A width-adjustable wheeled track composite mobile platform

Abstract

This invention relates to the field of robotics and provides a width-adjustable wheeled-tracked composite mobile platform, including a frame. Two sets of identical walking drive modules and four sets of swing arm assemblies for obstacle crossing are arranged on the left and right sides of the frame. Each swing arm assembly has an independent swing arm power source, allowing for individual control and adjustment of the machine's posture. A telescopic mechanism is provided between the left and right walking drive assemblies to adjust the distance between the two sets of walking drive assemblies and the frame. During movement, the position of the walking drive assemblies can be adjusted according to the actual width of the passageway. The walking drive assemblies moving closer to or further away from the frame decreases or increases the width of the mobile platform, enhancing the chassis's environmental adaptability and flexibility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to the structure of a width-adjustable wheel-track composite mobile platform. Background Technology

[0002] Robotic mobile platform systems can replace manual labor in some dangerous and complex environments, avoiding unnecessary personnel injuries. They can be used for handling and transfer, and can be used in conjunction with robotic arms, detection instruments, and other equipment.

[0003] Currently, purely wheeled bomb disposal robots cannot meet the requirements for climbing stairs and overcoming obstacles. Compared to wheeled bomb disposal robots, tracked bomb disposal robots have stronger obstacle-crossing and stair-climbing capabilities. However, due to the complexity of the transmission system, their walking speed is slow and inefficient. The tracks generate significant motion noise when in contact with the ground, resulting in poor flexibility. How to combine the advantages of wheeled and tracked chassis drive, adapt to different scenarios, and achieve rapid switching between wheels and tracks is a major challenge for wheeled and tracked composite chassis. At the same time, the width of bomb disposal robots currently on the market is fixed. When encountering narrow passages with a width smaller than the width of the chassis itself, such as narrow spaces like aircraft cabins, subway cars, and bus cars, if the width is designed for narrow passages, the load and stability of the mobile platform are difficult to guarantee. It is prone to tipping over when the ground is uneven or the load is far from the center of gravity, thus limiting its use. Summary of the Invention

[0004] The purpose of this invention is to provide a width-adjustable wheel-track composite mobile platform, which aims to solve the problems of poor flexibility, low obstacle crossing ability and weak environmental adaptability of current tracked or wheeled chassis.

[0005] To achieve the above objectives, the present invention proposes a width-adjustable wheel-track composite mobile platform, comprising: a frame, a pair of wheel-track composite drive systems, a vehicle body width adjustment system, and a four-arm swing arm system; the pair of wheel-track composite drive systems are slidably connected to opposite sides of the frame; the vehicle body width adjustment system is connected between the chassis and the pair of wheel-track composite drive systems.

[0006] The vehicle frame is equipped with guide rails.

[0007] The wheel-track hybrid drive system can be a combination of a wheel drive system and a track drive system, or it can be a single wheel drive system or a track drive system.

[0008] The wheel-track composite drive system includes a base plate, a drive wheel, a load-bearing wheel, a support wheel assembly, a guide wheel, and a tire, with the tire connected to the drive wheel.

[0009] The vehicle width adjustment system is equipped with a two-way lead screw, a pair of left and right turn nuts, and a drive motor. The driving gear is connected to the drive motor, the driven gear is connected to the lead screw, and the pair of left and right turn nuts are connected to the pair of wheel-track composite drive systems. Attached Figure Description

[0010] Figure 1 This is a three-dimensional schematic diagram of a width-adjustable wheel-track composite mobile platform according to the present invention;

[0011] Figure 2 This is a schematic diagram of a width-adjustable wheel-track composite mobile platform of the present invention, omitting the upper and side components;

[0012] Figure 3 This is a cross-sectional schematic diagram of a width-adjustable wheel-track composite mobile platform according to the present invention;

[0013] Figure 4 This is a schematic diagram of the telescopic component of a width-adjustable wheel-track composite mobile platform according to the present invention;

[0014] Figure 5 This is a schematic diagram of a walking drive component for a width-adjustable wheel-track composite mobile platform according to the present invention. Figure 1 ;

[0015] Figure 6 This is a schematic diagram of a walking drive component for a width-adjustable wheel-track composite mobile platform according to the present invention. Figure 2 ;

[0016] Figure 7 This is a schematic diagram of a walking swing arm assembly for a width-adjustable wheel-track composite mobile platform according to the present invention.

[0017] Explanation of main component symbols

[0018] 100: Mobile Platform

[0019] 10: Frame 11: Guide rail

[0020] 20: Walking drive component 21: First walking drive component

[0021] 22: Second walking drive component 201: Base plate

[0022] 202: Chain tensioner; 203: Chain

[0023] 204: Drive sprocket; 205: Driven sprocket

[0024] 206: Walking power 207: Roller assembly

[0025] 2071: Roller base 2072: Roller

[0026] 208: Swing arm power; 209: Tires

[0027] 30: Telescopic mechanism; 301: Bidirectional lead screw

[0028] 302: Driving gear; 303: Driven gear

[0029] 304: Right-hand nut; 305: Left-hand nut

[0030] 306: Motor mount; 307: Motor

[0031] 308: Bearing

[0032] 40: Swing arm assembly; 41: First swing arm assembly

[0033] 42: Second swing arm assembly 43: Third swing arm assembly

[0034] 44: Fourth swing arm assembly 401: Swing arm support plate

[0035] 402: Auxiliary wheel; 403: Tensioning mechanism

[0036] 4031: Guide rod; 4032: Guide seat

[0037] 4033: Spring

[0038] 404: Guide wheel assembly; 4041: Guide wheel seat

[0039] 4042: Guide wheel

[0040] 405: Shock absorption mechanism; 4051: Swing arm

[0041] 4052: Load-bearing wheel; 4053: Shock absorber

[0042] 406: Track wheel; 407: Track

[0043] D1: First direction; D2: Second direction

[0044] D3: Third direction Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] For ease of description, the terms "front," "back," "left," "right," "up," and "down" used below are consistent with the front-back, left-right, up-down directions of the accompanying drawings, but do not limit the structure of the present invention.

[0047] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art described herein. The words “first,” “second,” and similar terms used in the patent application specification and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the words “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one.

[0048] The implementation of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] See Figures 1 to 3 An adjustable-width wheeled track composite mobile platform 100 includes a frame 10. Two sets of identical walking drive modules 20 and four sets of swing arm assemblies 40 for obstacle crossing are arranged on the left and right sides of the frame 10. Each set of swing arm assemblies 40 is equipped with an independent swing arm power 208, which can be controlled and adjusted individually to adjust the machine posture. A telescopic mechanism 30 is provided between the left and right walking drive modules 20 to adjust the distance between the two sets of walking drive assemblies 20 and the frame 10.

[0050] like Figure 2 As shown, the frame 10, as a load-bearing unit, includes a battery assembly 50 and a control device 60. Eight identical guide rails 11 are symmetrically arranged on both sides of the middle part of the frame. The guide rails 11 are spaced apart along the first direction D1 and the second direction D2, respectively located at the top and bottom of the inner side of the frame 10.

[0051] See Figure 4 Figure 5 The walking drive assembly 20 serves as the drive unit of the mobile platform 100. Two walking drive assemblies 20 are configured on the left and right sides of the frame 10. The two walking drive assemblies 20 are the first walking drive assembly 21 and the second walking drive assembly 22, respectively. The two walking drive modules have the same structure. The structure of the first and second walking drive assemblies will be briefly described below with the first walking drive assembly 21 as an example.

[0052] like Figure 5 and Figure 6As shown, the walking drive assembly 20 provided in this example is a wheel-track composite structure, which has strong ground passability and can travel on flat ground, as well as overcome obstacles and climb stairs. Specifically, the first walking drive assembly 21 includes a base plate 201 that can move linearly along a third direction D3 with the frame 10, a walking power 206 and a swing arm power 208 disposed on the base plate 201, two rotatable driven sprockets 205 symmetrically disposed at both ends on one side of the base plate 201, the driven sprockets 205 are connected to a tire 209 that can rotate around the axis of the driven sprocket 205 and a swing arm assembly 40, the walking power 206 is located between the two driven sprockets 205 and includes an independent walking power 206, the walking power 206 is connected to the base plate 201, the walking power 206 is provided with a drive sprocket 204, the drive sprocket 204 drives the driven sprockets 205 through a chain 203, thereby driving the vehicle body to move, the swing arm power 208 is located on the other side of the coaxial line of the driven sprockets 205.

[0053] like Figure 3 Figure 5 As shown, the base plate 201 has two sets of roller groups 207 at its top and bottom. The roller group 207 includes a mounting base 2071 fixed on the base plate 201 and multiple rollers 2072 rotatably supported on the mounting base 2071. The roller group 207 is located in the middle of the base plate 201. The roller group 207 has several rollers 2071 arranged in four rows. Two rows are arranged adjacent to each other and perpendicular to each other along D1 and D2 respectively. The other two rows are arranged symmetrically at intervals. The outer surface of each roller 2071 contacts the surface of the guide rail 11 on the frame 10 and supports the frame 10. The roller group 207 makes the vehicle body smoother during the extension and retraction process, and foreign objects on the surface of the guide rail 11 can also be squeezed out during rolling. Foreign objects attached to the surface of the guide rail 11 will not affect the adjustment of the width of the moving platform.

[0054] like Figure 2 As shown, each set of walking drive components 20 is connected to two sets of swing arm components 40. The swing arm components 40 are generally triangular. The two sets of swing arm components 40 rotate around the axis of the driven sprocket 205. In this embodiment, the swing arm components 40 are respectively the first swing arm device 41 and the second swing arm device 42 connected to the first walking drive component 21, and the third swing arm device 43 and the fourth swing arm device 44 connected to the second walking drive component 22. It should be noted that the first and second swing arm components are located on the same side of the frame 10, and the third and fourth swing arm components are located on the opposite side of the frame 10. The structures of the first swing arm device 41, the second swing arm device 42, the third swing arm device 43, and the fourth swing arm device 44 are basically the same. The structure is briefly described below using the first swing arm component 41 as an example.

[0055] like Figure 7As shown, the swing arm assembly 40 includes a swing arm support plate 401 rotatably mounted on a base plate 201. A swing arm power unit 208 for driving the swing arm support plate 401 to rotate is provided on the base plate 201. A track wheel 406 is rotatably mounted on the swing arm support plate 401. The track wheel 406 has teeth that cooperate with the track 407. The rotation center point of the track wheel 406 coincides with the rotation center point of the swing arm support plate 401. A driven wheel 408 is rotatably mounted on a pivot seat 409, and the pivot seat 409 is slidably mounted on the swing arm. On the support plate 401, the swing arm support plate 401 is provided with a tensioning mechanism 403 for controlling the driven wheel 408 to approach or move away from the track wheel 406. The track wheel 406 and the driven wheel 408 are connected by a track 407. The track 407 can be a flexible track, which is not limited to a belt. After the track 407 is wound, its inner surface engages with the track wheel 406 and the driven wheel 408 respectively, and is driven to rotate by the track wheel 406. The base plate 201 is provided with a first swing arm drive device for driving the track wheel 406 to rotate.

[0056] The tensioning mechanism 403 includes a guide rod 4031, a guide seat 4032, and a spring 4033. The spring 4033 is sleeved on the guide rod 4031. The end of the guide rod 4031 is connected to a rotating shaft seat 4034. The guide seat 4032 has two shaft holes, which point towards the driven wheel 408. The guide rod 4031 is sleeved in the shaft holes of the guide seat 4032 and slides axially. The guide seat 4032 is connected to the swing arm support plate 401. It is easy to understand that the elastic force of the spring 4033 is used to achieve the tension of the track 407, while also playing a shock absorption role.

[0057] An auxiliary wheel 402 is rotatably mounted on the swing arm support plate 401. The auxiliary wheel 402 is located between the tensioning mechanism 403 and the track wheel 406, and the auxiliary wheel 402 is connected to the track 407 for mutual transmission.

[0058] The swing arm support plate 212 is provided with a guide wheel assembly 404. The guide wheel assembly 407 includes a guide wheel seat 4041 fixed on the swing arm support plate and multiple guide wheels 4042 rotatably supported on the guide wheel seat 4041. Two rows of guide wheels 4042 are provided on both sides of the guide wheel assembly 207 at the contact points with the track 216. Specifically, the guide wheel assembly 207 is approximately located in the middle of the swing arm assembly 400. The multiple guide wheels 4042 in the guide wheel assembly 207 are divided into two rows. The two rows of guide wheels 4042 are arranged side by side in a direction parallel to the swing arm support plate 212. The outer surface of each guide wheel 4042 contacts the track 407 and supports the track 407. Through the arrangement of the guide wheel assembly 404, the track 407 can be driven. In addition, during the walking and moving process, it can prevent the track 407 from being deformed due to excessive local stress, thereby increasing the stability of the movement.

[0059] A shock-absorbing mechanism 405 is rotatably mounted on the swing arm support plate 401, including a swing rod 4051 rotatably connected to the load-bearing wheel 4052. One end of a shock absorber 4053 is rotatably connected to the swing rod 4051, and the other end is rotatably connected to the swing arm support plate 401. The outer surface of the load-bearing wheel 4052 contacts the track 407 and supports the track 407. It can be understood that the shock absorber 4053 has a shock-absorbing and damping function. By compressing or rebounding the shock absorber 4053, the load-bearing wheel 4052 moves closer to or further away from the swing arm support plate 401, achieving a shock-absorbing effect. Through the setting of the shock-absorbing mechanism 405, the track 407 can be driven. In addition, the vibration of the vehicle body can be significantly reduced during the movement.

[0060] In the technical solution of the present invention, by setting the telescopic mechanism 30, the overall width of the walking module 20 relative to the frame 10 is adjustable, and correspondingly, the distance between the two sets of walking modules 20 is adjustable, that is, the overall width of the mobile platform 100 is adjustable. During the movement, the positions of the two sets of walking modules 20 can be adjusted according to the actual width of the channel. The walking module 20 moves closer to or further away from the frame 10, thereby reducing or increasing the overall width and enhancing the environmental adaptability and flexibility of the chassis.

[0061] like Figure 4 As shown, in order to realize the function of the telescopic mechanism 30, in one embodiment of the present invention, the telescopic mechanism 30 is linearly driven. The telescopic mechanism 30 is provided with a bidirectional lead screw 301. One end of the bidirectional lead screw 301 is provided with a left-hand thread and the other end is provided with a right-hand thread. The two ends of the bidirectional lead screw 301 are rotatably connected to the two ends of the frame 10 through bearings 308. It can be understood that the bearings 308 position the bidirectional lead screw 301 axially. The left-hand nut 305 and the right-hand nut 306 are respectively rotatably connected to the left-hand end and the right-hand end of the bidirectional lead screw 301. The left-hand nut 305 and the right-hand nut 306 are respectively connected to... A walking drive module 20 is connected, a passive gear 303 is connected to the bidirectional lead screw 301, and a motor 307 is connected to the driving gear 302 via a key. The driving gear 302 drives the passive gear 303 to rotate, which in turn drives the bidirectional lead screw 301 to rotate. Since the left-hand nut 305 and the right-hand nut 306 are respectively connected to two sets of the walking modules 20, and a guide rail 11 is provided at the connection between the walking module 20 and the frame 10, the left-hand nut 305 and the right-hand nut 306 are driven to move linearly in opposite directions at the same time. By controlling the forward and reverse rotation of the motor 307, the width of the moving platform 100 can be increased or decreased.

[0062] It should be noted that the present invention does not limit the driving method of the telescopic mechanism 30. The telescopic mechanism 30 can be one of a cylinder, a hydraulic cylinder or an electric push rod. The power transmission method between the motor 307 and the bidirectional lead screw 301 is not limited to gear transmission, but can be a belt, chain sprocket or other transmission method.

[0063] The above-described embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the above embodiments should be included within the scope of protection of this technical solution.

Claims

1. A width-adjustable wheel-track composite mobile platform, characterized in that, The vehicle includes a frame, on which two sets of identical walking drive components and four sets of swing arm components for obstacle crossing are provided on the left and right sides. Each set of swing arm components is equipped with an independent swing arm power, which can be controlled and adjusted individually to adjust the machine posture. A telescopic mechanism is provided between the walking drive components on the left and right sides to adjust the distance between the two sets of walking drive components and the frame. Each of the aforementioned walking drive components includes a track and a tire that are wound around the track wheel and the driven wheel and driven to rotate by the track wheel; Each of the swing arm assemblies is provided with at least one tensioning mechanism, each tensioning mechanism including a guide rod, a guide seat and a spring, the spring being sleeved on the guide rod, the end of the guide rod being connected to a pivot seat, the guide seat having two shaft holes pointing towards the driven wheel; the walking drive assembly includes a base plate, the swing arm assembly includes a swing arm support plate rotatably mounted on the base plate, the guide rod being sleeved in the shaft hole of the guide seat and sliding axially, the guide seat being connected to the swing arm support plate.

2. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: The walking drive components are in two sets, symmetrically arranged on the left and right sides of the frame and movable along the width direction of the frame.

3. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: The telescopic mechanism is linearly driven and is equipped with a two-way lead screw. One end of the two-way lead screw has a left-hand thread and the other end has a right-hand thread. The two ends of the two-way lead screw are rotatably connected to the two ends of the vehicle frame through bearings.

4. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: Each of the aforementioned swing arm assemblies is provided with at least one guide wheel assembly, the guide wheel assembly including a guide wheel seat fixed to the swing arm support plate and a plurality of guide wheels rotatably supported on the guide wheel seat.

5. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: Each of the swing arm assemblies is provided with at least one shock absorption mechanism, the shock absorption mechanism including a swing rod, the swing rod being rotatably connected to the load-bearing wheel, one end of the shock absorber being rotatably connected to the swing rod, and the other end being rotatably connected to the swing arm support plate.

6. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: Each set of walking drive components is connected to two sets of swing arm components. The swing arm components are triangular, and two rotatable driven sprockets are symmetrically arranged at both ends on one side of the base plate. The two sets of swing arm components rotate around the axis of the driven sprockets respectively.

7. The adjustable-width wheel-track composite mobile platform according to claim 1, characterized in that: The frame has eight identical guide rails symmetrically arranged on both sides of the middle section for adjusting the width of the vehicle body, which are respectively located at the top and bottom of the inner side of the frame.

Images