Front and rear double swing arm six-track obstacle crossing walking mechanism

Abstract

The utility model discloses a front and rear double swing arm six track obstacle crossing walking mechanism, including chassis, both sides of chassis all are symmetrically provided with track group, the inside through drive part and track group link to form mobile area of chassis, the symmetric setting of swing arm track has on the chassis, set up the adjusting part for adjusting own angle on the swing arm track, the mobile plate has on the symmetric sliding of chassis, mobile plate links swing arm track and adjusting part. The utility model effectively promoted the terrain adaptation degree of freedom of walking mechanism, can complete adaptive fitting walking of sticking to special-shaped obstacle, high and low undulating pavement, thoroughly improved the problem of traditional equipment obstacle crossing easy to slip, easy to jam, poor adaptability, greatly promoted the passing stability and environmental adaptation ability under the complex working condition of intelligent manufacturing.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing mobile equipment technology, and more specifically, to a front and rear double swing arm six-track obstacle-crossing walking mechanism. Background Technology

[0002] With the rapid iteration of intelligent manufacturing technology, intelligent mobile equipment has been widely used in industrial inspection, workshop operation and maintenance, special operations and other scenarios. The ability to walk autonomously and overcome obstacles in complex working conditions is the core indicator for measuring the performance of intelligent manufacturing mobile equipment, which directly affects the stability and applicability of equipment operation.

[0003] Currently, most conventional intelligent mobile walking equipment on the market adopts a fixed wheel or simple track walking structure. The structure layout is simple and the adaptability is poor. It can only be adapted to flat and conventional working surfaces, which is difficult to meet the passage requirements of complex terrains such as undulations, ditches, and steps in the complex working conditions of intelligent manufacturing. The obstacle crossing performance has obvious shortcomings.

[0004] Most existing tracked walking structures are fixed designs, which present certain problems: First, the walking structure has low freedom of attitude adjustment and cannot adaptively adjust its walking posture according to terrain changes. During obstacle crossing, it is prone to tilting, slipping, and jamming, resulting in poor operational stability and difficulty in meeting the complex operational needs of various intelligent manufacturing scenarios. Second, the spacing and support states of existing walking structures are mostly fixed, which cannot flexibly adapt to obstacles of different widths and uneven terrain. The obstacle crossing adaptability is limited, and the body support stability is insufficient during obstacle crossing, which easily leads to body swaying and center of gravity shift. This significantly reduces the safety and reliability of intelligent equipment operation and cannot meet the high-precision and high-stability intelligent manufacturing operation standards. Therefore, we urgently need a front and rear double swing arm six-track obstacle crossing walking mechanism to solve the above problems. Utility Model Content

[0005] One objective of this invention is to provide a new technical solution for a front and rear double swing arm six-track obstacle-crossing walking mechanism. By setting up a dual-degree-of-freedom attitude adjustment, adaptive spacing adjustment and auxiliary support collaborative structure, combined with an independent track drive transmission structure, it solves the problems of low degree of freedom, poor adaptability and insufficient obstacle-crossing stability of traditional walking mechanisms, and effectively improves the obstacle-crossing ability and operational reliability of the equipment under complex working conditions.

[0006] According to a first aspect of the present invention, a front and rear double swing arm six-track obstacle-crossing walking mechanism is provided, including a chassis, on both sides of the chassis, track sets are symmetrically arranged, the chassis is connected to the track sets through a drive member to form a moving area, and swing arm tracks are symmetrically arranged on the chassis, and the swing arm tracks are provided with adjustment members for adjusting their own angle.

[0007] The swing arm track includes a frame, and the adjusting component includes a crossbeam fixedly connected to the frame. A first hinge seat is fixedly installed on the crossbeam, and a second hinge seat is hinged to the first hinge seat. A first motor is installed on the second hinge seat through a fixing frame. When the first motor works, it drives the frame to rotate along its axis to form an angle adjustment zone.

[0008] The adjusting component also includes a housing connected to the movable plate. A worm gear is provided inside the housing, and the two ends of the worm gear are rotatably connected to the housing through bearings. A worm wheel adapted to the worm gear is provided inside the housing, and the two ends of the worm wheel are rotatably connected to the housing through bearings. The worm gear and the worm wheel mesh with each other. A second motor is fixedly connected to the housing, and the output end of the second motor is connected to the worm gear. When the second motor drives the worm gear to rotate, the worm wheel rotates accordingly to form a rotation zone.

[0009] The chassis has symmetrically sliding movable plates, which are connected to the swing arm track and adjustment components to form a spacing adjustment area.

[0010] Optionally, a hub motor is fixedly mounted on one side of the frame, and a drive shaft is sleeved on the output shaft of the hub motor. The drive shaft has first meshing teeth arranged in a ring at equal intervals. A driven shaft is rotatably connected to the other side of the frame via a bearing. The driven shaft has second meshing teeth arranged in a ring at equal intervals. A track is driven to the outside of the drive shaft and the driven shaft. A chain for synchronous rotation is driven to the first meshing teeth and the second meshing teeth.

[0011] Optionally, one end of the worm gear shaft extends through the housing to the outside. A rotating disk is provided on the housing. The rotating disk is connected to the worm gear shaft located outside the housing. A mounting rod is fixedly connected to the rotating disk. The end of the mounting rod is connected to a second hinge seat. When in the rotation zone, the rotating disk, mounting rod, and second hinge seat rotate together to form a linkage zone.

[0012] Optionally, guide frames are symmetrically mounted on the chassis, and a bidirectional lead screw is provided inside the guide frame. Both ends of the bidirectional lead screw are connected to the guide frame through bearings. Two sets of movable plates are slidably disposed inside the guide frame, and the two sets of movable plates are respectively threadedly connected to the two threaded sections of the bidirectional lead screw. A third motor is fixedly connected to the guide frame, and the output end of the third motor is connected to the end of the bidirectional lead screw. When the third motor drives the bidirectional lead screw to rotate, the two sets of movable plates move closer to or further away from each other.

[0013] Optionally, guide rails are symmetrically mounted on the chassis, and sliders slide symmetrically on the guide rails. The sliders are connected to the corresponding moving plates via mounting brackets.

[0014] Optionally, a hydraulic cylinder is fixedly connected to the frame, and a support base is fixedly connected to the output end of the hydraulic cylinder. When the angle between the swing arm track and the chassis is 90 degrees, the hydraulic cylinder drives the support base to extend to form an auxiliary support area.

[0015] Beneficial effects

[0016] 1. This utility model achieves a wide range of swing adjustment of the overall pitch angle of the swing arm track through a worm gear and hinge structure. At the same time, it relies on the self-rotation of the frame driven by the first motor to achieve local micro-adjustment of the track posture. Compared with the traditional fixed track walking structure, it effectively improves the terrain adaptability of the walking mechanism, and can adapt to irregular obstacles and uneven road surfaces to complete adaptive walking. It completely improves the problems of traditional equipment being prone to slipping, jamming and poor adaptability when crossing obstacles, and greatly improves the passage stability and environmental adaptability under complex working conditions of intelligent manufacturing.

[0017] 2. This utility model uses a third motor to drive a bidirectional lead screw transmission, which, together with the precise positioning and guidance of the guide rail and slider, can drive the two moving plates to move synchronously, realizing the adaptive and adjustable spacing between the two sets of swing arm tracks. It can flexibly adjust the walking span according to the width of the obstacle and the size of the working channel, solving the defects of the fixed spacing and single adaptability of the traditional track walking mechanism, and greatly expanding the working scenarios and obstacle crossing adaptability of intelligent mobile equipment.

[0018] 3. When the swing arm and track are in the upright working state, the present invention uses a hydraulic cylinder to drive the support base to extend and form an auxiliary support structure. This can effectively correct the center of gravity of the whole machine, suppress the shaking and deviation of the machine body, improve the support rigidity and operational safety of the equipment during obstacle crossing, and ensure that the equipment can stably complete intelligent manufacturing operation and maintenance, inspection and other operations in complex and uneven working conditions, resulting in higher equipment reliability.

[0019] 4. The swing arm track in this utility model adopts an independent drive of a hub motor, combined with a chain and meshing tooth synchronous transmission structure, which can ensure continuous and stable track movement in any state of posture adjustment. The power output is stable and unaffected by posture changes. The structure has strong linkage and high operational stability, which can meet the high-precision, high-stability and continuous operation requirements of intelligent manufacturing equipment.

[0020] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present invention and, together with their description, serve to explain the principles of the present invention.

[0022] Figure 1 A schematic diagram of the first integral structure of a front and rear double swing arm six-track obstacle-crossing walking mechanism;

[0023] Figure 2 A front and rear double swing arm six-track obstacle-crossing walking mechanism Figure 1 Enlarged structural diagram at point A in the middle;

[0024] Figure 3 A schematic diagram of the second integral structure of a front and rear double swing arm six-track obstacle-crossing walking mechanism;

[0025] Figure 4 A front and rear double swing arm six-track obstacle-crossing walking mechanism Figure 3 Enlarged structural diagram at point B;

[0026] Figure 5 This is a front view schematic diagram of a front-and-back double-swing arm six-track obstacle-crossing walking mechanism;

[0027] Figure 6 A first cross-sectional structural schematic diagram of a front and rear double swing arm six-track obstacle-crossing walking mechanism;

[0028] Figure 7 This is a second cross-sectional structural schematic diagram of a front and rear double swing arm six-track obstacle-crossing walking mechanism;

[0029] Figure 8 A schematic diagram of the shell structure of a front and rear double swing arm six-track obstacle-crossing walking mechanism;

[0030] Figure 9 This is a schematic diagram of the worm gear and worm wheel structure of a front and rear double swing arm six-track obstacle-crossing walking mechanism.

[0031] The diagram shows the following components: 1. Chassis; 2. Track assembly; 3. Swing arm track; 4. Moving plate; 5. Frame; 6. Hub motor; 7. Drive shaft; 8. First meshing gear; 9. Driven shaft; 10. Second meshing gear; 11. Track; 12. Chain; 13. Crossbeam; 14. First articulation seat; 15. Second articulation seat; 16. First motor; 17. Housing; 18. Worm gear; 19. Worm wheel; 20. Second motor; 21. Rotary disk; 22. Mounting rod; 23. Guide frame; 24. Two-way lead screw; 25. Third motor; 26. Guide rail; 27. Slider; 28. Mounting frame; 29. ​​Hydraulic cylinder; 30. Support base. Detailed Implementation

[0032] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0035] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0036] like Figure 1-9 As shown, a front and rear double swing arm six-track obstacle-crossing walking mechanism includes a chassis 1, with track sets 2 symmetrically arranged on both sides of the chassis 1. The chassis 1 is connected to the track sets 2 through a drive component to form a moving area.

[0037] Here, the chassis 1 serves as the load-bearing base of the entire machine. The track sets 2, which are symmetrically arranged on both sides, can achieve synchronous or differential operation of the tracks through the power transmission of the internal drive components. This enables the entire machine to travel in a straight line and perform differential steering on a normal flat road surface. The symmetrical layout allows the weight of the entire machine to be evenly distributed to the track sets 2 on both sides, avoiding excessive wear on one side or deviation due to uneven loading, and providing a stable mobile base platform for subsequent obstacle crossing operations.

[0038] Furthermore, track group 2 adopts a tracked walking structure with continuous ground contact, forming a large contact area with the ground, which effectively reduces the ground pressure of the whole machine. On soft soil, gravel and other unpaved roads, it can reduce sinking and ensure the passability and continuity of movement. Compared with wheeled structures, it has stronger terrain adaptability.

[0039] Furthermore, the chassis 1 adopts a symmetrical layout of track groups 2 on both sides, which allows the drive components, transmission components and control components to be centrally arranged inside the chassis 1 or in symmetrical positions on both sides. This facilitates the optimization of the overall vehicle mass distribution and protection design. At the same time, the symmetrical structure reduces the variety of parts and the difficulty of spare parts management, and improves the manufacturability and maintenance economy of the whole machine.

[0040] It should be noted that the drive components are conventional drive elements used to drive the track assembly 2, such as motors, reducers and other supporting equipment, which will not be described in detail here.

[0041] A swing arm track 3 is symmetrically arranged on the chassis 1. The swing arm track 3 includes a frame 5. A hub motor 6 is fixedly installed on one side of the frame 5. A drive shaft 7 is sleeved on the output shaft of the hub motor 6. The drive shaft 7 has first meshing teeth 8 arranged in a ring at equal intervals. The other side of the frame 5 is rotatably connected to a driven shaft 9 through a bearing. The driven shaft 9 has second meshing teeth 10 arranged in a ring at equal intervals. The drive shaft 7 and the driven shaft 9 are driven to the outside of the track 11. The first meshing teeth 8 and the second meshing teeth 10 are driven to the chain 12 for synchronous rotation.

[0042] Here, the swing arm track 3 adopts a structure in which the hub motor 6 is built into one side of the frame 5. The output shaft of the hub motor 6 is directly fitted onto the drive shaft 7, eliminating intermediate deceleration or transmission links. The structure is compact and has high transmission efficiency. The drive shaft 7 meshes with the chain 12 through the first meshing tooth 8, and transmits power synchronously to the second meshing tooth 10 on the driven shaft 9, so that the drive shaft 7 and the driven shaft 9 rotate synchronously, thereby driving the track 11 to run. This independent drive method allows the swing arm track 3 to obtain continuous and independent walking power regardless of the swing angle or rotation posture, and is not limited by the movement state of the main track group 2 of the chassis 1.

[0043] Furthermore, the meshing transmission method of the chain 12 with the first meshing tooth 8 and the second meshing tooth 10 can ensure a strict transmission ratio compared with friction transmission. The rotational speed between the drive shaft 7 and the driven shaft 9 is kept precisely synchronized, avoiding slippage, tooth skipping or abnormal wear of the track 11 caused by the speed difference between the front and rear wheels. During obstacle crossing and climbing, the track 11 can always be tensioned and effectively adhere to the surface of the obstacle, maintaining a stable adhesion output.

[0044] Furthermore, the hub motor 6 is integrated inside the frame 5. The frame 5 also provides structural support for the hub motor 6, drive shaft 7, driven shaft 9 and track 11, forming an integrated independent walking unit. This modular design facilitates the overall disassembly and replacement of the swing arm track 3, and also reduces the risk of motion interference between the walking drive system and the attitude adjustment system during the swing and rotation adjustment process of the swing arm track 3, which is conducive to realizing complex multi-degree-of-freedom motion.

[0045] The swing arm track 3 is equipped with an adjustment component for adjusting its own angle. The adjustment component includes a crossbeam 13 fixedly connected to the frame 5. A first hinge seat 14 is fixedly installed on the crossbeam 13. A second hinge seat 15 is hinged to the first hinge seat 14. A first motor 16 is installed on the second hinge seat 15 through a fixing frame. When the first motor 16 works, it drives the frame 5 to rotate along its axis to form an angle adjustment zone.

[0046] Here, the crossbeam 13 is fixedly connected to the frame 5 as an intermediate load-bearing component. The first hinge seat 14 is fixed to the crossbeam 13. The second hinge seat 15 is connected to the first hinge seat 14 through a hinge shaft to form a rotating pair. The first motor 16 is mounted on the second hinge seat 15 through a fixing frame. Its output end is connected to the frame 5. When the first motor 16 is working, it can directly drive the frame 5 to rotate around its own longitudinal axis, so that the contact angle of the track 11's contact surface relative to the obstacle surface can be actively adjusted. This degree of freedom of rotation allows the swing arm track 3 to make fuller contact between the ground section of the track 11 and the obstacle surface through rotation adjustment when contacting inclined surfaces, arc surfaces, or irregular protrusions, rather than just making hard contact at a fixed angle.

[0047] Furthermore, the hinge relationship between the first hinge seat 14 and the second hinge seat 15 ensures that when the first motor 16 drives the frame 5 to rotate, the radial and axial loads borne by the hinge pair are reasonably decomposed. The rotation of the frame 5 will not generate additional coupling interference torque on the upstream swing adjustment mechanism, ensuring that the two degrees of freedom of rotation adjustment and swing adjustment can be controlled independently or cooperated, thereby improving the flexibility and accuracy of terrain fit adjustment.

[0048] Furthermore, the mounting base of the first motor 16 is set on the second hinge seat 15 instead of the chassis 1, so that the self-rotation drive system swings together with the swing arm track 3 as a whole. When the swing arm track 3 is at different swing angles, the relative position between the first motor 16 and the frame 5 remains unchanged, and the transmission connection does not change due to the change of swing angle. This simplifies the transmission path design and improves the reliability of the adjustment system under changing posture conditions.

[0049] The adjusting component also includes a housing 17 connected to the movable plate 4. A worm gear 18 is provided inside the housing 17. Both ends of the worm gear 18 are rotatably connected to the housing 17 via bearings. A worm wheel 19 adapted to the worm gear 18 is provided inside the housing 17. Both ends of the worm wheel 19 are rotatably connected to the housing 17 via bearings. The worm gear 18 and the worm wheel 19 mesh with each other. A second motor 20 is fixedly connected to the housing 17. The output end of the second motor 20 is connected to the worm gear 18. When the second motor 20 drives the worm gear 18 to rotate, the worm wheel 19 rotates accordingly to form a rotation zone.

[0050] Here, the housing 17 serves as the mounting and protective base for the worm 18 and worm wheel 19. Bearings provide rotational support for both ends of the worm 18 and the worm wheel 19, ensuring the operational accuracy and axial positioning of the meshing pair. The second motor 20 is fixed outside the housing 17, and its output end is directly connected to the worm 18. After driving the worm 18 to rotate, it drives the worm wheel 19 to rotate through the meshing relationship. The rotational motion of the worm wheel 19 is output to the outside of the housing 17 via the shaft, providing driving force for the subsequent linkage mechanism. The worm gear transmission itself has a reverse self-locking characteristic, that is, the worm wheel 19 cannot drive the worm 18 in the reverse direction. This characteristic plays a key role in the obstacle crossing process.

[0051] Furthermore, the reverse self-locking characteristic of the worm gear mechanism means that when the second motor 20 stops driving, even if the swing arm track 3 is subjected to the reverse force from the obstacle or the off-center load torque of the whole machine's weight, the worm gear 19 will not rotate in the opposite direction. The angle between the swing arm track 3 and the chassis 1 can be reliably locked at the current adjustment position without the need for additional brakes or locking devices. This simplifies the system structure and improves the reliability of attitude maintenance, effectively avoiding obstacle crossing failure or instability caused by unexpected changes in attitude angle during obstacle crossing.

[0052] Furthermore, the housing 17 encapsulates the worm 18, worm wheel 19, and lubricating medium, forming a closed or semi-closed transmission cavity. This effectively prevents external mud, water, and foreign objects from entering the meshing area, ensuring the normal operation of the worm gear pair in humid and dusty environments and extending the maintenance cycle. At the same time, the worm gear transmission has a large reduction ratio, allowing for smooth low-speed rotation of the worm wheel 19 at a relatively low output speed of the second motor 20. This facilitates precise control of the swing angle of the swing arm track 3, meeting the need for accurate adaptation to different obstacle heights.

[0053] One end of the worm gear 19 has a shaft that passes through the housing 17 to the outside. A rotating disk 21 is provided on the housing 17. The rotating disk 21 is connected to the shaft of the worm gear 19 located outside the housing 17. A mounting rod 22 is fixedly connected to the rotating disk 21. The end of the mounting rod 22 is connected to the second hinge seat 15. When in the rotation zone, the rotating disk 21, the mounting rod 22 and the second hinge seat 15 rotate together to form a linkage zone.

[0054] Here, the rotational motion of the worm gear 19 is transmitted to the rotating disk 21 through its shaft passing through the housing 17. The rotating disk 21 is fixedly connected to the shaft so that the two rotate synchronously. One end of the mounting rod 22 is fixed to the rotating disk 21, and the other end is fixedly connected to the second hinge seat 15, thus forming a rigid transmission chain from the worm gear 19 to the second hinge seat 15. When the rotating area is working, the rotation of the worm gear 19 causes the rotating disk 21 and the mounting rod 22 to deflect together. The deflection motion of the mounting rod 22 drives the second hinge seat 15 to rotate around the hinge axis of the first hinge seat 14, thereby causing the entire swing arm track 3 assembly to swing relative to the chassis 1 and change the included angle between the two.

[0055] Furthermore, the end of the mounting rod 22 is directly fixedly connected to the second hinge seat 15. The transmission path runs from the worm gear 19 through the rotating disk 21 and the mounting rod 22 to the second hinge seat 15. There are no flexible links or accumulated movement gaps in between. The transmission of force and motion is direct and accurate, and the swing response speed is fast. When it is necessary to quickly adjust the angle of the swing arm track 3 to climb steps or cross ditches during obstacle crossing, this rigid transmission chain can promptly convert the drive of the second motor 20 into the swing motion of the swing arm track 3, reducing response lag.

[0056] Furthermore, the rotating disk 21 and the worm gear shaft, the mounting rod 22 and the rotating disk 21, and the mounting rod 22 and the second hinge seat 15 are all detachable. When the swing arm track 3 assembly needs maintenance, replacement, or replacement of different specifications of swing arm tracks according to different operating requirements, it can be easily disassembled at each connection node, which improves the modularity and maintenance convenience of the whole machine.

[0057] A movable plate 4 is symmetrically slidable on the chassis 1. The movable plate 4 is connected to the swing arm track 3 and the adjusting component to form a spacing adjustment area. A guide frame 23 is symmetrically installed on the chassis 1. A double-acting screw 24 is installed inside the guide frame 23. Both ends of the double-acting screw 24 are connected to the guide frame 23 through bearings. Two sets of movable plates 4 are slidably installed inside the guide frame 23, and the two sets of movable plates 4 are respectively threaded to the two threaded sections of the double-acting screw 24. A third motor 25 is fixedly connected to the guide frame 23. The output end of the third motor 25 is connected to the end of the double-acting screw 24. When the third motor 25 drives the double-acting screw 24 to rotate, the two sets of movable plates 4 move closer to each other or further away.

[0058] Here, the guide frame 23 is fixed on the chassis 1 as a support frame for the spacing adjustment area. The bidirectional lead screw 24 is installed in the guide frame 23 through bearings at both ends and can rotate freely. The bidirectional lead screw 24 has two threaded sections with opposite directions of rotation. The two sets of moving plates 4 are respectively engaged on these two threaded sections. When the third motor 25 drives the bidirectional lead screw 24 to rotate, the two sets of moving plates 4 move towards each other or away from each other along the guide frame 23 using the transmission characteristics of the reverse threads. The movement of the moving plates 4 drives the adjustment components and the swing arm track 3 connected above to move as a whole, thereby changing the lateral spacing between the left and right swing arm tracks 3 to match the ravines of different widths or the boss obstacles of different spans.

[0059] Furthermore, the bidirectional lead screw 24 adopts a threaded transmission method, and the threaded pair itself has frictional self-locking characteristics. When the third motor 25 stops driving, the moving plate 4 is difficult to slide along the lead screw axis under the action of external force, and the position after the spacing adjustment can be reliably maintained. Even if the swing arm track 3 is subjected to the lateral reaction force of the obstacle or the lateral load generated by the shaking of the whole machine during the obstacle crossing process, the spacing between the two swing arm tracks 3 will not change unexpectedly, ensuring the stable execution of the obstacle crossing strategy.

[0060] Furthermore, the guide frame 23 provides sliding support and guidance for both sets of moving plates 4. The bidirectional lead screw 24 is integrated with the guide frame 23 in the same structure, making the overall structure compact. This reduces the cumulative assembly error caused by the dispersed arrangement of multiple guide components and transmission components on the chassis 1, which helps to ensure the synchronicity of movement and positional accuracy of the moving plates 4 on both sides, and also facilitates the overall protection and sealing design.

[0061] Guide rails 26 are symmetrically mounted on the chassis 1, and sliders 27 slide symmetrically on the guide rails 26. The sliders 27 are connected to the corresponding moving plates 4 through the mounting brackets 28.

[0062] Here, the guide rail 26 is fixed to the chassis 1, and together with the guide frame 23, it forms a composite guide system for the moving plate 4. The slider 27 can slide along the length direction on the guide rail 26. The mounting frame 28 rigidly connects the slider 27 and the moving plate 4 into one unit, so that when the moving plate 4 moves under the drive of the bidirectional screw 24, it is simultaneously constrained by the guide frame 23 and the guide rail 26, preventing the moving plate 4 from deflecting around the screw axis or shifting laterally perpendicular to the direction of movement during the movement, thus ensuring the straightness and symmetry of the swing arm track 3 spacing adjustment.

[0063] Furthermore, the rigid connection of the mounting bracket 28 transmits the load borne by the moving plate 4 to the guide rail 26 through the slider 27, and then the guide rail 26 distributes the load to the chassis 1. This avoids local wear or deformation caused by load concentration between the moving plate 4 and the guide bracket 23, and maintains good motion accuracy and fit clearance during long-term repeated adjustment and use.

[0064] Furthermore, the guide rail 26 and slider 27 can be standardized linear motion byproducts, whose manufacturing precision and motion performance are guaranteed by mature industrial standards. They are easy to select and have good interchangeability. While reducing processing difficulty and manufacturing cost, they can provide stable low-friction guidance for the sliding of the moving plate 4, reduce the drive load of the third motor 25, and improve the energy efficiency and response speed of the spacing adjustment system.

[0065] A hydraulic cylinder 29 is fixedly connected to the frame 5. A support base 30 is fixedly connected to the output end of the hydraulic cylinder 29. When the angle between the swing arm track 3 and the chassis 1 is 90 degrees, the hydraulic cylinder 29 drives the support base 30 to extend to form an auxiliary support area.

[0066] Here, the cylinder body of the hydraulic cylinder 29 is fixed to the frame 5, and the piston rod end is connected to the support base 30. When the swing arm track 3 swings to an upright position with an angle of 90 degrees with the chassis 1 through the adjusting component, the piston rod of the hydraulic cylinder 29 extends outward, pushing the support base 30 downward until it contacts the ground and applies a certain supporting force. At this time, a new support point is formed between the support base 30 and the ground. This support point is located outside the ground contact range of the track group 2 of the chassis 1, which effectively expands the effective support span of the whole machine. In working conditions where it is easy to overturn, such as climbing high steps or crossing wide ditches, this auxiliary support point can provide anti-overturning moment, significantly improving the longitudinal stability and lateral stability of the whole machine.

[0067] Furthermore, the hydraulic cylinder 29 has an adjustable extension stroke and the ability to continuously apply support force. When there are local unevenness in the ground, the support base 30 can extend to different height positions according to the actual contact situation and maintain a stable support force output. It will not cause support failure due to ground height differences. If the center of gravity of the whole machine changes during obstacle crossing, the incompressibility of the hydraulic medium inside the hydraulic cylinder 29 enables the support base 30 to continuously and stably bear the load, suppressing machine body sway and attitude deviation.

[0068] Furthermore, the hydraulic cylinder 29 and the support base 30 are integrated and installed on the frame 5, swinging together with the swing arm track 3. When the swing arm track 3 is in a retracted or tilted posture under non-auxiliary support conditions, the support base 30 is in a retracted state and away from the ground, which will not interfere with the walking and obstacle crossing actions of the swing arm track 3. There is also no need to set up an installation point for the auxiliary support device on the chassis 1. The structure has a high degree of integration, which facilitates the simplification of the overall layout and lightweight design.

[0069] In this utility model, the front and rear double swing arm six-track obstacle-crossing walking mechanism relies on the track groups 2 arranged on both sides of the chassis 1 and the internal drive components to achieve stable straight movement of the whole machine on the conventional working road surface.

[0070] During operation, the swing arm track 3 is driven by the hub motor 6 to rotate the drive shaft 7. Through the synchronous meshing of the first meshing tooth 8, the chain 12 and the second meshing tooth 10, the driven shaft 9 is driven to rotate in linkage. This ensures that the track 11 can move smoothly and continuously in any posture, providing stable traction power for the whole machine to overcome obstacles.

[0071] The equipment completes multi-degree-of-freedom terrain-fitting posture adjustment: the second motor 20 drives the worm gear 18 and worm wheel 19 to mesh and transmit power. Through the rigid linkage structure of the rotating disk 21 and the mounting rod 22, the second hinge seat 15 is driven to deflect relative to the first hinge seat 14, realizing the overall swing of the swing arm track 3, thereby adjusting the angle between it and the chassis 1. At the same time, the first motor 16 can independently drive the frame 5 to rotate along its own axis, so that the track 11 can adaptively fit the surface of various irregular obstacles and changes in terrain height, effectively solving the defects of traditional walking mechanisms such as low adjustment freedom, easy slippage and jamming when crossing obstacles.

[0072] The equipment can adaptively adjust the walking distance according to the width of the obstacle: the third motor 25 drives the bidirectional lead screw 24 to rotate, and the reverse thread transmission characteristics of the bidirectional lead screw 24 drive the two sets of moving plates 4 to slide synchronously towards or away from each other along the guide frame 23. At the same time, with the limiting and guiding function of the guide rail 26 and the slider 27, the adjustment process of the moving plate 4 is guaranteed to be smooth and without deviation, so as to achieve precise adjustment of the distance between the two side swing arm tracks 3 and adapt to the obstacle passage needs of different widths.

[0073] The equipment enhances obstacle-crossing stability through an auxiliary support structure: when the swing arm track 3 is adjusted to a 90-degree angle with the chassis 1 and the whole is in an upright support posture, the hydraulic cylinder 29 installed on the frame 5 drives the support base 30 to extend downward and abut against the ground, forming a reliable auxiliary support area, effectively correcting the center of gravity of the whole machine, suppressing the swaying and deviation of the machine body, and greatly improving the support stability and operational reliability of the equipment under complex obstacle-crossing conditions.

[0074] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A front and rear double swing arm six-track obstacle crossing walking mechanism, characterized in that: Includes a chassis (1), on both sides of the chassis (1) are symmetrically arranged track groups (2), the chassis (1) is connected to the track groups (2) through a drive unit to form a moving area, and the chassis (1) is symmetrically arranged with swing arm tracks (3), and the swing arm tracks (3) are provided with adjustment components for adjusting their own angle; The swing arm track (3) includes a frame (5), and the adjusting component includes a crossbeam (13) fixedly connected to the frame (5). A first hinge seat (14) is fixedly installed on the crossbeam (13), and a second hinge seat (15) is hinged on the first hinge seat (14). A first motor (16) is installed on the second hinge seat (15) through a fixing frame. When the first motor (16) works, it drives the frame (5) to rotate along its axis to form an angle adjustment zone. The adjusting component also includes a housing (17) connected to the movable plate (4). A worm (18) is provided inside the housing (17). The two ends of the worm (18) are rotatably connected to the housing (17) through bearings. A worm wheel (19) adapted to the worm (18) is provided inside the housing (17). The two ends of the worm wheel (19) are rotatably connected to the housing (17) through bearings. The worm (18) and the worm wheel (19) mesh with each other. A second motor (20) is fixedly connected to the housing (17). The output end of the second motor (20) is connected to the worm (18). When the second motor (20) drives the worm (18) to rotate, the worm wheel (19) rotates accordingly to form a rotation zone. A movable plate (4) is symmetrically slidable on the chassis (1). The movable plate (4) is connected to the swing arm track (3) and the adjusting component to form a spacing adjustment area.

2. The obstacle-crossing walking mechanism with front and rear double swing arms and six tracks according to claim 1, characterized in that: A hub motor (6) is fixedly installed on one side of the frame (5). A drive shaft (7) is sleeved on the output shaft of the hub motor (6). A first meshing tooth (8) is arranged in a ring at equal intervals on the drive shaft (7). A driven shaft (9) is rotatably connected to the other side of the frame (5) through a bearing. A second meshing tooth (10) is arranged in a ring at equal intervals on the driven shaft (9). A track (11) is driven to the outside of the drive shaft (7) and the driven shaft (9). A chain (12) for synchronous rotation is driven to the first meshing tooth (8) and the second meshing tooth (10).

3. The front and rear double swing arm six-track obstacle-surmounting traveling mechanism according to claim 2, characterized by: One end of the worm gear (19) shaft passes through the housing (17) to the outside. A rotating disk (21) is provided on the housing (17). The rotating disk (21) is connected to the shaft of the worm gear (19) located outside the housing (17). An mounting rod (22) is fixedly connected to the rotating disk (21). The end of the mounting rod (22) is connected to the second hinge seat (15). When in the rotation zone, the rotating disk (21), the mounting rod (22) and the second hinge seat (15) rotate together to form a linkage zone.

4. The front and rear double swing arm six-track obstacle-surmounting traveling mechanism according to claim 3, characterized by: A guide frame (23) is symmetrically installed on the chassis (1). A bidirectional lead screw (24) is provided inside the guide frame (23). Both ends of the bidirectional lead screw (24) are connected to the guide frame (23) through bearings. Two sets of moving plates (4) are slidably arranged inside the guide frame (23), and the two sets of moving plates (4) are respectively threaded to the two threaded sections of the bidirectional lead screw (24). A third motor (25) is fixedly connected to the guide frame (23). The output end of the third motor (25) is connected to the end of the bidirectional lead screw (24). When the third motor (25) drives the bidirectional lead screw (24) to rotate, the two sets of moving plates (4) move closer to each other or further away.

5. The front and rear double swing arm six-track obstacle-surmounting traveling mechanism according to claim 4, characterized by: The chassis (1) is symmetrically mounted with guide rails (26), and sliders (27) slide symmetrically on the guide rails (26). The sliders (27) are connected to the corresponding moving plates (4) through mounting brackets (28).

6. The obstacle-crossing walking mechanism with front and rear double swing arms and six tracks according to claim 1, characterized in that: A hydraulic cylinder (29) is fixedly connected to the frame (5), and a support base (30) is fixedly connected to the output end of the hydraulic cylinder (29). When the angle between the swing arm track (3) and the chassis (1) is ninety degrees, the hydraulic cylinder (29) drives the support base (30) to extend to form an auxiliary support area.

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