CN111634341A - Self-adaptive under-actuated deformation crawler belt - Google Patents
Self-adaptive under-actuated deformation crawler belt Download PDFInfo
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- CN111634341A CN111634341A CN202010640896.5A CN202010640896A CN111634341A CN 111634341 A CN111634341 A CN 111634341A CN 202010640896 A CN202010640896 A CN 202010640896A CN 111634341 A CN111634341 A CN 111634341A
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- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000005265 energy consumption Methods 0.000 abstract description 5
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- 230000007704 transition Effects 0.000 description 14
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
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Abstract
The invention belongs to the technical field of tracks, and particularly relates to a self-adaptive under-actuated deformed track; the self-adaptive under-actuated deformable crawler comprises a planetary gear train and a crawler wheel train, wherein the crawler wheel train comprises a crawler driven by a planetary gear, two driven wheels driven by the crawler, and two telescopic side plates connected with the driven wheels. The invention provides a novel self-adaptive under-actuated deformable crawler, which drives an included angle alpha between a planetary rod and a telescopic side plate to change through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a crawler wheel train, so that the deformable crawler can be changed into various motion modes, and the functions of rapidly crossing obstacles and adapting to complex terrains are realized; meanwhile, less driving is adopted based on an underactuated mode and a minimum energy consumption principle, so that the obstacle crossing response time is shortened, the overall weight is reduced, the rapid obstacle crossing can be realized, and the cost is reduced.
Description
Technical Field
The invention belongs to the technical field of tracks, and particularly relates to a self-adaptive under-actuated deformable track.
Background
As the crawler-type moving mechanism has the characteristics of small specific grounding pressure and strong environment adaptability, students at home and abroad further improve the obstacle surmounting property and the environment adaptability and carry out deep research, and the crawler-type moving mechanism can be divided into a swing arm type crawler-type moving mechanism, a combined type crawler-type moving mechanism, a variable crawler-type moving mechanism, a self-adaptive differential moving mechanism and other moving forms. Although these mechanisms can climb over obstacles, they do not adapt quickly to complex terrain.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a novel self-adaptive under-actuated deformation crawler.
The specific technical scheme of the invention is as follows:
the invention provides a self-adaptive under-actuated deformable crawler which comprises a planetary gear train and a crawler wheel train, wherein the crawler wheel train comprises a crawler driven by a planetary gear, two driven wheels driven by the crawler wheel and a telescopic side plate connected with the two driven wheels; the planetary gear train comprises two planetary gears for driving the crawler belt, a planetary rod connected with the two planetary gears, a main driving mechanism for driving the planetary gears to rotate, and a deformation driving mechanism for driving the planetary rod and the telescopic side plate to change an included angle alpha; wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees.
The main driving mechanism comprises a driving wheel for driving the two planet wheels and a main driving motor for driving the driving wheel to rotate; and a connecting line between one driven wheel and one adjacent planet wheel is parallel and equal to a connecting line between the other adjacent planet wheel and the other driven wheel.
The improved main driving mechanism further comprises a walking driving shaft, a first bevel gear and a second bevel gear meshed with the first bevel gear, one end of the walking driving shaft sequentially penetrates through the telescopic side plate and the planetary rod and is fixedly connected with the driving wheel, the other end of the walking driving shaft is rotatably connected onto a bearing seat, the first bevel gear is sleeved on the walking driving shaft and is vertically connected with the second bevel gear, and the second bevel gear is sleeved on an output shaft of the main driving motor.
The telescopic side plate comprises a side plate body and two springs arranged on the side plate body, two ends of each spring are connected with spring seats, one of the spring seats is fixed on the side plate body, and the other spring seat is connected with a corresponding driven wheel and slides along with the driven wheel.
The improved telescopic side plates are arranged on the front side and the rear side of the driven wheel respectively, and two sliding grooves for the driven wheel to slide are formed in the side plate body of each telescopic side plate.
In a further improvement, the length of the side plate body is greater than that of the planetary rods.
Further, the crawler wheel system further comprises two driven shafts, each driven shaft is sleeved in the corresponding driven wheel, and two ends of each driven shaft penetrate through the corresponding spring seat and are connected in the sliding groove in a sliding mode.
In a further improvement, the planetary gear train further comprises a planetary driving wheel, two planetary driven wheels and a synchronous belt, wherein the planetary driving wheel is connected with the driving wheel and arranged on one side far away from the main driving motor, the two planetary driven wheels are respectively connected with the two planetary wheels and are arranged on the same side with the planetary driving wheel, and the synchronous belt is connected with the planetary driving wheel and the two planetary driven wheels; the planet pole is equipped with two and locates respectively the front and back both sides of planet wheel, one of them planet pole both ends are connected respectively on two planet wheels, another the both ends of planet pole are connected respectively two the planet is followed the driving wheel.
The deformation driving mechanism comprises a deformation driving motor, the deformation driving motor and the planet driving wheel are arranged on the same side, and an output shaft penetrates through the side plate and is connected with the planet wheel.
The utility model provides an use moving mechanism of self-adaptation under-actuated deformation track, include the frame and locate four self-adaptation under-actuated deformation tracks on the frame, bearing frame and main drive motor all locate the bottom of frame.
The invention has the following beneficial effects:
the invention provides a novel self-adaptive under-actuated deformable crawler, which drives an included angle alpha between a planetary rod and a telescopic side plate to change through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a crawler wheel train, so that the deformable crawler can be changed into various motion modes, and the functions of rapidly crossing obstacles and adapting to complex terrains are realized; meanwhile, less driving is adopted based on an underactuated mode and a minimum energy consumption principle, so that the obstacle crossing response time is shortened, the overall weight is reduced, the rapid obstacle crossing can be realized, and the cost is reduced.
Drawings
FIG. 1 is a schematic structural diagram of an adaptive under-actuated deformable track according to the present invention;
FIG. 2 is a schematic structural view of a deformed track body according to the present invention;
FIG. 3 is a rear view of a deformed track body according to the present invention;
FIG. 4 is a schematic structural view of a straight arm mode of the deformed track body of the present invention;
FIG. 5 is a schematic structural view of the deformed track body in a normal mode according to the present invention;
FIG. 6 is a schematic structural view of a transition mode of a deformed track body according to the present invention;
7 a-7 f are schematic views of the adaptive under-actuated deformed endless track of the straight arm mode of the present invention crossing a groove;
8 a-8 f are schematic diagrams of the adaptive under-actuated deformed track of the orthogonal mode of the present invention crossing an obstacle;
FIGS. 9 a-9 f are schematic views of an adaptive under-actuated deformed track crossing a groove in a transition mode of the present invention;
10 a-10 f are schematic views of the adaptive under-actuated deformed track crossing an obstacle in the transition mode of the present invention;
fig. 11 is a schematic structural diagram of a traveling mechanism to which the adaptive under-actuated deformable crawler belt of the invention is applied.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
The invention provides a self-adaptive under-actuated deformable crawler, which comprises a planetary gear train 1 and a crawler gear train 2, wherein the crawler gear train 2 comprises a crawler 21 driven by a planet wheel 11, two driven wheels 22 driven by the crawler 21 and a telescopic side plate 23 connected with the two driven wheels 22; the planetary gear train 1 comprises two planetary gears 11 for driving the crawler belt 21, a planetary rod 12 connected with the two planetary gears 11, a main driving mechanism 13 for driving the planetary gears 11 to rotate, and a deformation driving mechanism 14 for driving the planetary rod 12 and the telescopic side plate 23 to change an included angle alpha; wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees. The included angle α in this embodiment refers to the included angle between the planet bar and the retractable side plate in the two-dimensional plane formed by the projection in the direction of the front view of fig. 1 (the direction of the deformation driving mechanism 14 is the main view direction), and also refers to the back view of fig. 3, which is a two-dimensional view in which the included angle between the planet bar and the retractable side plate is α.
According to the change of the rotation angle of the planetary rod, the deformed crawler body can be switched into 3 motion modes, including a straight arm mode, an orthogonal mode and a transition mode; an included angle alpha between a planet rod of the straight-arm mode deformed crawler body and the side plate is 0 degree, as shown in fig. 4; an included angle alpha between the planet rods of the orthogonal mode deformed crawler belt body and the side plate is 90 degrees, as shown in fig. 5; the included angle alpha between the planet rod of the transition mode deformed crawler body and the side plate is 0-90 degrees, and as shown in figure 6, the deformed crawler body can adapt to various terrains by switching the motion modes of the deformed crawler body.
The invention provides a novel self-adaptive under-actuated deformable crawler, which drives an included angle alpha between a planetary rod and a telescopic side plate to change through a deformation driving mechanism so as to drive the deformation of a planetary gear train and a crawler wheel train, so that the deformable crawler can be changed into various motion modes, and the functions of rapidly crossing obstacles and adapting to complex terrains are realized; meanwhile, less driving is adopted based on an underactuated mode and a minimum energy consumption principle, so that the obstacle crossing response time is shortened, the overall weight is reduced, the rapid obstacle crossing can be realized, and the cost is reduced.
In the moving process of the self-adaptive under-actuated deformed crawler belt, a main driving mechanism drives a crawler belt wheel train to rotate to 1 degree of freedom through a planetary gear train, a deformed driving mechanism drives the planetary gear train to rotate to 1 degree of freedom, and the whole deformed crawler belt rotates to 1 degree of freedom around the main driving mechanism, namely the self-adaptive under-actuated deformed crawler belt has 3 degrees of freedom, and two driving mechanisms are adopted, so that the deformed crawler belt is an under-actuated device.
As shown in fig. 1, the main driving mechanism 13 in this embodiment includes a driving wheel 130 for driving the two planetary wheels 11 and a main driving motor 131 for driving the driving wheel 130 to rotate; the line between one driven wheel 22 and one adjacent planet wheel 11 is parallel and equal to the line between the other adjacent planet wheel 11 and the other driven wheel 22. In the embodiment, the two driven wheels and the two planetary wheels are connected through the crawler and form a parallelogram structure, so that the deformed crawler can be deformed into three motion modes, namely a straight arm mode (shown in figure 4), an orthogonal mode (shown in figure 5) and a transition mode (shown in figure 6), and can be adapted to various complex terrains.
As shown in fig. 1, in this embodiment, the main driving mechanism 13 further includes a walking driving shaft 132, a first bevel gear 133, and a second bevel gear 134 engaged with the first bevel gear 133, one end of the walking driving shaft 132 sequentially passes through the retractable side plate 23 and the planetary rod 12 and is fixedly connected with the driving wheel 130, the other end of the walking driving shaft 132 is rotatably connected to a bearing seat 135, the first bevel gear 133 is sleeved on the walking driving shaft 132 and is vertically connected with the second bevel gear 134, and the second bevel gear 134 is sleeved on an output shaft of the main driving motor 131. In the embodiment, the rotation of the main driving motor drives the rotation of the second bevel gear, and the second bevel gear is meshed with the first bevel gear, so that the rotation of the second bevel gear drives the first bevel gear to rotate, and further drives the driving wheel to rotate through the walking driving shaft, and the arrangement can more reasonably utilize space and reduce the quality of a vehicle body; the first bevel gear and the walking driving shaft and the second bevel gear and the main driving motor can be connected through keys.
The deformed crawler belt is mainly characterized by being capable of adapting to terrain in a self-adaptive mode and further moving in a state of minimum energy consumption. When the obstacle crossing device meets an obstacle and is blocked from moving according to the original low-energy-consumption state, the device does not need identification equipment such as a sensor, the traction force for moving the obstacle crossing device is instantly converted into torque rotating around the axis direction of a driving wheel, and the deformed track rotates around a walking driving shaft, so that the obstacle crossing response time is shortened, and the purpose of rapidly rolling and crossing obstacles is achieved.
As shown in fig. 2 and 3, in the present embodiment, the retractable side plate 23 includes a side plate body 230 and two springs 231 disposed on the side plate body 230, two ends of each spring 231 are connected to a spring seat 232, one of the spring seats 232 is fixed on the side plate body 230, and the other spring seat 232 is connected to the corresponding driven wheel 22 and slides with the driven wheel 22. The spring is arranged to ensure that the crawler belt has a certain tension, so that the deformation function of the deformed crawler belt is realized.
As shown in fig. 2 and 3, in the present embodiment, two retractable side plates 23 are provided, and are respectively provided on the front side and the rear side of the driven wheel 22, and two sliding grooves 233 for the driven wheel 22 to slide are provided on the side plate body 230 of each retractable side plate 23. The sliding groove is arranged to facilitate the deformation and movement of the driven wheel and limit the movement distance of the driven wheel.
The length of the side plate body 230 is greater than the length of the planetary bars 12 in this embodiment. The length of the side plate is longer than that of the planet rods, so that the deformation of the deformed crawler body is facilitated, and the crawler body is changed into a straight-arm type rear planet wheel which is respectively positioned between the driving wheel and the driven wheel.
As shown in fig. 2 and fig. 3, the crawler belt system 2 of the present embodiment further includes two driven shafts 24, each driven shaft 24 is respectively sleeved in the corresponding driven wheel 22, and two ends of each driven shaft respectively penetrate through the corresponding spring seat 232 and are slidably connected in the sliding groove 233. The driven shaft is fixedly connected with the spring seat, so that the crawler belt is guaranteed to have a certain tensile force, and the deformation function of the deformed crawler belt is achieved.
As shown in fig. 2, in this embodiment, the planetary gear train 1 further includes a planetary driving wheel 15, two planetary driven wheels 16 and a synchronous belt 17, the planetary driving wheel 15 is connected to the driving wheel 130 and is disposed at a side far from the main driving motor 131, the two planetary driven wheels 16 are respectively connected to the two planetary wheels 11 and are disposed at the same side as the planetary driving wheel 15, and the synchronous belt 17 is connected to the planetary driving wheel 15 and the two planetary driven wheels 16; the planet rods 12 are provided with two planet rods 12 which are respectively arranged on the front side and the rear side of the planet wheel 11, two ends of one planet rod 12 are respectively connected to the two planet wheels 11, and the other two ends of the planet rod 12 are respectively connected to the two planet driven wheels 16. The driving wheel is fixedly connected with the planet driving wheel, and the planet wheel is fixedly connected with the planet driven wheel, so that synchronous rotation is realized; the fixed connection may be a shaft connecting the two wheels, the shaft being keyed to the wheels.
In this embodiment, the deformation driving mechanism 14 includes a deformation driving motor, the deformation driving motor and the planet driving wheel 15 are disposed on the same side, and an output shaft passes through a side plate and is connected with the planet wheel 11.
In the embodiment, the main driving motor drives the driving wheel and the planet driving wheel to synchronously rotate through the walking driving shaft, so as to drive the synchronous belt, the planet wheel and the planet driven wheel to rotate, further drive the driven wheel and the track to rotate, and realize the moving function of the deformed track; the deformation driving motor drives the planet rod to rotate, so that an included angle between the planet rod and the side plate is changed, the planet rod drives the track to deform under the constraint that the length of the track is a fixed value, the driven wheel and the driven shaft move along the limiting grooves at the two ends of the side plate, the driven shaft is connected with the spring, and the track is guaranteed to have certain tensile force, so that the deformation function of the deformation track is realized.
With the change of the rotation angle alpha of the planetary rod, the height of the mass center and the grounding area of the deformed crawler belt are changed, and as can be seen from the figures 4-6 and according to calculation, the mass center of the straight arm mode is the lowest and the grounding area is the largest; the centroid height of the orthogonal mode is highest and the grounding area is smallest; the centroid height and the ground contact area of the transition mode are both between the straight-arm mode and the quadrature mode.
The ground-contact area of the deformed crawler belt in the straight arm mode is the largest, so that a travelling mechanism applying the deformed crawler belt can span a wider groove; when the center of the walking mechanism is close to the left side cross section of the groove, the front end deformed crawler belt touches the right side cross section of the groove and supports the vehicle body, traction force of front-pushing and rear-pedaling is provided by the front end deformed crawler belt and the rear end deformed crawler belt to push the front end deformed crawler belt to cross the groove, and the process is shown in fig. 7 a-7 d; the rear end deformed crawler mechanism spans to the right side of the groove in the same way, the process is shown in figures 7 e-7 f, the vehicle body is restored to the state before spanning, and the straight arm type completes the obstacle crossing function of the groove; through analysis of the two motion working conditions, the deformed crawler belt in the straight arm mode is suitable for moving on a soft road and a road with wider grooves.
The orthogonal mode deformed caterpillar band has the characteristic of high mass center, so that the mode deformed caterpillar band has good boss obstacle crossing performance. When the front end of the deformed crawler belt touches the convex obstacle and cannot move forwards, the traction force is instantaneously converted into torque of the deformed crawler belt rotating around the center of the front-end driven wheel, so that the deformed crawler belt rotates clockwise and turns over to the position above the boss obstacle, and the process is shown in FIGS. 8 a-8 d; the rear end deformed crawler belt turns over above the boss obstacle in the same way, the process is as shown in fig. 8 e-8 f, the vehicle body is restored to a state before obstacle crossing, and the orthogonal mode deformed crawler belt completes the boss obstacle crossing function; because the orthogonal mode deformed caterpillar band can raise the mass center of the vehicle body, and the deformed caterpillar band body can rotate around the axis direction of the walking driving shaft, the deformed caterpillar band is ensured to have a self-adaptive obstacle crossing function, and therefore the orthogonal mode deformed caterpillar band is suitable for moving on a road surface containing high obstacles.
The height of the mass center and the grounding area of the transition mode deformed crawler belt are both between the straight arm mode and the orthogonal mode, so that the mode deformed crawler belt has certain groove obstacle crossing capability and certain boss obstacle crossing capability. When the front end deformed crawler passes through the left side cross section of the groove, the deformed crawler body rotates clockwise to incline forward, meanwhile, the driven wheel of the front end deformed crawler is in contact with the right side cross section of the groove, and the deformed crawler is pushed to cross the groove by the traction force of the front and rear deformed crawlers, and the process is shown in fig. 9 a-9 d; the rear end deformed crawler spans the groove in the same way, the process is shown in figures 9 e-9 f, the vehicle body is restored to the state before obstacle crossing, and the transition mode deformed crawler completes the function of obstacle crossing of the groove; when the front end of the deformed caterpillar touches the boss obstacle, the deformed caterpillar is pushed to pass through the boss obstacle by the traction force of the front and rear end deformed caterpillar, and the process is shown in fig. 10 a-10 d. The rear end deformed crawler passes through the boss barrier in the same way, the process is shown in figures 10 e-10 f, the vehicle body is restored to the state before the obstacle crossing, and the transition mode deformed crawler completes the obstacle crossing function of the boss; the transition mode deformed crawler belt can raise the center of mass of a vehicle body and increase the grounding area, and has a certain approach angle and can move through slopes and gravel terrains, so that the transition mode deformed crawler belt is suitable for moving on a concave-convex road surface containing composite obstacles such as grooves and bosses at the same time (wherein a v plus straight line arrow represents the motion direction of the self-adaptive under-actuated deformed crawler belt, and a turning arrow represents the turning direction of the self-adaptive under-actuated deformed crawler belt when crossing the grooves or turning over the obstacles).
As shown in fig. 11, a moving mechanism for an adaptive under-actuated deformable track according to the present invention includes a frame 100 and four adaptive under-actuated deformable tracks 200 disposed on the frame 100, wherein the bearing seat 135 and the main driving motor 131 are disposed at the bottom of the frame 100.
The moving mechanism of the self-adaptive under-actuated deformed crawler is switched into 3 motion modes (a straight arm mode, an orthogonal mode and a transition mode) by controlling a deformation driving motor, and the straight arm mode is suitable for moving on soft and flat roads with longer grooves; the orthogonal mode is suitable for moving on a road surface containing high obstacles; the transition mode is suitable for moving on a concave-convex road surface containing grooves and bosses; the deformed crawler belt changes the height of the mass center and the grounding area of the deformed crawler belt by controlling the self deformation, does not need complex control and sensors, quickly crosses obstacles by means of the self-adaptability of a mechanism, reduces the obstacle crossing response time, obviously improves the quick obstacle crossing capability and the environment adaptability of the deformed crawler belt, and reduces the cost.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The self-adaptive under-actuated deformation crawler is characterized by comprising a planetary gear train (1) and a crawler gear train (2), wherein the crawler gear train (2) comprises a crawler (21) driven by a planetary gear (11), two driven wheels (22) driven by the crawler (21) and a telescopic side plate (23) connected with the two driven wheels (22); the planetary gear train (1) comprises two planetary gears (11) for driving the crawler belt (21), a planetary rod (12) connected with the two planetary gears (11), a main driving mechanism (13) for driving the planetary gears (11) to rotate, and a deformation driving mechanism (14) for driving the planetary rod (12) to change an included angle alpha with the telescopic side plate (23); wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees.
2. The adaptive under-actuated deformation crawler according to claim 1, wherein the main driving mechanism (13) comprises a driving wheel (130) for driving the two planet wheels (11) and a main driving motor (131) for driving the driving wheel (130) to rotate; the line between one driven wheel (22) and one adjacent planet wheel (11) is parallel and equal to the line between the other adjacent planet wheel (11) and the other driven wheel (22).
3. The adaptive under-actuated deformation crawler according to claim 2, wherein the main driving mechanism (13) further comprises a traveling driving shaft (132), a first bevel gear (133) and a second bevel gear (134) engaged with the first bevel gear (133), one end of the traveling driving shaft (132) sequentially passes through the retractable side plate (23) and the planetary gear (12) and is fixedly connected with the driving wheel (130), the other end of the traveling driving shaft is rotatably connected to a bearing seat (135), the first bevel gear (133) is sleeved on the traveling driving shaft (132) and is vertically connected with the second bevel gear (134), and the second bevel gear (134) is sleeved on an output shaft of the main driving motor (131).
4. The adaptive under-actuated deformable track of claim 3, wherein the retractable side plate (23) comprises a side plate body (230) and two springs (231) arranged on the side plate body (230), two ends of each spring (231) are connected with spring seats (232), one spring seat (232) is fixed on the side plate body (230), and the other spring seat (232) is connected with a corresponding driven wheel (22) and slides along with the driven wheel (22).
5. The adaptive under-actuated deformation crawler belt according to claim 4, wherein the number of the retractable side plates (23) is two, and the retractable side plates are respectively arranged at the front side and the rear side of the driven wheel (22), and two sliding grooves (233) for the driven wheel (22) to slide are arranged on the side plate body (230) of each retractable side plate (23).
6. The adaptive under-actuated morphing track of claim 5, wherein the length of the side plate body (230) is greater than the length of the planet bar (12).
7. The adaptive under-actuated deformable track as claimed in claim 5, wherein the track wheel system (2) further comprises two driven shafts (24), each driven shaft (24) is sleeved in a corresponding driven wheel (22), and two ends of each driven shaft respectively pass through a corresponding spring seat (232) and are slidably connected in the sliding groove (233).
8. The adaptive under-actuated deformation crawler according to claim 5, wherein the planetary gear train (1) further comprises a planetary driving wheel (15), two planetary driven wheels (16) and a synchronous belt (17), the planetary driving wheel (15) is connected with the driving wheel (130) and is arranged at one side far away from the main driving motor (131), the two planetary driven wheels (16) are respectively connected with the two planetary gears (11) and are arranged at the same side with the planetary driving wheel (15), and the synchronous belt (17) is connected with the planetary driving wheel (15) and the two planetary driven wheels (16); planetary rod (12) are equipped with two and locate respectively the front and back both sides of planet wheel (11), and the both ends of one of them planetary rod (12) are connected respectively on two planet wheels (11), another the both ends of planetary rod (12) are connected respectively two the planet is from driving wheel (16) on.
9. The adaptive under-actuated deformation crawler according to claim 8, wherein the deformation driving mechanism (14) comprises a deformation driving motor, the deformation driving motor is arranged on the same side with the planet driving wheel (15), and an output shaft passes through a side plate and is connected with the planet wheel (11).
10. A moving mechanism applying the adaptive under-actuated deformable track of claims 1-9, characterized by comprising a frame (100) and four adaptive under-actuated deformable tracks (200) arranged on the frame (100), wherein the bearing seat (135) and the main driving motor (131) are both arranged at the bottom of the frame (100).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113200097A (en) * | 2021-06-17 | 2021-08-03 | 聊城大学 | Obstacle-crossing crawler belt capable of adapting to different heights and excavator |
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