality error of the main shaft system due to the action of the outer swing arm, resulting in longitudinal vibration of the pulley and the main track sliding to the outside. Utility Model Content

[0004] The embodiment of the utility model provides an obstacle-crossing vehicle, which comprises: two crawler walking mechanisms and a bottom plate;

[0005] The crawler walking mechanism includes a main crawler mechanism, a first swing arm and a second swing arm;

[0006] The main crawler mechanism includes a first mounting frame, a first motor provided on the first mounting frame and provided with a first driving shaft, a first driven shaft rotatably connected to the first mounting frame and parallel to the first driving shaft, a first driving wheel fixed to the first driving shaft, a first driven wheel fixed to the first driven shaft, a main crawler clamped around the first driving wheel and the first driven wheel, a first hollow shaft sleeved on the first driving shaft and rotatably connected to the first mounting frame, a second hollow shaft sleeved on the first driven shaft and rotatably connected to the first mounting frame, a second motor for driving the first hollow shaft to rotate, and a third motor for driving the second hollow shaft to rotate;

[0007] The first swing arm and the second swing arm each include a second mounting frame, a second driving shaft rotatably connected to the second mounting frame, a second driven shaft connected to the second mounting frame and parallel to the second driving shaft, a second driving wheel fixed to the second driving shaft, a second driven wheel sleeved on the second driven shaft, and a driven track clamped on the second driving wheel and the second driven wheel;

[0008] The second mounting bracket of the first swing arm is connected to the first hollow shaft, the second driving shaft of the first swing arm is connected to the first driving shaft, the second mounting bracket of the second swing arm is connected to the second hollow shaft, the second driving shaft of the second swing arm is connected to the first driven shaft, bearings are provided between the first hollow shaft and the first driving shaft and between the second hollow shaft and the first driven shaft, and the two first mounting brackets are connected to the base plate.

[0009] In an exemplary embodiment, the main crawler mechanism further includes a first reduction mechanism and a second reduction mechanism, both for reducing speed and increasing torque;

[0010] The first reduction mechanism is connected to the main shaft of the second motor and the first hollow shaft, and the second reduction mechanism is connected to the main shaft of the third motor and the second hollow shaft.

[0011] In an exemplary embodiment, the first reduction mechanism includes a first pulley sleeved on the main shaft of the second motor, a second pulley sleeved on the first hollow shaft, and a first annular belt hooped on the first pulley and the second pulley;

[0012] The first reduction mechanism includes a third pulley sleeved on the third motor main shaft, a fourth pulley sleeved on the second hollow shaft, and a second annular belt clamped on the third pulley and the fourth pulley;

[0013] Wherein, the diameter of the first pulley is smaller than the diameter of the second pulley, and the diameter of the third pulley is smaller than the diameter of the fourth pulley.

[0014] In an exemplary embodiment, the first mounting frame includes a first inner plate, a first outer plate parallel to the first inner plate, and two fixed plates separated from each other, wherein two ends of the fixed plates are respectively connected to the first inner plate and the first outer plate;

[0015] The second motor and the third motor are respectively arranged on one side of the two fixed plates facing away from each other, and the first motor is arranged on the first inner plate;

[0016] The first inner side plates of the two first mounting frames are arranged on a side where the two first mounting frames are close to each other, and the first outer side plates of the two first mounting frames are arranged on a side where the two first mounting frames are away from each other.

[0017] In an exemplary embodiment, the main crawler mechanism further includes two first bearing seats provided on the first outer plate and a second bearing seat provided on the first inner plate;

[0018] The first hollow shaft and the second hollow shaft are respectively inserted into the two first bearing seats, and one end of the first driven shaft extends into the second bearing seat;

[0019] Bearings are provided between the first hollow shaft and the first bearing seat, between the second hollow shaft and the first bearing seat, and between the first driven shaft and the second bearing seat.

[0020] In an exemplary embodiment, the bottom plate covers the bottoms of the two first mounting brackets;

[0021] A plurality of shock absorbing components are provided on the bottom surface of the bottom plate, and the plurality of shock absorbing components are arranged in two rows along the extension direction of the main crawler;

[0022] The shock absorbing assembly includes a shock absorbing support connected to the base plate, a wheel frame provided at the bottom end of the shock absorbing support, and a shock absorbing wheel rotatably connected to the wheel frame;

[0023] The shock-absorbing wheels of the two rows of shock-absorbing assemblies respectively abut against the inner walls of the two main crawlers, and the shock-absorbing supports are elastic.

[0024] In an illustrative embodiment, the wheel carrier is constructed as a straight bar structure parallel to the first driving shaft, and a shock-absorbing wheel is provided at each end of the wheel carrier.

[0025] In an illustrative embodiment, the system further includes a robotic arm disposed above the first mounting frame.

[0026] In an exemplary embodiment, the second mounting frame includes a second inner plate, a second outer plate parallel to the second inner plate, and a support block connected to the second inner plate and the second outer plate;

[0027] The opposite ends of the second driving shaft are rotatably connected to the second inner plate and the second outer plate respectively, and the opposite ends of the second driven shaft are fixedly connected to the second inner plate and the second outer plate respectively.

[0028] In an illustrative embodiment, the first driving wheel, the first driven wheel, the second driving wheel and the second driven wheel are all synchronous pulleys.

[0029] In the technical solution of this application, when the main tracks of both main crawler mechanisms are in contact with the ground, the first motors of the two main crawler mechanisms drive the two main crawler mechanisms to rotate synchronously to achieve forward and reverse movement of the obstacle overcoming vehicle. The first motors of the two main crawler mechanisms drive the two main crawler mechanisms to achieve a speed difference between the two main crawler mechanisms to achieve steering of the obstacle overcoming vehicle. Thus, the two first motors drive the two main crawler mechanisms to rotate, achieving the basic movement function of the obstacle overcoming vehicle.

[0030] The first motor in each crawler track mechanism drives the synchronous rotation of the slave tracks on the first and second swing arms of the crawler track mechanism. Simultaneously, the obstacle-crossing vehicle's two first and two second swing arms can swing relative to the crawler track mechanism. The swing angle of each first swing arm is independently controlled by a second motor, and the swing angle of each second swing arm is independently controlled by a third motor. These four swing arms can independently swing to any angle, enabling the obstacle-crossing vehicle to overcome various obstacles. Furthermore, the obstacle-crossing vehicle can overcome random obstacles of multiple heights, such as plum blossom piles. Compared to other obstacle-crossing devices, this obstacle-crossing vehicle utilizes a more stable motion method, resulting in improved obstacle-crossing capabilities.

[0031] Since a bearing is provided between the first hollow shaft and the first driving shaft, and a bearing is provided between the second hollow shaft and the first driven shaft, both opposite ends of the first driving shaft are supported, and the forces on both ends of the first driving shaft are balanced and reasonable. The first driving shaft will not deflect due to the radial pressure transmitted by the first driving wheel, thereby preventing the main crawler track from slipping outward.

[0032] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0034] Figure 1 It is a three-dimensional schematic diagram of an obstacle-crossing vehicle in the present utility model;

[0035] Figure 2 This is a three-dimensional schematic diagram of the obstacle crossing vehicle with the swing arm and main track disassembled in the present invention;

[0036] Figure 3 This is a bottom schematic diagram of the obstacle crossing vehicle with the swing arm and main track disassembled in the present invention;

[0037] Figure 4 It is a partial schematic diagram of a crawler walking mechanism in the present utility model;

[0038] Figure 5 This is a disassembly diagram of the swing arm in the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other in any way.

[0040] like Figures 1 to 3 As shown, Figures 1 to 3 The figure shows an obstacle-crossing vehicle 100 according to an embodiment of the present application. The obstacle-crossing vehicle 100 includes two crawler mechanisms 1 and a base plate 2. The base plate 2 connects the two crawler mechanisms 1. Each crawler mechanism 1 includes a main crawler mechanism 11, a first swing arm 12, and a second swing arm 13. The first swing arm 12 and the second swing arm 13 are both disposed at both ends of the main crawler mechanism 11 and can swing relative to the main crawler mechanism 11.

[0041] like Figure 3 、 4 As shown, the main crawler mechanism 11 includes a first mounting frame 111, a first motor 114, a first driven shaft 119, a first driving wheel 112, a first driven wheel 113, a main crawler 126, a first hollow shaft 117, a second hollow shaft 118, two first bearing seats 120, a second bearing seat 119, a second motor 115 and a third motor 116.

[0042] like Figure 4 As shown, the first mounting frame 111 includes a first inner plate 1112, a first outer plate 1111, and two fixing plates 1113. The first inner plate 1112 and the first outer plate 1111 are each configured as a strip-shaped flat plate. The first inner plate 1112 and the first outer plate 1111 extend in parallel directions, and their surfaces are parallel to each other. The first inner plate 1112 and the first outer plate 1111 are spaced apart from each other. The fixing plate 1113 is disposed between the first inner plate 1112 and the first outer plate 1111. Two mounting holes are provided at each end of the first inner plate 1112. Two mounting holes are provided at each end of the first outer plate 1111. The two mounting holes on the first inner plate 1112 are coaxially arranged with the two mounting holes on the first outer plate 1111. The fixing plate 1113 is perpendicular to the first outer plate 1111. The two ends of the fixing plate 1113 are respectively connected to the first inner plate 1112 and the first outer plate 1111. The fixing plate 1113 is close to the two ends of the two first inner plates 1112.

[0043] Two first bearing seats 120 are disposed at opposite ends of the first outer plate 1111. The two first bearing seats 120 are annular and located coaxially with the two mounting holes of the first outer plate 1111. Both first bearing seats 120 are screwed to the first outer plate 1111.

[0044] The second bearing seat 119 is disposed at one end of the first inner plate 1112 and is located at a mounting hole of the first inner plate 1112. The second bearing seat 119 is coaxial with the mounting hole and is connected to the first inner plate 1112 by screws.

[0045] The first motor 114 is arranged on the first inner plate 1112 of the mounting frame. The first motor 114 is arranged at one end facing away from the first inner plate 1112 and facing away from the second bearing seat 119. The first motor 114 includes a first body 1141 and a first driving shaft 1142. The first body 1141 of the first motor 114 is connected to the first inner plate 1112. The first body 1141 may be located at a mounting hole of the first inner plate 1112. The first body 1141 of the first motor 114 and the first inner plate 1112 may be connected by screws. The first driving shaft 1142 extends from the first body 1141 of the first motor 114 to the first outer plate 1111. The first driving shaft 1142 is perpendicular to the first inner plate 1112. The first motor 114 may be an RMD-X8-Pro motor.

[0046] like Figure 4 As shown, the first hollow shaft 117 is mounted on a first bearing seat 120 near the first motor 114 and extends through the first bearing seat 120. A bearing is disposed between the first hollow shaft 117 and the first bearing seat 120. This bearing can be either a sliding bearing or a rolling bearing. This provides a rotational connection between the first hollow shaft 117 and the first mounting frame 111, allowing the first hollow shaft 117 to rotate about its own axis. The first hollow shaft 117 also fits over the first driving shaft 1142 of the first motor 114. The first hollow shaft 117 and the first driving shaft 1142 are coaxially disposed. An annular gap is defined between the first hollow shaft 117 and the first driving shaft 1142. A bearing is disposed between the first hollow shaft 117 and the first driving shaft 1142. The first hollow shaft 117 supports the end of the first driving shaft 1142 facing away from the first body 1141 via the bearing.

[0047] The first driving wheel 112 is mounted on the first driving shaft 1142 and fixed to the first driving shaft 1142. In this embodiment, the main track mechanism 11 also includes two first flanges 124, each of which is mounted on the first driving shaft 1142. The first driving wheel 112 is sandwiched between the two first flanges 124, and both first flanges 124 are bolted to the first driving wheel 112. The first driving wheel 112 and the first driving shaft 1142 can also be connected by a key. The first driving wheel 112 is located between the first hollow shaft 117 and the first body 1141.

[0048] The second hollow shaft 118 is mounted on a first bearing seat 120 facing away from the first motor 114 and extends through the first bearing seat 120. A bearing, either a sliding bearing or a rolling bearing, is disposed between the second hollow shaft 118 and the first bearing seat 120. This creates a rotational connection between the second hollow shaft 118 and the first mounting bracket 111, enabling the second hollow shaft 118 to rotate about its axis.

[0049] The first driven shaft 119 is parallel to the first driving shaft 1142. The first driven shaft 119 extends from the second bearing seat 119 to the second hollow shaft 118. A bearing is provided between one end of the first driven shaft 119 and the second bearing seat 119. The bearing can be a sliding bearing or a rolling bearing. The other end of the first driven shaft 119 is inserted into the second hollow shaft 118. The second hollow shaft 118 is sleeved onto the first driven shaft 119. The second hollow shaft 118 is coaxial with the first driven shaft 119. An annular gap is provided between the second hollow shaft 118 and the first driven shaft 119. A bearing is provided between the second hollow shaft 118 and the first driven shaft 119. The second hollow shaft 118 supports the end of the first driven shaft 119 facing away from the second bearing seat 119 via the bearing. This forms a rotational connection between the first driven shaft 119 and the first mounting frame 111, allowing the first driven shaft 119 to rotate about its own axis.

[0050] The first driven wheel 113 is mounted on and fixed to the first driven shaft 119. In this embodiment, the main track mechanism 11 further includes two second flanges 125, each mounted on the first driven shaft 119. The first driven wheel 113 is sandwiched between the two second flanges 125, and both second flanges 125 are bolted to the first driven wheel 113. A key connection can also be employed between the first driven wheel 113 and the first driven shaft 119. The first driven wheel 113 is located between the second hollow shaft 118 and the second bearing seat 119.

[0051] like Figure 1As shown, the main crawler track 126 is configured in an annular shape. The main crawler track 126 is flexible. The main crawler track 126 can be a rubber crawler track. The main crawler track 126 is sleeved on the first driving wheel 112 and the first driven wheel 113, and the main crawler track 126 is tensioned.

[0052] The second motor 115 and the third motor 116 are respectively mounted on the two fixed plates 1113 of the first mounting frame 111. The second motor 115 and the third motor 116 are respectively mounted on opposite sides of the two fixed plates 1113. The second motor 115 is located near the first hollow shaft 117 and is transmission-connected to the second hollow shaft 118. The second motor 115 is used to drive the first hollow shaft 117 to rotate. The third motor 116 is located near the second hollow shaft 118 and is transmission-connected to the second hollow shaft 118. The third motor 116 is used to drive the second hollow shaft 118 to rotate. The second motor 115 and the third motor 116 can be PH14 harmonic reduction DC motors.

[0053] like Figure 5 As shown, the first swing arm 12 and the second swing arm 13 are both arranged on the side of the first outer plate 1111 of the main crawler mechanism 11 facing away from the first inner plate 1112. The first swing arm 12 and the second swing arm 13 each include a second mounting frame 130, a second driving shaft 134, a second driven shaft 135, a second driving wheel 132, a second driven wheel 133, two third bearing seats 136, and a slave crawler 131.

[0054] The second mounting frame 130 includes a second outer plate 138, a second inner plate 137, and a support block 139. The second outer plate 138 and the second inner plate 137 are both constructed as straight flat plates. The plate surfaces of the second outer plate 138 and the second inner plate 137 are parallel to each other. The support block 139 is constructed as a straight bar. The second outer plate 138, the second inner plate 137, and the support block 139 extend in the same direction. There are two support blocks 139, and both support blocks 139 are sandwiched between the second outer plate 138 and the second inner plate 137. The two support blocks 139 are parallel to each other and are respectively arranged on two opposite edges of the second outer plate 138. The second inner plate 137 and the first outer plate 1111 are close to each other and parallel to each other.

[0055] The second outer plate 138 and the second inner plate 137 are both connected to two support blocks 139. The second outer plate 138, the second inner plate 137 and the support blocks 139 may be connected by screws. The second inner plate 137 is provided with two mounting holes, one at each opposite end of the second inner plate 137.

[0056] The two third bearing seats 136 are respectively arranged at the same end of the second inner plate 137 and the second outer plate 138, and the two third bearing seats 136 are coaxially arranged. The third bearing seat 136 arranged on the second inner plate 137 is coaxially arranged with a mounting hole on the second inner plate 137.

[0057] Opposite ends of the second drive shaft 134 extend through two third bearing blocks 136, respectively. Bearings 140, such as GB / T 276-94 61802-2Z deep groove ball bearings, are disposed between the third bearing blocks 136 and the ends of the second drive shaft 134. The second drive shaft 134 is rotatably connected to the second mounting bracket 130, allowing the second drive shaft 134 to rotate about its axis.

[0058] The second driving wheel 132 is sleeved on the second driving shaft 134 and is located between the second inner plate 137 and the second outer plate 138. The second driving wheel 132 is fixed to the second driving shaft 134. The second driving wheel 132 can rotate along with the second driving shaft 134. The second driving wheel 132 and the second driving shaft 134 can be connected by a key.

[0059] The second driven shaft 135 is parallel to the second driving shaft 134. The ends of the second driven shaft 135 are connected to the second inner plate 137 and the second outer plate 138, respectively. One end of the second driven shaft 135 may be connected to the second inner plate 137 using screws. The second outer plate 138 and the end of the second driven shaft 135 may be secured to each other via a retaining ring 142 mounted on the end of the second driven shaft 135.

[0060] The second driven wheel 133 is sleeved on the second driven shaft 135. The second driven wheel 133 is configured to rotate freely around the second driven shaft 135. A bearing 141 can be provided between the second driven wheel 133 and the second driven shaft 135. The bearing 141 can be a (GB / T276-94) 6004 deep groove ball bearing.

[0061] The secondary crawler track 131 is annular in shape. The primary crawler track 126 is flexible and can be a rubber crawler track. The secondary crawler track 131 is sleeved on the second driving wheel 132 and the second driven wheel 133 and is tensioned.

[0062] The second inner plate 137 of the second mounting bracket 130 of the first swing arm 12 is connected to the end of the first hollow shaft 117 facing away from the first inner plate 1112. The end of the second driving shaft 134 of the first swing arm 12 facing away from the second outer plate 138 is connected to the end of the first driving shaft 1142 facing away from the first body 1141. The second driving shaft 134 is coaxially arranged with the first driving shaft 1142. The second driving shaft 134 and the first driving shaft 1142 may be splined.

[0063] The second inner plate 137 of the second mounting bracket 130 of the second swing arm 13 is connected to the end of the second hollow shaft 118 facing away from the first inner plate 1112. The end of the second driving shaft 134 of the second swing arm 13, facing away from the second outer plate 138, is connected to the end of the first driven shaft 119 facing away from the first inner plate 1112. The second driving shaft 134 and the first driven shaft 119 are coaxially arranged. The second driven shaft 135 and the first driven shaft 119 may be splined.

[0064] like Figure 3 As shown, the base plate 2 can be constructed as a flat plate. The base plate 2 is perpendicular to the first inner plate 1112, the first outer plate 1111 and the fixed plate 1113. The base plate 2 is arranged at the bottom end of the first mounting frame 111 of the two crawler running mechanisms 1 and is connected to the first mounting frame 111 of the two crawler running mechanisms 1. The main tracks 126 of the two crawler running mechanisms 1 are all wrapped around the base plate 2. The first driving shafts 1142 of the two crawler running mechanisms 1 are parallel to each other. The first inner plates 1112 of the two first mounting frames 111 are arranged on the side where the two first mounting frames 111 are close to each other, and the first outer plates 1111 of the two first mounting frames 111 are arranged on the side where the two first mounting frames 111 are away from each other.

[0065] In the technical solution of this embodiment, the obstacle overcoming vehicle 100 includes two crawler running mechanisms 1, each of which includes a main crawler running mechanism 11, a first swing arm 12, and a second swing arm 13. The rotation of the first drive shaft 1142 of the first motor 114 on the main crawler running mechanism 11 drives the first driving wheel 112, which in turn drives the main crawler tracks 126. The main crawler tracks 126 drive the first driven wheels 113, which in turn drive the first driven shaft 119. Thus, the first motor 114 can drive the main crawler tracks 126 to rotate.

[0066] Thus, when the main tracks 126 of the two main track mechanisms 11 are in contact with the ground, the first motors 114 of the two main track mechanisms 11 drive the two main tracks 126 to rotate synchronously, thereby enabling the obstacle overcoming vehicle 100 to move forward and backward. The first motors 114 of the two main track mechanisms 11 drive the two main tracks 126 to rotate synchronously, thereby enabling the obstacle overcoming vehicle 100 to turn when there is a speed difference between the two main tracks 126. Thus, the two first motors 114 drive the two main tracks 126 to rotate, thereby enabling the basic movement function of the obstacle overcoming vehicle 100.

[0067] The second driving shaft 134 of the first swing arm 12 on the main crawler mechanism 11 is connected to the first driving shaft 1142 of the main crawler mechanism 11. When the first driving shaft 1142 rotates, it also drives the second driving shaft 134 on the first swing arm 12 to rotate. The second driving shaft 134 drives the second driving wheel 132 to rotate. The second driving wheel 132 drives the slave crawler 131, and the slave crawler 131 drives the second driven wheel 133 to rotate. Therefore, the first motor 114 can also drive the slave crawler 131 on the first swing arm 12 to rotate when driving the main crawler 126.

[0068] The second driving shaft 134 of the second swing arm 13 on the main crawler mechanism 11 is connected to the first driven shaft 119 of the main crawler mechanism 11. When the first driven shaft 119 rotates, it also drives the second driving shaft 134 on the second swing arm 13 to rotate. The second driving shaft 134 drives the second driving wheel 132 to rotate. The second driving wheel 132 drives the slave track 131, and the slave track 131 drives the second driven wheel 133 to rotate. Therefore, the first motor 114 can also drive the slave track 131 on the second swing arm 13 to rotate when driving the main crawler 126 to rotate.

[0069] The second mounting bracket 130 of the first swing arm 12 is connected to the first hollow shaft 117 . The second motor 115 can drive the first hollow shaft 117 to rotate, thereby driving the first swing arm 12 as a whole to swing around the first hollow shaft 117 .

[0070] The second mounting bracket 130 of the second swing arm 13 is connected to the second hollow shaft 118 . The third motor 116 can drive the second hollow shaft 118 to rotate, thereby driving the second swing arm 13 as a whole to swing around the second hollow shaft 118 .

[0071] In this way, the first motor 114 in each crawler traveling mechanism 1 can drive the slave tracks 131 on the first swing arm 12 and the second swing arm 13 in the crawler traveling mechanism 1 to rotate synchronously. Simultaneously, the two first swing arms 12 and the two second swing arms 13 of the obstacle-crossing vehicle 100 can swing relative to the crawler traveling mechanism 1. The swing angle of each first swing arm 12 is independently controlled by a second motor 115, and the swing angle of each second swing arm 13 is independently controlled by a third motor 116. These four swing arms can independently swing to any angle, helping the obstacle-crossing vehicle 100 to overcome various special obstacles. Furthermore, the obstacle-crossing vehicle 100 can overcome random obstacles of multiple heights, such as plum blossom piles. Compared with other obstacle-crossing devices, the obstacle-crossing vehicle 100 adopts a more stable motion mode and has better obstacle-crossing capabilities.

[0072] In addition, since a bearing is provided between the first hollow shaft 117 and the first driving shaft 1142, and a bearing is provided between the second hollow shaft 118 and the first driven shaft 119, both opposite ends of the first driving shaft 1142 are supported, and the forces on both ends of the first driving shaft 1142 are balanced and reasonable. The first driving shaft 1142 will not deflect due to the radial pressure transmitted by the first driving wheel 112, thereby preventing the main crawler track 126 from slipping outward.

[0073] In an illustrative embodiment, Figure 4 As shown, each main crawler mechanism 11 also includes a first reduction mechanism 122 and a second reduction mechanism 123. Both the first reduction mechanism 122 and the second reduction mechanism 123 are used to reduce speed and increase torque. The first reduction mechanism 122 is connected to the main shaft of the second motor 115 and the first hollow shaft 117. The second reduction mechanism 123 is connected to the main shaft of the third motor 116 and the second hollow shaft 118.

[0074] In this embodiment, the first reduction mechanism 122 includes a first pulley 1221, a second pulley 1222 and a first annular belt 1223. The first pulley 1221 is sleeved on the main shaft of the second motor 115, the second pulley 1222 is sleeved on the first hollow shaft 117, and the first annular belt 1223 is clamped on the first pulley 1221 and the second pulley 1222.

[0075] The second reduction mechanism 123 includes a third pulley, a fourth pulley 1232 and a second annular belt 1233 . The third pulley is sleeved on the main shaft of the second motor 115 , the fourth pulley 1232 is sleeved on the second hollow shaft 118 , and the second annular belt 1233 is clamped on the third pulley and the fourth pulley 1232 .

[0076] In this way, the torque output by the second motor 115 is decelerated and torque-increased by the first reduction mechanism 122 and then transmitted to the first hollow shaft 117; the torque output by the third motor 116 is decelerated and torque-increased by the second reduction mechanism 123 and then transmitted to the second hollow shaft 118.

[0077] In an illustrative embodiment, Figure 3 As shown, the bottom plate 2 covers the bottom of the two first mounting frames 111. The two first mounting frames 111 are spaced apart. The bottom plate 2 is connected to the first outer plate 1111, the second inner plate 137 and the fixing plate 1113 of each first mounting frame 111.

[0078] A plurality of shock-absorbing assemblies 15 are provided on the bottom surface of the base plate 2. The shock-absorbing assemblies 15 include a shock-absorbing support 151, a wheel frame 152, and a shock-absorbing wheel 153. The shock-absorbing support 151 is connected to the base plate 2. The shock-absorbing support 151 and the base plate 2 may be connected by screws. The shock-absorbing support 151 is elastic and can undergo elastic deformation. The wheel frame 152 is provided at the bottom end of the shock-absorbing support 151. The shock-absorbing wheel 153 is rotatably connected to the wheel frame 152. The rotation axis of the shock-absorbing wheel 153 is parallel to the axis of the first driving wheel 112.

[0079] The plurality of shock absorbing assemblies 15 are sequentially arranged in two rows along the extension direction of the main crawler 126. The two rows of shock absorbing assemblies 15 are aligned with the two main crawler 126. The shock absorbing wheels 153 of the two rows of shock absorbing assemblies 15 are respectively against the inner walls of the two main crawler 126.

[0080] In this way, two rows of shock absorbing assemblies 15 are respectively arranged between the base plate 2 and the two main tracks 126. The two rows of shock absorbing assemblies 15 support the base plate 2. Since the shock absorbing assemblies 15 play a buffering role, they absorb the vibrations encountered by the obstacle crossing vehicle 100 during movement, thereby keeping the obstacle crossing vehicle 100 stable.

[0081] In one exemplary embodiment, the wheel frame 152 is configured as a straight bar. The wheel frame 152 may be cylindrical. The wheel frame 152 is parallel to the first driving shaft 1142. The middle portion of the wheel frame 152 is connected to the vibration-damping support 151. A vibration-damping wheel 153 is provided at each end of the wheel frame 152.

[0082] Each wheel frame 152 is supported against the main crawler track 126 via two shock-absorbing wheels 153 , so that the wheel frame 152 is subjected to balanced force and has a better shock-absorbing effect.

[0083] In an exemplary embodiment, the first mounting frame 111 further includes a top plate 1114 . The top plate 1114 is disposed on top of the first outer plate 1111 , the first inner plate 1112 , and the fixing plate 1113 , and connects the first outer plate 1111 , the first inner plate 1112 , and the fixing plate 1113 .

[0084] The obstacle-crossing vehicle 100 also includes a robotic arm 16, a platform 17, and an industrial computer 18. Both the robotic arm 16 and the platform 17 are positioned above the top plate 1114. The connection between the robotic arm 16 and the top plate 1114, and between the platform 17 and the top plate 1114, can be screwed. The robotic arm 16 has multiple joints and is capable of three degrees of freedom. The industrial computer 18 serves as the logic control unit for the obstacle-crossing vehicle 100 and is electrically connected to the robotic arm 16, the first motor 114, the second motor 115, and the third motor 116.

[0085] In this embodiment, the robotic arm 16 includes a base 161, a first arm 162, and a second arm 163. The base 161 is fixed to the top plate 1114. One end of the first arm 162 is rotatably connected to the base 161. A harmonic reduction DC motor 164 is provided between the first arm 162 and the base 161, and the harmonic reduction DC motor 164 is used to drive the first arm 162 to rotate relative to the base 161. One end of the second arm 163 is rotatably connected to the end of the first arm 162 facing away from the base 161, and a PP11 planetary reduction DC motor 165 is provided between the first arm 162 and the second arm 163, and the PP11 planetary reduction DC motor 165 is used to drive the second arm 163 to rotate relative to the first arm 162.

[0086] In an illustrative embodiment, the first driving wheel 112 , the first driven wheel 113 , the second driving wheel 132 , and the second driven wheel 133 are all synchronous pulleys.

[0087] The outer circumferences of the first driving wheel 112, the first driven wheel 113, the second driving wheel 132 and the second driven wheel 133 are all provided with a plurality of teeth, which can prevent slipping between the first driving wheel 112, the first driven wheel 113 and the main track 126, and also prevent slipping between the second driving wheel 132, the second driven wheel 133 and the slave track 131.

[0088] In an illustrative embodiment, Figure 4 As shown, the first mounting frame 111 also includes a plurality of connecting angle pieces 1115. The connecting angle pieces 1115 are constructed in an L-shape. Some connecting angle pieces 1115 are located at the intersection of the first inner panel 1112, the top panel 1114, and the fixing panel 1113. The first inner panel 1112, the top panel 1114, and the fixing panel 1113 are all screwed to the connecting angle pieces 1115. Some connecting angle pieces 1115 are located at the intersection of the first outer panel 1111, the top panel 1114, and the fixing panel 1113. The first outer panel 1111, the top panel 1114, and the fixing panel 1113 are all screwed to the connecting angle pieces 1115. Some connecting angle pieces 1115 are located at the intersection of the first inner panel 1112, the bottom panel 2, and the fixing panel 1113. The first inner panel 1112, the bottom panel 2, and the fixing panel 1113 are all screwed to the connecting angle pieces 1115. There are also some connecting angle pieces 1115 arranged at the intersection of the first outer panel 1111, the bottom panel 2 and the fixed panel 1113. The first outer panel 1111, the bottom panel 2 and the fixed panel 1113 are all screwed to the connecting angle pieces 1115.

[0089] In this way, the first outer panel 1111 , the first inner panel 1112 , the fixing panel 1113 , the top panel 1114 and the bottom panel 2 may be connected together by a plurality of connecting angle pieces 1115 .

[0090] In an exemplary embodiment, the bottom plate 2 is provided with multiple layers, and the multiple layers of bottom plates 2 are stacked together. The multiple layers of bottom plate 2 can enhance the rigidity of the body of the obstacle-crossing vehicle 100, making the body of the obstacle-crossing vehicle 100 less likely to deform.

[0091] The chassis design of the obstacle-crossing vehicle 100 in this embodiment adopts the integration of six degrees of freedom, which is achieved by six independently controlled servo motors. Specifically, two high-performance first motors 114 accurately control the movement of the main tracks 126 on the left and right sides of the vehicle body trunk, which not only enables the vehicle to move forward and backward, but also enables flexible steering and on-the-spot U-turn functions through differential drive. This design ensures that the obstacle-crossing vehicle 100 can maintain excellent maneuverability in the face of various rugged gullies. In order to further enhance the obstacle-crossing capability of the obstacle-crossing vehicle 100, two second motors 115 and two third motors 116 are also installed on the chassis, which are respectively connected to four fin-shaped swing arms of the same structure to enable the four swing arms to rotate independently, and can adaptively adjust the angle according to the ground conditions to ensure that the vehicle can remain stable under different slopes and obstacles. The design of this swing arm structure not only improves the vehicle's passability, but also simplifies the assembly process and provides convenience for later maintenance.

[0092] In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "relative", "four corners", "periphery", "'mouth'-shaped structure", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing "this" utility model and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0093] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "connection," "direct connection," "indirect connection," "fixed connection," "installation," and "assembly" should be understood in a broad sense. For example, they may refer to a fixed connection, a detachable connection, or an integral connection. The terms "installation," "connection," and "fixed connection" may refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0094] Although the embodiments disclosed in the present invention are as described above, the contents described are merely embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art to which the present invention belongs may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention. However, the scope of patent protection of the present invention shall still be defined by the attached claims.

Claims

1. An obstacle-crossing vehicle, characterized in that: include: Two crawler walking mechanisms and a base plate; The crawler walking mechanism comprises a main crawler mechanism, a first swing arm and a second swing arm; The main crawler mechanism includes a first mounting frame, a first motor disposed on the first mounting frame and provided with a first driving shaft, a first driven shaft rotatably connected to the first mounting frame and parallel to the first driving shaft, a first driving wheel fixed to the first driving shaft, a first driven wheel fixed to the first driven shaft, a main crawler hoop on the first driving wheel and the first driven wheel, a first hollow shaft sleeved on the first driving shaft and rotatably connected to the first mounting frame, a second hollow shaft sleeved on the first driven shaft and rotatably connected to the first mounting frame, a second motor for driving the first hollow shaft to rotate, and a third motor for driving the second hollow shaft to rotate; The first swing arm and the second swing arm each include a second mounting frame, a second driving shaft rotatably connected to the second mounting frame, a second driven shaft connected to the second mounting frame and parallel to the second driving shaft, a second driving wheel fixed to the second driving shaft, a second driven wheel sleeved on the second driven shaft, and a driven track clamped on the second driving wheel and the second driven wheel; Among them, the second mounting frame of the first swing arm is connected to the first hollow shaft, the second driving shaft of the first swing arm is connected to the first driving shaft, the second mounting frame of the second swing arm is connected to the second hollow shaft, the second driving shaft of the second swing arm is connected to the first driven shaft, bearings are arranged between the first hollow shaft and the first driving shaft and between the second hollow shaft and the first driven shaft, and the two first mounting frames are connected to the base plate.

2. The obstacle-crossing vehicle according to claim 1, characterized in that: The main crawler mechanism also includes a first reduction mechanism and a second reduction mechanism, both for reducing speed and increasing torque; The first reduction mechanism is connected to the main shaft of the second motor and the first hollow shaft, and the second reduction mechanism is connected to the main shaft of the third motor and the second hollow shaft.

3. The obstacle-crossing vehicle according to claim 2, characterized in that: The first reduction mechanism comprises a first pulley sleeved on the main shaft of the second motor, a second pulley sleeved on the first hollow shaft, and a first annular belt hooped on the first pulley and the second pulley; The first reduction mechanism comprises a third pulley sleeved on the third motor main shaft, a fourth pulley sleeved on the second hollow shaft, and a second annular belt hooped on the third pulley and the fourth pulley; Wherein, the diameter of the first pulley is smaller than the diameter of the second pulley, and the diameter of the third pulley is smaller than the diameter of the fourth pulley.

4. The obstacle-crossing vehicle according to claim 1, characterized in that: The first mounting frame includes a first inner plate, a first outer plate parallel to the first inner plate, and two fixed plates separated from each other, wherein two ends of the fixed plate are respectively connected to the first inner plate and the first outer plate; The second motor and the third motor are respectively arranged on one side of the two fixing plates which are away from each other, and the first motor is arranged on the first inner plate; The first inner side plates of the two first mounting frames are arranged on the side where the two first mounting frames are close to each other, and the first outer side plates of the two first mounting frames are arranged on the side where the two first mounting frames are away from each other.

5. The obstacle-crossing vehicle according to claim 4, characterized in that: The main crawler mechanism further includes two first bearing seats arranged on the first outer side plate and a second bearing seat arranged on the first inner side plate; The first hollow shaft and the second hollow shaft are respectively inserted into the two first bearing seats, and one end of the first driven shaft extends into the second bearing seat; Bearings are arranged between the first hollow shaft and the first bearing seat, between the second hollow shaft and the first bearing seat, and between the first driven shaft and the second bearing seat.

6. The obstacle-crossing vehicle according to claim 1, characterized in that: The bottom plate covers the bottoms of the two first mounting frames; A plurality of shock absorbing components are arranged on the bottom surface of the bottom plate, and the plurality of shock absorbing components are arranged in two rows along the extension direction of the main crawler track; The shock absorbing assembly comprises a shock absorbing support connected to the bottom plate, a wheel frame arranged at the bottom end of the shock absorbing support, and a shock absorbing wheel rotatably connected to the wheel frame; The shock-absorbing wheels of the two rows of shock-absorbing assemblies are respectively against the inner walls of the two main crawlers, and the shock-absorbing supports are elastic.

7. The obstacle-crossing vehicle according to claim 6, characterized in that: The wheel frame is constructed as a straight bar structure parallel to the first driving shaft, and a shock-absorbing wheel is arranged at both ends of the wheel frame.

8. The obstacle-crossing vehicle according to claim 1, characterized in that: It also includes a mechanical arm arranged above the first mounting frame.

9. The obstacle-crossing vehicle according to claim 1, characterized in that: The second mounting frame includes a second inner plate, a second outer plate parallel to the second inner plate, and a support block connected to the second inner plate and the second outer plate; The opposite ends of the second driving shaft are rotatably connected to the second inner plate and the second outer plate respectively, and the opposite ends of the second driven shaft are fixedly connected to the second inner plate and the second outer plate respectively.

10. The obstacle-crossing vehicle according to claim 1, characterized in that: The first driving wheel, the first driven wheel, the second driving wheel and the second driven wheel are all synchronous pulleys.

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