Special robot with complex terrain adaptive function and a motion and operation method thereof

A special robot with complex terrain adaptive function comprising, a crawler chassis, a shock absorption suspension assembly, a suspension adaptive adjustment assembly and an electronic control assembly;

• the crawler chassis comprises a chassis body being a frame structure, two side surfaces of the chassis body are configured with a suspension supporting side plate, a top surface, a bottom surface, a front surface and a rear surface of the chassis body are all configured with a stationary cover plate;
• two sets of the shock absorption suspension assemblies are provided, respectively located on two sides of the crawler chassis;
• the shock absorption suspension assembly comprises a suspension body and a crawler, two sides of the suspension body are configured with a driving wheel and a driven wheel, the upper part of the suspension body is alternately configured with a track roller, the bottom part of the suspension body is alternately configured with a load wheel connected with a tensioning mechanism by which the tensioned crawler is controlled, the crawler is configured to surround the outer contour consisting of the track roller, the driving wheel, the driven wheel and the load wheel;
• two sets of the suspension adaptive adjustment assemblies are provided, respectively located close to rear of two sides of the chassis body and are used to achieve the angle adjustment of the shock absorption suspension assembly, each set of the shock absorption suspension assembly corresponds to one set of the suspension adaptive adjustment assembly;
• the suspension adaptive adjustment assembly comprises a steering motor, a primary gear, a secondary gear, a steering gear, a power transmission mechanism and a fixing mechanism;
• the steering motor comprises a first steering motor and a second steering motor placed in parallel and all provided on the rear end of the suspension supporting side plate;
• the primary gear comprises a first primary gear and a second primary gear, the secondary gear comprises a first secondary gear and a second secondary gear, the first primary gear and the second primary gear are respectively configured on the rotation axis of the first steering gear and the second steering motor and are respectively engaged with the first secondary gear and the second secondary gear, the steering gear is configured between the first secondary gear and the second secondary gear and is respectively engaged with the first secondary gear and the second secondary gear;
• the center of the steering gear is connected to one end of a hollow shaft, and the other end of the hollow shaft is fixedly connected to the rear end of the suspension body;
• the power transmission mechanism comprises a driving shaft, an universal joint and a driven shaft, the universal joint is connected between the driving shaft and the driven shaft;
• the fixing mechanism comprises a first fixing rod and a second fixing rod, the first fixing rod is in a T-shaped hollow rod structure, the first steering motor and the second steering motor are connected to the trailing end of the first fixing rod, the first secondary gear and the second secondary gear are respectively connected to both front ends of the first fixing rod, the first secondary gear and the second secondary gear are connected through a rigid shaft, the rigid shaft threads the front end of the first fixing rod, both outside ends of the rigid shaft are configured with a shaft sleeve;
• the second fixing rod is in a U-shaped structure and stretches across the first secondary gear and the second secondary gear, both ends of the second fixing rod are respectively fixed to the shaft sleeves where the rigid shaft threads both outside ends of the first secondary gear and the second secondary gear, where the center of the second fixing rod corresponds to the center of the steering gear is connected with a fixing seat, the hollow shaft connected to the steering gear threads vertically through the fixing seat and can freely rotate in relative to the fixing seat;
• the electronic control assembly comprises a controller, a sensor, an actuator and a power motor, the controller is connected to the sensor and the actuator, the actuator is respectively connected to the power motor and the steering motor, the power motor is connected to the driving shaft of the power transmission mechanism, the driven shaft of the power transmission mechanism is connected to the driving wheel of the shock absorption suspension assembly.