Parachute-type wheeled tracked composite mobile platform for reconnaissance and rescue missions

Abstract

This invention relates to a parapet-type wheeled-tracked hybrid mobile platform for reconnaissance and rescue missions. The platform includes a vehicle body, track drive mechanisms on both sides of the vehicle body, a swing-arm track mechanism at the end of each track drive mechanism, a parapet-type lifting mechanism on the vehicle body, and drive wheels mounted on the parapet-type lifting mechanism. These drive wheels are driven by the parapet-type lifting mechanism to extend downwards or retract into the vehicle body. This invention enables rapid switching between wheeled and tracked drive modes via the parapet-type lifting structure. During switching, multiple drive wheels can switch synchronously, ensuring even weight distribution across all drive wheels and stability of the mobile platform during the switching process.

Description

Technical Field

[0001] This invention relates to a robotic mobile platform, specifically a parachute-type wheel-tracked composite mobile platform designed for reconnaissance and rescue missions. Background Technology

[0002] During reconnaissance and rescue missions, various dangerous environments are often encountered, frequently resulting in significant casualties and property damage. Therefore, countries worldwide are developing mobile operational robots to replace police personnel in these tasks. The most typical example of such robots is the PackBot series developed by the American company iRobot. For reconnaissance and rescue missions, the ability to quickly and reliably reach the mission location often determines the success or failure of the mission. In this process, mobile operational robots may encounter various complex terrains. To protect personnel safety, the mobile platform needs a certain obstacle-crossing capability. Furthermore, time is of the essence in reconnaissance and rescue missions, requiring the mobile platform to move quickly. However, most existing mobile operational robots currently use a single structure for their mobile platforms, often only functioning in specific environments. In complex and changing environments, they frequently malfunction or even become unable to move. Therefore, the application range of mobile operational robots is greatly limited. For example, the PackBot series robot developed by iRobot uses a front double-swing arm tracked structure. When facing a mission environment in an urban setting, the tracked structure limits its mobility. Summary of the Invention

[0003] The purpose of this invention is to provide a parachute-type wheel-tracked composite mobile platform for reconnaissance and rescue missions, in order to solve the problems of existing robot mobile platforms having a single structure that cannot cope with complex environments, poor obstacle crossing ability, and being unsuitable for reconnaissance and rescue missions.

[0004] The present invention is implemented as follows: a parachute-type wheel-track composite mobile platform for reconnaissance and rescue missions includes a vehicle body, track drive mechanisms are respectively provided on both sides of the vehicle body, a swing arm track mechanism is provided at the end of the track drive mechanism, a parachute-type lifting mechanism is provided on the vehicle body, and a drive wheel is provided on the parachute-type lifting mechanism. The drive wheel is driven by the parachute-type lifting mechanism to extend downward or retract into the vehicle body.

[0005] The umbrella-type lifting mechanism includes a vertical lifting column, a lifting platform sleeved on the lifting column, a first connecting rod hinged to the lifting platform, a second connecting rod hinged to the top of the lifting column, the end of the first connecting rod hinged to the second connecting rod, a horizontal slide rail provided on the vehicle body, a slider slidably disposed on the slide rail, a telescopic rod hinged to the slider, the lower end of the telescopic rod and the lower end of the second connecting rod hinged to each other, a drive wheel disposed at the lower end of the second connecting rod, and a drive element disposed at the lower end of the lifting column, the drive element driving the lifting platform to move along the lifting column.

[0006] The vehicle body includes a floor plate and a top plate, which are connected to each other by connecting columns. A through hole is provided on the floor plate for the drive wheel to extend.

[0007] There are at least three drive wheels distributed around the lifting column, and the number and position of the first link, the second link, the slide rail, the slider, and the telescopic rod correspond to the drive wheels.

[0008] The track drive mechanism includes a track wheel, on which a first track is mounted.

[0009] The swing arm track mechanism includes a swing arm frame, with swing arm wheels at both ends of the swing arm frame, and a second track mounted on the swing arm wheels.

[0010] A connector is provided at the lower end of the second link, the drive wheel is mounted on the connector, and the lower end of the telescopic rod is hinged to the connector.

[0011] The mobile platform of this invention includes both tracked and wheeled drive systems, with the track system encompassing both conventional track drive and swing-arm track drive. In complex terrain with numerous obstacles, track drive is employed, allowing the platform to traverse uneven surfaces and overcome obstacles. However, in terrain with relatively large track contact areas, friction loss is significant, and greater resistance must be overcome during turns. To facilitate rapid passage, a parachute lifting mechanism extends multiple drive wheels downwards, lifting the vehicle body and lifting the tracks off the ground. The vehicle body is then driven by the drive wheels, which have a smaller contact area with the ground, resulting in lower friction and allowing for faster traversal of flat surfaces with minimal energy loss. When traversing larger obstacles or stairs, the swing-arm track, through its swinging motion in conjunction with the track drive, enables passage over large obstacles or the climbing of stairs. This invention traverses various terrains, possesses strong obstacle-crossing capabilities, and enables the mobile platform to quickly reach the site.

[0012] This invention enables rapid switching between wheeled and tracked drive modes via an umbrella-type lifting structure. During the switching process, multiple drive wheels can switch synchronously, thereby ensuring uniform weight distribution on each drive wheel and stability of the moving platform. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the drive wheels of the present invention retracting into the vehicle body.

[0014] Figure 2 This is a schematic diagram of the drive wheel extending from the lower part of the vehicle body.

[0015] Figure 3 , Figure 4 This is a perspective view of the present invention.

[0016] In the diagram: 1. Vehicle body; 2. Umbrella-type lifting mechanism; 3. Drive wheel; 4. Track drive mechanism; 5. Swing arm track mechanism; 1-1. Top plate; 1-2. Bottom plate; 1-3. Connecting column; 1-4. Slide rail; 1-5. Through hole; 2-1. Lifting column; 2-2. First connecting rod; 2-3. Second connecting rod; 2-4. Telescopic rod; 2-5. Sliding block; 2-6. Lifting platform; 2-7. Drive element; 2-8. Connecting part; 4-1. Track wheel; 4-2. First track; 5-1. Swing arm frame; 5-2. Swing arm wheel; 5-3. Second track. Detailed Implementation

[0017] like Figures 1 to 4 As shown, the present invention includes a vehicle body 1, with track drive mechanisms 4 respectively arranged on both sides of the vehicle body 1, and a swing arm track mechanism 5 arranged at the end of the track drive mechanism 4. An umbrella-type lifting mechanism 2 is arranged on the vehicle body 1, and a drive wheel 3 is arranged on the umbrella-type lifting mechanism 2. The drive wheel 3 is driven by the umbrella-type lifting mechanism 2 to extend downwards out of the bottom of the vehicle body 1 or retract upwards into the vehicle body 1. The track drive mechanism 4 serves as the main drive device for the vehicle body 1. When switching to a wheel drive structure is required, the umbrella-type lifting mechanism 2 extends the drive wheel 3 downwards to contact the ground and lifts the track drive mechanism 4 off the ground. When climbing stairs is required, the swing arm track mechanism 5 achieves the climbing action through swinging and track rotation.

[0018] The vehicle body 1 includes a floor plate 1-2 and a roof plate 1-1, which are connected to each other by a connecting column 1-3 to form a whole.

[0019] The umbrella-type lifting mechanism 2 includes a vertically arranged lifting column 2-1, a lifting platform 2-6 sleeved on the lifting column 2-1, a first connecting rod 2-2 hinged to the lifting platform 2-6, a second connecting rod 2-3 hinged to the top of the lifting column 2-1, and the end of the first connecting rod 2-2 hinged to the second connecting rod 2-3. A horizontal slide rail 1-4 is provided on the top plate 1-1 of the vehicle body 1, a slider 2-5 is slidably arranged on the slide rail 1-4, and a telescopic rod 2-4 is hinged to the slider 2-5. The lower end of the telescopic rod 2-4 and the lower end of the second connecting rod 2-3 are hinged to each other. A drive wheel 3 is located at the lower end of the second connecting rod 2-3. A drive element 2-7 is provided at the lower end of the lifting column 2-1. The drive element 2-7 drives the lifting platform 2-6 to move along the lifting column 2-1. A through hole 1-5 is opened on the bottom plate 1-2, and the drive wheel 3 passes through the through hole 1-5 when extending and retracting.

[0020] The second link 2-3 is opened outward or retracted inward by the movement of the lifting platform 2-6 along the lifting column 2-1. When the second link 2-3 retracts inward, the drive wheel 3 connected to its lower end gradually extends from the bottom of the vehicle body 1 and gradually supports the vehicle body 1. When the second link 2-3 opens outward, the drive wheel 3 connected to its lower end gradually rises and enters the vehicle body 1, thereby causing the vehicle body 1 to fall back and the track drive mechanism 4 to re-contact the ground.

[0021] Drive components 2-7 can be electric actuators, etc.

[0022] A connecting member 2-8 is provided at the lower end of the second link 2-3. The drive wheel 3 is mounted on the connecting member 2-8. The connecting member 2-8 has a certain angle so that when the lifting platform 2-6 reaches a certain position, the drive wheel 3 is at its lowest position and its axis of rotation is exactly horizontal. At the same time, the lower end of the telescopic rod 2-4 is hinged to the connecting member 2-8, and the telescopic rod 2-4 provides auxiliary support for the connecting member 2-8.

[0023] Since the drive wheel 3 moves horizontally while being raised and lowered, the holes 1-5 are elongated holes, and the length direction of the holes 1-5 is consistent with the horizontal movement direction of the drive wheel 3.

[0024] The vehicle features at least three drive wheels 3, distributed around the lifting column 2-1. The number and position of the first connecting rod 2-2, the second connecting rod 2-3, the slide rail 1-4, the slider 2-5, and the telescopic rod 2-4 correspond to the drive wheels 3. These multiple drive wheels 3 stably support the vehicle body 1. They are simultaneously driven by the umbrella-type lifting mechanism 2, ensuring consistent movement of the drive wheels 3. All drive wheels 3 face forward, and each drive wheel 3 is driven by a separate motor.

[0025] Optimally, there are four drive wheels 3. The four drive wheels 3 support the vehicle body 1 together. The steering of the vehicle body 1 is controlled by the speed difference of the rotation of the drive wheels 3 on the left and right sides, thereby realizing the turning of the vehicle body 1.

[0026] The umbrella-type lifting structure only requires one drive element 2-7 to achieve synchronous lifting of all drive wheels 3, thus ensuring stability and coordination when switching between track and wheel types.

[0027] The track drive mechanism 4 includes a track wheel 4-1, on which a first track 4-2 is mounted. The track wheel 4-1 is driven by a drive motor mounted on the base plate 1-2.

[0028] The swing arm track mechanism 5 includes a swing arm frame 5-1, with swing arm wheels 5-2 at both ends of the swing arm frame 5-1, and a second track 5-3 mounted on the swing arm wheels 5-2. The swing arm track mechanism 5 is mounted on the outside of the front track wheel 4-1, and a drive motor is mounted on the swing arm frame 5-1 to drive the rotation of the swing arm wheels 5-2.

[0029] The mobile platform of the present invention includes two drive methods: tracked and wheeled. The tracks include both ordinary track drive and swing arm track drive, which has strong adaptability to help complete reconnaissance and rescue missions.

[0030] When the terrain is complex and there are many obstacles, tracks are used for propulsion. The track structure can traverse uneven surfaces and overcome some obstacles. However, on relatively flat terrain, due to the large contact area between the tracks and the ground, friction loss is greater, and the resistance to overcome during turning is also greater. To facilitate rapid passage, a parachute lifting mechanism 2 extends multiple drive wheels 3 downwards. These extended drive wheels 3 lift the vehicle body 1, causing the tracks to leave the ground. At this point, the vehicle body 1 is driven by the drive wheels 3. The small contact area between the drive wheels 3 and the ground results in less friction, allowing the vehicle body 1 to quickly traverse flat surfaces with minimal energy loss. When traversing larger obstacles or stairs, the swing-arm track, through its swinging motion in conjunction with the track's propulsion, can overcome large obstacles or climb stairs. This invention can traverse various terrains, possesses strong obstacle-crossing capabilities, and enables the mobile platform to quickly reach the site.

[0031] This invention can quickly switch between wheeled and tracked drive modes through an umbrella-type lifting structure. During the switching process, multiple drive wheels 3 can switch synchronously, thereby ensuring the uniform weight distribution of each drive wheel 3 and the stability of the moving platform during the switching process.

Claims

1. A parachute-wheel-track composite structure mobile platform for reconnaissance and rescue missions, characterized in that, The umbrella lifting mechanism includes a lifting column in vertical direction, a lifting platform is sleeved on the lifting column, a first connecting rod is hinged on the lifting platform, a second connecting rod is hinged on the top of the lifting column, the end of the first connecting rod is hinged on the second connecting rod, a slide way in horizontal direction is arranged on the vehicle body, a sliding block is slidably arranged on the slide way, an extension rod is hinged on the sliding block, the lower end of the extension rod and the lower end of the second connecting rod are hinged to each other, the driving wheel is arranged on the lower end of the second connecting rod, a driving element is arranged on the lower end of the lifting column, the driving element drives the lifting platform to move along the lifting column. The vehicle body includes a bottom plate and a top plate, the bottom plate and the top plate are connected to each other through a connecting column, a through hole is opened on the bottom plate for the driving wheel to extend out.

2. The parachute-wheel-tracked composite structure mobile platform for reconnaissance and rescue missions according to claim 1, characterized in that, The driving wheel is at least three and is distributed around the lifting column, the number and position of the first connecting rod, the second connecting rod, the slide way, the sliding block and the extension rod correspond to the driving wheel.

3. The parachute-wheel-tracked hybrid structure mobile platform for reconnaissance and rescue missions according to claim 1, characterized in that, The track driving mechanism includes a track wheel, a first track is installed on the track wheel.

4. The parachute-wheel-tracked composite structure mobile platform for reconnaissance and rescue missions according to claim 1, characterized in that, The swing arm track mechanism includes a swing arm frame, swing arm wheels are arranged on both ends of the swing arm frame, a second track is installed on the swing arm wheel.

5. The parachute-wheel-tracked composite structure mobile platform for reconnaissance and rescue missions according to claim 1, characterized in that, A connecting piece is arranged on the lower end of the second connecting rod, the driving wheel is installed on the connecting piece, the lower end of the extension rod is hinged on the connecting piece.

6. The parachute-wheel-tracked composite structure mobile platform for reconnaissance and rescue missions according to claim 1, characterized in that, ​

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