阅读说明：本技术 一种万向履带轮组及其运动方法 (Universal crawler belt wheel set and movement method thereof ) 是由 施琦 王炬成 容学苹 李秀 马晓平 赵世发 陈建新 马永鑫 孔慧敏 于 2021-06-23 设计创作，主要内容包括：本发明公开了一种万向履带轮组,包括支撑机构、旋转机构,所述支撑机构,由支撑架与电机组一、电机组二构成,提供相应的支撑和旋转驱动力；所述旋转履带机构由外固定件与环绕阵列在外固定件支撑处的橡胶履带构成,所述橡胶履带内圈设有与小齿轮啮合的凹槽、外圈设置有契合丝杆螺纹的凹槽。此外本发明还提供了一种运动方法,使得应用该轮组的设备达到全向移动的效果,本发明结构简单轻便,可拓展性强,拆卸维修快捷,具有良好的经济应用价值。(The invention discloses a universal crawler belt wheel set, which comprises a supporting mechanism and a rotating mechanism, wherein the supporting mechanism consists of a supporting frame, a motor set I and a motor set II and provides corresponding supporting and rotating driving force; the rotary crawler mechanism is composed of an outer fixing piece and a rubber crawler surrounding the array at the supporting position of the outer fixing piece, the inner ring of the rubber crawler is provided with a groove meshed with the pinion, and the outer ring of the rubber crawler is provided with a groove matched with the screw thread of the screw rod. In addition, the invention also provides a movement method, so that equipment applying the wheel set achieves the effect of omnidirectional movement.)

1. The utility model provides a universal track wheelset which characterized in that: comprises a supporting mechanism and a rotating crawler mechanism;

the supporting mechanism comprises a supporting frame, a first motor set and a second motor set, the supporting frame is of a U-shaped frame structure, and the first motor set and the second motor set are respectively arranged on two vertical arms of the supporting frame in a penetrating mode;

the rotary crawler mechanism comprises outer fixing pieces, crawler groups and a lead screw, the outer fixing pieces are provided with two lead screws, the outer fixing pieces are arranged on the inner sides of two vertical arms of the support frame at intervals and are respectively connected with a first motor set and a second motor set, the lead screw is arranged between the two outer fixing pieces, two ends of the lead screw are respectively connected with the two outer fixing pieces, one corresponding end of the lead screw is connected with the first motor set, the crawler groups are uniformly distributed on the periphery of the lead screw in the axial direction at intervals and are provided with a plurality of parts, two ends of each crawler group are respectively connected with one corresponding outer fixing piece, and the outer side face of each crawler group is respectively attached to the outer peripheral face of the lead screw.

2. The universal track wheel assembly of claim 1, wherein: the first motor set comprises a first motor, a first motor flange bearing and a first motor outer fixing seat, the first motor outer fixing seat is installed on the inner side of one of the vertical arms of the support frame through the first motor flange bearing, the first motor is arranged on the support frame, the outer side of each vertical arm is arranged in a penetrating mode, the vertical arms are connected with the first motor outer fixing seat, the first motor outer fixing seat is connected with one of the outer fixing parts, and a motor shaft of the first motor is connected with one corresponding end of the screw rod.

3. The endless track wheel assembly of claim 2, wherein: the outer fixing base of first motor is cylindric, and the stack shell head end is equipped with the foundatin plate of outside extension, and circumference array has the bolt hole on the foundatin plate, and the corresponding adaptation of bolt hole on the external mounting, rear end are equipped with protruding ring in the stack shell, and first motor passes through bolt fixed connection in the outer fixing base stack shell of first motor.

4. The universal track wheel assembly of claim 1, wherein: the second motor set comprises a second motor, a second motor bearing and a flange plate, the flange plate is installed on the inner side of another vertical arm of the support frame through the second motor bearing, the second motor is arranged on the support frame, the outer side of the vertical arm penetrates through the vertical arm and is installed on the flange plate, the flange plate is connected with another outer fixing part, and a motor shaft of the second motor is connected with the flange plate.

5. The endless track wheel assembly of claim 4, wherein: the ring flange includes flange quotation, flange axle, and flange axle one end is connected with flange quotation middle part, and D shape hole has been seted up to the other end, and the motor shaft of second motor is D shape axle, and D shape axle is worn to locate in the D shape hole and is connected.

6. The universal track wheel assembly of claim 1, wherein: the outer fixing part comprises a base disc and a plurality of supporting plates, the supporting plates are fixed on one side face of the base disc, the supporting plates are distributed at intervals in a circumferential array mode by taking the circular shape of the base disc as the center, the cross sections of the supporting plates are V-shaped, the openings of the supporting plates face the outer ring of the base disc, a track set is connected between every two adjacent supporting plates respectively, the other side face of the base disc is connected with a first motor set or a second motor set, and the end portion of a lead screw is connected with the middle portion of the base disc through a ball bearing.

7. The universal track wheel assembly of claim 1, wherein: the crawler group comprises a rubber crawler, two pinions and pinion bearings, wherein the rubber crawler is a ring belt, a plurality of rectangular grooves are formed in the inner ring of the rubber crawler at equal intervals, the two pinions are respectively meshed with the corresponding grooves in the two ends of the rubber crawler, the pinions and the grooves are in clearance fit, the two pinions are respectively installed on one external fixing piece on one corresponding side, the two ends of a gear shaft of each pinion are respectively connected with the external fixing piece through one pinion bearing, a plurality of spiral grooves matched with spiral protrusions on the outer peripheral surface of a screw rod are formed in the outer ring of the rubber crawler at equal intervals, the outer side surface of the rubber crawler is respectively attached to the outer peripheral surface of the screw rod, and the thickness of the rubber crawler is larger than the sum of the depth of the grooves in the inner ring and the depth of the spiral grooves in the outer ring.

8. The universal track wheel assembly of claim 1, wherein: the screw body of the screw rod is provided with a spiral linear protrusion, and the height of the spiral linear protrusion is more than or equal to one fourth of the diameter of the rod body.

9. The universal track wheel assembly of claim 1, wherein: the universal crawler wheel sets can be connected through a polygonal ring frame, and at least two universal crawler wheel sets are integrally mounted on the outer side face of the polygonal ring frame.

10. A method for moving a universal crawler belt assembly according to any one of claims 1 to 9, wherein the universal crawler belt assembly is in two integrated forms, wherein:

when moving along the positive X-axis direction, the method comprises the following steps:

the method comprises the following steps: the first universal crawler belt wheel set A1 motor set works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step two: the first motor set of the second universal crawler wheel set A2 works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step three: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the X axis;

the same applies when moving along the negative direction of the X axis;

when moving along the positive direction of the Y axis, the method comprises the following steps:

the first step is as follows: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the second step is that: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the third step: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the Y axis;

when rotating along the center, the method comprises the following steps:

step 1: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis/the positive direction of the Y axis;

step 2: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; each crawler belt group rotates towards the negative direction, and the rotating crawler belt mechanism stops to form driving force towards the X-axis/Y-axis negative direction;

and step 3: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and opposite rotating directions, and form a driving resultant force of the self-rotation of the main body;

the same applies when rotating along the central reverse direction.

Technical Field

The invention relates to the technical field of wheel sets, in particular to a universal crawler wheel set and a movement method thereof.

Background

The unconstrained movement of a mobile robot in an environment requires a robot mobile platform capable of realizing omnidirectional movement and rotation. Most of the existing robot mobile platforms adopt a structure of combining a chassis and an omnidirectional wheel so as to realize translation and rotation of the mobile machine in any direction.

The omnidirectional wheel has the advantages that the omnidirectional wheel can be steered in situ and moved transversely, and the flexible movement of the robot moving platform in a narrow space can be realized. Specific to the structure of the omni wheel, the common is mainly two, one is a Mecanum wheel: a plurality of small rollers are obliquely distributed on the wheel rim, and when the wheel rotates around a fixed wheel spindle, the envelope curve of each small roller is a cylindrical surface, so that the wheel can continuously roll forwards; meanwhile, the wheels can transversely slide under the action of the small rollers; the pivot steering and lateral movement of the mobile platform is achieved by the vector combination of the driving forces of a plurality of wheels (four are common). The other type is an Omni wheel, a plurality of small rollers are transversely distributed on a wheel rim, and when the wheel rotates around a fixed wheel spindle, the envelope curve of each small roller is also a cylindrical surface, so that the wheel can continuously roll forwards; meanwhile, the transverse passive motion can be realized due to the action of the small rollers; the pivot steering and lateral movement of the mobile platform is achieved by vector synthesis of the driving forces of a plurality of wheels (three or four are common).

The above two omni-directional wheels have the advantage of compact structure, but because the wheels are provided with a plurality of rollers, the rollers can be sequentially contacted with the ground when the wheels roll, and because the contact surfaces of the rollers and the ground are not continuous, the rollers can vibrate each time the rollers are contacted with the ground. In order to reduce vibration, the number of rollers of the above two omni-directional wheel structures is usually increased as much as possible when the omni-directional wheel structure is used, and because each roller needs a pair of bearings, the assembly is complicated and the cost is high due to the plurality of rollers. Therefore, the traditional omnidirectional wheel is complex to assemble and high in cost.

The invention relates to an omnidirectional crawler which comprises a vehicle body and three crawler belts connected with the vehicle body through connecting shafts respectively, wherein the axes of the three connecting shafts form an angle of 120 degrees, and the connecting shafts are vertically connected with the crawler belts; the crawler comprises a driving wheel, a driven wheel connected with the driving wheel through a chain, and an intermediate frame connected between the driving wheel and the driven wheel and sliding with the chain, wherein the intermediate frame is connected with the connecting shaft, and two ends of the intermediate frame are respectively connected with a fixing frame and a wheel fixing frame. The invention provides a novel omnidirectional crawler, which can realize omnidirectional movement through the matching of a crawler body and omnidirectional wheels, thereby reducing the abrasion to a crawler; differential steering is adopted for steering the crawler belt, and steering of the omnidirectional wheel is changed by controlling steering of the crawler belt; the device can realize the movement of the crawler in different directions and the rotation of the vehicle body through the cooperation of the 3 tracks. However, the matching mode of the invention is limited, the combination of the realization of the omnidirectional is less, and the requirement of the sport in a specific field can not be met.

The invention discloses a CN202010078563.8 double-power four-wheel five-omni-directional wheel heavy-load spherical robot which mainly comprises a spherical shell, a frame, a walking drive, a steering drive, a spring, a support, four driving omni-directional wheels, a chassis and the like. The eccentric mass of the components in the spherical shell and the pre-pressure of the spring act on the inner surface of the spherical shell together, and the friction force provided makes the eccentric mass deviate from the center of the sphere, so that eccentric torque is generated to make the spherical shell roll. Two groups of four omnidirectional wheels are supported below the chassis according to an orthogonal position, so that large bearing capacity can be provided, wherein the front omnidirectional wheel and the rear omnidirectional wheel are driven by a walking motor, the left omnidirectional wheel and the right omnidirectional wheel are driven by a steering motor, and the supporting omnidirectional wheels positioned at the top can prevent the chassis from overturning. However, the invention has weak ground holding power, is easy to destabilize, and is easy to cause loss when the motor idles.

The invention relates to an integrated omnidirectional wheel of an X-axis and a control method thereof, wherein the omnidirectional wheel comprises an omnidirectional wheel, a speed changer and a brushless EC disc type motor, the brushless EC disc type motor and the speed changer thereof are arranged in the omnidirectional wheel, the brushless EC disc type motor is connected with the speed changer, and a gear at the output end of the speed changer is used as a sun gear to be meshed with a planetary gear in the omnidirectional wheel to drive the omnidirectional wheel to move. The brushless EC disk type motor is fixed in the omni-directional wheel, so that the working efficiency of the brushless EC disk type motor is improved. However, the universal wheel is easy to sideslip and is not easy to operate.

The invention discloses an orthogonal omnidirectional wheel assembly CN201410375380.7, which comprises a bracket, wherein two omnidirectional wheels are arranged on the bracket, and the two omnidirectional wheels are arranged vertically; the two omnidirectional wheels can be arranged on the bracket in a sliding manner along the vertical direction, the bracket is provided with a top cover, each omnidirectional wheel is arranged on the wheel carrier, each wheel carrier is provided with at least one sliding block along the vertical direction, the bracket is correspondingly provided with a sliding chute matched with the sliding block, and a telescopic part is also arranged between each wheel carrier and the top cover and comprises a damping shaft and a damping spring; the support is provided with a top cover and a bottom cover, and the side surface is also provided with a sealing plate I and a sealing plate II. This quadrature omnidirectional wheel subassembly includes two omnidirectional wheels that relative perpendicular set up, when meetting rugged and uneven or inclined road surface, two omnidirectional wheels slip from top to bottom can support ground simultaneously, grab the ground firmly and lean on and can not produce the adaptation road surface that sideslips that can be fine, and the regulation response is quick, and it bears weight greatly simultaneously, and is not fragile, installs simply. However, when the driving force is excessive, the force is not smooth, and the force in the same direction is not uniform, which tends to cause instability.

Disclosure of Invention

The purpose of the invention is as follows: in view of the above problems, the present invention is to provide a universal track wheel set, which effectively solves the problems of the prior art, such as weak ground-grasping force, side-slipping, limited combination manner, etc., and has the advantages of convenient disassembly and maintenance, and more convenient and faster collocation and combination. And a method of movement thereof.

The technical scheme is as follows: a universal crawler wheel group comprises a supporting mechanism and a rotating crawler mechanism;

the supporting mechanism comprises a supporting frame, a first motor set and a second motor set, the supporting frame is of a U-shaped frame structure, and the first motor set and the second motor set are respectively arranged on two vertical arms of the supporting frame in a penetrating mode;

the rotary crawler mechanism comprises outer fixing pieces, crawler groups and a lead screw, the outer fixing pieces are provided with two lead screws, the outer fixing pieces are arranged on the inner sides of two vertical arms of the support frame at intervals and are respectively connected with a first motor set and a second motor set, the lead screw is arranged between the two outer fixing pieces, two ends of the lead screw are respectively connected with the two outer fixing pieces, one corresponding end of the lead screw is connected with the first motor set, the crawler groups are uniformly distributed on the periphery of the lead screw in the axial direction at intervals and are provided with a plurality of parts, two ends of each crawler group are respectively connected with one corresponding outer fixing piece, and the outer side face of each crawler group is respectively attached to the outer peripheral face of the lead screw.

Further, the first motor group comprises a first motor, a first motor flange bearing and a first motor outer fixing seat, the first motor outer fixing seat is installed on the inner side of one of the vertical arms of the support frame through the first motor flange bearing, the first motor is arranged on the support frame, the outer side of each vertical arm penetrates through the vertical arm and is connected with the first motor outer fixing seat, the first motor outer fixing seat is connected with one of the outer fixing parts, and a motor shaft of the first motor is connected with one corresponding end of the screw rod.

Further, the outer fixing base of first motor is cylindric, and the stack shell head end is equipped with the foundatin plate of outside extension, and circumference array has the bolt hole on the foundatin plate, and bolt hole looks adaptation on the outer mounting, and the rear end is equipped with protruding ring in the stack shell, and first motor passes through bolt fixed connection in the outer fixing base stack shell of first motor.

Furthermore, the second motor unit comprises a second motor, a second motor bearing and a flange plate, the flange plate is installed on the inner side of one of the vertical arms of the support frame through the second motor bearing, the second motor is arranged on the support frame, the outer side of the vertical arm penetrates through the vertical arm and is installed on the flange plate, the flange plate is connected with one of the outer fixing parts, and a motor shaft of the second motor is connected with the flange plate.

Preferably, the flange plate comprises a flange plate surface and a flange shaft, one end of the flange shaft is connected with the middle of the flange plate surface, a D-shaped hole is formed in the other end of the flange shaft, a motor shaft of the second motor is a D-shaped shaft, and the D-shaped shaft penetrates through the D-shaped hole and is connected with the D-shaped hole.

Further, the outer fixing part comprises a base disc and a plurality of supporting plates, the supporting plates are fixed on one side face of the base disc, the supporting plates are distributed at intervals in a circumferential array mode by taking the circular shape of the base disc as the center, the cross sections of the supporting plates are V-shaped, the openings of the supporting plates face the outer ring of the base disc, a track set is connected between every two adjacent supporting plates, the other side face of the base disc is connected with the first motor set or the second motor set, and the end portion of the lead screw is connected with the middle portion of the base disc through a ball bearing.

Furthermore, the crawler group comprises a rubber crawler, two pinions and pinion bearings, the rubber crawler is a ring belt, a plurality of rectangular grooves are formed in the inner ring of the rubber crawler at equal intervals, the two pinions are respectively meshed with the corresponding grooves in the two ends of the rubber crawler, the pinions and the grooves are in clearance fit, the two pinions are respectively installed on one outer fixing piece on one corresponding side, the two ends of a gear shaft of each pinion are respectively connected with the outer fixing piece through one pinion bearing, a plurality of spiral grooves matched with spiral protrusions on the outer peripheral surface of the screw rod are formed in the outer ring of the rubber crawler at equal intervals, the outer side surface of the rubber crawler is respectively attached to the outer peripheral surface of the screw rod, and the thickness of the rubber crawler is larger than the sum of the depth of the grooves in the inner ring and the depth of the spiral grooves in the outer ring.

Furthermore, the shaft body of the screw rod is provided with a spiral linear protrusion, and the height of the spiral linear protrusion is more than or equal to one fourth of the diameter of the shaft body.

Furthermore, the universal crawler wheel sets can be connected through a polygonal ring frame, and at least two universal crawler wheel sets are integrally mounted on the outer side face of the polygonal ring frame.

The movement method of the universal crawler belt wheel set is characterized in that the universal crawler belt wheel set is in two integrated forms:

when moving along the positive X-axis direction, the method comprises the following steps:

the method comprises the following steps: the first universal crawler belt wheel set A1 motor set works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step two: the first motor set of the second universal crawler wheel set A2 works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step three: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the X axis;

the same applies when moving along the negative direction of the X axis;

when moving along the positive direction of the Y axis, the method comprises the following steps:

the first step is as follows: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the second step is that: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the third step: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the Y axis;

when rotating along the center, the method comprises the following steps:

step 1: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis/the positive direction of the Y axis;

step 2: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; each crawler belt group rotates towards the negative direction, and the rotating crawler belt mechanism stops to form driving force towards the X-axis/Y-axis negative direction;

and step 3: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and opposite rotating directions, and form a driving resultant force of the self-rotation of the main body;

the same applies when rotating along the central reverse direction.

Has the advantages that: compared with the prior art, the invention has the advantages that:

1. the invention has the advantages that the driving in each direction is relatively independent, the driving is more powerful, and different rotating speeds can be realized under the control of the control system, so that the effect that the wheel set can move in any direction is realized. And the over-gentle stability of the omnidirectional movement is formed.

2. The rubber crawler belt has the advantages that the spiral line-shaped lines are arranged on the outer side of the rubber crawler belt, so that the rubber crawler belt can well grab the ground and prevent sideslip, and the crawler belt is relatively tough and has strong obstacle crossing capability.

3. The invention has wide combination form, can realize omnidirectional movement by a single wheel set, can be matched and combined in practical application, has strong expansibility, can effectively meet engineering requirements, provides new reference for practical application, is suitable for working condition environment with special requirements on the appearance of a vehicle body, and fills the market blank.

4. The invention has simple structure, low operation cost and convenient disassembly, and is beneficial to later maintenance and repair.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a perspective isometric view of the present invention with the rubber track removed;

FIG. 4 is an isometric view of a support structure;

FIG. 5 is an isometric view of a rotating track mechanism;

FIG. 6 is a diagram showing the engagement relationship between the track set and the lead screw;

FIG. 7 is an isometric view of a track set;

FIG. 8 is an isometric view of an outer fixing element;

FIG. 9 is a top view of the outer fixing member;

FIG. 10 is an isometric view of a lead screw;

FIG. 11 is a cross-sectional view of the lead screw;

fig. 12 is an isometric view of a first motor mount;

FIG. 13 is an isometric view of the flange;

FIG. 14 is a schematic view of the universal track roller assembly of the present invention integrating two;

FIG. 15 is a schematic view of the universal track roller assembly of the present invention integrating three;

fig. 16 is a schematic view of four of the universal track roller assemblies of the present invention.

Detailed Description

The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.

A universal crawler wheel set comprises a supporting mechanism 1 and a rotating crawler wheel mechanism 2 as shown in figures 1-13.

The supporting mechanism 1 comprises a supporting frame 11, a first motor set 12 and a second motor set 13, the supporting frame 11 is of a U-shaped frame structure, the supporting frame 11 is made of a light composite material with low density, high strength and high toughness, and the first motor set 12 and the second motor set 13 are respectively installed on two vertical arms of the supporting frame 11 in a penetrating mode.

First 12 of the motor group includes first motor 121, first motor flange bearing 122, the outer fixing base 123 of first motor is installed in the inboard of one of them perpendicular arm of support frame 11 through first motor flange bearing 122, the outer fixing base 123 of first motor is cylindric, the stack shell head end is equipped with the foundatin plate of outside extension, the rear end is equipped with protruding ring in the stack shell, play limiting displacement, first motor 121 wears to locate this perpendicular arm and passes through bolt fixed connection in the stack shell of the outer fixing base 123 of first motor in the outside of this perpendicular arm of support frame 11.

The second motor unit 13 includes a second motor 131, a second motor bearing 132 and a flange 133, the flange 133 is installed on the inner side of another vertical arm of the support frame 11 through the second motor bearing 132, the flange 133 includes a flange disk 1331 and a flange shaft 1332, one end of the flange shaft 1332 is connected with the middle of the flange disk 1331, the other end of the flange shaft 1332 is provided with a D-shaped hole, the second motor 131 is arranged on the support frame 11, the outer side of the vertical arm is penetrated through the vertical arm and installed on the flange 133, a motor shaft of the second motor 131 is a D-shaped shaft, the D-shaped shaft is penetrated through the D-shaped hole and connected, and the flange disk 1331 is provided with a positioning screw hole which is fixed by a positioning bolt to prevent sliding.

The rotating crawler mechanism 2 comprises an outer fixing member 21, a crawler group 22 and a lead screw 23, wherein the outer fixing member 21 is a single member, two outer fixing members 21 are arranged on the inner sides of two vertical arms of the support frame 11 at intervals, each outer fixing member 21 comprises an outer fixing member bearing 211, a base disc 212 and a plurality of support plates 213, the plurality of support plates 213 are welded and fixed on one side surface of the base disc 212, the plurality of support plates 213 are distributed at intervals in a circumferential array by taking the circle of the base disc 212 as the center, the cross sections of the support plates 213 are V-shaped, the openings of the support plates face the outer ring of the base disc 212, the other side surface of the base disc 212 of one outer fixing member 21 is connected with a first motor outer fixing seat 123, the other side surface of the base disc 212 of the other outer fixing member 21 is connected with a flange 133, the lead screw 23 is arranged between the two base discs 212, and the end part of the lead screw is connected with the middle part of the base disc 212 through the outer fixing member bearing 211, the outer fixture bearings 211 are ball bearings. The corresponding end of the screw 23 is connected with the first motor 121, the cross section of the hole at one end of the screw 23 matched with the first motor 121 is D-shaped, a positioning hole is arranged on the D-shaped hole, and the screw 23 is fixedly connected with the motor shaft of the first motor 12 through a positioning bolt. The first motor 121 is also D-shaped in cross-section.

A plurality of track groups 22 are uniformly distributed at intervals on the axial periphery of the screw 23, and two ends of each track group 22 are respectively connected with one corresponding outer fixing piece 21. The track group 22 comprises a rubber track 221, a pinion 222 and a pinion bearing 223, wherein the rubber track 221 is an endless belt, the inner ring of the rubber crawler 221 is provided with a plurality of rectangular grooves at equal intervals, two pinions 222 are arranged and are respectively meshed with the corresponding grooves at the two ends of the rubber crawler 221, the number of the grooves in the inner ring of the rubber crawler 221 is arrayed according to the multiple of the number of teeth of the pinions 222, the pinions 222 are in clearance fit with the grooves, so that the teeth attached to the surface thereof can be closely fitted to the grooves as the pinion 222 rotates, the two pinions 222 are respectively mounted to one of the outer fixtures 21 at the corresponding side, the pinions 222 are disposed between the adjacent two support plates 213, two ends of the gear shaft are respectively connected with a corresponding supporting plate 213 through a pinion bearing 223, the pinion bearing 223 is a thrust ball bearing, and the pinion bearing 223 is connected with the supporting plate 213 through bolts and nuts so as to achieve the effect of reducing the rotational friction.

The shaft of the screw 23 is provided with a spiral protrusion, and the height of the spiral protrusion is greater than or equal to one fourth of the diameter of the shaft. The outer ring of the rubber track 221 is provided with a plurality of spiral grooves which are matched with the spiral protrusions on the outer peripheral surface of the screw 23 at equal intervals, so that the outer side surface of the rubber track 221 is respectively attached to the outer peripheral surface of the screw 23, and the thickness of the rubber track 221 is larger than the sum of the depth of the grooves of the inner ring and the depth of the spiral grooves of the outer ring. The depth of the spiral groove is just less than the spiral protrusion on the screw, so that the rubber crawler 221 can be driven to rotate powerfully along with the rotation of the screw 23.

The lead screw 23 is in annular fit with each track group 22, so that the spiral protrusions on the outer side of the rod body of the lead screw 23 are perfectly attached to the spiral line grooves on the outer ring of the track, and the rotation of the track groups 22 is further controlled along with the forward and reverse rotation of the lead screw, so that the moving function is achieved. Through the work of the second motor set, the rotating crawler 2 rotates to achieve the moving effect, and similarly, when the first motor set works, the screw 23 rotates to drive the crawler set 22 to rotate. Thereby achieving the basic condition of omnidirectional movement.

The universal crawler belt wheel sets can be connected through a polygonal ring frame, and at least two universal crawler belt wheel sets are integrally mounted on the outer side face of the polygonal ring frame to form a chassis structure.

A kinematic model, to fully control its motion, requires three control quantities: x-axis speed, Y-axis speed, rotational angular speed. (X-axis is the horizontal direction of the wheel set, and Y-axis is the longitudinal direction of the wheel set)

When the chassis moves along the X-axis, its speed is:

when the chassis moves along the Y axis, its speed is:

when the chassis rotates around the geometric center, the speed is as follows:

as shown in fig. 14, the universal track wheel set is two integrated forms, the first universal track wheel set a1 and the second universal track wheel set a2 are distributed on both sides of the main body, and the movement method of the universal track wheel set is as follows:

when moving along the positive X-axis direction, the method comprises the following steps:

the method comprises the following steps: the first universal crawler belt wheel set A1 motor set works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step two: the first motor set of the second universal crawler wheel set A2 works, and the second motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis;

step three: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the X axis;

the same applies when moving along the negative direction of the X axis;

when moving along the positive direction of the Y axis, the method comprises the following steps:

the first step is as follows: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the second step is that: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group stops to form driving force in the positive direction of the Y axis;

the third step: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and the same rotating direction, and form a driving resultant force of the main body in the positive direction of the Y axis;

when rotating along the center, the method comprises the following steps:

step 1: a second motor set of the first universal crawler wheel set A1 works, and the first motor set stops; each crawler belt group rotates in the positive direction, and the rotating crawler belt mechanism stops to form driving force in the positive direction of the X axis/the positive direction of the Y axis;

step 2: a second motor set of the second universal crawler wheel set A2 works, and the first motor set stops; each crawler belt group rotates towards the negative direction, and the rotating crawler belt mechanism stops to form driving force towards the X-axis/Y-axis negative direction;

and step 3: the first universal crawler belt wheel group A1 and the second universal crawler belt wheel group A2 have the same rotating speed and opposite rotating directions, and form a driving resultant force of the self-rotation of the main body;

the same applies when rotating along the central reverse direction.

In addition, as shown in fig. 15, the universal track wheel sets are integrated into three sets, and the first universal track wheel set B1, the second universal track wheel set B2, and the third universal track wheel set B3 are distributed in an equilateral triangle shape around the main body, and the movement method of the universal track wheel sets includes:

the method takes the installation direction of a single universal crawler wheel set as an X axis/Y axis, and comprises the following steps when moving along the positive direction of the X axis/Y axis:

s1: a second motor set of the first universal crawler wheel set B1 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group moves in the positive direction to form driving resultant force in the positive directions of the X axis and the Y axis.

S2: a second motor set of the second universal crawler wheel set B2 works, and the first motor set stops; the rotating crawler mechanisms rotate in the positive direction, and each crawler group moves in the positive direction to form driving resultant force in the positive directions of the X axis and the Y axis.

S3: stopping a second motor set of the third universal crawler wheel set B3, and enabling the first motor set to work; the rotating crawler mechanism rotates in the positive direction, and each crawler group stops to form driving force in the positive direction of the X axis/the Y axis.

The same principle is applied to any direction movement.

When rotating along the center, the method comprises the following steps:

s11: a second motor set of the first universal crawler wheel set B1 works, and the first motor set stops; the rotating crawler belt mechanism rotates towards the negative direction, and each crawler belt group stops to form driving force towards the X-axis/Y-axis negative direction.

S22: a second motor set of the second universal crawler wheel set B2 works, and the first motor set stops; the rotating crawler belt mechanism rotates towards the negative direction, and each crawler belt group stops to form driving force towards the X-axis/Y-axis negative direction.

S33: a second motor set of the third universal crawler wheel set B3 works, and the first motor set stops; the rotating crawler belt mechanism rotates towards the negative direction, and each crawler belt group stops to form driving force towards the X-axis/Y-axis negative direction.

S44: the first universal crawler belt wheel group B1, the second universal crawler belt wheel group B2 and the third universal crawler belt wheel group B3 have the same rotating speed and the same direction, and form the self-rotation unidirectional driving resultant force of the main body.

The same applies when rotating along the central reverse direction.

As shown in fig. 16, the first universal crawler wheel group C1, the second universal crawler wheel group C2, the third universal crawler wheel group C3, and the fourth universal crawler wheel group C4 are distributed around the main body. The moving mode is similar to that when two sets of universal track wheel sets are integrated, and the only notice is that the modes of the two sets of universal track wheel sets are opposite when the two sets of universal track wheel sets move in the X-axis direction and the Y-axis direction.

The invention has wide combination form, simpler operation and easier program compiling, and can realize the multifunctional detection of different application scenes and execute certain tasks by being matched with various sensor modules and cameras.