A composite wheeled track chassis and robot

Abstract

This application provides a composite wheeled track chassis and robot, relating to the field of robot technology. The chassis includes two sets of composite wheeled track devices, each set being disposed on both sides of the front end of the chassis. Each composite wheeled track device includes a first wheel and a track mechanism, and can switch between a first state and a second state. The track mechanism includes a track formed by multiple links pivotally connected in sequence, each link including a magnetic element that allows the composite wheeled track chassis to adhere to a metal base surface. Two second wheels are disposed on both sides of the rear end of the chassis. This application provides a composite wheeled track chassis and robot capable of stable movement across various terrains, and also capable of moving by magnetically adhering to a partially vertical metal base surface.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a composite wheeled chassis and robot. Background Technology

[0002] With the rapid development of science and technology and the fast progress of the times, in the field of robot design, in order to enable robots to adapt to the walking needs of various terrains, some traditional and single mobile chassis structures designed for the movement mode of robots can no longer meet the requirements of complex and diverse terrains.

[0003] Currently, robots move in two ways: wheeled and tracked. Wheeled robots have higher mobility, simpler structure, and strong maneuverability on hard surfaces. However, wheeled robots are prone to slipping and getting stuck on soft surfaces such as sand and mud. Tracked robots allow them to walk stably on soft surfaces like sand or mud, but their maneuverability on hard surfaces is reduced.

[0004] Therefore, current robots cannot adapt to multiple motion environments simultaneously. Furthermore, current robots can move on horizontal surfaces but cannot move on vertical surfaces such as some walls.

[0005] utility model

[0006] The purpose of this application is to address the above problems by providing a composite wheeled track chassis and robot that can stably walk on various terrains and can also walk on a vertical base surface of some metal by magnetic attachment.

[0007] In a first aspect, this application provides a composite wheel-track chassis, comprising: a chassis; two sets of composite wheel-track devices, the two sets of composite wheel-track devices being respectively disposed on both sides of the front end of the chassis, each composite wheel-track device including a first wheel and a track mechanism, and capable of switching between a first state and a second state, the track mechanism including a track formed by a plurality of links pivotally connected in sequence, each link including a magnetic element, enabling the composite wheel-track chassis to be attracted to a metal base surface; and two second wheels, the two second wheels being respectively disposed on both sides of the rear end of the chassis; wherein, when the composite wheel-track device is in the first state, the composite wheel-track chassis moves via the first wheel and the second wheel, and when the composite wheel-track device is in the second state, the composite wheel-track chassis moves via the track mechanism and the second wheel.

[0008] According to certain embodiments of this application, the track mechanism further includes: a linkage transmission assembly disposed on the side of the front end of the chassis, the linkage transmission assembly enabling the composite wheel track device to switch between the first state and the second state; and a transmission wheel assembly connected to the linkage transmission assembly, the track covering the outer peripheral surface of the transmission wheel assembly.

[0009] According to certain embodiments of this application, the linkage transmission assembly includes: a first crossbar, the inner side of which is connected to the side of the first end of the chassis and extends along the length of the chassis; a second crossbar, which is parallel to the first crossbar and spaced apart in the horizontal direction; a first connecting rod, the two ends of which are pivotally connected to the front end of the first crossbar and the front end of the second crossbar, respectively; and a second connecting rod, the two ends of which are pivotally connected to the rear end of the first crossbar and the rear end of the second crossbar, respectively.

[0010] According to certain embodiments of this application, the transmission wheel assembly includes: a first guide wheel pivotally connected to the front end of the first crossbar and the pivotal connection of the first connecting rod; a second guide wheel pivotally connected to the front end of the second crossbar and the pivotal connection of the first connecting rod; a third guide wheel pivotally connected to the rear end of the first crossbar and the pivotal connection of the second connecting rod; and a fourth guide wheel pivotally connected to the rear end of the second crossbar and the pivotal connection of the second connecting rod. The first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel are all located in the same vertical plane, and their rotation axes are parallel to each other. The first crossbar, the first connecting rod, and the second connecting rod are all located on the inner surfaces of the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel. The second crossbar is located on the outer surfaces of the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel.

[0011] According to the technical solutions provided in certain embodiments of this application, the transmission wheel assembly further includes: a tensioning member disposed on the upper surface of the first crossbar, the tensioning member being telescopic; a tensioning wheel pivotally disposed on the upper end of the tensioning member, the outer peripheral surface of the tensioning wheel being in contact with the inner peripheral surface of the track; at least two load-bearing wheel sets, at least two load-bearing wheel sets being spaced apart from each other on the second crossbar, each load-bearing wheel set including a fixed rod and a load-bearing wheel, the fixed rod being disposed on the lower surface of the second crossbar and extending downward, the load-bearing wheel being pivotally disposed on the fixed rod, the outer peripheral surface of the load-bearing wheel being in contact with the inner surface of the track; wherein, the tensioning wheel, the load-bearing wheel, the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel are all located in the same vertical plane.

[0012] According to certain embodiments of this application, the transmission wheel assembly further includes: a fixed gear disposed on the inner surface of the rear end of the first crossbar, the axis of which coincides with the axis of the second guide wheel; and a first power wheel disposed on the inner surface of the second connecting rod and meshing with the fixed gear, so as to drive the connecting rod transmission assembly to switch between the first state and the second state by rotation; wherein, when the rotation direction of the first power wheel is consistent with the rotation direction of the first wheel when it moves forward, the connecting rod transmission assembly drives the composite wheel track device to switch to the first state, and when the rotation direction of the first power wheel is opposite to the rotation direction of the first wheel when it moves forward, the connecting rod transmission assembly drives the composite wheel track device to switch to the second state.

[0013] According to the technical solutions provided in certain embodiments of this application, the track mechanism further includes: a first motor, which is disposed at the front end of the first crossbar, and the power output end of the first motor is connected to the center of the first guide wheel so that the first guide wheel and the first wheel rotate synchronously; and a second motor, which is disposed at the rear end of the chassis, and the end of the power output shaft of the second motor is connected to the second wheel.

[0014] According to certain embodiments of the present application, the technical solution further includes: a support arm, the support arm comprising a first hinge support, a first support arm, a second connecting arm, a telescopic arm, and a support plate. One end of the first support arm is pivotally connected to the chassis via the first hinge support, and its rotation axis is parallel to the rotation axis of the second wheel. The two ends of the second connecting arm are pivotally connected to the other end of the first support arm and one end of the telescopic arm, respectively. The upper surface of the support plate is provided with a second hinge support, and the support plate is provided with a magnet. The support plate is pivotally connected to the other end of the telescopic arm via the second hinge support. The rotation axes of the first support arm and the first hinge support, the rotation axis at the pivot connection between the first support arm and the second connecting arm, and the rotation axis at the pivot connection between the second connecting arm and the telescopic arm are all parallel to the rotation axis of the second wheel, and their pivot angles are all controlled by a power mechanism. The rotation axis at the pivot connection between the telescopic arm and the second hinge support is perpendicular to the rotation axis of the second wheel, and its pivot angle is controlled by a power mechanism.

[0015] According to the technical solutions provided in some embodiments of this application, the chain link further includes a plastic layer, which is connected to the magnetic attractor and is bonded to the outer peripheral surface of the transmission wheel assembly.

[0016] Secondly, this application provides a robot including a composite wheel-track chassis as described in any of the preceding claims.

[0017] Compared with existing technologies, the beneficial effects of this application are as follows: It features two sets of composite wheel-track devices, respectively positioned on both sides of the chassis, ensuring stable movement of the composite wheel-track chassis. Each composite wheel-track device has a first wheel and a track mechanism, which can switch between a first state and a second state, allowing the composite wheel-track chassis to move either via the first wheel or the track mechanism, thus adapting to various terrain environments. It possesses both a wheel structure for stable movement on hard surfaces, exhibiting high flexibility and maneuverability, and the ability to switch to track mechanism movement to adapt to soft terrain environments such as sand or mud, ensuring the multi-environment applicability of the composite wheel-track chassis. Furthermore, the track mechanism's tracks are formed by multiple links with magnetic attachments connected sequentially, enabling stable adhesion to ferrous metal surfaces, allowing the composite wheel-track chassis to adhere to ferrous metal walls or vertical surfaces for movement, further enhancing its mobility.

[0018] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of a composite wheel-track chassis provided in an embodiment of this application;

[0021] Figure 2 A three-dimensional structural schematic diagram of a composite wheel-track chassis provided in an embodiment of this application from another angle;

[0022] Figure 3 A three-dimensional structural schematic diagram of a composite wheel track device for a composite wheel track chassis provided in this application embodiment;

[0023] Figure 4 This application provides a schematic diagram of the structure of a composite wheel track device for a composite wheel track chassis.

[0024] Figure 5 for Figure 4 Enlarged view of point A in the middle, at this time the first drive wheel is rotating clockwise;

[0025] Figure 6 for Figure 4 Enlarged view at point A in the middle, showing the first drive wheel rotating counterclockwise at this time;

[0026] Figure 7 A three-dimensional structural diagram of the track links of a composite wheel-track chassis provided in an embodiment of this application;

[0027] Figure 8A three-dimensional structural diagram of a support arm for a composite wheel-track chassis provided in an embodiment of this application;

[0028] Figure 9 This is a three-dimensional structural diagram of a support plate for a composite wheel-track chassis provided in an embodiment of this application.

[0029] The text labels in the image represent:

[0030] 1000, composite wheel and track chassis; 100, chassis;

[0031] 200. Composite wheel-track device; 210. First wheel; 220. Track mechanism;

[0032] 1. Track; 11. Chain link; 111. Magnetic clasp; 112. Plastic layer;

[0033] 2. Linkage drive assembly; 21. First crossbar; 22. Second crossbar; 23. First connecting rod; 24. Second connecting rod;

[0034] 3. Transmission wheel assembly; 31. First guide wheel; 32. Second guide wheel; 33. Third guide wheel; 34. Fourth guide wheel; 35. Tensioning element; 36. Tensioning wheel; 37. Load-bearing wheel; 371. Fixed rod; 38. Fixed gear; 39. First drive wheel;

[0035] 4. First motor; 5. Second motor;

[0036] 300. The second wheel;

[0037] 400, Support arm; 410, First hinge support; 420, First support arm; 430, Second connecting arm; 440, Telescopic arm; 450, Support plate; 451, Second hinge support; 452, Magnet. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The descriptions in this section are merely illustrative and explanatory, and should not be construed as limiting the scope of protection of this application. Specifically, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the scope of protection of this application.

[0039] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0040] As mentioned in the background section, with the rapid development of science and technology and the fast progress of the times, in the field of robot design, in order to enable robots to adapt to the walking needs of various terrains, some traditional and single mobile chassis structures designed for the movement mode of robots can no longer meet the requirements of complex and diverse terrains.

[0041] Currently, robots move in two ways: wheeled and tracked. Wheeled robots have higher mobility, simpler structure, and strong maneuverability on hard surfaces. However, wheeled robots are prone to slipping and getting stuck on soft surfaces such as sand and mud. Tracked robots allow them to walk stably on soft surfaces like sand or mud, but their maneuverability on hard surfaces is reduced.

[0042] Therefore, current robots cannot adapt to multiple motion environments simultaneously. Furthermore, current robots can move on horizontal surfaces but cannot move on vertical surfaces such as some walls.

[0043] To address the problems in the existing technology, and in conjunction with the appendix to the instruction manual... Figures 1-9 This application provides a detailed description of a composite wheel-track chassis 1000 according to a first aspect embodiment. The composite wheel-track chassis 1000 according to the first aspect of this application includes a chassis 100, two sets of composite wheel-track devices 200, and two second wheels 300.

[0044] like Figure 1 and Figure 2 As shown, the chassis 100 serves as the foundation of the composite wheeled chassis 1000, providing a basic platform for the installation of other structures. Two sets of composite wheeled devices 200 are respectively disposed on both sides of the front end of the chassis 100. It should be noted that in this application, the composite wheeled chassis 1000 serves as the basic structure of the robot, enabling the robot to move forward and backward. Therefore, the front and rear ends of the chassis 100 are defined by the forward and backward movement direction of the composite wheeled chassis 1000. Figure 1 and Figure 2As shown, the end of the chassis 100 with the first wheel 210 is the front end of the chassis 100, and the end of the chassis 100 with the second wheel 300 is the rear end of the chassis 100. The two second wheels 300 are respectively disposed on both sides of the rear end of the chassis 100, thereby providing support for the rear end of the composite wheel-track chassis 1000 and ensuring the overall stability of the composite wheel-track chassis 1000.

[0045] The composite wheel-track device 200 includes a first wheel 210 and a track mechanism 220, and can switch between a first state and a second state. When the composite wheel-track device 200 is in the first state, the composite wheel-track chassis 1000 moves through the first wheel 210 and the second wheel 300. When the composite wheel-track device 200 is in the second state, the composite wheel-track chassis 1000 moves through the track mechanism 220 and the second wheel 300.

[0046] In other words, the composite wheel-track device 200 integrates the wheel structure and track mechanism 220 into the composite wheel-track chassis 1000. Therefore, it can be switched to a first state via the composite wheel-track device 200, enabling the composite wheel-track chassis 1000 to travel on a hard surface using the cooperation of the first wheel 210 and the second wheel 300, exhibiting high mobility and flexibility. The hard surface can be a hard road surface or a tiled base, etc. It can also be switched to a second state via the composite wheel-track device 200, enabling the composite wheel-track chassis 1000 to travel stably on soft ground using the cooperation of the track mechanism 220 and the second wheel 300, exhibiting off-road obstacle-crossing and hill-climbing capabilities, while avoiding getting stuck or slipping. The soft ground can be sand, mud, or uneven terrain with potholes, etc.

[0047] Furthermore, such as Figures 1-4 As shown, the track mechanism 220 includes a track 1 formed by a plurality of links 11 pivotally connected in sequence. The track 1 has a certain degree of flexibility and can smoothly and flexibly contact the running surface when the composite wheel-track chassis 1000 moves through the track mechanism 220.

[0048] In some embodiments of this application, such as Figure 7 As shown, link 11 includes a magnetic element 111, which enables the composite wheel track chassis 1000 to be attracted to a metal base surface. That is, when the composite wheel track chassis 1000 moves on a base surface made of a material that can be attracted by magnetism, such as ferrous metal, it can be attracted to that base surface by the magnetic element 111, thereby ensuring that the composite wheel track chassis 1000 can move stably.

[0049] Specifically, the metal base surface can be a vertical iron pipe or an iron wall. Therefore, the magnetic component 111 can stably adhere to the pipe or wall surface, allowing the composite wheel track chassis 1000 to move on the base surface and reducing the risk of slippage. It should be noted that the magnetically adsorbable metal base surface is not limited to iron; it can also be other materials that can be adsorbed by the magnetic component 111.

[0050] In a preferred embodiment, the magnetic attractor 111 can be a magnet, which is low in cost, easy to obtain materials, has many options, and is highly stable.

[0051] This application, through the first wheel 210 and track mechanism 220 of the composite wheel-track device 200, achieves the integration of the wheel structure and track mechanism 220 in the composite wheel-track chassis 1000. Furthermore, the composite wheel-track device 200 can switch between a first state and a second state, enabling the composite wheel-track chassis 1000 to travel either via the first wheel 210 or via the track mechanism 220, thus adapting to various terrain environments. It possesses both the wheel structure for stable travel on hard surfaces, exhibiting high flexibility and maneuverability, and the ability to switch to track mechanism 220 for travel on soft terrain such as sand or mud, thereby ensuring the multi-environment applicability of the composite wheel-track chassis 1000. Furthermore, the track 1 of the track mechanism 220 is formed by connecting multiple links 11 with magnetic elements 111 in sequence, which can stably adhere to the base surface such as ferrous metal, thereby enabling the composite wheel track chassis 1000 to adhere to the wall or vertical base surface such as ferrous metal for walking, further improving the movement and walking ability of the composite wheel track chassis 1000.

[0052] In some embodiments of this application, such as Figure 3 and Figure 4 The track mechanism 220 shown also includes a linkage drive assembly 2 and a drive wheel assembly 3.

[0053] Specifically, the linkage drive assembly 2 is located on the side of the front end of the chassis 100. The linkage drive assembly 2 enables the composite wheel track device 200 to switch between a first state and a second state. That is, the linkage drive assembly 2 can adjust the overall structural shape through its linkage structure, thereby reducing the support height of the linkage drive assembly 2 and controlling whether the first wheel 210 contacts the moving base surface. The overall structure is easy to control, has a high degree of structural integration and stability, and occupies little space, thus reducing the overall space occupation of the composite wheel track chassis 1000. The transmission wheel assembly 3 is connected to the linkage drive assembly 2, and the track 1 covers the outer peripheral surface of the transmission wheel assembly 3. The transmission wheel assembly 3 can support the track 1 through the linkage drive assembly 2, keep the track 1 taut, and drive the track 1 to rotate, thereby ensuring the contact between the track 1 and the moving base surface and improving the walking stability of the track mechanism 220.

[0054] In some embodiments of this application, such as Figure 4 As shown, the linkage assembly 2 includes a first crossbar 21, a first connecting rod 23, a second crossbar 22, and a second connecting rod 24 connected in sequence. The first crossbar 21 and the second crossbar 22 are parallel to each other, and the first connecting rod 23 and the second connecting rod 24 are also parallel to each other. This forms a parallelogram-shaped four-bar linkage.

[0055] Specifically, such as Figure 1 and Figure 4 As shown, the inner side of the first crossbar 21 is connected to the side of the first end of the chassis 100 and extends along the length of the chassis 100, i.e., parallel to the horizontal plane. Furthermore, after the first connecting rod 23 is fixedly connected to the chassis 100, the entire composite wheel track device 200 is supported and fixed through the connection between the first connecting rod 23 and the chassis 100. The second crossbar 22 of the chassis 100 is arranged parallel to the first crossbar 21 and is spaced apart in the horizontal direction.

[0056] In other words, the first crossbar 21 and the second crossbar 22 are parallel to each other and both extend along the length of the chassis 100. There is a gap between the vertical plane where the first crossbar 21 is located and the vertical plane where the second crossbar 22 is located, which is the space occupied by the transmission wheel assembly 3.

[0057] Furthermore, such as Figure 4 As shown, the two ends of the first link 23 are pivotally connected to the front ends of the first crossbar 21 and the second crossbar 22, respectively, and the two ends of the second link 24 are pivotally connected to the rear ends of the first crossbar 21 and the second crossbar 22, respectively. This forms a pivotable parallelogram-shaped four-bar linkage. It should be noted that the front and rear ends mentioned above are consistent with the front-to-back direction of movement of the composite wheel-track chassis 1000.

[0058] In some embodiments of this application, such as Figure 3 and Figure 4As shown, the transmission wheel assembly 3 includes a first guide wheel 31, a second guide wheel 32, a third guide wheel 33, and a fourth guide wheel 34. The first guide wheel 31 is pivotally connected to the front end of the first crossbar 21 and the pivotal connection of the first connecting rod 23. That is, the rotation axis of the first guide wheel 31 at the first crossbar 21 coincides with the pivot axis of the front end of the first crossbar 21 and the pivotal connection of the first connecting rod 23. The second guide wheel 32 is pivotally connected to the front end of the second crossbar 22 and the pivotal connection of the first connecting rod 23. The third guide wheel 33 is pivotally connected to the rear end of the first crossbar 21 and the pivotal connection of the second connecting rod 24. The fourth guide wheel 34 is pivotally connected to the rear end of the second crossbar 22 and the pivotal connection of the second connecting rod 24. Thus, the relative positions of the first guide wheel 31, the second guide wheel 32, the third guide wheel 33, and the fourth guide wheel 34 can be controlled by the linkage transmission assembly 2 to determine whether the first wheel 210 is in contact with the ground.

[0059] In this design, the first guide wheel 31, the second guide wheel 32, the third guide wheel 33, and the fourth guide wheel 34 are all located on the same vertical plane, and their rotation axes are parallel to each other. The first crossbar 21, the first connecting rod 23, and the second connecting rod 24 are all located on the inner surfaces of the first guide wheel 31, the second guide wheel 32, the third guide wheel 33, and the fourth guide wheel 34, while the second crossbar 22 is located on the outer surfaces of the first guide wheel 31, the second guide wheel 32, the third guide wheel 33, and the fourth guide wheel 34. That is, as mentioned earlier, there is a gap between the vertical plane where the first crossbar 21 is located and the vertical plane where the second crossbar 22 is located. This ensures stable deformation and transformation of the four-bar linkage and reduces space occupation compared to a structure where the four links are located on the same side of the transmission wheel assembly 3.

[0060] like Figure 3 and Figure 4 As shown, in some embodiments of this application, the transmission wheel assembly 3 further includes a tensioning member 35, a tensioning wheel 36, and at least two load-bearing wheel sets. The tensioning member 35 is disposed on the upper surface of the first crossbar 21, and the tensioning member 35 is telescopic. Optionally, the tensioning member 35 can be a telescopic power rod for convenient and quick adjustment. The tensioning wheel 36 is pivotally disposed on the upper end of the tensioning member 35, and the outer peripheral surface of the tensioning wheel 36 is in contact with the inner peripheral surface of the track 1. Thus, the height of the tensioning wheel 36 can be adjusted by raising or lowering the height of the tensioning wheel 36 above the first crossbar 21 to adjust the tension of the track 1.

[0061] In short, by raising or lowering the height of the tensioning wheel 36, the tension of the track 1 is adjusted, thereby ensuring that the track 1 and the traveling surface are stably attached when the composite wheel track chassis 1000 travels through the track mechanism 220.

[0062] like Figure 3 and Figure 4As shown, at least two load-bearing wheel sets are spaced apart to the second crossbar 22. Thus, the two spaced load-bearing wheel sets can straighten a part of the track 1 to form a plane and fit against the moving base surface, ensuring stable operation. Furthermore, it can ensure that the composite wheel track chassis 1000 has a stable adsorption force when moving on a vertical base surface where materials such as iron can be magnetically adsorbed.

[0063] like Figure 3 and Figure 4 As shown, the load-bearing wheel assembly includes a fixed rod 371 and a load-bearing wheel 37. The fixed rod 371 is disposed on the lower surface of the second crossbar 22 and extends downward. The load-bearing wheel 37 is pivotally disposed on the fixed rod 371, and the outer circumferential surface of the load-bearing wheel 37 is in contact with the inner surface of the track 1. Because the load-bearing wheel 37 is supported by the fixed rod 371, the height of the rotation center of the load-bearing wheel 37 is lower than the height of the rotation center of the second guide wheel 33 provided on the second crossbar 22. Correspondingly, the height of the rotation center of the load-bearing wheel 37 is also lower than the height of the rotation center of the fourth guide wheel 34 provided on the second crossbar 22. This results in the lower part of the track 1 forming a central plane with inclined surfaces on both sides.

[0064] In other words, when track 1 passes between two spaced-apart load-bearing wheel sets, it forms a flat surface in contact with the moving base surface. When it passes between the second guide wheel 32 and the load-bearing wheel set, it forms an inclined surface with an angle. Similarly, when track 1 passes between the load-bearing wheel set and the fourth guide wheel 34, it also forms an inclined surface with an angle. This reduces the contact area between the lower part of track 1 and the moving base surface. It ensures a stable contact between track 1 and the moving base surface while avoiding excessive contact area that could lead to inflexible steering of the composite wheel-track chassis 1000 when using the track mechanism 220. Simultaneously, the inclined surface formed on the lower part of track 1 facilitates movement on terrains such as hills and off-road.

[0065] Among them, tensioning wheel 36, load-bearing wheel 37, first guide wheel 31, second guide wheel 32, third guide wheel 33 and fourth guide wheel 34 are all located on the same vertical plane.

[0066] In some embodiments of this application, such as Figures 4-6 As shown, the transmission wheel assembly 3 also includes a fixed gear 38 and a first drive wheel 39. The fixed gear 38 is disposed on the inner surface of the rear end of the first crossbar 21, and its axis coincides with the axis of the third guide wheel 33. That is, the fixed gear 38 is fixed to the rear end of the first crossbar 21 and cannot rotate; it is concentric with the third guide wheel 33. The first drive wheel 39 is disposed on the inner surface of the second connecting rod 24. The first drive wheel 39 has a power motor structure inside and meshes with the fixed gear 38 to drive the connecting rod transmission assembly 2 to switch between the first state and the second state through rotation.

[0067] Specifically, the first drive wheel 39 meshes with the fixed gear 38, which is fixed. This provides reverse support to the first drive wheel 39 when it rotates, causing the first drive wheel 39 to rotate along the fixed gear 38 and drive the second connecting rod 24 to move synchronously. This achieves the overall movement of the connecting rod transmission assembly 2, thereby enabling the composite wheel track device 200 to switch between the first and second states.

[0068] Specifically, when the rotation direction of the first power wheel 39 is the same as the rotation direction of the first wheel 210 when it moves forward, the linkage transmission assembly 2 drives the composite wheel track device 200 to switch to the first state; when the rotation direction of the first power wheel 39 is opposite to the rotation direction of the first wheel 210 when it moves forward, the linkage transmission assembly 2 drives the composite wheel track device 200 to switch to the second state.

[0069] Specifically, such as Figure 1 and Figure 2 As shown, as mentioned above, the direction of the first wheel 210 is defined as the front end of the chassis 100, and the direction of the second wheel 300 is defined as the rear end. Combined with... Figure 4 It can be seen that the direction of the first wheel 210 forward is as shown in R1. At this time, combined with Figure 5 As shown, the rotation direction of the first drive wheel 39 is consistent with the R1 direction at this time. Therefore, the first drive wheel 39 rotates counterclockwise along the fixed gear 38, driving the second connecting rod 24 to swing counterclockwise around the center of the second guide wheel 32, thereby causing the connecting rod transmission assembly 2 to deform as a whole, that is, the vertical distance between the first crossbar 21 and the second crossbar 22 decreases. In other words, based on the connection between the first crossbar 21 and the chassis 100, the overall height of the second crossbar 22 is raised, thereby enabling the first wheel 210 to contact the moving base surface, that is, the composite wheel track chassis 1000 is converted to the first state.

[0070] Accordingly, combined Figure 4 It can be seen that the direction of the first wheel 210 when it reverses is as shown in R2. At this time, combined with Figure 6 As shown, the rotation direction of the first drive wheel 39 is consistent with the R2 direction at this time. Therefore, the first drive wheel 39 rotates clockwise along the fixed gear 38, driving the second connecting rod 24 to swing clockwise around the center of the second guide wheel 32, thereby causing the connecting rod transmission assembly 2 to deform as a whole, that is, the vertical distance between the first crossbar 21 and the second crossbar 22 increases. In other words, based on the connection between the first crossbar 21 and the chassis 100, the overall height of the second crossbar 22 is reduced, thereby enabling the track mechanism 220 to contact the moving base surface, and the first wheel 210 to disengage from the moving base surface, that is, the composite wheel-track chassis 1000 is converted to the second state.

[0071] Therefore, the composite wheel-track chassis 1000 of this application can adapt to various terrains by switching between a first state and a second state.

[0072] In some embodiments of this application, such as Figure 1 As shown, the transmission wheel assembly 3 also includes a first motor 4 and a second motor 5. The first motor 4 is disposed at the front end of the first crossbar 21, and the power output end of the first motor 4 is connected to the center of the first guide wheel 31 so that the first guide wheel 31 and the first wheel 210 rotate synchronously. Through the power output of the first motor 4, the first guide wheel 31 can be driven to rotate, thereby driving the track 1 to rotate. It can also drive the first wheel 210 to rotate. The second motor 5 is disposed at the rear end of the chassis 100, and the end of the power output shaft of the second motor 5 is connected to the second wheel 300. Through the second motor 5 providing power to the second wheel 300, in conjunction with the first motor 4, the overall power of the composite wheel track chassis 1000 can be improved.

[0073] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the drive wheel assembly 3 also includes a support arm 400. When the composite wheel track chassis 1000 moves into a sand pit or recessed terrain and is ready to drive out, the support arm 400 supports the side wall of the sand pit or recessed terrain behind the composite wheel track chassis 1000. The support arm 400 squeezes the sand pit to generate a reverse thrust to help the composite wheel track chassis 1000 lift the chassis 100. At the same time, the second motor 5 provides power to help the composite wheel track chassis 1000 drive out of the sand pit and prevent the chassis 100 from getting stuck.

[0074] Specifically, such as Figure 8As shown, the support arm 400 includes a first hinge support 410, a first support arm 420, a second connecting arm 430, a telescopic arm 440, and a support plate 450. One end of the first support arm 420 is pivotally connected to the chassis 100 through the first hinge support 410, and its rotation axis is parallel to the rotation axis of the second wheel 300. The two ends of the second connecting arm 430 are pivotally connected to the other end of the first support arm 420 and one end of the telescopic arm 440, respectively. The upper surface of the support plate 450 is provided with a second hinge support 451, and the support plate 450 is provided with a magnet 452. The other end of the support plate 450 and the telescopic arm 440 are pivotally connected through the second hinge support 451. The rotation axes of the first support arm 420 and the first hinge support 410, the rotation axis of the pivot connection between the first support arm 420 and the second connecting arm 430, and the rotation axis of the pivot connection between the second connecting arm 430 and the telescopic arm 440 are all parallel to the rotation axis of the second wheel 300, and their pivot angles are controlled by a power mechanism. The rotation axis of the pivot connection between the telescopic arm 440 and the second hinge support 451 is perpendicular to the rotation axis of the second wheel 300, and its pivot angle is also controlled by a power mechanism. The power mechanism can be a motor, with its output shaft coinciding with the pivot axis, thus controlling the pivot angle and ensuring stability of the angle after pivoting. A stepper motor can be used for convenient control of the pivot angle.

[0075] Combination Figure 1 In the middle, the rotation axis of the second wheel 300 is as follows Figure 2 As shown by line L1, the axis of rotation at the pivot connection between the first arm 420 and the second connecting arm 430 is as follows: Figure 1 As shown in L2, L1 and L2 are parallel. The rotation axes of the other components, namely the first arm 420 and the first hinge support 410, and the rotation axis of the pivot connection between the second connecting arm 430 and the telescopic arm 440, are all parallel to L1 and will not be described further. The rotation axis of the pivot connection between the telescopic arm 440 and the second hinge support 451 is shown in... Figure 2 As shown in L3, it is perpendicular to line L1.

[0076] This allows for adjustment of the contact position and angle between the support arm 400 and the support plate 450 and various terrain features through the various hinge connections, thereby enabling multi-directional pushing of the composite wheel track chassis 1000.

[0077] Furthermore, such as Figure 9As shown, the support plate 450 is equipped with a magnet 452, which allows it to adhere to surfaces of materials such as ferrous metals. When the robot needs to traverse a wall corner, it can adhere to the wall using the magnet 452 on the support plate 450. The resulting attraction and the extension / retraction of the telescopic rod ensure that the support arm 400 is firmly attached to the wall, improving the stability of the track 1 when traversing wall corners and preventing the composite wheel-track chassis 1000 from tilting or overturning. Simultaneously, the first motor 4 and the second motor 5 provide power to propel the track 1 through the wall corner, thus enhancing the mobility of the composite wheel-track chassis 1000.

[0078] In some embodiments of this application, such as Figure 7 As shown, the chain link 11 also includes a plastic layer 112, which is connected to the magnetic attractor 111 and is in contact with the outer peripheral surface of the drive wheel assembly 3. By having the plastic layer 112 in contact with the outer peripheral surface of the drive wheel assembly 3, excessive contact stress between the track 1 and the drive wheel assembly 3 is avoided, which could lead to wear of the drive wheel assembly 3 and increase its service life.

[0079] According to a second aspect of this application, a robot is provided, which includes the composite wheeled chassis 1000 provided in the first aspect of the embodiment described above.

[0080] The robot of the second aspect of this application, by incorporating the composite wheel-track device 200 provided in the first aspect, thus possesses the same beneficial effects as the composite wheel-track device 200 of the first aspect. The composite wheel-track chassis 1000 integrates a wheel structure and a track mechanism 220, and allows the composite wheel-track device 200 to switch between a first state and a second state, enabling the composite wheel-track chassis 1000 to move via the first wheel 210 or via the track mechanism 220, thereby adapting to various terrain environments. The track 1 of the track mechanism 220 is formed by sequentially connecting multiple links 11 with magnetic elements 111, allowing it to stably adhere to a base surface such as ferrous metal, thus enabling the composite wheel-track chassis 1000 to adhere to walls or vertical base surfaces such as ferrous metal for movement, further enhancing the mobility of the composite wheel-track chassis 1000.

[0081] To facilitate understanding by those skilled in the art, the working process / working principle of the composite wheel-track chassis 1000 provided in this application is further as follows:

[0082] like Figure 1 As shown, the composite wheel-track device 200 has a first wheel 210 and a track mechanism 220, and can switch between a first state and a second state. (Specifically combined...) Figure 4 It can be seen that the direction of the first wheel 210 forward is as shown in R1. Figure 5The rotation direction of the first drive wheel 39 is consistent with the R1 direction. Therefore, at this time, the first drive wheel 39 rotates counterclockwise along the fixed gear 38, and drives the second connecting rod 24 to swing counterclockwise around the center of the second guide wheel 32, thereby causing the connecting rod transmission assembly 2 to deform as a whole, that is, the vertical distance between the first crossbar 21 and the second crossbar 22 decreases. In other words, based on the connection between the first crossbar 21 and the chassis 100, the overall height of the second crossbar 22 is raised, thereby enabling the first wheel 210 to contact the moving base surface, that is, the composite wheel track chassis 1000 is converted to the first state.

[0083] Combination Figure 4 It can be seen that the direction of the first wheel 210 when it reverses is as shown in R2. At this time, combined with Figure 6 As shown, the rotation direction of the first drive wheel 39 is consistent with the R2 direction at this time. Therefore, the first drive wheel 39 rotates clockwise along the fixed gear 38, driving the second connecting rod 24 to swing clockwise around the center of the second guide wheel 32, thereby causing the connecting rod transmission assembly 2 to deform as a whole, that is, the vertical distance between the first crossbar 21 and the second crossbar 22 increases. In other words, based on the connection between the first crossbar 21 and the chassis 100, the overall height of the second crossbar 22 is reduced, thereby enabling the track mechanism 220 to contact the moving base surface, and the first wheel 210 to disengage from the moving base surface, that is, the composite wheel-track chassis 1000 is converted to the second state.

[0084] Therefore, the composite wheel-track chassis 1000 of this application can adapt to various terrains by switching between a first state and a second state.

[0085] In addition, such as Figure 7 As shown, the track 1 is formed by connecting multiple links 11 in sequence. Each link 11 includes a magnetic element 111, which enables the composite wheel-track chassis 1000 to adhere to a metal base surface. That is, when the composite wheel-track chassis 1000 moves on a base surface made of a material that can be magnetically attracted, such as ferrous metal, it can be adhered to that base surface by the magnetic element 111, thereby ensuring the stable movement of the composite wheel-track chassis 1000.

[0086] like Figure 1 and Figure 2 As shown, the drive wheel assembly 3 also includes a support arm 400. When the composite wheel track chassis 1000 moves into a sand pit or recessed terrain and is ready to drive out, the support arm 400 supports the side wall of the sand pit or recessed terrain behind the composite wheel track chassis 1000. The support arm 400 squeezes the sand pit to generate a reverse thrust to help the composite wheel track chassis 1000 lift the chassis 100. At the same time, the second motor 5 provides power to help the composite wheel track chassis 1000 drive out of the sand pit and prevent the chassis 100 from getting stuck.

[0087] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the concept and technical solution of the application to other occasions without modification, should all be considered within the scope of protection of this application.

Claims

1. A composite wheel-track chassis, characterized in that, include: Chassis; Two sets of composite wheel track devices are respectively disposed on both sides of the front end of the chassis. Each composite wheel track device includes a first wheel and a track mechanism, and can switch between a first state and a second state. The track mechanism includes a track formed by multiple links pivotally connected in sequence. Each link includes a magnetic attraction element, which enables the composite wheel track chassis to be attracted to a metal base surface. Two second wheels are respectively disposed on both sides of the rear end of the chassis; When the composite wheel and track device is in the first state, the composite wheel and track chassis moves through the first wheel and the second wheel. When the composite wheel and track device is in the second state, the composite wheel and track chassis moves through the track mechanism and the second wheel.

2. The composite wheel-track chassis according to claim 1, characterized in that, The track mechanism also includes: A linkage drive assembly is disposed on the side of the front end of the chassis, and the linkage drive assembly enables the composite wheel track device to switch between the first state and the second state; A drive wheel assembly is connected to the linkage drive assembly, and the track covers the outer peripheral surface of the drive wheel assembly.

3. The composite wheel-track chassis according to claim 2, characterized in that, The linkage transmission assembly includes: The first crossbar has its inner side connected to the side of the first end of the chassis and extends along the length of the chassis. The second crossbar is arranged parallel to the first crossbar and is spaced apart in the horizontal direction; The first link has its two ends pivotally connected to the front end of the first crossbar and the front end of the second crossbar, respectively. The second link has its two ends pivotally connected to the rear ends of the first crossbar and the second crossbar, respectively.

4. The composite wheel-track chassis according to claim 3, characterized in that, The drive wheel assembly includes: The first guide wheel is pivotally mounted to the front end of the first crossbar and the pivotal connection of the first connecting rod; The second guide wheel is pivotally mounted to the front end of the second crossbar and the pivotal connection point of the first connecting rod; The third guide wheel is pivotally mounted to the rear end of the first crossbar and the pivotal connection of the second link; The fourth guide wheel is pivotally mounted to the rear end of the second crossbar and the pivotal connection of the second connecting rod; The first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel are all located on the same vertical plane and their rotation axes are parallel to each other. The first crossbar, the first connecting rod, and the second connecting rod are all located on the inner surfaces of the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel, while the second crossbar is located on the outer surfaces of the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel.

5. The composite wheel-track chassis according to claim 4, characterized in that, The drive wheel assembly also includes: The tensioning member is disposed on the upper surface of the first crossbar and is telescopic. The tensioning wheel is pivotally mounted on the upper end of the tensioning member, and the outer peripheral surface of the tensioning wheel is in contact with the inner peripheral surface of the track. At least two load-bearing wheel sets are spaced apart from each other on the second crossbar. Each load-bearing wheel set includes a fixed rod and a load-bearing wheel. The fixed rod is disposed on the lower surface of the second crossbar and extends downward. The load-bearing wheel is pivotally disposed on the fixed rod. The outer peripheral surface of the load-bearing wheel is in contact with the inner surface of the track. The tensioning wheel, the load-bearing wheel, the first guide wheel, the second guide wheel, the third guide wheel, and the fourth guide wheel are all located in the same vertical plane.

6. The composite wheel-track chassis according to claim 4, characterized in that, The drive wheel assembly also includes: A fixed gear is disposed on the inner surface of the rear end of the first crossbar, and its axis coincides with the axis of the second guide wheel; The first drive wheel is disposed on the inner surface of the second connecting rod and meshes with the fixed gear to drive the connecting rod transmission assembly to switch between the first state and the second state by rotation; Specifically, when the rotation direction of the first power wheel is the same as the rotation direction of the first wheel when it is moving forward, the linkage transmission assembly drives the composite wheel track device to switch to the first state; when the rotation direction of the first power wheel is opposite to the rotation direction of the first wheel when it is moving forward, the linkage transmission assembly drives the composite wheel track device to switch to the second state.

7. The composite wheel-track chassis according to claim 4, characterized in that, The track mechanism also includes: A first motor is disposed at the front end of the first crossbar, and the power output end of the first motor is connected to the center of the first guide wheel so that the first guide wheel and the first wheel rotate synchronously. The second motor is disposed at the rear end of the chassis, and the end of the power output shaft of the second motor is connected to the second wheel.

8. The composite wheel-track chassis according to claim 4, characterized in that, Also includes: The support arm includes a first hinge support, a first support arm, a second connecting arm, a telescopic arm, and a support plate. One end of the first support arm is pivotally connected to the chassis via the first hinge support, and its rotation axis is parallel to the rotation axis of the second wheel. The two ends of the second connecting arm are pivotally connected to the other end of the first support arm and one end of the telescopic arm, respectively. The upper surface of the support plate is provided with a second hinge support, and the support plate is provided with a magnet. The support plate is pivotally connected to the other end of the telescopic arm via the second hinge support. The rotation axes of the first support arm and the first hinge support, the rotation axis at the pivot connection between the first support arm and the second connecting arm, and the rotation axis at the pivot connection between the second connecting arm and the telescopic arm are all parallel to the rotation axis of the second wheel, and their pivot angles are controlled by a power mechanism. The rotation axis at the pivot connection between the telescopic arm and the second hinge support is perpendicular to the rotation axis of the second wheel, and its pivot angle is controlled by a power mechanism.

9. The composite wheel-track chassis according to any one of claims 2-8, characterized in that, The chain link also includes a plastic layer, which is connected to the magnetic attractor and is bonded to the outer peripheral surface of the drive wheel assembly.

10. A robot, characterized in that, Includes the composite wheel-track chassis as described in any one of claims 1-9.

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