Single-track mobile mechanism

Abstract

The utility model belongs to mechanical automation engineering technical field, concretely is a kind of single track mobile mechanism, and the front and rear ends of mobile mechanism are equipped with driving module and deflection module, and the installation position of front and rear is opposite;Driving module includes driving motor, transmission mechanism and driving sprocket, and deflection module includes deflection motor and driven sprocket;Driving sprocket and driven sprocket are engaged with connecting cross plate, connecting cross plate between using the way of hinged, connecting cross plate is equipped with contact ball, realizes and ground contact;The front and rear ends of mobile mechanism are connected by connecting center stand, and the deformation of connecting center stand is driven by deflection module, and the deflection of mobile mechanism is realized.The utility model realizes in the good adaptive capacity of complex ground, and still can realize the extension of multiple modules;The utility model has good adaptability, control simple, and the characteristics such as strong extension ability.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical automation engineering technology, specifically a single-track mobile mechanism. Background Technology

[0002] With increasing human demand for environmental development and complex tasks, there is a need to focus on researching mobile mechanisms that can adapt to complex environments and terrains. Robots capable of adapting to multiple environmental tasks can be widely used in resource exploration, disaster relief, inspection and maintenance, and military reconnaissance, and their practical applications will continue to expand. Furthermore, researching miniature mobile mechanisms for complex environments, addressing the practical needs of confined workspaces, can significantly expand the working range and task execution capabilities of current mobile mechanisms. Therefore, researching mobile mechanisms suitable for confined spaces and complex terrains is of great significance. Utility Model Content

[0003] In order to meet the task requirements of robots in different environments and improve the robot's mobility and environmental adaptability in confined, unstructured environments, the purpose of this utility model is to provide a single-track mobile mechanism.

[0004] The objective of this utility model is achieved through the following technical solution: This utility model includes a drive module, a deflection module, a walking module, and a connecting center frame as the mounting base. The connecting center frame is a long strip with elasticity, strength, and deformability. Drive modules are installed at both ends of one diagonal of the connecting center frame, and deflection modules are installed at both ends of the other diagonal. Each drive module's output end is connected to a drive sprocket, and each deflection module's output end is rotatably mounted with a driven sprocket. The connecting center frame has multiple sets of branches along its length, with each set of branches consisting of two symmetrically arranged branches on the left and right. The walking module includes connecting side plates, connecting cross plates, and contact balls. Each branch's end is fixed to a connecting side plate, and the two connecting side plates fixed to the two symmetrical branches in each set are connected to each other on the upper and lower sides. The ends are connected by connecting horizontal plates, and adjacent connecting horizontal plates are hinged to each other. Each connecting horizontal plate has a contact ball installed on its outward-facing side. The teeth of each driving sprocket and driven sprocket mesh with the grooves A opened on each connecting horizontal plate. The driving module drives the driving sprocket to rotate, thereby driving the connecting horizontal plate and the contact ball to rotate, realizing the linear motion of the moving mechanism. Each branch on each side is connected by a traction rope. One end of the traction rope on each side is wrapped around the output end of the deflection module on the same side, and the other end of the traction rope on each side is always located outside the last branch. The deflection module drives the traction rope to tension, and the traction rope drives the connecting center frame to deflect and deform, thereby driving the entire moving mechanism to deflect and realize the steering motion.

[0005] Wherein: the drive sprocket at the front end of the connecting center frame is connected to the drive power source in the drive module at the front end through a front transmission mechanism, and the drive sprocket at the rear end of the connecting center frame is connected to the drive power source in the drive module at the rear end through a rear transmission mechanism. The front transmission mechanism and the rear transmission mechanism have the same structure. The drive power sources in the drive modules at both ends drive the drive sprockets at both ends to rotate synchronously in the same direction through the front transmission mechanism and the rear transmission mechanism, respectively, thereby realizing the linear motion of the moving mechanism; the deflection power source in the deflection module at the front end of the connecting center frame drives the front deflection mechanism, and the deflection power source in the deflection module at the rear end of the connecting center frame drives the rear deflection mechanism. The front deflection mechanism and the rear deflection mechanism have the same structure. The deflection power sources in the deflection modules at both ends drive the front deflection mechanism and the rear deflection mechanism to rotate synchronously in opposite directions, respectively, thereby realizing the deflection motion of the moving mechanism.

[0006] The axial center lines of the drive sprockets on both sides of each end of the connecting center frame are collinear with the axial center lines of the driven sprockets, and the axial center lines of the drive sprockets and driven sprockets at one end are parallel to the axial center lines of the drive sprockets and driven sprockets at the other end.

[0007] The drive module includes a drive motor, a transmission mechanism, a drive shaft, a motor bracket, and a left / right fixed plate. The left / right fixed plate is fixed to the connecting center frame, and the motor bracket is mounted on the left / right fixed plate. The drive motor is the drive power source and is fixed inside the outer cylinder of the motor bracket. The drive shaft is the output end of the drive module. One end of the drive shaft is rotatably connected to the left / right fixed plate, and the other end of the drive shaft is rotatably connected to the motor bracket. The output end of the drive motor is connected to the drive shaft through the transmission mechanism, and the drive sprocket is linked to one end of the drive shaft.

[0008] The transmission mechanism includes drive gear A and drive gear B. Drive gear A is a gear shaft. One end of drive gear A is connected to the output shaft of the drive motor via a key. The other end of drive gear A passes sequentially through the drive motor bearing cover, the drive motor bearing, and the left / right fixed plate, and abuts against the drive motor bearing via a shoulder to achieve axial positioning. The drive motor bearing cover is fixed to the left / right fixed plate, and the drive motor bearing is embedded within the drive motor bearing cover. Drive gear B is fixedly connected to the drive shaft and meshes with drive gear A. The inner and outer sides of the inner cylinder of the motor bracket are respectively embedded with an upper drive shaft plate and a lower drive shaft plate, and the upper and lower drive shaft plates are respectively fixedly connected to the inner cylinder of the motor bracket. An embedded drive slewing bearing is incorporated. One end of the drive shaft passes sequentially through the upper drive shaft plate, the drive slewing bearing, and the lower drive shaft plate, achieving a rotatable connection. The other end of the drive shaft passes sequentially through the drive bearing cover, the drive shaft end bearing, the left / right fixed plate, the drive shaft retaining ring, and the drive disc, achieving a rotatable connection. The outer ring of the drive slewing bearing abuts against the upper and lower drive shaft plates, respectively, while the inner ring abuts against the shaft shoulder on the drive shaft, achieving axial positioning. The drive bearing cover is fixed to the left / right fixed plate and contains the drive shaft end bearing. One end of the drive disc abuts against the drive shaft retaining ring, and the other end of the drive disc is embedded in and fixed to the drive sprocket. The drive shaft retaining ring is fixed to the left / right fixed plate.

[0009] The deflection module includes a deflection motor and a deflection mechanism. The deflection motor is the deflection power source. The deflection mechanism includes a motor bracket, a deflection shaft, a traction rope, and a left / right fixed plate. The left / right fixed plate is fixed to the connecting center frame. The motor bracket is mounted on the left / right fixed plate. The deflection motor is fixed inside the inner cylinder of the motor bracket. The deflection shaft is the output end of the deflection module. The deflection shaft is rotatably mounted on the left / right fixed plate. One end of the deflection shaft is connected to the output end of the deflection motor. The driven sprocket is rotatably connected to the other end of the deflection shaft. One end of the traction rope is wound around the deflection shaft. The deflection motor drives the deflection shaft to rotate. As the number of turns of the traction rope around the deflection shaft increases, it causes one side of the connecting center frame to deform, thereby deforming the entire moving mechanism and realizing the deflection motion.

[0010] The deflection mechanism further includes a deflection bearing, a deflection bearing cover, a deflection shaft retaining ring, a sprocket connecting plate, a bearing end cover, and a sprocket bearing. The deflection bearing cover is fixed to the left / right fixed plate and contains the deflection bearing. The deflection shaft retaining ring is fixed to the left / right fixed plate. The sprocket bearing is embedded in the driven sprocket. The other end of the deflection shaft passes through the deflection bearing cover, the deflection bearing, the deflection shaft retaining ring, and the sprocket bearing in sequence, and is fixedly connected to the bearing end cover at the other end of the deflection shaft. The outer ring of the sprocket bearing abuts against the sprocket connecting plate, and the inner ring of the sprocket bearing abuts against the deflection shaft retaining ring and the bearing end cover respectively to achieve axial positioning. The sprocket connecting plate is fixedly installed on the driven sprocket.

[0011] Each branch of the connecting center frame has a guide hole at its end along the length of the moving mechanism. There are two traction ropes, located on the left and right sides of the connecting center frame respectively. The traction rope on each side passes through the guide hole on the branch on the same side.

[0012] The inner sides of the upper and lower ends of the connecting side plate extend inward to form sliders. Each connecting horizontal plate has symmetrical "L"-shaped limiting blocks on its left and right sides facing inward. The sliders at the upper and lower ends of the connecting side plate are located outside the upper limiting blocks of the connected horizontal plate. The connecting horizontal plate outside the limiting blocks has symmetrical sliding grooves on its inner side. The sliders are located in the sliding grooves and there is a gap between them, so as to achieve sliding within the sliding grooves.

[0013] The walking module also includes an upper connecting clamp and a lower connecting clamp, which are fixed at the front and rear ends of the connecting center frame, respectively, and connected to the drive module and deflection module at the front and rear ends, respectively, to realize the connection of the overall structure.

[0014] The advantages and positive effects of this utility model are as follows: 1. This utility model has strong environmental adaptability, is easy to control, and has strong expansion capabilities.

[0015] 2. This utility model can be adapted to application scenarios such as ruins and gravel, and can also perform work tasks in confined spaces.

[0016] 3. This utility model has strong scalability and can be used to coordinate the operation of multiple mobile mechanisms according to actual needs. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is one of the internal structural diagrams of this utility model; Figure 3 This is the second schematic diagram of the internal structure of this utility model; Figure 4 This is the third schematic diagram of the internal structure of this utility model; Figure 5 This is the fourth schematic diagram of the internal structure of this utility model; Figure 6 This is the fifth schematic diagram of the internal structure of this utility model; Figure 7 This is a schematic diagram of the horizontal cross-section of the present invention; Figure 8 This is a cross-sectional view of the front end of the present invention; Figure 9 This is a comparison diagram of the connecting center frame of this utility model before and after deformation; Figure 10 This is a schematic diagram of the walking module of this utility model; Wherein: 1 is the drive module, 2 is the front transmission mechanism, 3 is the front deflection mechanism, 4 is the deflection module, 5 is the rear transmission mechanism, 6 is the rear transmission module, 7 is the walking module, 8 is the drive motor, 9 is the drive gear A, 10 is the drive gear B, 11 is the drive motor bearing, 12 is the drive shaft, 13 is the drive shaft end bearing, 14 is the drive slewing bearing, 15 is the drive motor bearing cover, 16 is the upper drive shaft plate, 17 is the lower drive shaft plate, 18 is the drive bearing cover, 19 is the drive disc, 20 is the drive sprocket, 21 is the drive shaft retaining ring, 22 is... Motor bracket, 23 is the traction rope, 24 is the deflection motor, 25 is the deflection shaft, 26 is the deflection bearing, 27 is the deflection bearing cover, 28 is the deflection shaft retaining ring, 29 is the sprocket connecting plate, 30 is the bearing end cover, 31 is the sprocket bearing, 32 is the driven sprocket, 33 is the connecting center frame, 34 is the connecting upper clamp, 35 is the connecting lower clamp, 36 is the connecting side plate, 37 is the connecting horizontal plate, 38 is the left fixed plate, 39 is the right fixed plate, 40 is the contact ball, 41 is the groove A, 42 is the slider, 43 is the limit block, 44 is the slide groove, and 45 is the guide hole. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] like Figures 1-10As shown, this utility model includes a drive module 1, a deflection module 4, a walking module 7, and a connecting center frame 33 as the mounting base. The connecting center frame 33 is a long strip with elasticity, strength, and deformability. In this embodiment, the material of the connecting center frame 33 is 3D printed nylon material, which can deform during deflection movement. The drive module 1 is installed at both ends of one diagonal of the connecting center frame 33, and the deflection module 4 is installed at both ends of the other diagonal. That is, the drive module 1 is installed at the front left and rear right of the connecting center frame 33, and the deflection module 4 is installed at the front right and rear left of the connecting center frame 33. Each drive module 1 has a drive sprocket 20 connected to its output end, and each deflection module 4 has a driven sprocket 32 ​​rotatably mounted on its output end. The connecting center frame 33 has multiple branches along its length, with each group of branches consisting of two symmetrically arranged branches on the left and right. The walking module 7 includes a connecting side plate 36, a connecting cross plate 37, and a contact ball 40. Each branch has a connecting side plate 36 fixed to its end. The upper and lower ends of the two connecting side plates 36 fixed to the two symmetrical branches in each group are connected by the connecting cross plate 37. Adjacent connecting cross plates 37 are hinged to each other to form a single track. Each connecting cross plate 37 has a contact ball 40 mounted on its outward-facing side. The chain teeth of each drive sprocket 20 and driven sprocket 32 ​​mesh with the grooves A41 opened on each connecting cross plate 37. The drive module 1 drives the drive sprocket 20 to rotate, thereby driving the connecting cross plate 37 and the contact ball 40 to rotate, realizing the linear motion of the moving mechanism. Each branch on each side is connected by a traction rope 23. One end of the traction rope 23 on each side is wrapped around the output end of the deflection module 4 on the same side. The other end of the traction rope 23 on each side is always located outside the last branch. The deflection module 4 drives the traction rope 23 to be tensioned. The traction rope 23 drives the connecting center frame 33 to deflect and deform, thereby driving the entire moving mechanism to deflect and achieve steering motion.

[0020] In this embodiment, the drive sprocket 20 at the front end of the central frame 33 is connected to the drive power source in the drive module 1 located at the front end via the front transmission mechanism 2. The drive sprocket 20 at the rear end of the central frame 33 is connected to the drive power source in the drive module 1 located at the rear end via the rear transmission mechanism 5. The front transmission mechanism 2 and the rear transmission mechanism 5 have the same structure. The drive power sources in the drive modules 1 at both ends drive the drive sprockets 20 at both ends to rotate synchronously in the same direction via the front transmission mechanism 2 and the rear transmission mechanism 5, respectively, thereby realizing the linear motion of the moving mechanism. The deflection power source in the deflection module 4 at the front end of the central frame 33 drives the front deflection mechanism 3, and the deflection power source in the deflection module 4 at the rear end of the central frame 33 drives the rear deflection mechanism 6. The front deflection mechanism 3 and the rear deflection mechanism 6 have the same structure. The deflection power sources in the deflection modules 4 at both ends drive the front deflection mechanism 3 and the rear deflection mechanism 6 to rotate synchronously in opposite directions, thereby realizing the deflection motion of the moving mechanism.

[0021] The drive module 1 in this embodiment includes a drive motor 8, a transmission mechanism, a drive shaft 12, a motor bracket 22, and a left fixing plate 38 / right fixing plate 39. The left fixing plate 38 / right fixing plate 39 is fixedly connected to the connecting center frame 33. The motor bracket 22 is installed on the left fixing plate 38 / right fixing plate 39. The drive motor 8 is the driving power source and is fixed inside the outer cylinder of the motor bracket 22. The drive shaft 12 is the output end of the drive module 1. One end of the drive shaft 12 is rotatably connected to the left fixing plate 38 / right fixing plate 39, and the other end of the drive shaft 12 is rotatably connected to the motor bracket 22. The output end of the drive motor 8 is connected to the drive shaft 12 through the transmission mechanism. The drive sprocket 20 is connected to one end of the drive shaft 12.

[0022] The aforementioned transmission mechanisms are the front transmission mechanism 2 and the rear transmission mechanism 5, which have the same structure. In this embodiment, the transmission mechanism includes a drive gear A9 and a drive gear B10. The drive gear A9 is a gear shaft. One end of the drive gear A9 is connected to the output shaft of the drive motor 8 via a key. The other end of the drive gear A9 passes sequentially through the drive motor bearing cover 15, the drive motor bearing 11, and the left fixing plate 38 / right fixing plate 39, and abuts against the drive motor bearing 11 via a shoulder, achieving axial positioning. The drive motor bearing cover 15 is fixed to the left fixing plate 38 / right fixing plate 39, and the drive motor bearing 11 is embedded within the drive motor bearing cover 15. The drive gear B10 is fixedly connected to the drive shaft 12 and meshes with the drive gear A9. The inner and outer sides of the inner cylinder of the motor bracket 22 are respectively embedded with an upper drive shaft plate 16 and a lower drive shaft plate 17, and the upper drive shaft plate 16 and the lower drive shaft plate 17 are respectively fixedly connected to the inner cylinder of the motor bracket 22. The upper drive shaft plate 16 and the lower drive shaft plate 17 are connected to the inner cylinder of the motor bracket 22. A drive rotary bearing 14 is embedded between the drive shaft lower plate 17 and the drive shaft lower plate 17. One end of the drive shaft 12 passes through the drive shaft upper plate 16, the drive rotary bearing 14, and the drive shaft lower plate 17 in sequence and is rotatably connected. The other end of the drive shaft 12 passes through the drive bearing cover 18, the drive shaft end bearing 13, the left fixing plate 38 / right fixing plate 39, the drive shaft retaining ring 21, and the drive disc 19 in sequence and is rotatably connected. The outer ring of the drive rotary bearing 14 is respectively connected to the drive shaft upper plate 16 and the drive shaft lower plate 17. The disc 17 abuts against the inner ring of the drive slewing bearing 14 and the shoulder of the drive shaft 12 to achieve axial positioning; the drive bearing cover 18 is fixed on the left fixed plate 38 / right fixed plate 39, and the drive shaft end bearing 13 is embedded in the drive bearing cover 18; one end of the drive disc 19 abuts against the drive shaft retaining ring 21, and the other end of the drive disc 19 is embedded in the drive sprocket 20 and fixed to the drive sprocket 20; the drive shaft retaining ring 21 is fixed on the left fixed plate 38 / right fixed plate 39.

[0023] The deflection module 4 in this embodiment includes a deflection motor 24 and a deflection mechanism. The deflection motor 24 is the deflection power source. The deflection mechanism includes a motor bracket 22, a deflection shaft 25, a traction rope 23, and a left fixing plate 38 / right fixing plate 39. The left fixing plate 38 / right fixing plate 39 is fixed to the connecting center frame 33. The motor bracket 22 is mounted on the left fixing plate 38 / right fixing plate 39. The deflection motor 24 is fixed inside the inner cylinder of the motor bracket 22. The deflection shaft 25 is the output end of the deflection module 4. 5. Rotary mounting on left fixed plate 38 / right fixed plate 39. One end of deflection shaft 25 is connected to the output shaft of deflection motor 24 by a key. Driven sprocket 32 ​​is rotatably connected to the other end of deflection shaft 25. One end (large end) of traction rope 23 is wound in groove B on deflection shaft 25. Deflection motor 24 drives deflection shaft 25 to rotate. As the number of turns of traction rope 23 on deflection shaft 25 increases, it causes one side of connecting center frame 33 to deform, thereby deforming the entire moving mechanism and realizing deflection movement.

[0024] The aforementioned deflection mechanisms are the front deflection mechanism 3 and the rear deflection mechanism 6, which have the same structure. In this embodiment, the deflection mechanism also includes a deflection bearing 26, a deflection bearing cover 27, a deflection shaft retaining ring 28, a sprocket connecting plate 29, a bearing end cover 30, and a sprocket bearing 31. The deflection bearing cover 27 is fixed to the left fixed plate 38 / right fixed plate 39, and the deflection bearing 26 is embedded within the deflection bearing cover 27. The deflection shaft retaining ring 28 is fixed to the left fixed plate 38 / right fixed plate 39, and the sprocket shaft... The bearing 31 is embedded in the driven sprocket 32. The other end of the deflection shaft 25 passes through the deflection bearing cover 27, the deflection bearing 26, the deflection shaft retaining ring 28 and the sprocket bearing 31 in sequence, and is fixedly connected to the bearing end cover 30 at the other end of the deflection shaft 25. The outer ring of the sprocket bearing 31 abuts against the sprocket connecting plate 29, and the inner ring of the sprocket bearing 31 abuts against the deflection shaft retaining ring 28 and the bearing end cover 30 respectively to achieve axial positioning. The sprocket connecting plate 29 is fixedly installed on the driven sprocket 32.

[0025] In this embodiment, the axial center lines of the drive sprockets 20 on both sides of each end of the connecting center frame 33 are collinear with the axial center lines of the driven sprockets 32, and the axial center lines of the drive sprockets 20 and driven sprockets 32 at one end are parallel to the axial center lines of the drive sprockets 20 and driven sprockets 32 at the other end.

[0026] In this embodiment, each branch of the connecting center frame 33 has a guide hole 45 at its end along the length of the moving mechanism. There are two traction ropes 23, located on the left and right sides of the connecting center frame 33 respectively. The traction rope 23 on each side passes through the guide hole 45 on the branch on the same side.

[0027] In this embodiment, both the connecting side plate 36 and the connecting horizontal plate 37 are rectangular plates, and the length direction of the connecting side plate 36 is perpendicular to the length direction of the connecting horizontal plate 37. The inner sides of the upper and lower ends of the connecting side plate 36 extend inward to form sliders 42. Each connecting horizontal plate 37 has symmetrically arranged "L"-shaped limiting blocks 43 on the left and right sides of its inner side. The sliders 42 at the upper and lower ends of the connecting side plate 36 are all located outside the upper limit blocks 43 of the connected connecting horizontal plate 37. The inner side of the connecting horizontal plate 37 outside the limiting blocks 43 has symmetrically arranged grooves 44. The sliders 42 are located in the grooves 44 and a gap is left between them, thereby realizing sliding within the grooves 44.

[0028] In this embodiment, each connecting horizontal plate 37 has two grooves A41 on its left and right sides for meshing with the teeth on the drive chain 20 and the driven sprocket 32. Each groove A41 has a contact ball 40 on its inner side to realize the movement of the walking module 7 with the contact surface.

[0029] The walking module 7 in this embodiment also includes an upper connecting clamp 34 and a lower connecting clamp 35. The upper connecting clamp 34 and the lower connecting clamp 35 are respectively fixed to the front and rear ends of the connecting center frame 33, and are respectively fixed to the motor brackets 22 at the front and rear ends to realize the connection of the overall structure.

[0030] In this embodiment, when the leftward deflection movement is performed, the deflection motor 24 of the front deflection mechanism 3 rotates clockwise, causing the traction rope 23 wound on the deflection shaft 25 on the front right side to loosen, so that the right side structure of the connecting center frame 33 is not subjected to force during deflection. At the same time, the deflection motor 24 of the rear deflection mechanism 6 rotates counterclockwise, causing the traction rope 23 wound on the deflection shaft 25 on the rear left side to tighten, so that the left side structure of the connecting center frame 33 is subjected to force and deformed during deflection, thereby causing the connecting side plates 36 and connecting cross plates 37 on both sides of the connecting center frame 33 to shift to the left, realizing the leftward deflection of the entire moving mechanism.

[0031] The working principle of this utility model is as follows: This embodiment is a single-track mobile motion mechanism that can realize linear and deflection motion of a single mechanism module, and the connection method is flexible, which has good environmental adaptability.

[0032] When the moving mechanism moves linearly, power is provided by the drive motors 8 at both ends, driving the drive gear A9 to rotate and mesh with the drive gear B10 to transmit torque. The two ends of the drive gear B10 are rotatably connected to the drive shaft slewing bearing 14 and the drive shaft end bearing 13, respectively, and are connected to the drive disk 19 through D-shaped holes. The drive sprocket 20 is fixedly connected to the drive disk 19 to achieve rotation. At the same time, the teeth of the drive sprocket 20 mesh with the groove A41 on the connecting horizontal plate 37, driving the connecting horizontal plate 37 and the contact ball 40 fixed to it to rotate continuously, realizing the forward and backward movement of the moving mechanism. At this time, the sliding groove 44 of the connecting horizontal plate 37 can move along the slider 42 of the connecting side plate 36 to ensure the smooth rotation of the entire connecting horizontal plate 37.

[0033] When the moving mechanism deflects, it is powered by the deflection motors 24 at both ends. Since the deflection motion relies on the deformation of the connecting center frame 33, the deflection motors 24 at both ends rotate in opposite directions. The deflection motors 24 drive the deflection shaft 25 to rotate, which in turn causes the traction rope 23 wound on the groove B of the deflection shaft 25 to tighten or loosen. When deflecting to the left, the left traction rope 23 is tightened and the right traction rope 23 is loosened. When deflecting to the right, the opposite is true. Through the cooperation of the two traction ropes 23, the connecting center frame 33 is deformed to the left or right, which at the same time causes the connecting side plate 36 and the connecting cross plate 37 to shift to the left or right. The front and rear ends of the connecting center frame 33 are connected to the front and rear motor brackets 22 through the connecting upper clamp 34 and the connecting lower clamp 35, respectively, to realize the overall deflection of the single track moving mechanism.

[0034] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A single-track moving mechanism, characterized in that: The system includes a drive module (1), a deflection module (4), a walking module (7), and a connecting center frame (33) as the mounting base. The connecting center frame (33) is a long strip with elasticity, strength, and deformability. The drive module (1) is installed at both ends of one diagonal of the connecting center frame (33), and the deflection module (4) is installed at both ends of the other diagonal. The output end of each drive module (1) is connected to a drive sprocket (20), and the output end of each deflection module (4) is rotatably installed with a driven sprocket (32). The connecting center frame (33) has multiple branches along its length, and each set of branches consists of two symmetrically arranged branches on the left and right. The walking module (7) includes a connecting side plate (36), a connecting cross plate (37), and a contact ball (40). The end of each branch is fixed to a connecting side plate (36), and the upper and lower ends of the two connecting side plates (36) fixed to the two symmetrical branches in each set are respectively connected by a connecting... The horizontal plates (37) are connected, and the two adjacent horizontal plates (37) are hinged to each other. Each horizontal plate (37) has a contact ball (40) installed on its outward side. The chain teeth of each drive sprocket (20) and driven sprocket (32) mesh with the groove A (41) opened on each horizontal plate (37). The drive module (1) drives the drive sprocket (20) to rotate, thereby driving the horizontal plate (37) and contact ball (40) to rotate, realizing the linear motion of the moving mechanism. Each branch on each side is connected by a traction rope (23). One end of the traction rope (23) on each side is wrapped around the output end of the deflection module (4) on the same side. The other end of the traction rope (23) on each side is always located outside the last branch. The deflection module (4) drives the traction rope (23) to be tensioned. The traction rope (23) drives the connecting center frame (33) to deflect and deform, thereby driving the moving mechanism to deflect as a whole, realizing the turning motion.

2. The single-track moving mechanism according to claim 1, characterized in that: The drive sprocket (20) at the front end of the connecting center frame (33) is connected to the drive power source in the drive module (1) at the front end via the front transmission mechanism (2). The drive sprocket (20) at the rear end of the connecting center frame (33) is connected to the drive power source in the drive module (1) at the rear end via the rear transmission mechanism (5). The front transmission mechanism (2) and the rear transmission mechanism (5) have the same structure. The drive power sources in the drive modules (1) at both ends drive the drive sprockets at both ends via the front transmission mechanism (2) and the rear transmission mechanism (5), respectively. 20) The synchronous rotation in the same direction is used to realize the linear motion of the moving mechanism; the deflection power source in the deflection module (4) at the front end of the connecting center frame (33) drives the front deflection mechanism (3), and the deflection power source in the deflection module (4) at the rear end of the connecting center frame (33) drives the rear deflection mechanism (6). The front deflection mechanism (3) and the rear deflection mechanism (6) have the same structure. The deflection power sources in the deflection modules (4) at the front and rear ends drive the front deflection mechanism (3) and the rear deflection mechanism (6) to rotate synchronously in opposite directions, thereby realizing the deflection motion of the moving mechanism.

3. The single-track moving mechanism according to claim 1, characterized in that: The axial center lines of the drive sprockets (20) on both sides of each end of the connecting center frame (33) are collinear with the axial center line of the driven sprocket (32), and the axial center lines of the drive sprocket (20) and driven sprocket (32) at one end are parallel to the axial center lines of the drive sprocket (20) and driven sprocket (32) at the other end.

4. The single-track moving mechanism according to claim 1, characterized in that: The drive module (1) includes a drive motor (8), a transmission mechanism, a drive shaft (12), a motor bracket (22), and a left fixed plate (38) / right fixed plate (39). The left fixed plate (38) / right fixed plate (39) is fixed on the connecting center frame (33). The motor bracket (22) is installed on the left fixed plate (38) / right fixed plate (39). The drive motor (8) is the driving power source and is fixed on the inner side of the outer cylinder of the motor bracket (22). The drive shaft (12) is the output end of the drive module (1). One end of the drive shaft (12) is rotatably connected to the left fixed plate (38) / right fixed plate (39). The other end of the drive shaft (12) is rotatably connected to the motor bracket (22). The output end of the drive motor (8) is connected to the drive shaft (12) through the transmission mechanism. The drive sprocket (20) is connected to one end of the drive shaft (12).

5. The single-track moving mechanism according to claim 4, characterized in that: The transmission mechanism includes a drive gear A (9) and a drive gear B (10). The drive gear A (9) is a gear shaft. One end of the drive gear A (9) is connected to the output shaft of the drive motor (8) by a key. The other end of the drive gear A (9) passes through the drive motor bearing cover (15), the drive motor bearing (11), and the left fixed plate (38) / right fixed plate (39) in sequence, and abuts against the drive motor bearing (11) through a shoulder to achieve axial positioning. The drive motor bearing cover (15) is fixed to the left fixed plate (38) / right fixed plate (39). On the fixed plate (39), the drive motor bearing cover (15) is embedded with a drive motor bearing (11); the drive gear B (10) is fixed to the drive shaft (12) and meshes with the drive gear A (9); the inner and outer sides of the inner cylinder of the motor bracket (22) are respectively embedded with an upper drive shaft plate (16) and a lower drive shaft plate (17), and the upper drive shaft plate (16) and the lower drive shaft plate (17) are respectively fixed to the inner cylinder of the motor bracket (22), and a drive rotary bearing is embedded between the upper drive shaft plate (16) and the lower drive shaft plate (17). (14) One end of the drive shaft (12) passes through the upper drive shaft plate (16), the drive rotary bearing (14), and the lower drive shaft plate (17) in sequence and is rotatably connected. The other end of the drive shaft (12) passes through the drive bearing cover (18), the drive shaft end bearing (13), the left fixing plate (38) / right fixing plate (39), the drive shaft retaining ring (21), and the drive disc (19) in sequence and is rotatably connected. The outer ring of the drive rotary bearing (14) abuts against the upper drive shaft plate (16) and the lower drive shaft plate (17) respectively. The inner ring of the bearing (14) abuts against the shoulder on the drive shaft (12) to achieve axial positioning; the drive bearing cover (18) is fixed on the left fixed plate (38) / right fixed plate (39), the drive bearing cover (18) is embedded with the drive shaft end bearing (13), one end of the drive disc (19) abuts against the drive shaft retaining ring (21), the other end of the drive disc (19) is embedded in the drive sprocket (20) and fixed to the drive sprocket (20), and the drive shaft retaining ring (21) is fixed on the left fixed plate (38) / right fixed plate (39).

6. The single-track moving mechanism according to claim 1, characterized in that: The deflection module (4) includes a deflection motor (24) and a deflection mechanism. The deflection motor (24) is the deflection power source. The deflection mechanism includes a motor bracket (22), a deflection shaft (25), a traction rope (23), and a left fixed plate (38) / right fixed plate (39). The left fixed plate (38) / right fixed plate (39) is fixed to the connecting center frame (33). The motor bracket (22) is installed on the left fixed plate (38) / right fixed plate (39). The deflection motor (24) is fixed inside the inner cylinder of the motor bracket (22). The deflection shaft (25) is the deflection mechanism of the deflection module (4). At the output end, the deflection shaft (25) is rotatably mounted on the left fixed plate (38) / right fixed plate (39). One end of the deflection shaft (25) is connected to the output end of the deflection motor (24), and the driven sprocket (32) is rotatably connected to the other end of the deflection shaft (25). One end of the traction rope (23) is wound around the deflection shaft (25), and the deflection motor (24) drives the deflection shaft (25) to rotate. As the number of turns of the traction rope (23) on the deflection shaft (25) increases, the unilateral deformation of the connecting center frame (33) is driven, thereby causing the entire moving mechanism to deform and achieve deflection motion.

7. The single-track moving mechanism according to claim 6, characterized in that: The deflection mechanism further includes a deflection bearing (26), a deflection bearing cover (27), a deflection shaft retaining ring (28), a sprocket connecting plate (29), a bearing end cover (30), and a sprocket bearing (31). The deflection bearing cover (27) is fixed on the left fixed plate (38) / right fixed plate (39), and the deflection bearing (26) is embedded in the deflection bearing cover (27). The deflection shaft retaining ring (28) is fixed on the left fixed plate (38) / right fixed plate (39), and the sprocket bearing (31) is embedded in the driven sprocket (32). The other end of the deflection shaft (25) passes through the deflection bearing cover (27), the deflection bearing (26), the deflection shaft retaining ring (28) and the sprocket bearing (31) in sequence, and is fixedly connected to the bearing end cover (30) at the other end of the deflection shaft (25); the outer ring of the sprocket bearing (31) abuts against the sprocket connecting plate (29), and the inner ring of the sprocket bearing (31) abuts against the deflection shaft retaining ring (28) and the bearing end cover (30) respectively to achieve axial positioning; the sprocket connecting plate (29) is fixedly installed on the driven sprocket (32).

8. The single-track moving mechanism according to claim 1, characterized in that: Each branch of the connecting center frame (33) has a guide hole (45) at its end along the length of the moving mechanism. There are two traction ropes (23), located on the left and right sides of the connecting center frame (33) respectively. The traction ropes (23) on each side pass through the guide holes (45) on the branches on the same side.

9. The single-track moving mechanism according to claim 1, characterized in that: The inner sides of the upper and lower ends of the connecting side plate (36) extend inward to form sliders (42). Each connecting horizontal plate (37) has "L"-shaped limiting blocks (43) symmetrically arranged on the left and right sides of its inner side. The sliders (42) at the upper and lower ends of the connecting side plate (36) are all located outside the upper limit blocks (43) of the connected horizontal plate (37). The inner side of the connecting horizontal plate (37) outside the limiting block (43) is symmetrically provided with grooves (44). The sliders (42) are located in the grooves (44) and there is a gap between them and the grooves (44), so as to achieve sliding in the grooves (44).

10. The single-track moving mechanism according to claim 1, characterized in that: The walking module (7) also includes an upper connecting clamp (34) and a lower connecting clamp (35). The upper connecting clamp (34) and the lower connecting clamp (35) are fixed at the front and rear ends of the connecting center frame (33) respectively, and are connected to the driving module (1) and the deflection module (4) at the front and rear ends respectively, so as to realize the connection of the overall structure.

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