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CN-122009353-A - Crawler-type mobile platform with multidirectional adjustable gravity center

CN122009353ACN 122009353 ACN122009353 ACN 122009353ACN-122009353-A

Abstract

The invention discloses a crawler-type mobile platform with a multidirectional adjustable center of gravity, which comprises a central machine body, double-cross arm connecting rod mechanisms and crawler traveling mechanisms, wherein the double-cross arm connecting rod mechanisms are symmetrically arranged on two sides of the central machine body and are connected with the crawler traveling mechanisms, each crawler traveling mechanism comprises a traveling support frame, each traveling support frame consists of an outer connecting plate and an inner connecting plate which are fixedly connected through a connecting shaft, the middle position of each inner connecting plate is fixedly connected with a longitudinal sliding base through a bolt, the rear end of each inner connecting plate is provided with a traveling driving assembly, and the inner side of each outer connecting plate is provided with a tensioning mechanism. The problems of insufficient obstacle crossing capability and poor stability of the crawler-type platform in complex terrains in the prior art are solved, the adjustment of the gravity center of the whole machine in three dimensions of transverse, longitudinal and vertical is realized, and the trafficability and stability of the crawler-type platform under unstructured terrains are remarkably improved.

Inventors

  • YANG SEN
  • ZHU YANG
  • ZHANG JINGXIANG
  • SUN HAOYANG
  • YANG LU
  • WANG WENSHUO
  • XI JUNQIANG

Assignees

  • 北京理工大学(珠海)

Dates

Publication Date
20260512
Application Date
20260413

Claims (10)

  1. 1. The crawler-type mobile platform with the multidirectional adjustable center of gravity comprises a central machine body (4), and is characterized in that double cross arm connecting rod mechanisms (2) are symmetrically arranged on two sides of the central machine body (4), the double cross arm connecting rod mechanisms (2) are connected with a crawler-type travelling mechanism (1), The double-cross arm connecting rod mechanism (2) comprises two upper swing arms (12) which are arranged in parallel, lower swing arms (13) are arranged below the upper swing arms (12) in parallel, and electric push rods (14) are arranged at the middle positions of the two upper swing arms (12) and the two lower swing arms (13); The crawler traveling mechanism (1) comprises a traveling support frame (11), wherein the traveling support frame (11) consists of an outer connecting plate (111) and an inner connecting plate (112), the outer connecting plate and the inner connecting plate are fixedly connected through a plurality of groups of connecting shafts (113) which are arranged in parallel up and down, a longitudinal sliding base (24) is fixedly connected to the middle position of the inner connecting plate (112) through bolts, a traveling driving assembly (9) is arranged at the rear end of the inner connecting plate (112), and a tensioning mechanism (10) is arranged on the inner side of the outer connecting plate (111).
  2. 2. The crawler-type mobile platform with the multidirectional adjustable gravity center according to claim 1, wherein hinged supports (401) are arranged on two sides of the central machine body (4), inner ends of the upper swing arm (12) and the lower swing arm (13) are hinged to the side faces of the hinged supports (401), and the inner ends of the electric push rods (14) are hinged to the central positions of the hinged supports (401).
  3. 3. The crawler-type mobile platform with the multidirectional adjustable center of gravity according to claim 1, wherein a load sliding table (19) is arranged in the middle of the longitudinal sliding base (24), three nut seats (18) are arranged on two sides of the load sliding table (19), a screw rod supporting seat (20) and two polished rod supporting seats (21) are arranged on two ends of the longitudinal sliding base (24), and the screw rod supporting seat (20) is positioned between the two polished rod supporting seats (21); one end of the ball screw (16) penetrates through the screw support seat (20) and is rotationally connected with the screw support seat (20) through a bearing, the other end of the ball screw penetrates through a nut seat (18) corresponding to the screw support seat (20) and is rotationally connected with the nut seat (18) through a bearing, one end of the polish rod (17) penetrates through the polish rod support seat (21) and is fixed on the polish rod support seat (21) through a bolt, and the other end of the ball screw penetrates through the nut seat (18) corresponding to the polish rod support seat (21) and is fixed on the nut seat (18) through a bolt.
  4. 4. A crawler-type mobile platform with a multidirectional adjustable center of gravity according to claim 3, wherein the load sliding table (19) is provided with a lateral connecting seat (15), the outer ends of the upper swing arm (12) and the lower swing arm (13) are respectively hinged at the upper point and the lower point of the lateral connecting seat (15), and the outer end of the electric push rod (14) is hinged at the middle part of the lateral connecting seat (15).
  5. 5. A crawler-type mobile platform with a multidirectional adjustable center of gravity according to claim 3, wherein the forefront end of the longitudinal sliding base (24) is provided with a longitudinal sliding mechanism (3), a longitudinal displacement driving assembly (22) is mounted on the longitudinal sliding mechanism (3), the longitudinal displacement driving assembly (22) comprises a longitudinal adjusting motor (221), and the output end of the longitudinal displacement driving assembly is connected with one end of the ball screw (16) through a longitudinal coupler (222).
  6. 6. The crawler-type mobile platform with the multidirectional adjustable center of gravity according to claim 1, wherein the walking driving assembly (9) comprises a coupler (903) fixed at the rear end position of the inner connecting plate (112), the rear end of the outer connecting plate (111) is provided with a driving wheel (6), the output end of the speed reducer (902) is in transmission connection with the driving wheel (6) through the coupler (903), and the output end of the motor (901) is fixedly connected with the other end of the speed reducer (902).
  7. 7. The crawler-type mobile platform with the multidirectional adjustable center of gravity according to claim 1, wherein the tensioning mechanism (10) is a screw tensioning mechanism and comprises a tensioning screw (101), an adjusting nut (102) and a tensioning seat (103), the tensioning seat (103) is fixed on an outer connecting plate (111) through bolt connection, the tensioning screw (101) is arranged in a threaded hole of the tensioning seat (103) in a penetrating mode, and the adjusting nut (102) is arranged at one end of the tensioning screw (101).
  8. 8. The crawler-type mobile platform with the multidirectional adjustable gravity center according to claim 1, wherein a sliding groove extending along the longitudinal direction is formed in the front end of the outer connecting plate (111), the guide wheel (8) is mounted on the tensioning screw (101), and the wheel shaft of the guide wheel (8) is slidably assembled in the sliding groove at the front end of the outer connecting plate (111).
  9. 9. Crawler-type mobile platform with multidirectional adjustable centre of gravity according to claim 1, characterized in that the connecting shafts (113) are each provided with supporting wheels (7).
  10. 10. The crawler-type mobile platform with the multidirectional adjustable center of gravity according to claim 1, wherein the crawler traveling mechanism (1) further comprises a rubber crawler (5), and the rubber crawler (5) is sleeved outside a gear train consisting of a supporting wheel (7), a driving wheel (6) and a guiding wheel (8).

Description

Crawler-type mobile platform with multidirectional adjustable gravity center Technical Field The invention belongs to the technical field of all-terrain mobile equipment, and relates to a crawler-type mobile platform with a multidirectional adjustable center of gravity. Background With the increasing demands of field operation, post-disaster rescue, planetary detection and mountain agricultural mechanization, extremely high requirements are put on the terrain passing capability and the operation stability of a mobile platform. In complex unstructured terrains such as soft mud, broken stone pavements, ravines, steep slopes and the like, the crawler-type mobile platform becomes a mainstream choice of the mobile platform by virtue of the advantages of small specific pressure, large traction force, good adhesion performance and the like. However, the existing crawler-type mobile platform mainly has the following problems: 1. The prior platform is mostly rigidly connected, and can incline along with the slope surface when passing through the transverse slope surface, so that the vehicle-mounted precise instrument is invalid or the vehicle is turned over; 2. the stability is insufficient, the track gauge and the gravity center position of the existing platform cannot be actively adjusted, so that the stability is reduced, and the diversified requirements of unstructured terrains are difficult to meet; 3. the function expansion is limited, the existing platform is single in most functions and lacks a universal interface, application potential of the platform under different working conditions is limited, multiple functions of one machine cannot be realized, and the platform is difficult to dispatch when facing complex tasks. Therefore, in the technical field of all-terrain mobile equipment, there is a need to design a small crawler-type mobile platform which has a compact structure and is provided with active adjustment of track gauge and gravity center. Disclosure of Invention In order to achieve the purpose, the invention provides the crawler-type mobile platform with the multidirectional adjustable gravity center, which solves the problems of insufficient obstacle crossing capability and poor stability of the crawler-type platform in complex terrains in the prior art. In order to solve the technical problems, the technical proposal adopted by the invention is a crawler-type mobile platform with multidirectional adjustable gravity center, which comprises a central machine body, wherein two sides of the central machine body are symmetrically provided with double-cross arm connecting rod mechanisms which are connected with crawler-type travelling mechanisms, The double-cross arm connecting rod mechanism comprises two upper swing arms which are arranged in parallel, lower swing arms are arranged below the upper swing arms in parallel, and electric push rods are arranged at the middle positions of the two upper swing arms and the two lower swing arms; The crawler traveling mechanism comprises a traveling support frame, the traveling support frame is composed of an outer connecting plate and an inner connecting plate, the outer connecting plate and the inner connecting plate are fixedly connected through a plurality of groups of connecting shafts which are arranged in parallel up and down, a longitudinal sliding base is fixedly connected to the middle position of the inner connecting plate through bolts, a traveling driving assembly is arranged at the rear end of the inner connecting plate, and a tensioning mechanism is arranged on the inner side of the outer connecting plate. Further, both sides of the central machine body are provided with hinged supports, the inner ends of the upper swing arm and the lower swing arm are hinged to the side faces of the hinged supports, and the inner ends of the electric push rods are hinged to the central positions of the hinged supports. Further, a load sliding table is arranged in the middle of the longitudinal sliding base, three nut seats are arranged on two sides of the load sliding table, a screw rod supporting seat and two polished rod supporting seats are arranged at two ends of the longitudinal sliding base, and the screw rod supporting seat is positioned between the two polished rod supporting seats; one end of the polish rod passes through the polish rod supporting seat, is fixed on the polish rod supporting seat through a bolt, and the other end of the polish rod passes through the nut seat corresponding to the polish rod supporting seat and is fixed on the nut seat through a bolt. Further, be provided with the side direction connecting seat on the load slip table, the outer end of going up swing arm and lower swing arm articulates respectively in the upper and lower two points department of side direction connecting seat, and electric putter's outer end articulates in the middle part of side direction connecting seat. Further, the forefront end of the longitudinal slid