CN113548119B

CN113548119B - Variable multipurpose miniature mobile platform

Info

Publication number: CN113548119B
Application number: CN202111028263.XA
Authority: CN
Inventors: 左石凯; 陈铖颖; 王尘; 肖雪芳; 林峰; 蔡艺军; 黄新栋
Original assignee: Xiamen University of Technology
Current assignee: Xiamen University of Technology
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2022-10-18
Anticipated expiration: 2041-09-02
Also published as: CN113548119A

Abstract

The invention provides a variable multipurpose micro mobile platform, which comprises a support frame, wherein two sides of one end of the support frame are respectively provided with a driving wheel, two sides of the other end of the support frame are respectively provided with a first driven wheel, and a first crawler belt is connected between the driving wheel and the first driven wheel; the connecting frame is rotatably connected with the supporting frame, second driven wheels are arranged on two sides of the other end of the connecting frame, and a second crawler belt is connected between the first driven wheel and the second driven wheels; the mounting frame is rotatably connected with the connecting frame; the first clutch mechanism is connected between the connecting frame and the first driven wheel; and the second clutch mechanism is connected between the mounting frame and the second driven wheel. Through the control of the first clutch mechanism and the second clutch mechanism, the mobile platform can be switched back and forth in two modes of an upright wheel type form and a horizontal crawler type form according to the change of the terrain, so that the terrain adaptability is improved.

Description

Variable multipurpose miniature mobile platform

Technical Field

The invention belongs to the technical field of mobile platforms, and particularly relates to a variable multipurpose micro mobile platform.

Background

The micro mobile platform is flexible and convenient to move, has wide application in the fields of camera shooting, life entertainment, old people assistance, remote nursing, unmanned security and the like in recent years, and has a good development prospect. The traditional micro mobile platform generally comprises a wheel type mobile platform and a crawler type mobile platform, wherein the wheel type mobile platform has poor trafficability to terrains such as steps and mud, and the crawler type mobile platform has good trafficability in the terrains, but has poor efficiency and large occupied space. Therefore, the traditional micro mobile platform has poor terrain adaptability and cannot meet various requirements of people.

In view of the above, it is important to design and manufacture a versatile micro mobile platform that can overcome the above problems and has a wide application range.

Disclosure of Invention

In order to solve the problem that the terrain adaptability of the existing mobile platform is poor, the application provides a variable multipurpose micro mobile platform.

The invention provides a variable multipurpose micro mobile platform, which comprises a support frame, wherein two sides of one end of the support frame are respectively provided with a driving wheel, two sides of the other end of the support frame are respectively provided with a first driven wheel, and a first crawler belt is connected between the driving wheel and the first driven wheel; one end of the connecting frame is rotatably connected with the supporting frame positioned at one end of the first driven wheel, second driven wheels are arranged on two sides of the other end of the connecting frame, and a second crawler belt is connected between the first driven wheel and the second driven wheels; one end of the mounting frame is rotatably connected with the connecting frame positioned at one end of the second driven wheel; the first clutch mechanism is connected between the connecting frame and the first driven wheel so as to control the connecting frame to rotate relative to the supporting frame; and the second clutch mechanism is connected between the mounting frame and the second driven wheel so as to control the rotation of the mounting frame relative to the connecting frame.

By adopting the technical scheme, the moving platform moves on a flat ground in an upright wheel type manner, namely two driving wheels are in contact with the ground, the gravity center balance of the whole moving platform is controlled by controlling the forward or backward movement of the two driving wheels, and the moving efficiency of the moving platform is high; and when meetting the step, when topography such as mire, the drive wheel is marchd forward, whole moving platform has a trend that leans forward, combine first from driving wheel and link through first clutching mechanism this moment, the drive wheel passes through first track and drives first from the driving wheel rotation, first from driving wheel drive link rotation, when the support frame is emptyd subaerial completely, again with same mode control second clutching mechanism, adjust the angle of mounting bracket again, the moving platform variant is horizontal track form this moment, moving platform's trafficability characteristic is good. The mobile platform can be switched back and forth in two modes, namely an upright wheel type mode and a horizontal crawler type mode according to the change of the terrain, so that the mobile platform can flexibly adapt to different environments and improve the adaptability of the terrain.

Preferably, first clutching mechanism and second clutching mechanism all include driving shaft, driven shaft and connect the clutch assembly between driving shaft and driven shaft, first clutching mechanism's driving shaft and driven shaft respectively with first follow driving wheel and link fixed connection, second clutching mechanism's driving shaft and driven shaft respectively with second follow driving wheel and mounting bracket fixed connection. Taking the first clutch mechanism as an example, the driving shaft and the driven shaft are respectively and fixedly connected with the first driven wheel and the connecting frame, and the clutch assembly is used for controlling the clutch between the first driven wheel and the connecting frame, so that the connecting frame is controlled to rotate relative to the supporting frame.

Preferably, the clutch assembly comprises a shell, and a first driving gear, a second driving gear, a connecting shaft, a third driving gear, a first driven gear, a second driven gear, a rotating block, a steering engine and a rotating shaft which are arranged in the shell; one end of the driving shaft penetrates through the shell in a rotating mode and is fixedly connected with the first driving gear, the second driving gear is meshed with the first driving gear, one end of the connecting shaft is fixed on the second driving gear, the other end of the connecting shaft is fixed on the third driving gear, the third driving gear is meshed with the first driven gear, the second driven gear is meshed with the first driven gear, the rotating block is connected with the first driven gear and the second driven gear, and one end of the driven shaft penetrates through the shell and the rotating block in a rotating mode and is fixedly connected with the second driven gear; the steering engine is fixed on the inner side wall of the shell, the output end of the steering engine is fixedly connected with the rotating shaft, one end of the rotating shaft is connected with the rotating block, and the steering engine drives the rotating shaft to rotate so as to drive the rotating block to swing in a reciprocating mode.

By adopting the technical scheme, the third driving gear and the first driven gear are in a mutually separated state when the mobile platform is in the vertical wheel type state. When the mobile platform needs to be switched to a horizontal crawler form, taking the first clutch mechanism as an example, the driving wheel drives the first driven wheel to rotate through the first crawler, the first driven wheel drives the driving shaft to rotate, the driving shaft drives the first driving gear and the second driving gear to rotate, and the second driving gear drives the third driving gear to rotate through the connecting shaft. At the moment, the rotating shaft is driven to rotate through the steering engine, the rotating shaft drives the rotating block to rotate, the rotating block drives the first driven gear and the second driven gear to rotate together, the first driven gear is meshed with the third driving gear, the third driving gear drives the first driven gear and the second driven gear to rotate, the second driven gear drives the driven shaft to rotate, the connecting frame is driven to rotate, the support frame is enabled to be inclined forwards under the gravity center offset effect to be in a completely horizontal state, and then the moving platform is switched to a horizontal crawler belt form.

Preferably, the first clutch mechanism and the second clutch mechanism are both arranged one by one, and the first clutch mechanism and the second clutch mechanism are arranged along the width direction of the connecting frame in a staggered mode. Through misplacing the first clutch mechanism and the second clutch mechanism, the first clutch mechanism and the second clutch mechanism can respectively and independently control the rotation of the connecting frame and the mounting frame under the condition of saving the mounting cost, so that the rotation of the connecting frame and the mounting frame is more flexible, and the mobile platform can be flexibly switched into more different forms.

Preferably, an installation groove is formed in the rotating block, and the first driven gear and the second driven gear are arranged in the installation groove and are meshed with each other. Through seting up the mounting groove, the turning block has played spacing effect to first driven gear and second driven gear for first driven gear and the installation of second driven gear are more stable.

Preferably, the one end fixedly connected with gag lever post that the axis of rotation is close to the turning block, the mounting groove runs through along length direction near the one end cell wall of gag lever post and has seted up the spout, the gag lever post is worn to establish the spout and is extended to in the mounting groove and the activity joint on the tooth hole of first driven gear. By arranging the limiting column, when the rotating shaft drives the rotating block to rotate anticlockwise, the first driven gear is meshed with the third driving gear, the limiting rod can be separated from a tooth hole of the first driven gear and slides along the sliding groove and the mounting groove, and the first driven gear can be driven by the third driving gear to rotate; when the axis of rotation drive turning block clockwise rotated, first driven gear breaks away from the third driving gear, and the gag lever post can slide along the spout and reset, and in the tooth hole of first driven gear was received to the joint, the gag lever post had restricted first driven gear's rotation to when avoiding the link to rotate and finishing, first driven gear continued to drive the driven shaft rotation under inertial action, and then avoided the link to continue to rotate, guaranteed that the angle of link keeps unchangeable.

Preferably, the limiting rod is cylindrical. The cylindric gag lever post surface is convex, and when the gag lever post slided in the spout to and the gag lever post breaks away from or blocks into the first driven gear tooth hole, the gag lever post can remove more nimble, is difficult to appear blocking dead phenomenon.

Preferably, the diameter of the first driven gear is equal to that of the second driven gear, and the diameter of the first driven gear is larger than that of the third driving gear. Because the diameter of first driven gear is greater than the diameter of third driving gear, the drive ratio between third driving gear and the first driven gear is greater than 1, first driven gear obtains the speed reduction promptly this moment to reduce the slew velocity of link, and then reduce the speed of empting of support frame, alleviate the degree of the injury of support frame in the process of empting.

Preferably, the length of the support frame is greater than that of the connecting frame. The length of support frame is longer, and when moving platform was in horizontal track form, the support frame can play better supporting role to make moving platform more stable at the in-process of marcing.

Preferably, a gyroscope is arranged on the mounting frame. Through the high-speed rotation of the gyroscope, the balance of the whole mobile platform can be increased.

Compared with the prior art, the beneficial results of the invention are as follows:

(1) On a flat ground, the mobile platform travels in a vertical wheel type mode; and when meetting topography such as step, mire, make the link rotate through controlling first clutching mechanism, when the carriage topples over on ground completely under the barycenter skew effect, rethread control second clutching mechanism makes the mounting bracket rotate to adjust the angle of mounting bracket, moving platform switches into horizontal track form this moment. The mobile platform can be switched back and forth in two modes, namely an upright wheel type mode and a horizontal crawler type mode according to the change of the terrain, so that the mobile platform can flexibly adapt to different environments and improve the adaptability of the terrain.

(2) Through the rotation of steering wheel control axis of rotation, the rotation of axis of rotation control turning block and first driven gear to control first driven gear and third driving gear and break away from or mesh, and then the rotation of control link or mounting bracket, make moving platform can switch the form.

(3) When link or mounting bracket rotate and finish, the gag lever post has restricted first driven gear's rotation, prevents that first driven gear from continuing to rotate under inertial effect to guarantee that the turned angle of link or mounting bracket keeps unchangeable.

Drawings

The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.

FIG. 1 is a schematic illustration of a mobile platform according to an embodiment of the present invention in an upright wheeled configuration;

FIG. 2 is a schematic structural diagram of a first clutch mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a clutch assembly configuration according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of the mobile platform according to an embodiment of the present invention in a horizontal track configuration;

FIG. 5 is a schematic structural view of a mounting structure for a rotary block in order to highlight according to an embodiment of the present invention;

fig. 6 is an enlarged view of a point a in fig. 1.

The meaning of each number in the figure: 1. a support frame; 2. a connecting frame; 3. a mounting frame; 4. a drive wheel; 5. a first driven wheel; 6. a first crawler belt; 7. a second driven wheel; 8. a second crawler belt; 9. a first clutch mechanism; 10. a second clutch mechanism; 91. a drive shaft; 92. a driven shaft; 93. a clutch assembly; 930. a housing; 931. a first drive gear; 932. a second driving gear; 933. a connecting shaft; 934. a third driving gear; 935. a first driven gear; 936. a second driven gear; 937. rotating the block; 938. a steering engine; 939. a rotating shaft; 9371. mounting grooves; 9391. a limiting rod; 9372. a chute; 10. mounting blocks; 11. a drive motor; 12. a gyroscope.

Detailed Description

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. In this regard, directional terminology, such as "top," "bottom," "left," "right," "up," "down," etc., is used with reference to the orientation of the figures being described. Because components of embodiments can be positioned in a number of different orientations, the directional terminology is used for purposes of illustration and is in no way limiting. It is to be understood that other embodiments may be utilized and logical changes may be made without departing from the scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.

The invention provides a variable multipurpose micro mobile platform, and fig. 1 shows a schematic structural view of the mobile platform in a vertical wheel type form according to an embodiment of the invention, and as shown in fig. 1, the mobile platform sequentially comprises a support frame 1, a connecting frame 2 and a mounting frame 3 from bottom to top. Wherein, the lower extreme both sides of support frame 1 all are provided with drive wheel 4, and the upper end both sides of support frame 1 all are provided with firstly from driving wheel 5, and just two sets of drive wheels 4 and the first track 6 of all being equipped with around being equipped with between the driving wheel 5, and drive wheel 4 can drive first from driving wheel 5 rotation through first track 6. The lower extreme both sides of link 2 rotate respectively to be connected on support frame 1, and the upper end both sides of link 2 all are provided with the second from driving wheel 7, and the second from driving wheel 7 and the first second track 8 of being equipped with of following between driving wheel 5, and the first second track 8 of following 5 accessible of driving wheel drives the second and follows driving wheel 7 and rotate. The both sides of the lower end of the mounting rack 3 are respectively connected on the connecting rack 2 in a rotating way.

When the mobile platform runs on a flat ground, the mobile platform moves in an upright wheel type mode, namely the two driving wheels 4 are in contact with the ground, the gravity center balance of the whole mobile platform is controlled by controlling the forward or backward movement of the two driving wheels 4, and the mobile platform has higher moving efficiency on the flat ground.

Furthermore, a first clutch mechanism 9 is further arranged on the support frame 1 between the connecting frame 2 and the first driven wheel 5, and the first clutch mechanism 9 is used for clutching the connecting frame 2 and the first driven wheel 5, so that the first driven wheel 5 is controlled to drive the connecting frame 2 to rotate. A second clutch mechanism 10 is further arranged on the connecting frame 2 between the mounting frame 3 and the second driven wheel 7, and the second clutch mechanism 10 is used for clutching the mounting frame 3 and the second driven wheel 7, so that the second driven wheel 7 is controlled to drive the mounting frame 3 to rotate.

Fig. 2 shows a schematic structural diagram of the first clutch mechanism 9 according to the embodiment of the present invention, and as shown in fig. 2, the first clutch mechanism 9 includes a driving shaft 91, a driven shaft 92 and a clutch assembly 93 connected between the driving shaft 91 and the driven shaft 92, wherein the driving shaft 91 and the driven shaft 92 of the first clutch mechanism 9 are fixedly connected with the first driven wheel 5 and the connecting frame 2, respectively. The structure of the second clutch mechanism 10 is the same as that of the first clutch mechanism 9, wherein a driving shaft 91 and a driven shaft 92 of the second clutch mechanism 10 are fixedly connected with the second driven wheel 7 and the mounting frame 3 respectively. In the present embodiment, since the first clutch mechanism 9 and the second clutch mechanism 10 have the same structure, the mounting structure of the clutch assembly 93 will be described below by taking the first clutch mechanism 9 as an example.

Fig. 3 shows a schematic structural diagram of a clutch assembly 93 according to an embodiment of the present invention, and as shown in fig. 3, the clutch assembly 93 includes a housing 930 fixed on the support frame 1, and a first driving gear 931, a second driving gear 932, a connecting shaft 933, a third driving gear 934, a first driven gear 935, a second driven gear 936, a rotating block 937, a steering gear 938 and a rotating shaft 939 disposed in the housing 930. The driving shaft 91 has one end fixedly inserted through the first driven gear 5 and the other end rotatably inserted through the housing 930 and fixedly connected to the first driving gear 931, and the second driving gear 932 is engaged with the first driving gear 931. One end of the connecting shaft 933 is fixed to the second driving gear 932, and the other end is fixed to the third driving gear 934. The third driving gear 934 is engaged with the first driven gear 935, and the first driven gear 935 is engaged with the second driven gear 936.

The rotating block 937 is connected with the first driven gear 935 and the second driven gear 936, one end of the driven shaft 92 is fixed on the connecting frame 2, and the other end thereof is rotatably inserted through the housing 930 and the rotating block 937 to be fixedly connected with the second driven gear 936. Steering wheel 938 is fixed on the inside wall of casing 930, and the output of steering wheel 938 and axis of rotation 939 fixed connection to drive axis of rotation 939 rotates. One end of the rotation shaft 939 is connected to the rotation block 937 to drive the rotation block 937 to swing up and down, thereby driving the first driven gear 935 to disengage or engage the third driving gear 934.

When the mobile platform is in the vertical wheel type configuration, the third driving gear 934 and the first driven gear 935 are disengaged from each other. When the mobile platform meets terrains such as steps and muddy terrain, the driving wheels 4 are driven to move forwards, the gravity center balance of the mobile platform is broken, and the whole mobile platform has a tendency of forward dumping. At this time, the rotating shaft 939 is driven to rotate by the steering engine 938, the rotating shaft 939 drives the rotating block 937 to rotate, and the rotating block 937 drives the first driven gear 935 and the second driven gear 936 to rotate together, so that the third driving gear 934 is meshed with the first driven gear 935.

Fig. 4 shows a schematic structural diagram of the mobile platform according to the embodiment of the present invention in a horizontal track configuration, as shown in fig. 4, the driving wheel 4 drives the first driven wheel 5 to rotate through the first track 6, the first driven wheel 5 drives the driving shaft 91 to rotate, the driving shaft 91 drives the first driving gear 931 to rotate, the first driving gear 931 drives the second driving gear 932 to rotate, and the second driving gear 932 drives the third driving gear 934 to rotate through the connecting shaft 933. At this time, the third driving gear 934 may drive the first driven gear 935 to rotate, the first driven gear 935 drives the second driven gear 936 to rotate, and the second driven gear 936 drives the driven shaft 92 to rotate, so as to drive the connecting frame 2 to rotate. The rotation of the connecting frame 2 enables the support frame 1 to slowly tilt forwards to a completely horizontal state under the action of gravity center offset, and then the mobile platform is switched to a horizontal crawler form. Therefore, the mobile platform has better trafficability when meeting terrains such as steps and mud, so that the mobile platform can flexibly adapt to different environments and improve the adaptability of terrains.

It should be noted that when the two driving wheels 4 are controlled to travel forward and backward, the mobile platform can complete the form switching in situ.

In this embodiment, only one first clutch mechanism 9 and only one second clutch mechanism 10 are provided, and the first clutch mechanism and the second clutch mechanism 10 are arranged along the width direction of the connecting frame 2 in a staggered manner. Through misplacing the first clutch mechanism 9 and the second clutch mechanism 10, under the condition of saving the installation cost, the first clutch mechanism 9 and the second clutch mechanism 10 can respectively and independently control the rotation of the connecting frame 2 and the installation frame 3, so that the rotation of the connecting frame 2 and the installation frame 3 is more flexible, and the mobile platform can be flexibly switched into more different forms. For example, when the first clutch mechanism 9 is unlocked and the second clutch mechanism 10 is locked, the connecting frame 2 rotates and the mounting frame 3 does not move; when the first clutch mechanism 9 is locked and the second clutch mechanism 10 is unlocked, the connecting frame 2 is not moved and the mounting frame 3 rotates. In other embodiments, the first clutch mechanism 9 and the second clutch mechanism 10 may be provided in two, that is, the first clutch mechanism 9 is provided between the two first driven wheels 5 and the connecting frame 2, and the second clutch mechanism 10 is provided between the two second driven wheels 7 and the mounting frame 3.

Fig. 5 illustrates a schematic configuration of a mounting structure for a protruding rotation block according to an embodiment of the present invention, as shown in fig. 5, a mounting groove 9371 is formed in a rotation block 937 along a length direction, and a first follower gear 935 and a second follower gear 936 are rotatably coupled to both side groove walls of the mounting groove 9371 and are engaged with each other. The mounting groove 9371 acts as a limit clamp for the first and second driven

gears

935 and 936, and the first and second driven

gears

935 and 936 are more stable during rotation and swing.

As shown in fig. 5, a limiting rod 9391 is vertically fixed at one end of the rotating shaft 939 close to the rotating block 937, both side groove walls of the rotating block 937 close to one end of the limiting rod 9391 are both provided with a sliding groove 9372 along the length direction, the limiting rod 9391 is arranged between the sliding groove 9372 and the mounting groove 9371 in a penetrating manner, and the limiting rod 9391 is arranged on a tooth hole of the first driven gear 935 in a penetrating manner to the mounting groove 9371.

When the first clutch mechanism 9 is unlocked, the rotating shaft 939 drives the rotating block 937 to rotate counterclockwise, one end of the rotating block 937 close to the rotating shaft 939 swings upward, and the first driven gear 935 is engaged with the third driving gear 934. At this time, the limiting rod 9391 gradually slides obliquely and downwards along the sliding groove 9372 and the mounting groove 9371 in the process of swinging upwards along the rotating block 937, the limiting rod 9391 is separated from the toothed hole of the first driven gear 935, and the first driven gear 935 can be driven by the third driving gear 934 to rotate.

When the first clutch mechanism 9 is locked, the rotating shaft 939 drives the rotating block 937 to rotate clockwise, one end of the rotating block 937 near the rotating shaft 939 swings downward, and the first driven gear 935 disengages from the third driving gear 934. At this time, the limiting rod 9391 gradually slides upwards along the sliding groove 9372 and the mounting groove 9371 in an inclined manner in the process of swinging downwards along the rotating block 937, and the limiting rod 9391 is clamped on the toothed hole of the first driven gear 935 again. The limiting rod 9391 limits the rotation of the first driven gear 935, and the first driven gear 935 continues to drive the driven shaft 92 to rotate under the action of inertia when the connecting frame 2 rotates, so that the connecting frame 2 is prevented from continuing to rotate, and the angle of the connecting frame 2 is ensured to be kept unchanged.

As shown in fig. 5, in the embodiment, the limiting rod 9391 is a cylindrical rod, the surface of the cylindrical limiting rod 9391 is arc-shaped, and the limiting rod 9391 slides in the sliding groove 9372 and is separated from or clamped into the tooth hole of the first driven gear 935, which is more flexible and less prone to being jammed. In other embodiments, the stop bar 9391 can be square or other shapes as well.

As shown in fig. 5, in the present embodiment, the diameter of the first driven gear 935 is equal to the diameter of the second driven gear 936, and the diameter of the first driven gear 935 is larger than the diameter of the third driving gear 934. The drive ratio between third driving gear 934 and the first driven gear 935 is greater than 1, when the third driving gear 934 drives first driven gear 935 to rotate promptly, first driven gear 935 obtains slowing down to can reduce the slew velocity of link 2, and then reduce the speed of empting of support frame 1, alleviate the degree of creating of support frame 1 in the process of empting.

As shown in fig. 4, in this embodiment, the length of the support frame 1 is greater than that of the connecting frame 2, and when the mobile platform is in a horizontal crawler form, the support frame 1 can play a more stable supporting role, so that the mobile platform is more stable in the traveling process.

Fig. 6 shows an enlarged view of a point a in fig. 1, as shown in fig. 6, a mounting block 10 is rotatably connected to the mounting frame 3, a small driving motor 11 is fixed to the mounting block 10, an output shaft of the driving motor 11 rotatably penetrates through the mounting block 10 and is fixed with a gyroscope 12, and a single-axis gyroscope is specifically adopted as the gyroscope 12 in this embodiment. The gyroscope 12 is driven to rotate at a high speed by the driving motor 11, so that the balance of the mobile platform can be increased, and the mobile platform can travel more stably.

In the actual operation process, the mobile platform moves on a flat ground in an upright wheel type mode, the gravity center balance of the whole mobile platform is controlled by controlling the forward or backward movement of the two driving wheels 4, and the mobile platform has high moving efficiency on the flat ground. When meetting topography such as step, mire, drive wheel 4 marchs, controls first clutching mechanism 9, makes link 2 rotate, and the rotation of link 2 makes support frame 1 slowly lean forward to the state of lying down completely under the barycenter skew effect, then adjusts the installation angle of mounting bracket 3 through controlling second clutching mechanism 10 again, and moving platform switches to horizontal track form to better trafficability characteristic has. The mobile platform can be switched back and forth between the upright wheel type form and the horizontal crawler belt form, so that the terrain adaptability is better. The invention can be widely applied to the fields of life entertainment, personal assistant, old man assistance, remote nursing, unmanned security and the like, and has higher practicability.

It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalents, the present invention is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps than those listed in a claim. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims shall not be construed as limiting the scope.

Claims

1. A convertible multi-purpose micro mobile platform, comprising:

the device comprises a support frame (1), wherein driving wheels (4) are arranged on two sides of one end of the support frame (1), first driven wheels (5) are arranged on two sides of the other end of the support frame (1), and a first crawler belt (6) is connected between the driving wheels (4) and the first driven wheels (5);

one end of the connecting frame (2) is rotatably connected with the supporting frame (1) positioned at one end of the first driven wheel (5), second driven wheels (7) are arranged on two sides of the other end of the connecting frame (2), and a second crawler belt (8) is connected between the first driven wheel (5) and the second driven wheels (7);

one end of the mounting rack (3) is rotatably connected with the connecting rack (2) positioned at one end of the second driven wheel (7);

the first clutch mechanism (9), the first clutch mechanism (9) is connected between the connecting frame (2) and the first driven wheel (5), so as to control the rotation of the connecting frame (2) relative to the support frame (1);

a second clutch mechanism (10), wherein the second clutch mechanism (10) is connected between the mounting frame (3) and the second driven wheel (7) so as to control the rotation of the mounting frame (3) relative to the connecting frame (2);

the first clutch mechanism (9) and the second clutch mechanism (10) respectively comprise a driving shaft (91), a driven shaft (92) and a clutch component (93) connected between the driving shaft (91) and the driven shaft (92), the driving shaft (91) and the driven shaft (92) of the first clutch mechanism (9) are respectively and fixedly connected with the first driven wheel (5) and the connecting frame (2), and the driving shaft (91) and the driven shaft (92) of the second clutch mechanism (10) are respectively and fixedly connected with the second driven wheel (7) and the mounting frame (3);

the clutch assembly (93) comprises a shell (930), and a first driving gear (931), a second driving gear (932), a connecting shaft (933), a third driving gear (934), a first driven gear (935), a second driven gear (936), a rotating block (937), a steering gear (938) and a rotating shaft (939) which are arranged in the shell (930);

one end of the driving shaft (91) is rotatably arranged in the shell (930) in a penetrating mode and fixedly connected with the first driving gear (931), the second driving gear (932) is meshed with the first driving gear (931), one end of the connecting shaft (933) is fixed to the second driving gear (932), the other end of the connecting shaft is fixed to the third driving gear (934), the third driving gear (934) is meshed with the first driven gear (935), the second driven gear (936) is meshed with the first driven gear (935), the rotating block (937) is connected with the first driven gear (935) and the second driven gear (936), one end of the driven shaft (92) is simultaneously rotatably arranged in the shell (930) and the rotating block (937) in a penetrating mode and is fixedly connected with the second driven gear (936);

the steering engine (938) is fixed on the inner side wall of the shell (930), the output end of the steering engine (938) is fixedly connected with the rotating shaft (939), one end of the rotating shaft (939) is connected with the rotating block (937), and the steering engine (938) drives the rotating shaft (939) to rotate so as to drive the rotating block (937) to swing in a reciprocating mode;

an installation groove (9371) is formed in the rotating block (937), and the first driven gear (935) and the second driven gear (936) are arranged in the installation groove (9371) and are meshed with each other;

one end fixedly connected with gag lever post (9391) that axis of rotation (939) is close to turning block (937), mounting groove (9371) is close to the one end cell wall of gag lever post (9391) and has run through along length direction and has seted up spout (9372), in the gag lever post (9391) wear to establish spout (9372) and extend to mounting groove (9371) and the activity joint on the tooth hole of first driven gear (935).

2. The variable multi-purpose micro mobile platform according to claim 1, wherein one of the first clutch mechanism (9) and the second clutch mechanism (10) is provided, and the first clutch mechanism (9) and the second clutch mechanism (10) are arranged in a staggered manner along the width direction of the connecting frame (2).

3. The convertible multi-purpose micro mobile platform according to claim 1, wherein the limiting rod (9391) is cylindrical.

4. The variable multi-purpose micro mobile platform of claim 1, wherein the diameter of the first driven gear (935) is equal to the diameter of the second driven gear (936), and the diameter of the first driven gear (935) is greater than the diameter of the third driving gear (934).

5. Variable multi-purpose micro mobile platform according to claim 1, characterized in that the length of the support frame (1) is greater than the length of the connection frame (2).

6. A convertible multi-purpose micro mobile platform according to claim 1, characterized in that said mounting frame (3) is provided with a gyroscope (12).