Array type flexible obstacle crossing carrying trolley based on group operation concept

Abstract

The invention provides an array type flexible obstacle-crossing carrying trolley based on a group operation concept, and relates to the technical field of obstacle-crossing carrying trolleys. The vehicle frames are symmetrically distributed on the left side and the right side of the vehicle body, and the at least two wheels are connected to the vehicle frame on the same side. The vehicle frame is rotatably connected to the vehicle body, and the wheels are rotatably connected to the vehicle frame; the rotating axis of the frame is perpendicular to the advancing direction of the trolley, so that the frame can swing relative to the trolley body in a vertical plane; the rotating axes of the wheels on the frame on the same side are parallel to each other and are perpendicular to the rotating plane of the wheels; a driving part is further arranged on the vehicle body, and when the wheels meet the uneven road surface, the driving part drives the corresponding vehicle frame to rotate; the frame is of an arch structure which is high in the middle and low in two sides and extends towards the two sides. And the middle part of the frame is rotatably arranged on the vehicle body. The system has the advantages of being simple in structural design, good in expansibility and capable of achieving group operation.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle-crossing transport vehicles, in particular to an array-type compliant obstacle-crossing transport vehicle based on a group operation concept. Background Art

[0002] In current fields such as natural disaster relief, urban logistics, and agricultural monitoring, there is an increasing demand for obstacle-crossing vehicles and multi-purpose transport vehicles. These vehicles require greater flexibility, adaptability, and collaborative capabilities, especially in complex and dangerous environments. In disaster relief scenarios, rescue equipment must not only be able to quickly and efficiently access complex and confined environments but also perform critical operations such as search, material transport, and rescue missions under harsh conditions. However, existing obstacle-crossing vehicles generally have limitations when addressing these complex requirements and are unable to meet the diverse demands of modern rescue and other complex missions. First, while traditional obstacle-crossing vehicles, such as belt-type, planetary-wheel, leg-type, and wheel-leg-type vehicles, can provide certain obstacle-crossing capabilities in specific terrains, their applicability is often limited by numerous factors. For example, belt-type obstacle-crossing vehicles, due to their track design, can adapt to certain muddy or rugged terrain. However, due to the large track contact area, they have a slow travel speed and high energy consumption, resulting in low efficiency during prolonged operations. Furthermore, while planetary wheels offer good stability in some complex terrains, their structure is relatively complex, making maintenance difficult and environmentally unsuitable, making them inefficient in adapting to changing terrain. Leg-based structures, while offering greater flexibility and obstacle-crossing capabilities, are expensive to control and maintain due to their complex drive systems and joint structures, and their heavy weight compromises their maneuverability and efficiency. Wheel-legged obstacle-crossing vehicles, while combining the advantages of both wheels and legs, suffer from disadvantages such as heavy weight, high energy consumption, and structural instability due to their complex hybrid structure. They perform poorly in environments requiring rapid deployment and efficient operation.

[0003] Chinese patent document CN202122043123.1 discloses an intelligent obstacle-crossing vehicle, including a frame, a controller, a motor drive module, a motor and a power supply. The frame is arranged into two groups, and a first bracket and a second bracket are fixedly connected between the two groups of frames. The cross-sectional shape of the frame is a double-arc angled structure. The frame is composed of an arc-shaped main frame and an arc-shaped front frame. The first bracket and the second bracket are fixedly connected between the main frames on both sides and the front frames on both sides respectively. One end of the main frame is rotatably connected to the middle part of the front frame, and the other end of the main frame and the two ends of the front frame are rotatably connected to the rear wheel, the middle wheel and the front wheel respectively. A sensing device is fixedly connected to the frame. The utility model designs the frame into a double-arc angled structure by arranging structures such as a frame, a controller, a power supply, a motor, a front wheel, a middle wheel and a rear wheel, thereby enhancing the rigidity of the frame itself, changing the constraints of the original frame and its body, and at the same time increasing the height of climbing vertical obstacles.

[0004] However, the main shortcomings of the above-mentioned obstacle-crossing vehicle are reflected in the following problems: First, the structural design of the obstacle-crossing vehicle is relatively complex, and it lacks a simple modular design, resulting in insufficient overall stability and flexibility. Especially in tasks that require high flexibility and adaptability, the complex design may lead to less than smooth movement, affecting the ability to cross obstacles. Secondly, the carrying capacity of the obstacle-crossing vehicle is insufficient. The structure of the obstacle-crossing vehicle may not fully consider the stress distribution and strength design. Too many components may cause the vehicle to break or deform easily when carrying heavy objects, especially in the face of high-load tasks or complex obstacles. Summary of the Invention

[0005] The present invention overcomes the shortcomings of the prior art and provides an array-type flexible obstacle-crossing transport vehicle based on the concept of group operation, which has the advantages of simple structural design, good scalability and the ability to realize group operation.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] An array-type flexible obstacle-crossing transport vehicle based on the group operation concept, comprising:

[0008] The vehicle body serves as the basic load-bearing platform;

[0009] Frames symmetrically distributed on the left and right sides of the vehicle body, and at least two wheels connected to the frame on the same side;

[0010] The frame is rotatably connected to the vehicle body, and the wheels are rotatably connected to the frame;

[0011] The rotation axis of the frame is perpendicular to the direction of travel of the vehicle, so that the frame can swing relative to the vehicle body in a vertical plane;

[0012] The rotation axes of the wheels on the same side frame are parallel to each other and perpendicular to the wheel rotation plane;

[0013] The vehicle body is also provided with a driving component, which drives the corresponding vehicle frame to rotate when the wheels encounter uneven road surface.

[0014] Furthermore, the frame is an arched structure that is high in the middle and low on both sides and extends to both sides; the middle part of the frame can be rotated on the vehicle body.

[0015] Furthermore, it also includes a storage box; a guide installation cylinder is provided on the vehicle body, and a guide installation rod is correspondingly provided at the bottom of the storage box; the guide installation rod can be slidably inserted into the guide installation cylinder.

[0016] Furthermore, the guide mounting tube and the guide mounting rod both adopt a cylindrical structure, so that the storage box can be rotated in a horizontal plane around the axis of the guide mounting rod relative to the vehicle body to adjust the angular orientation of the storage box.

[0017] Furthermore, N of the vehicle bodies are arranged in an array structure below the storage box, where N≥2; the load-bearing area of the storage box is larger than the supporting area of a single vehicle body, thereby expanding the contact area with the storage box through the joint support of multiple vehicle bodies, effectively improving the overall load capacity and stability of the transport trolley.

[0018] Furthermore, the array structure includes a 2×2 array or a 5×5 array configuration.

[0019] Furthermore, a connecting platform is provided on the vehicle body; along the forward direction of the trolley, a first I-shaped connecting piece is provided between adjacent trolleys, and the two side flanges of the first I-shaped connecting piece are respectively hinged to one end of the first connecting rod mechanism, and the other end of the first connecting rod mechanism is hinged to the connecting platform, so that a group composed of multiple trolleys can change the overall length size.

[0020] Furthermore, a second I-shaped connector is provided between adjacent trolleys along the lateral direction of the trolley, and the two side flanges of the second I-shaped connector are respectively hinged to one end of the second connecting rod mechanism, and the other end of the second connecting rod mechanism is hinged to the connecting platform, so that a group consisting of multiple trolleys can change the overall width size to adapt to the requirements of narrow channels.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The simple structural design reduces overall weight, simplifies the power transmission system, and eliminates unnecessary moving parts. This design not only improves power efficiency but also reduces the burden on the vehicle body, enabling it to more effectively handle complex terrain and reduce energy consumption.

[0023] 2. It has good scalability, so that each car can be used as an independent module. According to different task requirements, it can be assembled into a variable cell to increase or decrease the number of cars, which can be applied to different complex tasks.

[0024] 3. Group operation is possible. By using the guide mounting rod and the guide mounting cylinder to coordinate and extend the trolleys, the trolleys can be operated in groups, thereby improving the obstacle-crossing ability and flexibility of the trolley group in complex environments. At the same time, the increase in the number of trolleys can also effectively increase the load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and are used to explain the present invention together with the embodiments of the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 It is a schematic diagram of the connection state between the trolley and the storage box;

[0027] Figure 2 It is a schematic diagram of the trolley and storage box separated;

[0028] Figure 3 This is a schematic diagram of the connection between the 2×2 array of carts and storage boxes;

[0029] Figure 4 This is a schematic diagram of the connection between the 5×5 array of carts and storage boxes;

[0030] Figure 5 This is a schematic diagram of the perspective state when the 5×5 array of carts is connected to the storage box;

[0031] Figure 6 This is a schematic diagram of several cars undergoing metamorphosis assembly;

[0032] Figure 7 This is a schematic diagram of the contracted state of several carts during metamorphosis assembly;

[0033] Figure 8 It is a schematic diagram of other deformation states when several small cars are assembled into a metamorphic cell.

[0034] In the picture:

[0035] 1. Vehicle body; 101. Guide mounting cylinder; 2. Vehicle frame; 3. Wheel; 4. Storage box; 401. Guide mounting rod; 5. Connecting platform; 6. First I-shaped connector; 7. First connecting rod mechanism; 8. Second I-shaped connector; 9. Second connecting rod mechanism. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] like Figures 1 to 2 The present invention claims protection for an array of compliant obstacle-crossing transport vehicles based on a group operation concept. These vehicles are primarily used for transporting cargo on complex road surfaces. Their unique structure and group operation achieve excellent obstacle-crossing performance and load capacity. The transport vehicle primarily comprises a body 1, a frame 2, wheels 3, drive components, and a storage box 4. Multiple vehicles can be combined to form an array structure to enhance overall load capacity and adapt to varying channel environments.

[0038] Specifically, the vehicle body 1 is the basic supporting platform for the entire transport vehicle, providing a foundation for the installation and support of other components. The middle portion of the frame 2 is rotatably connected to the vehicle body 1. The vehicle body 1 is provided with a drive component. In this embodiment, the drive component is a motor. The motor shaft is connected to the middle portion of the frame 2, directly driving the frame 2 to rotate. When the wheel 3 encounters an uneven road surface, the drive component will drive the corresponding frame 2 to rotate. For example, when the wheel 3 on one side encounters a bump or depression, the drive component will drive the frame 2 on that side to swing in the vertical plane based on the detected road surface conditions, so that the wheel 3 can better adapt to changes in the road surface and achieve obstacle crossing. Among them, the rotation axis of the frame 2 is perpendicular to the direction of travel of the vehicle, which means that this allows the frame 2 to swing relative to the vehicle body 1 in the vertical plane, and is not prone to lateral deviation, thereby improving the stability of straight-line travel.

[0039] The frame 2 is symmetrically located on the left and right sides of the vehicle body 1, forming an arched structure with a high center and lower sides extending outward. At least two wheels 3 are connected to the frame 2 on the same side. This arched design not only provides excellent support strength but also helps to increase the clearance between the vehicle body 1 and the ground to prevent scraping from the bottom. The wheels 3 are rotatably connected to the frame 2, with the rotation axes of the wheels 3 on the same side of the frame 2 being parallel to each other and perpendicular to the rotation plane of the wheels 3. In this embodiment, each wheel 3 is independently connected to a micromotor and driven by the micromotor. This structural design enables the wheels 3 to rotate smoothly, providing power for the vehicle's propulsion.

[0040] When the trolley is used to solve the problem of overloading, its load capacity can be effectively increased by connecting the storage box 4 to the trolley. The vehicle body 1 is provided with a guide mounting cylinder 101 for cooperating with a guide mounting rod 401 at the bottom of the storage box 4. The guide mounting rod 401 can be slidably inserted into the guide mounting cylinder 101, making assembly convenient and quick. The guide mounting cylinder 101 and the guide mounting rod 401 are both cylindrical in structure, which allows the storage box 4 to rotate in a horizontal plane around the axis of the guide mounting rod 401 relative to the vehicle body 1, making it easy to adjust the angular position of the storage box 4 to meet different cargo loading and handling requirements.

[0041] like Figures 3 to 5 As shown, N (N≥2) vehicle bodies 1 are arranged in an array configuration beneath the storage box 4. The load-bearing area of the storage box 4 is larger than the support area of a single vehicle body 1. By having multiple vehicle bodies 1 jointly support the storage box 4, the contact area with the storage box 4 is expanded, effectively improving the overall load capacity and stability of the transport vehicle. Common array configurations include 2×2 or 5×5 arrays, and the choice can be made based on actual load requirements and site conditions.

[0042] like Figures 6 to 8As shown, the vehicle body 1 is also provided with a connecting platform 5 for connecting to adjacent trolleys. A first I-shaped connector 6 is provided between adjacent trolleys along their forward direction. The two side flanges of the first I-shaped connector 6 are hinged to one end of a first linkage 7, the other end of which is hinged to the connecting platform 5 of the vehicle body 1. When the overall length of the group of trolleys needs to be changed, the distance between adjacent trolleys can be adjusted by rotating the first linkage 7 to accommodate different transport scenarios.

[0043] Along the lateral direction of the trolleys, second I-shaped connectors 8 are installed between adjacent trolleys. The two side flanges of the second I-shaped connector 8 are hinged to one end of a second linkage 9, the other end of which is hinged to the connecting platform 5 of the vehicle body 1. When encountering a narrow passage, the rotation of the second linkage 9 can change the overall width of the group of trolleys, allowing the group of trolleys to pass smoothly through the narrow passage.

[0044] above Figures 6 to 8 This is a metamorphic assembly operation. This metamorphic assembly method allows the car to be flexibly configured and adjusted according to needs, so as to meet the task requirements in different environments. This metamorphic connection method can connect N cars. When the car needs a narrow passage, the car can be transformed into Figure 7 As shown in the figure, the two cars on both sides will shrink inward, making the width of the entire car group smaller, so that they can pass through the narrow passage smoothly. This deformation method not only helps the car overcome space limitations, but also effectively utilizes every inch of space in the environment and improves traffic efficiency. More importantly, the car can be deformed in more than one way. In addition to shrinking, the car can also undergo other forms of deformation according to the specific needs of the task. Figure 8 As shown, metamorphic assembly can also enable the robot group to form other arrangements, such as spreading out in different directions or forming specific geometric shapes. This diverse deformation capability enables the robot to cope with more complex environments and tasks, flexibly adjusting its shape to adapt to various work scenarios.

[0045] The array-type flexible obstacle-crossing transport vehicle of the present invention adopts a modular design, so that each vehicle unit can be flexibly adjusted according to the task requirements and has high scalability. This modular design enables the vehicle system to dynamically expand according to specific tasks, increase load capacity or adjust task allocation. For example, by increasing the number of vehicle units, the system's load capacity can be easily increased from 50 kilograms to several tons to adapt to different work scenarios. This flexibility is particularly suitable for changing work environments, such as warehousing, logistics, disaster relief and other fields. It can quickly adjust the system scale according to task requirements and improve overall work efficiency.

[0046] By using the guide mounting rod 401 in conjunction with the guide mounting cylinder 101, each trolley unit can coordinate with each other during task execution, forming different array configurations to optimize the task completion path. This design enables multiple trolleys to quickly adjust their positions according to environmental changes, forming a flexible work formation, and effectively improving the efficiency of overall task execution. The advantage of group operation is that by increasing the contact area, the system's load capacity is significantly improved. Each trolley unit can cooperate with other units when needed to share tasks and loads. By adjusting the relative positions of the trolleys to form an arrangement with a larger contact area, the entire trolley array can evenly distribute the load and maximize the load-bearing capacity. This not only improves the efficiency of the handling task, but also ensures the stability of the system in large-scale, high-load tasks. For example, multiple trolley units can move synchronously through a precise control system to form a larger contact area to smoothly carry heavy objects or multiple items without the risk of excessive local pressure or imbalance.

[0047] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An array-type flexible obstacle-crossing transport vehicle based on the concept of group operation, characterized in that: include: The vehicle body serves as the basic load-bearing platform; Frames symmetrically distributed on the left and right sides of the vehicle body, and at least two wheels connected to the frame on the same side; The frame is rotatably connected to the vehicle body, and the wheels are rotatably connected to the frame; The rotation axis of the frame is perpendicular to the direction of travel of the vehicle, so that the frame can swing relative to the vehicle body in a vertical plane; The rotation axes of the wheels on the same side frame are parallel to each other and perpendicular to the wheel rotation plane; The vehicle body is also provided with a driving component, which drives the corresponding vehicle frame to rotate when the wheels encounter uneven road surface.

2. The array-type flexible obstacle-crossing transport vehicle based on the group operation concept according to claim 1 is characterized in that: The frame is an arched structure that is high in the middle and low at both sides and extends to both sides; the middle portion of the frame can be rotated on the vehicle body.

3. The array-type flexible obstacle-crossing transport vehicle based on the group operation concept according to claim 1 or 2 is characterized in that: It also includes a storage box; a guide installation cylinder is provided on the vehicle body, and a guide installation rod is correspondingly provided at the bottom of the storage box; the guide installation rod can be slidably inserted into the guide installation cylinder.

4. The array-type flexible obstacle-crossing transport vehicle based on the group operation concept according to claim 3 is characterized in that: The guide installation cylinder and the guide installation rod both adopt a cylindrical structure, so that the storage box can be rotated in a horizontal plane around the axis of the guide installation rod relative to the vehicle body to adjust the angular orientation of the storage box.

5. The array-type flexible obstacle-crossing transport vehicle based on the group operation concept according to claim 3 is characterized in that: N vehicle bodies are arranged in an array structure below the storage box, where N ≥ 2; the load-bearing area of the storage box is larger than the supporting area of a single vehicle body, thereby expanding the contact area with the storage box through the joint support of multiple vehicle bodies, effectively improving the overall load capacity and stability of the transport trolley.

6. The array-type compliant obstacle-crossing transport vehicle based on the group operation concept according to claim 5 is characterized in that: The array structure includes a 2×2 array or a 5×5 array configuration.

7. The array-type compliant obstacle-crossing transport vehicle based on the group operation concept according to claim 5 is characterized in that: A connecting platform is provided on the vehicle body; along the forward direction of the trolley, a first I-shaped connecting piece is provided between adjacent trolleys, and the two side flanges of the first I-shaped connecting piece are respectively hinged to one end of the first connecting rod mechanism, and the other end of the first connecting rod mechanism is hinged to the connecting platform, so that a group composed of multiple trolleys can change the overall length size.

8. The array-type compliant obstacle-crossing transport vehicle based on the group operation concept according to claim 7 is characterized in that: Along the lateral direction of the trolley, a second I-shaped connecting piece is provided between adjacent trolleys, and the two side flanges of the second I-shaped connecting piece are respectively hinged to one end of the second connecting rod mechanism, and the other end of the second connecting rod mechanism is hinged to the connecting platform, so that a group composed of multiple trolleys can change the overall width size to adapt to the requirements of narrow passages.

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