Low specific pressure terrain inchworm motion walking mechanism

Abstract

The present application relates to low specific pressure terrain inchworm motion type walking mechanism, including inchworm motion type walking system and folding bridge deck working system; the walking system includes a plurality of moving planes which move forward alternately, the moving planes are parallel to each other, the moving planes are arranged from top to bottom in the order of width from large to small, length from large to small or from small to large, and two adjacent moving planes are transmissionally connected, each moving plane is connected with a retractable supporting leg group at four corners, and the folding bridge deck working system is fixedly connected with the uppermost working plane; different from wheel-track type or wheel-leg type moving platform which is driven by friction force, in the inchworm type step discrete motion process, the inner supporting leg group and the outer supporting leg group only form a supporting relationship with the ground, and displacement motion is realized by relying on the internal force driving between adjacent moving planes; the low specific pressure terrain inchworm motion type walking mechanism is suitable for low adhesion coefficient, low ground contact specific pressure and complex ground environment such as ruggedness, and the platform can also be used as a landing pier.

Description

Technical Field

[0001] This invention belongs to the field of landing equipment, and particularly relates to a inchworm-moving walking mechanism and a shore-connecting trestle for landing in various complex terrains. Background Technology

[0002] Traditional wheeled and tracked vehicles often struggle to traverse environments with low traction coefficients, low ground pressure, and rugged terrain, such as mudflats, swamps, wetlands, beaches, nearshore reefs, deep pits, and breakwaters. Equipment like desert off-road vehicles, snowmobiles, and amphibious vehicles are only capable of traversing specific terrains and cannot adapt to complex and ever-changing ground environments.

[0003] Although multi-legged walking robots have emerged in recent years, relying on their discrete leg movements to adapt to various complex ground environments, their complex structure and difficulty in control due to their numerous components and kinematic pairs often make it difficult to maintain a stable walking state when facing some harsh environments. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a inchworm-like walking mechanism for low-pressure terrain. The inchworm-like movement is a step-like discrete motion. When the mobile platform moves, it does not rely on friction to drive the ground, but rather on its inner and outer support legs to support the bottom surface. The mobile platform can be quickly deployed and effectively handles landings in complex terrains such as mudflats, swamps, wetlands, beaches, nearshore reefs, deep pits, and breakwaters.

[0005] This invention is achieved through the following technical solution:

[0006] An inchworm-like walking mechanism for low-pressure terrain includes an inchworm-like walking system 1000 and a folding bridge deck working system 2000. The inchworm-like walking system includes multiple alternating moving planes that are parallel to each other and stacked from top to bottom in a manner that decreases in width and length, or increases in length. Adjacent moving planes are connected by a transmission mechanism, and each moving plane has a retractable support leg assembly connected to its four corners. The folding bridge deck working system 2000 is fixedly connected to the uppermost working plane.

[0007] As a preferred technical solution of the present invention: there are two moving planes, specifically an upper moving plane 1100 and a lower moving plane 1200. The inner support leg group 1700 is located at the four corners of the upper moving plane 1100, and the outer support leg group 1800 is located at the four corners of the lower moving plane 1200. The upper moving plane 1100 and the lower moving plane 1200 are driven together and move forward alternately. The two inner support legs 1700 on the same side of the lower moving plane 1200 are located between the two outer support leg groups 1800. The folding bridge deck working system 2000 is fixedly connected to the upper moving plane 1100.

[0008] As a preferred technical solution of the present invention: the alternating forward movement of the two adjacent moving planes is achieved by one of the following: gear and rack transmission, chain transmission, ball screw transmission or hydraulic cylinder mechanical transmission.

[0009] As a preferred technical solution of the present invention: the inchworm movement walking system 1000 includes a push cylinder 1300 and a cylinder support 1400; the cylinder body of the push cylinder 1300 is fixedly connected to the bottom of the upper moving plane 1100, and the piston rod of the push cylinder 1300 is fixedly connected to the lower moving plane 1200 through the cylinder support 1400, and the piston rod of the push cylinder 1300 is parallel to the lower moving plane 1200.

[0010] As a preferred technical solution of the present invention: the folding bridge deck working system 2000 includes a folding module 2100 and a traction module 2200; the folding module 2100 includes a main bridge deck 2101, a middle bridge deck 2102, an edge bridge deck 2103, a first gear pair 2104, a first bridge deck motor 2105, a second gear pair 2107, a second bridge deck motor 2108, and a second gear connector 2109; the main bridge deck 2101 and the middle bridge deck 2102 are connected as one unit by the first gear pair 2104, and the edge bridge deck 2103 and the middle bridge deck 2102 are connected by the second gear pair 2107. The main bridge deck 2101 is fixedly connected to the lower moving plane 1200. The traction module 2200 includes a steel cable 2201, a pulley 2202, a winch 2203, a bridge base rod 2204, a bridge base 2205, and one end of the steel cable 2201 is connected to the second gear pair 2107. The other end of the steel cable 2201 is connected to the winch 2203 after passing over the pulley 2202. The pulley 2202 is fixedly connected to one end of the bridge base rod 2204, and the other end of the bridge base rod 2204 is rotatably connected to the bridge base 2205. The bridge base 2205 is fixedly connected to the four corners of the upper moving plane 1100.

[0011] As a preferred technical solution of the present invention: the first gear pair 2104 consists of two meshing gears connected as one unit by a first gear connector 2106; the second gear pair 2107 consists of two meshing gears connected as one unit by a second gear connector 2109; the two gears of the first gear pair 2104 are fixedly connected to the main bridge surface 2101 and the intermediate bridge surface 2102 respectively, and the two gears of the second gear pair 2107 are fixedly connected to the edge bridge surface 2103 and the intermediate bridge surface 2102 respectively.

[0012] As a preferred technical solution of the present invention: the inner support leg assembly 1700 and the outer support leg assembly 1800 have the same structure, both including a base assembly 1710, a top extension component 1720, a first-stage leg component 1760, a second-stage leg component 1770, a third-stage leg 1780, and a rope pulley device; the top extension component 1720 includes a top rod sliding pull plate 1721, a retraction guide rod 1722, a hydraulic cylinder 1723, and a tenth guide wheel 1724; the cylinder body of the hydraulic cylinder 1723 is fixedly connected to the bottom of the base assembly 1710, and the top rod sliding pull plate 1721 is fixed to the end of the telescopic rod of the hydraulic cylinder 1723; one end of the retraction guide rod 1722 is fixedly connected to the top rod sliding pull plate 1721, and the other end extends into the base assembly. The base assembly 1710 is internal and can slide relative to each other; the first-stage leg component 1760 includes a first-stage leg 1761, a sixth guide wheel 1762 at the top of the first-stage leg 1761, and a fifth guide wheel 1763 at the bottom of the first-stage leg 1761; the second-stage leg component 1770 includes a second-stage leg 1771, a seventh guide wheel 1773 at the bottom of the second-stage leg 1771, and an eighth guide wheel 1772 at the top of the second-stage leg 1771; the guide wheel assembly 1730 is fixedly connected to the top of the base assembly 1710, including a guide wheel base 1732 fixedly connected to the base assembly 1710 and a first guide wheel 1731 and a second guide wheel 1733 mounted on the guide wheel base 1732; the rope pulley device includes an extension... The system includes a steel cable assembly 1740 and a retractable steel cable assembly 1750. The retractable steel cable assembly 1740 includes a primary leg extension steel cable 1741, a secondary leg extension steel cable 1742, and a tertiary leg extension steel cable 1743. The primary leg extension steel cable 1741 has its first end fixedly connected to the end of the telescopic rod of the hydraulic cylinder 1723, its tail end fixedly connected to the top of the base assembly 1710, and its middle section successively passes around the ninth guide wheel 1724, the guide wheel assembly 1730, and the fourth guide wheel 1714 at the bottom of the base assembly 1710 located at the bottom of the hydraulic cylinder 1723. The secondary leg extension steel cable 1742 has its first end fixedly connected to the four corners of the bottom of the base assembly 1710, its middle section passes around the fifth guide wheel 1763, and its tail end fixed to the top of the secondary leg 1771. The first end of the third-stage extension steel cable 1743 is connected to the bottom of the second-stage leg 1771, the middle section passes around the seventh guide wheel 1773, and the tail end is fixed to the top of the third-stage leg 1780; the retraction steel cable group 1750 includes a first-stage retraction steel cable 1751, a second-stage retraction steel cable 1752, and a third-stage retraction steel cable 1753; the first end of the first-stage retraction steel cable 1751 is fixedly connected to the bottom of the recovery guide rod 1722, the middle section passes around the third guide wheel 1713 located on the base assembly 1710, and the tail end is fixedly connected to the top of the first-stage leg 1761; the first end of the second-stage retraction steel cable 1752 is fixedly connected to the four corners of the bottom of the base assembly 1710, the middle section passes around the sixth guide wheel 1762, and the tail end is fixed to the top of the second-stage leg 1771;The first end of the three-stage retracting steel rope 1753 is fixedly connected to the bottom of the second-stage leg 1771, the middle section passes around the eighth guide wheel 1772, and the tail end is fixed to the top of the third-stage leg 1780.

[0013] As a more preferred technical solution of the present invention: the inner support leg assembly 1700 further includes a foot end adaptive support system 1790, including an upper plate 1791, a connecting rod plate 1792, a rocker plate 1793, a base plate 1794, a return guide rod 1795, a return spring 1796, a base plate guide rod 1797, a washer 1798, and a support spring 1799. The bolt at the upper end of the base plate guide rod 1797 is connected to the third-stage leg 1780. There are four connecting rod plates 1792 and four rocker plates 1793, which are respectively hinged to the upper plate 1791 and the base plate 1794 and can rotate relative to each other.

[0014] As a preferred technical solution of the present invention: the mobile platform further includes a float 3000, which includes a front float 3010, a body float 3020, and a connecting plate 3030. The front float 3010 is connected to the front and rear ends of the connecting plate 3030, the body float 3020 is connected to both sides of the connecting plate 3030, and the lower moving plane 1200 is fixedly connected to the connecting plate 3030.

[0015] As a preferred technical solution of the present invention: the vehicle body floating box 3020 is composed of multiple connected as a single unit.

[0016] As a more preferred technical solution of the present invention: one end of the steel cable 2201 is connected to the pull rod 2208 on the second gear pair 2107.

[0017] As a more preferred technical solution of the present invention: the bridge base rod 2204 is connected to the bridge base 2205 by a pin 2206, and the pin 2206 is connected to the motor shaft of the bridge base motor 2207.

[0018] As a more preferred technical solution of the present invention: the inchworm moving walking system 1000 further includes a guide rail 1500 and a slider 1600. The guide rail 1500 is fixedly connected to both sides of the upper surface of the lower moving plane 1200, and the slider 1600 is fixedly connected to both sides of the lower surface of the upper moving plane 1100 and slidably connected to the guide rail 1500.

[0019] Another objective of this invention is to provide a connecting pier, which is formed by connecting multiple inchworm-type modular mobile platforms as described in claim 1 end to end, and the connection point can be the head and tail of the pontoon 3000.

[0020] The beneficial effects are:

[0021] The inchworm of this invention moves by stepping, which is highly capable of traversing mudflats, swamps, wetlands, seabed reefs, deep pits, and breakwaters. During movement, the feet only provide support to the ground and do not generate a driving force based on friction. Therefore, it avoids slipping and affecting movement in environments with low adhesion and low specific pressure, such as mudflats and deserts. It adopts a distributed power system, with each actuator unit having its own power source, which does not affect each other. The structure is easy to adjust and has a strong ability to traverse.

[0022] The combination of a floating box and discrete legged motion in this invention effectively enhances the adaptability of the mobile platform, enabling it to operate normally even in environments with significant water level fluctuations. Furthermore, the inchworm-like simulated walking system has a simple structure; the actuators, such as the hydraulic cylinders and support leg assemblies, employ only simple on / off control, ensuring reliable operation and strong adaptability to complex environments.

[0023] The bridge deck deployment system of the present invention can flexibly switch between deployment and folding modes to adapt to different working scenarios. Compared with traditional folding bridges, the bridge base of the folding bridge deck working system can be folded to the side of the main bridge deck, occupying less space. Both the middle bridge deck and the edge bridge deck are equipped with motors, which are highly flexible and convenient for completing certain special actions. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate the invention and are used to explain it, but do not constitute an undue limitation of the invention.

[0025] Figure 1 This is an isometric drawing of the inchworm-type modular mobile platform of the present invention;

[0026] Figure 2 This is an unfolded diagram of the inchworm-type modular mobile platform of the present invention;

[0027] Figure 3 The main view of the inchworm-like modular mobile platform of the present invention is shown below;

[0028] Figure 4 Front view of the inchworm's locomotion system;

[0029] Figure 5 This is a cross-sectional view of the inchworm's locomotion system;

[0030] Figure 6 Isometric drawing of the pontoon;

[0031] Figure 7 This is a range-extended rope-driven bidirectional force foot-end adaptive telescopic outrigger device.

[0032] Figure 8Isometric sectional view of the range-extended rope-driven bidirectional force foot-end adaptive telescopic outrigger device;

[0033] Figure 9 This is a front view and sectional view of a range-extended rope-driven bidirectional force foot-adaptive telescopic outrigger device.

[0034] Figure 10 Isometric drawing of the foot-adaptive support system;

[0035] Figure 11 This is a side view of the folding bridge deck working system structure;

[0036] Figure 12 This is a top view of the folding bridge deck working system structure;

[0037] In the diagram: 1000, Inchworm-like walking system; 2000, Folding bridge deck working system; 3000, pontoon; 1100, Upper moving plane; 1200, Lower moving plane; 1300, Pushing cylinder; 1400, Cylinder support; 1500, Guide rail; 1600, Sliding block; 1700, Inner support leg assembly; 1800, Outer support leg assembly; 1710, Base assembly; 1720, Top extension component; 1730, Top plate guide wheel assembly; 1740, Extension steel rope assembly; 1750, Retraction steel rope assembly; 1760, Primary leg component; 1770, Secondary leg. Components; 1780, Third-stage leg; 1790, Foot-end adaptive support system; 1711, Base frame; 1712, Guide wire support; 1713, Third guide wheel; 1714, Fourth guide wheel; 1721, Top rod sliding pull plate; 1722, Retraction guide rod; 1723, Hydraulic cylinder; 1724, Ninth guide wheel; 1731, Tenth guide wheel; 1732, Top plate guide wheel base; 1733, Second guide wheel; 1741, First-stage extension leg steel rope; 1742, Second-stage extension leg steel rope; 1743, Third-stage extension leg steel rope; 1751, First-stage retraction leg steel rope; 1752. Secondary leg-retracting steel cable; 1753, Tertiary leg-retracting steel cable; 1761, Primary leg; 1762, Sixth guide wheel; 1763, Fifth guide wheel; 1771, Secondary leg; 1772, Eighth guide wheel; 1773, Seventh guide wheel; 1791, Upper plate; 1792, Connecting rod plate; 1793, Rocker plate; 1794, Base plate; 1795, Return guide rod; 1796, Return spring; 1797, Base plate guide rod; 1798, Washer; 1799, Support spring; 2100, Folding module; 2101, Main bridge deck; 2102, Intermediate bridge deck; 210 3. Edge bridge deck; 2104. First gear pair; 2105. First bridge deck motor; 2106. First gear connector; 2107. Second gear pair; 2108. Second bridge deck motor; 2109. Second gear connector; 2200. Traction module; 2201. Mainly includes steel cable; 2202. Pulley; 2203. Winch; 2204. Bridge base rod; 2205. Bridge base seat; 2206. Pin shaft; 2207. Bridge base motor; 2208. Tie rod; 3000. Float box; 3010. Body float box; 3020. Front float box; 3030. Connecting plate. Detailed Implementation

[0038] The following description, in conjunction with the accompanying drawings, further illustrates the detailed content of the present invention and its specific embodiments.

[0039] Example 1

[0040] A type of inchworm locomotion walking mechanism for low-pressure terrain, such as Figure 1As shown, it includes a inchworm-like walking system 1000, a folding bridge deck working system 2000, and a pontoon 3000, wherein the inchworm-like walking system 1000 supports the folding bridge deck working system 2000, and the pontoon 3000 is installed below the inchworm-like walking system 1000. The inchworm-like walking system 1000 includes an upper moving plane 1100, a lower moving plane 1200, inner support leg groups 1700, and outer support leg groups 1800. The upper moving plane 1100 is driven to the lower moving plane 1200. The upper ends of the inner support leg groups 1700 are fixedly connected to the four corners of the upper moving plane 1100. The upper ends of the outer support leg groups 1800 are fixedly connected to the four corners of the lower moving plane 1200. Two inner support leg groups 1700 on the same side of the lower moving plane 1200 are located between the outer support leg groups 1800. The folding bridge deck working system 2000 is fixedly connected to the upper moving plane 1100.

[0041] In some embodiments, the transmission connection between the upper moving plane 1100 and the lower moving plane 1200 is a gear and rack drive, a chain drive, a ball screw drive, a winch traction drive, or a hydraulic cylinder push-pull drive.

[0042] In some embodiments, the inchworm locomotion system 1000 includes a push cylinder 1300 and a cylinder support 1400; the cylinder body of the push cylinder 1300 is fixedly connected to the bottom of the upper moving plane 1100, and the piston rod of the push cylinder 1300 is fixedly connected to the lower moving plane 1200 through the cylinder support 1400, and the piston rod of the push cylinder 1300 is parallel to the lower moving plane 1200.

[0043] like Figure 2-5 The main structure of the inchworm-inspired bionic walking system 1000, as shown, adopts a truss structure to improve its load-bearing capacity. Guide rails 1500 are welded to both sides of the lower moving plane 1200, and sliders 1600 are fixed to the bottom surface of the upper moving plane 1100. The upper moving plane 1100 and the lower moving plane 1200 slide relative to each other via guide rails 1600 and sliders 1700. The cylinders of the two pushing cylinders 1300 are welded to the upper moving plane 1100. The hydraulic rods are not fixed, but are limited only by cylinder supports 1400. The folding bridge deck working system 2000 is mainly used to support passing vehicles and personnel. The purpose of the folding bridge deck working system is to meet the needs of the inchworm-moving landing bridge in different working and walking states by using two different working modes—expanded and folded—in conjunction with the inchworm-inspired bionic walking mechanism.

[0044] In some embodiments, the folding bridge deck working system 2000 includes a folding module 2100 and a traction module 2200; the folding module 2100 includes a main bridge deck 2101, a middle bridge deck 2102, an edge bridge deck 2103, a first gear pair 2104, a first bridge deck motor 2105, a second gear pair 2107, a second bridge deck motor 2108, and a second gear connector 2109; the main bridge deck 2101 and the middle bridge deck 2102 are connected as one unit through the first gear pair 2104, and the edge bridge deck 2103 and the middle bridge deck 2102 are connected as one unit through the second gear pair 2107. The lower surface of the main bridge deck 2101 is fixedly connected to the lower moving plane 1200. The traction module 2200 includes a steel cable 2201, a pulley 2202, a winch 2203, a bridge base rod 2204, a bridge base 2205, one end of the steel cable 2201 is connected to the second gear pair 2107, and the other end of the steel cable 2201 is connected to the winch 2203 after passing over the pulley 2202. The pulley 2202 is fixedly connected to one end of the bridge base rod 2204, and the other end of the bridge base rod 2204 is rotatably connected to the bridge base 2205. The bridge base 2205 is fixedly connected to the four corners of the upper moving plane 1100.

[0045] In some embodiments, the first gear pair 2104 consists of two meshing gears connected as one unit via a first gear connector 2106; the second gear pair 2107 consists of two meshing gears connected as one unit via a second gear connector 2109; the two gears of the first gear pair 2104 are fixedly connected to the main bridge surface 2101 and the intermediate bridge surface 2102 respectively, and the two gears of the second gear pair 2107 are fixedly connected to the edge bridge surface 2103 and the intermediate bridge surface 2102 respectively.

[0046] In some embodiments, one end of the steel cable 2201 is connected to the pull rod 2208 on the second gear pair 2107.

[0047] In some embodiments, the bridge base rod 2204 is connected to the bridge base 2205 by a pin 2206, and the pin 2206 is connected to the motor shaft of the bridge base motor 2207.

[0048] In some embodiments, the inchworm locomotion system 1000 further includes a guide rail 1500 and a slider 1600. The guide rail 1500 is fixedly connected to both sides of the upper surface of the lower moving plane 1200, and the slider 1600 is fixedly connected to both sides of the lower surface of the upper moving plane 1100 and slidably connected to the guide rail 1500.

[0049] like Figure 11 and 12The folding bridge deck working system shown includes a folding module 2100 and a traction module 2200. The folding module 2100 is used to fold and unfold the bridge deck, ensuring the performance of the inchworm-moving landing trestle during travel and operation, as well as high efficiency during transportation. The traction module 2200 assists in the folding and unfolding of the folding module 2100 and is responsible for the rotation of the bridge base to ensure the folded volume meets transportation requirements. The folding module 2100 mainly includes a main bridge deck 2101, a middle bridge deck 2102, an edge bridge deck 2103, a first gear pair 2104, a first bridge deck motor 2105, a first gear connector 2106, a second gear pair 2107, a second bridge deck motor 2108, and a second gear connector 2109. The main bridge deck 2101, the middle bridge deck 2102, and the edge bridge deck 2103 are all connected tangentially by circular arcs to ensure no interference during folding. The two gears on the first gear pair 2104 are welded to the main bridge deck 2101 and the intermediate bridge deck 2102 respectively. When the gears rotate, the corresponding bridge deck will also rotate. The first gear connector 2106 ensures that the two gears on the first gear pair 2104 are always in a meshed state, and also ensures the integrity of the bridge deck. The first bridge deck motor 2105 is installed on the intermediate bridge deck 2102 and can drive the bridge deck to rotate. The two gears on the second gear pair 2107 are welded to the intermediate bridge deck 2102 and the edge bridge deck 2103 respectively. The second gear connector 2109 ensures that the two gears on the second gear pair 2107 are always in a meshed state. The second bridge deck motor 2108 is installed on the edge bridge deck 2103. The traction module 2200 mainly includes a steel cable 2201, a pulley 2202, a winch 2203, a bridge base rod 2204, a bridge base 2205, a pin 2206, a bridge base motor 2207, and a tie rod 2208. Pulley 2202 is installed on top of bridge foundation pole 2204, winch 2203 is installed on bridge base 2205, and tie rod 2208 is installed on the side of the middle bridge deck 2102. These three devices, in conjunction with steel cable 2201, enable the folding of the bridge deck. Bridge foundation pole 2204 and bridge base 2205 are connected together by pin 2206 and rotated by bridge foundation motor 2207. Folding module 2100 and traction module 2200 are both installed on the working platform of the inchworm-moving landing trestle bridge.

[0050] When the folding bridge deck working system 2000 is deployed, the first bridge deck motor 2105 and the bridge base motor 2207 start working first, rotating the middle bridge deck 2102, the edge bridge deck 2103, and the bridge base pole 2204 to a state perpendicular to the main bridge deck 2101, respectively. Then, the bridge base motor 2207 is locked, and the winch 2203 pulls the two outer bridge decks through the steel cable 2201. The first bridge deck motor 2105 and the second bridge deck motor 2108 work in opposite directions at the same time, and the entire bridge body unfolds simultaneously.

[0051] When the folding bridge deck working system 2000 folds, the winch 2203 pulls the steel cable 2201, causing the middle bridge deck 2102 to rotate counterclockwise around the center of the first gear pair 2104. The first bridge deck motor 2105 stops working, while the second bridge deck motor 2108 provides counterclockwise torque to ensure that the edge bridge deck 2103 does not collide with the middle bridge deck 2102. This continues until the middle bridge deck 2102 and the edge bridge deck 2103 return to a state perpendicular to the main bridge deck 2101. At this point, the second bridge deck motor 2108 stops working, and the first bridge deck motor 2105 and the bridge foundation motor 2207 operate to return the middle bridge deck 2102, the edge bridge deck 2103, and the bridge foundation pole 2204 to their initial positions. Figure 2 The folded state shown.

[0052] The bridge base 2205 in the traction module 2200 is connected to the intermediate bridge deck 2102 as a whole. The bottom surface of the bridge base 2205 is parallel to the bottom surface of the intermediate bridge deck 2102. The bridge base 2205 and the bridge base rod 2204 are connected by a pin 2206, so that the bridge base rod 2204 can rotate around the pin 2206 on the bridge base 2205. A pulley 2202 is installed at the top of the bridge base rod 2204. A winch 2203 is installed on the side of the bridge base 2205. The steel cable 2201 extends from the winch 2203, passes through the side of the bridge base 2204 and acts on the pulley 2202 at the top of the bridge base rod 2204, and then connects to the connecting rod on the intermediate bridge deck 2102. The winch 2203 controls the extension and stretching of the steel cable 2201 to drive the intermediate plate, thereby controlling the entire bridge deck to switch between unfolded and folded modes.

[0053] When the folding bridge deck working system needs to switch from folding mode to unfolding mode, the winch 2203 releases the steel cable 2201, the bridge deck motor a2105 rotates to make the middle bridge deck 2102 rotate to a horizontal position, the bridge base motor 2207 rotates to make the bridge base pole 2204 perpendicular to the main bridge deck 2101, and the bridge deck motor b2108 rotates to make the edge bridge deck 2103 rotate to a horizontal position. When the folding bridge deck working system needs to switch from unfolding mode to folding mode, the bridge deck motor b2108 rotates to make the bottom surface of the edge bridge deck 2103 face the bottom surface of the middle bridge deck 2102, the winch 2203 drives the steel cable 2201 to retract, and at the same time the bridge deck motor a2105 rotates to make the upper plane of the middle bridge deck 2102 face the upper plane of the main bridge deck 2101, and the bridge base motor 2207 rotates to make the bridge base pole 2204 parallel to the main bridge deck 2101.

[0054] In some embodiments, such as Figures 7 to 9As shown, the inner support leg assembly 1700 and the outer support leg assembly 1800 have the same structure, both including a base assembly 1710, a top extension component 1720, a first-stage leg component 1760, a second-stage leg component 1770, a third-stage leg 1780, and a rope pulley device; the top extension component 1720 includes a top rod sliding pull plate 1721, a retraction guide rod 1722, a hydraulic cylinder 1723, and a tenth guide wheel 1724. The cylinder body of the hydraulic cylinder 1723 is fixedly connected to the bottom of the base assembly 1710, and the top rod sliding pull plate 1721 is fixed to the end of the telescopic rod of the hydraulic cylinder 1723; one end of the retraction guide rod 1722 is fixedly connected to the top rod sliding pull plate 1721, and the other end extends into the base assembly 1710 and can... The relative sliding; the first-stage leg component 1760 includes a first-stage leg 1761, a sixth guide wheel 1762 at the top of the first-stage leg 1761, and a fifth guide wheel 1763 at the bottom of the first-stage leg 1761; the second-stage leg component 1770 includes a second-stage leg 1771, a seventh guide wheel 1773 at the bottom of the second-stage leg 1771, and an eighth guide wheel 1772 at the top of the second-stage leg 1771; the guide wheel assembly 1730 is fixedly connected to the top of the base assembly 1710, including a guide wheel base 1732 fixedly connected to the base assembly 1710 and a first guide wheel 1731 and a second guide wheel 1733 mounted on the guide wheel base 1732; the rope pulley device includes an extension steel rope group 17 40 and the retractable steel rope assembly 1750, wherein the extension steel rope assembly 1740 includes a primary extension steel rope 1741, a secondary extension steel rope 1742, and a tertiary extension steel rope 1743; the first end of the primary extension steel rope 1741 is fixedly connected to the end of the telescopic rod of the hydraulic cylinder 1723, and its tail end is fixedly connected to the top of the base assembly 1710, and its middle section successively passes around the ninth guide wheel 1724, the guide wheel assembly 1730, and the fourth guide wheel 1714 at the bottom of the base assembly 1710 located at the bottom of the hydraulic cylinder 1723; the first end of the secondary extension steel rope 1742 is fixedly connected to the four corners of the bottom of the base assembly 1710, its middle section passes around the fifth guide wheel 1763, and its tail end is fixed to the top of the secondary leg 1771; the tertiary extension steel rope 1741... The first end of the extension steel cable 1743 is connected to the bottom of the second-stage leg 1771, the middle section passes around the seventh guide wheel 1773, and the tail end is fixed to the top of the third-stage leg 1780; the retraction steel cable assembly 1750 includes a first-stage retraction steel cable 1751, a second-stage retraction steel cable 1752, and a third-stage retraction steel cable 1753; the first end of the first-stage retraction steel cable 1751 is fixedly connected to the bottom of the recovery guide rod 1722, the middle section passes around the third guide wheel 1713 located on the base assembly 1710, and the tail end is fixedly connected to the top of the first-stage leg 1761; the first end of the second-stage retraction steel cable 1752 is fixedly connected to the four corners of the bottom of the base assembly 1710, the middle section passes around the sixth guide wheel 1762, and the tail end is fixed to the top of the second-stage leg 1771;The first end of the three-stage retracting steel rope 1753 is fixedly connected to the bottom of the second-stage leg 1771, the middle section passes around the eighth guide wheel 1772, and the tail end is fixed to the top of the third-stage leg 1780.

[0055] When the extended-range rope-driven bidirectional force foot-end adaptive telescopic outrigger device extends, the hydraulic cylinder 1723 pushes upward, the first-stage outrigger steel rope 1741 passes around the pulley on the base frame 1711, the top of the hydraulic cylinder 1723 pulls the first end of the first-stage outrigger steel rope 1741, and the tail end of the first-stage outrigger steel rope 1741 pulls out the first-stage leg 1761 along the base; the first-stage leg wheel 2 pulls down the second-stage outrigger steel rope 1742, the first end of the second-stage outrigger steel rope 1742 is fixed to the bottom of the base, and the tail end of the second-stage outrigger steel rope 1742 pulls out the second-stage leg 1771 along the first-stage leg 1761; the seventh guide wheel pulls down the third-stage outrigger steel rope 1743, the first end of the third-stage outrigger steel rope 1743 is fixed to the bottom of the first-stage leg 1761, and the tail end of the third-stage outrigger steel rope 1743 pulls out the third-stage leg 1780 along the second-stage leg 1771. During retrieval, the hydraulic cylinder 1723 lowers the sliding pull plate 1721, causing the tail ends of the retrieval guide rods 1722 at its four corners to pull the head ends of the first-stage retracting leg steel rope 1751 downwards; the head ends of the first-stage retracting leg steel rope 1751, the second-stage retracting leg steel rope 1752, and the third-stage retracting leg steel rope 1753 are respectively fixed to the tail ends of the retrieval guide rods 1722, the first-stage leg 1761, and the second-stage leg 1771, and pass around the third guide wheel 1713, the sixth guide wheel 1762, and the eighth guide wheel 1772, and their tail ends pull the first-stage leg 1761, the second-stage leg 1771, and the third-stage leg 1780 to retract.

[0056] The inner support leg assembly 1700 is installed at the four corners of the upper moving plane 1100, and the outer support leg assembly 1800 is installed at the four corners of the lower moving plane 1200. During the movement of the landing pier from the sea to land, the outer support leg assembly 1800 is initially in an extended state, supporting the entire bridge structure. After extending to a suitable position, the hydraulic cylinder 1300 begins to move the upper moving plane 1200. Once the bridge reaches the appropriate position, the inner support leg assembly 1700 begins to extend. Similarly, the outer support leg assembly 1800 extends to the appropriate position. The outer support leg assembly 1700 begins to retract, and the bridge body is then supported by the inner support leg assembly 1800. Once the outer support leg assembly 1800 has retracted completely, the lower moving plane 1200 moves forward under the push of the hydraulic cylinder 1300 until it reaches the working position. All support legs extend to support the bridge body, and the bridge deck working system then unfolds to allow vehicles and personnel to pass. Throughout the movement, since the hydraulic cylinder 1300 is only connected to the upper moving plane 1100, it is not subjected to radial force; all tension and pressure are borne by the guide rail 1500 and the slider 1600. Furthermore, the inchworm-like movement employed in this invention ensures that the feet of the support leg assembly only form a support relationship with the ground, without generating a driving force. This separates support and movement, avoiding a driving relationship with low-pressure ground. The stepping movement also provides strong adaptability to the complex terrain of tidal flats, enhancing its ability to pass through breakwaters, deep pits, and seabed reefs. Multiple platforms can be connected end-to-end to achieve long-distance vehicle and personnel transport capabilities. The inner support leg assembly 1700 and the outer support leg assembly 1800 adopt a distributed power system. Each leg in the inner support leg assembly 1700 and the outer support leg assembly 1800 has its own independent drive unit, and its extension length can also be controlled individually to adapt to various different ground environments, especially uneven surfaces. The position compensation of the platform can be achieved by adjusting the extension distance of each support leg individually.

[0057] In some embodiments, the inner support leg assembly 1700 further includes a foot-end adaptive support system 1790, comprising an upper plate 1791, a connecting rod plate 1792, a rocker plate 1793, a base plate 1794, a return guide rod 1795, a return spring 1796, a base plate guide rod 1797, a washer 1798, and a support spring 1799. The bolt at the upper end of the base plate guide rod 1797 is connected to the third-stage leg 1780. There are four connecting rod plates 1792 and four rocker plates 1793, which are respectively hinged to the upper plate 1791 and the base plate 1794 and can rotate relative to each other.

[0058] In some embodiments, the range-extended rope bidirectional force foot-end adaptive telescopic outrigger device may also be replaced by a multi-stage hydraulic cylinder.

[0059] In some embodiments, the inner support leg assembly 1700 and the outer support leg assembly 1800 are characterized in that each leg has an independent drive unit, which is controlled by only switching quantities and can be used for bridge deck position compensation.

[0060] In some embodiments, the mobile platform further includes a float 3000, which includes a front float 3010, a body float 3020, and a connecting plate 3030. The front float 3010 is connected to both ends of the connecting plate 3030, and the body float 3020 is connected to both sides of the connecting plate 3030. The lower moving plane 1200 is fixedly connected to the connecting plate 3030. Figure 6 As shown, the pontoon 3000 adopts a modular design. In this invention, the mobile platform can float on the water surface when traversing deep water terrain for rapid deployment. It consists of seven body pontoons 3200, two front pontoons 3010, and connecting plates 3030. After assembly, it is welded to the bottom surface of the lower moving plane 1200. Then, the connecting plates 3030 are laid on the upper bottom surface. The pontoons 3000 allow the mobile platform to float on the water surface when the water level is high, and a propeller can be added to the stern of the pontoons 3000 to propel its movement. The front pontoons can be replaced with components equipped with propellers to provide a certain propulsion capability for auxiliary movement.

[0061] In some embodiments, multiple vehicle-mounted floating boxes 3020 are connected as one unit.

[0062] like Figure 6 As shown, the pontoon 3000 is a modular design, consisting of 7 body pontoons 3200, 2 front pontoons 3010, and a connecting plate 3030. After assembly, it is connected to the bottom surface of the lower moving plane 1200 by welding. Then, the connecting plate 3030 is laid on the upper bottom surface. The pontoon 3000 allows the mobile platform to float on the water surface when the water level is high, and a propeller can be added to the tail of the pontoon 3000 to propel its movement.

[0063] In some embodiments, the inchworm locomotion system 1000 can ensure that the upper moving plane 1100 is installed on the abdomen of the lower moving plane 1200 and the lower part of the lower moving plane 1200 while maintaining its motion form; the upper moving plane 1100 and the lower moving plane 1200 are connected by a guide rail 1500 and a slider 1600, the cylinder of the push cylinder 1300 is connected to the upper moving plane 1100, the hydraulic rod is fixed by the cylinder support 1400, the guide rail 1500 is connected to the lower moving plane 1200, the slider 1600 is connected to the upper moving plane 1100, and the slider 1600 slides on the guide rail 1500. During the movement of the inchworm-like walking system 1000, in the initial state, the upper moving plane 1100 is located at the center of the lower moving plane 1200, supported by the outer support leg assembly 1800. Then, driven by the push cylinder 1300, it moves forward to the designated position, the inner support leg assembly 1700 extends, and the outer support leg assembly 1800 retracts. After that, the lower moving plane 1200 is pushed forward by the push cylinder 1300 to the designated position, the outer support leg assembly 1800 extends, and the inner support leg assembly 1700 retracts. This cycle repeats until it reaches the working position, where all support legs extend, and then the bridge deck working system unfolds.

[0064] The mobile platform provided by this invention can be moved directly with a load, or it can unfold a bridge deck working system after arriving at the working position to allow vehicles and personnel to pass. The platforms can be arranged in sequence, and then the bridge deck working system unfolds and connects end to end to form a longer road surface.

[0065] Because the supporting legs of the mobile platform provided by this invention have a high support height, it can also be used as a landing bridge.

[0066] In the description of this invention, it should be understood that "beginning and end" and "length" refer to the direction of movement of the moving plane, and "width" is perpendicular to the direction of "length".

[0067] In the description of this invention, it should be understood that the terms "center", "longitudinal", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0068] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0070] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A walking mechanism for inchworms oriented towards low-pressure terrain, characterized in that: It includes an inchworm-like walking system and a folding bridge deck working system; the inchworm-like walking system includes multiple alternating moving planes, which are parallel to each other and stacked from top to bottom in order of width from large to small and length from large to small or from small to large. Adjacent moving planes are connected by transmission, and each moving plane is connected to a retractable support leg assembly at its four corners. The folding bridge deck working system is fixedly connected to the uppermost working plane. There are two moving planes, specifically an upper moving plane and a lower moving plane. The inner support leg groups are located at the four corners of the upper moving plane, and the outer support leg groups are located at the four corners of the lower moving plane. The upper and lower moving planes are connected by a transmission and move forward alternately. The two inner support leg groups on the same side of the lower moving plane are located between the outer support leg groups. The folding bridge deck working system is fixedly connected to the upper moving plane. The alternating movement of the two adjacent moving planes is achieved through one of the following: gear and rack transmission, chain transmission, ball screw transmission, or hydraulic cylinder mechanical transmission. The inchworm-like walking system also includes a push cylinder and a cylinder support; the cylinder body of the push cylinder is fixedly connected to the moving plane, and the piston rod of the push cylinder is fixedly connected to the adjacent moving plane, with the piston rod of the push cylinder parallel to the moving plane. The inner support leg assembly includes a base assembly, a top extension component, a first-stage leg component, a second-stage leg component, a third-stage leg, and a rope pulley device. The top extension component includes a top rod sliding plate, a retraction guide rod, a hydraulic cylinder, and a tenth guide wheel. The hydraulic cylinder body is fixedly connected to the bottom of the base assembly, and the top rod sliding plate is fixed to the end of the hydraulic cylinder telescopic rod. One end of the retraction guide rod is fixedly connected to the top rod sliding plate, and the other end extends into the base assembly and can slide relative to it. The first-stage leg component includes a first-stage leg, a sixth guide wheel at the top of the first-stage leg, and a fifth guide wheel at the bottom of the first-stage leg. The second-stage leg component includes a second-stage leg, a seventh guide wheel at the bottom of the second-stage leg, and an eighth guide wheel at the top of the second-stage leg. The guide wheel assembly is fixedly connected to the top of the base assembly, including a guide wheel base fixedly connected to the base assembly and a first and second guide wheel mounted on the guide wheel base. The rope pulley device includes an extension steel rope assembly and a retraction steel rope assembly. The extension steel rope assembly includes a first-stage extension steel rope, a second-stage extension steel rope, and a third-stage extension steel rope. The first-stage extension steel cable is fixedly connected at its head to the end of the telescopic rod of the hydraulic cylinder, and its tail is fixedly connected to the top of the base assembly. Its middle section successively passes over the ninth guide wheel, the guide wheel assembly, and the fourth guide wheel at the bottom of the base assembly. The second-stage extension steel cable is fixedly connected at its head to the four corners of the bottom of the base assembly, passes over the fifth guide wheel, and its tail is fixed to the top of the second-stage leg. The third-stage extension steel cable is connected at its head to the bottom of the second-stage leg, passes over the seventh guide wheel, and its tail is fixed to the top of the third-stage leg. The retraction... The steel rope assembly includes a primary retracting steel rope, a secondary retracting steel rope, and a tertiary retracting steel rope. The first retracting steel rope is fixedly connected at its head to the bottom of the recovery guide rod, passes through the third guide wheel located on the base assembly in the middle, and is fixedly connected at its tail to the top of the primary leg. The second retracting steel rope is fixedly connected at its head to the four corners of the bottom of the base assembly, passes through the sixth guide wheel in the middle, and is fixed at its tail to the top of the secondary leg. The tertiary retracting steel rope is fixedly connected at its head to the bottom of the secondary leg, passes through the eighth guide wheel in the middle, and is fixed at its tail to the top of the tertiary leg.

2. The inchworm-like walking mechanism for low-pressure terrain as described in claim 1, characterized in that: The folding bridge deck working system includes a folding module and a traction module. The folding module includes a main bridge deck, a middle bridge deck, an edge bridge deck, a first gear pair, a first bridge deck motor, a second gear pair, a second bridge deck motor, and a second gear connector. The main bridge deck and the middle bridge deck are connected as one unit through the first gear pair, and the edge bridge deck and the middle bridge deck are connected as one unit through the second gear pair. The lower surface of the main bridge deck is fixedly connected to the lower moving plane. The traction module includes a steel cable, a pulley, a winch, a bridge base rod, and a bridge base. One end of the steel cable is connected to the second gear pair, and the other end of the steel cable is connected to the winch after passing over the pulley. The pulley is fixedly connected to one end of the bridge base rod, and the other end of the bridge base rod is rotatably connected to the bridge base. The bridge base is fixedly connected to the four corners of the adjacent moving plane.

3. The inchworm-like walking mechanism for low-pressure terrain as described in claim 2, characterized in that: The first gear pair consists of two meshing gears connected as one unit via a first gear connector; the second gear pair consists of two meshing gears connected as one unit via a second gear connector; the two gears of the first gear pair are fixedly connected to the main bridge deck and the middle bridge deck respectively, and the two gears of the second gear pair are fixedly connected to the edge bridge deck and the middle bridge deck respectively.

4. The inchworm-like walking mechanism for low-pressure terrain as described in claim 1, characterized in that: The movable plane also includes pontoons, which include a front pontoon, a body pontoon, and a connecting plate. The front pontoon is connected to both ends of the connecting plate, the body pontoons are connected to both sides of the connecting plate, and the lowest movable plane is fixedly connected to the connecting plate.

5. The inchworm-like walking mechanism for low-pressure terrain as described in claim 1, characterized in that: The inchworm-like walking system also includes a guide rail and a slider. The guide rail is fixedly connected to both sides of the upper surface of the moving plane, and the slider is fixedly connected to both sides of the lower surface of the adjacent moving plane and slidably connected to the guide rail.

6. A kind of pier connecting to a riverbank, characterized in that: The aforementioned pier is formed by connecting multiple inchworm-like walking mechanisms as described in claim 1, which are designed for low-pressure terrain.

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