Self-reconfigurable transport equipment walking mechanism reconstruction device

Abstract

The present invention proposes a self-reconfigurable vehicle running mechanism reconstruction device. This device can realize the autonomous reconstruction of the vehicle body configuration of the self-reconfigurable vehicle. By switching the mode of the self-reconfigurable vehicle, it can help the self-reconfigurable vehicle to carry out long-distance transportation and improve the stability, flexibility and maneuverability of the self-reconfigurable vehicle on the battlefield. A running mechanism reconstruction device is installed between the suspension of each wheel and the vehicle body to adjust the vehicle height and width. The running mechanism reconstruction device includes: a lateral adjustment mechanism, a vertical adjustment mechanism and a base. The vertical adjustment mechanism is installed between the suspension mounting frame and the base, and the lateral adjustment mechanism is installed between the base and the body. When the vertical adjustment mechanism is activated, it drives the base, the lateral adjustment mechanism and the body to move in the vertical direction. When the lateral adjustment mechanism is activated, it drives the base, the vertical adjustment mechanism, the wheels and the suspension to move laterally.

Description

Technical Field

[0001] The present invention relates to a walking mechanism reconstruction device, in particular to a walking mechanism reconstruction device of self-reconfigurable transport equipment, belonging to the technical field of transport equipment. Background Art

[0002] Self-reconfigurable vehicles, capable of autonomous reconfiguration, assembly, and disassembly, are expected to become future killer weapons. Due to the complexity of the land environment, the development of self-reconfigurable ground vehicles is extremely challenging and a recognized global challenge. Even more revolutionary, self-reconfiguration technology will make self-reconfigurable large-scale land-based equipment a reality. Large-scale land-based equipment, including airport runways, missile / rocket launchers, and electromagnetic guns / laser weapons, are strategically important for maintaining national security. Their reconnaissance and counter-reconnaissance, destruction and counter-destruction capabilities are crucial for winning wars. Once breakthroughs in self-reconfiguration technology are achieved, large-scale land-based equipment will be composed of reconfigurable cells, capable of self-reconfiguration, self-assembly, self-disassembly, and self-concealment. "Small units become larger, gaining greater capabilities; breaking down the whole into smaller units for dispersed mobility and concealment," making them virtually undetectable and indestructible, forging cutting-edge weapons such as self-reconfigurable aircraft take-off and landing platforms, self-reconfigurable missile / rocket launchers, and self-reconfigurable electromagnetic guns / laser weapons.

[0003] Traditional, single, vertically reconfigurable chassis configurations are no longer sufficient for complex battlefield environments. Therefore, a walking mechanism reconfiguration device is urgently needed to enable self-reconfigurable vehicles to autonomously reconfigure their configurations. This allows for flexible changes in the vehicle's configuration during use, allowing them to switch between different modes to adapt to various complex operating conditions. Meeting the requirements for autonomous reconfiguration of self-reconfigurable ground vehicles is crucial for ensuring their high stability, flexibility, maneuverability, and transportability on the battlefield. Summary of the Invention

[0004] In view of this, the present invention provides a self-reconfigurable carrier equipment walking mechanism reconstruction device, which can solve the problem of autonomous reconstruction of the configuration of the self-reconfigurable carrier equipment and meet the requirements that the self-reconfigurable carrier equipment must have stability, high flexibility, high maneuverability and good transportability.

[0005] A self-reconfigurable vehicle running gear reconfiguration device. The wheels of the self-reconfigurable vehicle are connected to the vehicle body via a suspension. A running gear reconfiguration device is installed between the suspension of each wheel and the vehicle body to adjust the vehicle height and width. The vehicle height refers to the height of the vehicle body above the ground, and the vehicle width refers to the distance between the two wheels along the transverse direction of the vehicle body.

[0006] The walking mechanism reconstruction device includes: a lateral adjustment mechanism, a vertical adjustment mechanism and a base;

[0007] The vertical adjustment mechanism is installed between the suspension mounting frame and the base, and the lateral adjustment mechanism is installed between the base and the vehicle body; when the vertical adjustment mechanism is activated, it drives the base, the lateral adjustment mechanism and the vehicle body to move in the vertical direction; when the lateral adjustment mechanism is activated, it drives the base, the vertical adjustment mechanism, the wheels and the suspension to move laterally.

[0008] As a preferred embodiment of the present invention, a set of the lateral adjustment mechanism and a set of the vertical adjustment mechanism constitute a set of adjustment units; a set of the adjustment units is respectively provided at both ends of the base along the longitudinal direction of the vehicle body.

[0009] As a preferred embodiment of the present invention, the vertical adjustment mechanism includes a vertical actuator; the vertical actuator is vertically arranged, a fixed end of which is fixedly connected to the suspension mounting bracket, and a telescopic end of which is connected to the base. The telescopic end of the vertical actuator drives the base to rise or fall, thereby achieving vehicle height adjustment;

[0010] The lateral adjustment mechanism includes a lateral actuator; the lateral actuator is arranged along the lateral direction of the vehicle body, its fixed end is connected to the vehicle body, and its telescopic end is connected to the base. The telescopic end of the lateral actuator drives the base to extend or retract laterally to achieve wheelbase adjustment.

[0011] As a preferred embodiment of the present invention, the vertical adjustment mechanism further includes a vertical guide rod;

[0012] The vertically arranged vertical guide rod includes a center guide rod and a sleeve mounted on the outside of the center guide rod, and the sleeve is slidably fitted with the center guide rod; the bottom of the center guide rod is fixed to the suspension mounting bracket, and the sleeve is connected to the telescopic end of the vertical actuator. When the telescopic end of the vertical actuator is extended or retracted, the sleeve is driven to slide along the axis of the center guide rod to guide the telescopic movement of the vertical actuator.

[0013] As a preferred embodiment of the present invention, the lateral adjustment mechanism further includes a lateral guide rod;

[0014] The transverse guide rod arranged laterally includes a central guide rod and a sleeve sleeved on the outside of the central guide rod, and the sleeve is slidably matched with the central guide rod; one end of the central guide rod is fixed to the vehicle body, and the sleeve is connected to the telescopic end of the transverse actuator. When the telescopic end of the transverse actuator is extended or retracted, the sleeve is driven to slide along the axis of the central guide rod to guide the extension and retraction of the transverse actuator.

[0015] As a preferred embodiment of the present invention, the vehicle body is mounted on the walking mechanism of the self-reconfigurable transport equipment as a mission module, and the lateral adjustment mechanism is detachably connected to the vehicle body, so that vehicles of different sizes can be replaced according to usage requirements.

[0016] As a preferred embodiment of the present invention, the vertical actuator is a linear motor or a hydraulic cylinder; the lateral actuator is a linear motor or a hydraulic cylinder.

[0017] Beneficial effects:

[0018] (1) The self-reconfigurable transport equipment walking mechanism reconstruction device of the present invention can switch the self-reconfigurable transport equipment to a stable mode or a flexible mode by changing the body configuration, thereby meeting the flexibility, maneuverability and stability requirements of the self-reconfigurable transport equipment; by changing the body configuration, the body size is reduced, so that it can be transported over long distances through containers, thereby meeting the transportability requirements of the self-reconfigurable transport equipment.

[0019] (2) The walking mechanism reconfiguration device of the present invention can switch the autonomously reconfigurable ground vehicle to a stable mode with increased vehicle width and decreased vehicle height for long-distance travel under good road conditions, or to a flexible and maneuverable mode with decreased vehicle width and increased vehicle height for short-distance, rapid travel under poor road conditions. The autonomously reconfigurable ground vehicle can also switch to a transport mode with decreased vehicle width and decreased vehicle height for long-distance transport.

[0020] (3) The running mechanism reconstruction device in the present invention corresponds one-to-one to the wheels, and the suspension of each wheel is connected to the vehicle body through a set of running mechanism reconstruction devices. Each set of running mechanism reconstruction devices is independent of each other, making the vehicle body configuration change more flexible and maneuverable.

[0021] (4) In the walking mechanism reconstruction device of the present invention, two sets of adjustment units are arranged along the longitudinal direction of the vehicle body, and the vehicle height and width are adjusted synchronously from the front and rear ends of the vehicle body, thereby improving the stability of the adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a self-reconfigurable transport equipment walking mechanism reconstruction device of the present invention;

[0023] Figure 2 This is an installation diagram of the self-reconfigurable vehicle walking mechanism reconstruction device of the present invention;

[0024] Figure 3 This is a schematic diagram of the reconstruction principle of the self-reconfigurable vehicle walking mechanism reconstruction device of the present invention;

[0025] Figure 4 This is a schematic diagram of the principle of reconstructing and replacing the vehicle body through the walking mechanism reconstruction device.

[0026] Among them: 1-lateral guide rod, 2-lateral actuator, 3-base, 4-vertical actuator, 5-vertical guide rod, 6-suspension mounting bracket, 7-body, 8-reconstruction device, 9-wheel. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0028] Example 1:

[0029] In order to meet the demand for the self-reconfiguration function of the configuration of self-reconfigurable carrier equipment, this embodiment proposes a self-reconfigurable carrier equipment walking mechanism reconstruction device, through which the self-reconfigurable carrier equipment body configuration can be autonomously reconfigured. By switching the mode of the self-reconfigurable carrier equipment, the self-reconfigurable carrier equipment can be assisted in long-distance transportation, and the stability, flexibility and maneuverability of the self-reconfigurable carrier equipment on the battlefield can be improved.

[0030] In this example, the self-reconfigurable vehicle is a two-wheeled vehicle, comprising a vehicle body 7 and wheels 9 arranged on either side of the vehicle body 7 (the horizontal direction of the vehicle body 7 is defined as the left-right direction, and the longitudinal direction is defined as the front-back direction). The left and right wheels 9 are connected to the vehicle body 7 via suspensions. A set of the running gear reconfiguration device is installed between the vehicle body 7 and the left and right suspensions (i.e., each wheel 9 corresponds to a running gear reconfiguration device, with each wheel corresponding to one running gear reconfiguration device). These devices are used to adjust the vehicle's height and width. Here, vehicle height refers to the height of the vehicle body above the ground, and vehicle width refers to the distance between the left and right wheels (i.e., the wheelbase).

[0031] Take the walking mechanism reconstruction device on one side as an example. Figure 1 As shown, the self-reconfigurable transport equipment walking mechanism reconstruction device includes: two sets of lateral adjustment mechanisms, two sets of vertical adjustment mechanisms and a base 3; wherein the lateral adjustment mechanism is used to adjust the vehicle width, and the longitudinal adjustment mechanism is used to adjust the vehicle height.

[0032] The base 3 is a mounting seat for two sets of lateral adjustment mechanisms and two sets of vertical adjustment mechanisms, and the base 3 is arranged along the longitudinal direction of the vehicle body 7.

[0033] The lateral adjustment mechanism includes a lateral guide rod 1 and a lateral actuator 2; the vertical adjustment mechanism includes a vertical actuator 4 and a vertical guide rod 5. One lateral adjustment mechanism and one vertical adjustment mechanism form a set of adjustment units, symmetrically positioned at the front and rear ends of the base 3. During lateral and / or longitudinal adjustments, the lateral and / or vertical adjustment mechanisms of the two adjustment units can be controlled to move synchronously to ensure stability during the adjustment process.

[0034] The vertical actuator 4 is mounted vertically and can utilize a linear motor or hydraulic cylinder. Its fixed end is fixedly connected to the suspension mounting bracket 6 (the bracket used to mount the suspension), while its telescopic end is connected to the base 3. The telescopic end of the vertical actuator 4 drives the base 3 upward or downward, adjusting the height of the vehicle body 7. The vertically mounted vertical guide rod 5 comprises a central guide rod and a sleeve that fits over the central guide rod and slides with it. The bottom of the central guide rod is fixedly connected to the suspension mounting bracket 6 (with the top suspended). The sleeve is connected to the telescopic end of the vertical actuator 4. As the telescopic end of the vertical actuator 4 expands and contracts, it drives the sleeve to slide along the axis of the central guide rod, guiding the telescopic movement of the vertical actuator 4.

[0035] The transverse actuator 2 is positioned laterally along the vehicle body and can be implemented as a linear motor or hydraulic cylinder. Its fixed end is connected to the vehicle body 7, and its telescopic end is connected to the base 3. The telescopic end of the transverse actuator 2 drives the base 3 to extend or retract laterally, causing the wheels to extend or retract laterally, thereby adjusting the wheelbase. The transversely positioned transverse guide rod 1 has the same structure as the vertical guide rod 5, comprising a central guide rod and a sleeve that slides over the central guide rod. One end of the central guide rod is fixed to the vehicle body 7 (the other end is suspended), and the sleeve is connected to the telescopic end of the transverse actuator 2. Consequently, when the telescopic end of the transverse actuator 2 extends or retracts, it drives the sleeve to slide along the axis of the central guide rod, guiding the telescopic movement of the transverse actuator 2.

[0036] As can be seen from the above, the lateral adjustment mechanism and the vertical adjustment mechanism can operate independently to achieve width and height adjustment respectively. When the vertical adjustment mechanism is activated, it drives the base 3, the lateral adjustment mechanism, and the vehicle body 7 to move upward or downward synchronously; when the lateral adjustment mechanism is activated, it drives the base 3, the vertical adjustment mechanism, and the wheels (including the suspension) to move laterally synchronously.

[0037] The suspension mounting bracket 6 is connected to the lower cross arm of the self-reconfigurable vehicle suspension through a bushing, allowing the lower cross arm to rotate at a certain angle about the bushing axis.

[0038] like Figure 2 The figure shows the installation diagram of the self-reconfigurable vehicle's running gear reconfiguration device. This reconfiguration device 8 is installed between the vehicle body 7 and the wheels (specifically, between the vehicle body 7 and the suspension). Guided by the transverse guide rods 1 and the vertical guide rods 5, the reconfiguration device 8 can move relative to the vehicle body 7, thereby adjusting the width and height of the self-reconfigurable vehicle. The entire reconfiguration device 8 is highly modular. If the self-reconfigurable vehicle's operational system or running gear reconfiguration device is damaged in a battlefield environment, it can be replaced promptly, improving the self-reconfigurable vehicle's survivability in battlefield conditions.

[0039] like Figure 3The diagram shows a schematic diagram of the self-reconfigurable vehicle's running mechanism reconstruction device. The left image shows the self-reconfigurable vehicle in normal operation, while the right image shows it with its width reduced and chassis height raised. When the self-reconfigurable vehicle needs to perform a dispatch transport mission, the running mechanism reconstruction device lowers its vehicle height and reduces its wheelbase, allowing it to be placed in a fixed-size container and ensure concealment during transport. Upon arrival at the battlefield, the reconstruction device adjusts its wheelbase and height to improve driving stability. When the self-reconfigurable vehicle encounters narrow streets or high vertical walls during urban operations, the running mechanism reconstruction device reduces its wheelbase or raises its chassis height, allowing it to quickly navigate narrow streets or high vertical walls and continue its mission, greatly enhancing its flexibility and maneuverability.

[0040] Example 2:

[0041] On the basis of the above embodiment 1, further, the vehicle body 7 is mounted on the chassis (i.e., the traveling mechanism) of the self-reconfigurable transport equipment as a task module, that is, the fixed end of the lateral actuator 2 is detachably connected to the vehicle body 7, and the vehicle body of different sizes can be replaced according to the use requirements; Figure 3 As shown, the left figure shows the self-reconfigurable transport system in normal operation, while the right figure shows the vehicle after its width is reduced, the chassis height is increased, and a smaller body 7 is replaced. By changing the body configuration, the vehicle size is reduced, enabling long-distance transportation via container, meeting the transportability requirements of the self-reconfigurable transport system. This also makes the configuration changes of the self-reconfigurable transport system more flexible and maneuverable.

[0042] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. 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. A device for reconfiguring the running mechanism of a self-reconfigurable vehicle, wherein the wheels of the self-reconfigurable vehicle are connected to the vehicle body via a suspension, and wherein: A running gear reconfiguration device is installed between the suspension of each wheel and the vehicle body to adjust the vehicle height and vehicle width. The vehicle height refers to the height of the vehicle body above the ground, and the vehicle width refers to the distance between the two wheels in the transverse direction of the vehicle body. The walking mechanism reconstruction device includes: a lateral adjustment mechanism, a vertical adjustment mechanism and a base; The vertical adjustment mechanism is installed between the suspension mounting frame and the base, and the lateral adjustment mechanism is installed between the base and the vehicle body; when the vertical adjustment mechanism is actuated, it drives the base, the lateral adjustment mechanism, and the vehicle body to move in the vertical direction; when the lateral adjustment mechanism is actuated, it drives the base, the vertical adjustment mechanism, the wheels, and the suspension to move in the lateral direction; The vertical adjustment mechanism includes a vertical actuator and a vertical guide rod; the vertical guide rod is vertically arranged and includes a central guide rod and a sleeve sleeved on the outside of the central guide rod, the sleeve and the central guide rod being slidably engaged; the bottom of the central guide rod is fixedly connected to the suspension mounting bracket, and the sleeve is connected to the telescopic end of the vertical actuator. When the telescopic end of the vertical actuator is extended or retracted, the sleeve is driven to slide along the axis of the central guide rod, thereby guiding the extension and retraction of the vertical actuator; The transverse adjustment mechanism includes a transverse actuator and a transverse guide rod; the transverse guide rod arranged transversely includes a central guide rod and a sleeve sleeved on the outside of the central guide rod, the sleeve slidingly engaging with the central guide rod; one end of the central guide rod is fixedly connected to the vehicle body, and the sleeve is connected to the telescopic end of the transverse actuator. When the telescopic end of the transverse actuator is extended or retracted, the sleeve is driven to slide along the axis of the central guide rod, thereby guiding the extension and retraction of the transverse actuator; The vehicle body is mounted on the running mechanism of the self-reconfigurable transport equipment as a mission module, and the lateral adjustment mechanism is detachably connected to the vehicle body, so that vehicles of different sizes can be replaced according to usage requirements.

2. The self-reconfigurable vehicle walking mechanism reconfiguration device according to claim 1, characterized in that: A set of the lateral adjustment mechanism and a set of the vertical adjustment mechanism constitute a set of adjustment units; a set of the adjustment units is respectively provided at both ends of the base along the longitudinal direction of the vehicle body.

3. The self-reconfigurable vehicle walking mechanism reconfiguration device according to claim 1 or 2, characterized in that: The vertical actuator is vertically arranged, with its fixed end fixedly connected to the suspension mounting bracket and its telescopic end connected to the base. The telescopic end of the vertical actuator drives the base to rise or fall, thereby adjusting the height of the vehicle body. The transverse actuator is arranged along the transverse direction of the vehicle body, with its fixed end connected to the vehicle body and its telescopic end connected to the base. The telescopic end of the transverse actuator drives the base to extend or retract laterally to achieve wheelbase adjustment.

4. The self-reconfigurable vehicle walking mechanism reconfiguration device according to claim 3, characterized in that: The vertical actuator is a linear motor or a hydraulic cylinder; the lateral actuator is a linear motor or a hydraulic cylinder.

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