Unstructured low-specific-pressure ground stepping type moving device based on inchworm bionic gait

Abstract

The invention relates to the technical field of bionic mobile equipment, and provides an inchworm bionic gait-based unstructured low-specific-pressure ground stepping mobile device which comprises a crawler unit, an X-shaped frame unit, a sliding unit and a hydraulic control unit, the track unit is in sliding connection with the X-shaped frame unit through a conical guide rail and a first roller path, the track unit comprises a track frame main body, and the conical guide rail and the first roller path which are equal to the track frame main body in length are installed on the track frame main body; through an alternate supporting mechanism of the track units and the sliding units, efficient and stable movement on unstructured low-specific-pressure grounds such as mud flats and wet lands is achieved. By means of the bionic design, the device can flexibly adapt to complex terrains covered by soft silt, sludge, vegetation and the like, and the problems that the wet, soft and muddy ground is weak in bearing capacity and poor in anti-shearing capacity, effective supporting and sufficient traction cannot be provided, and consequently machinery sinks and slips and cannot normally walk and work are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic mobile devices, and more specifically, to an unstructured low specific pressure ground stepping mobile device based on the bionic gait of inchworms. Background Art

[0002] Unstructured low specific pressure ground environments such as tidal flats and wetlands have important ecological and economic values globally. These environments are not only important habitats for many endangered species but also important research objects in the fields of ecological protection, resource exploration, and environmental monitoring. However, such terrains are usually covered with soft sediment, silt, or vegetation, with low ground bearing capacity and strong heterogeneity and dynamic change characteristics. For example, under the influence of the hydrological cycle, the surface hardness and bearing capacity of wetlands change significantly over time; tidal flats are affected by tidal action, showing the characteristics of periodic inundation and drying alternation.

[0003] Traditional mechanical equipment, such as wheeled and tracked machinery, often has driving methods and ground specific pressures that are not suitable for such soft terrains. They usually rely on relatively high ground hardness to generate sufficient traction, and in environments with soft surfaces such as wetlands and tidal flats, these mechanical equipment are extremely likely to sink in and it is difficult to work stably. Although the passability of the equipment can be improved to a certain extent by increasing the track width or reducing the unit ground specific pressure, it is still difficult to completely solve the stability problem of the equipment on wet and muddy surfaces. In addition, the passing ability of traditional rigid drive mechanisms is also greatly limited when facing the complexity of unstructured ground.

[0004] Currently, for operations on low specific pressure grounds such as tidal flats and wetlands, most still rely on manual labor. For example, wetland rangers need to walk or use small boats to enter wetland areas, and when conducting resource sampling on tidal flats, it is usually carried out by manually carrying equipment to walk to the designated location for sampling and measurement. This method not only has a high labor intensity and low operation efficiency but is also greatly restricted by climate and terrain conditions and is difficult to meet the requirements of large-scale and long-term operations. In addition, there are certain safety risks in manually entering these environments. For example, quicksand in tidal flats and quagmires in wetlands may cause personnel to sink or become trapped, seriously affecting the smooth progress of operations.

[0005] Therefore, those skilled in the art have proposed an unstructured low specific pressure ground stepping mobile device based on the bionic gait of inchworms to solve the problems raised in the background art. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides an unstructured low ground pressure stepping mobile device based on the bionic gait of inchworms. This device can move stably in environments such as wetlands and tidal flats, and at the same time has good passability and load-bearing capacity to meet the needs of operations such as resource development and ecological protection.

[0007] An unstructured low ground pressure stepping mobile device based on the bionic gait of inchworms, comprising a crawler unit, an X-frame unit, a sliding unit, and a hydraulic control unit;

[0008] The crawler unit is slidably connected to the X-frame unit through a conical guide rail and a first raceway. Among them, the crawler unit includes a crawler frame body, on which a conical guide rail and a first raceway of the same length as the crawler frame body are installed. The cross-section of the conical guide rail is hourglass-shaped, and a crawler body is installed on the outer side of the first raceway;

[0009] The main body of the X-frame unit is composed of a top plate, a bottom plate, and several intermediate beams. Four groups of conical sliders are installed at the lower edge of the top plate and are connected in cooperation with the conical guide rail. Four groups of first roller sets are installed on the side of the bottom plate and are connected in cooperation with the first raceway. A second roller set is installed below the bottom plate;

[0010] The sliding unit consists of a basic section and an extension section to form a two-stage telescopic structure. A third raceway is installed on the side of the basic section, and four groups of third roller sets are installed on the side of the extension section. A second raceway is installed above each of the basic section and the extension section and is connected in cooperation with the second roller set of the X-frame unit. The sliding unit and the X-frame unit can slide relative to each other in the X direction, and four groups of external support legs are installed before and after the sliding unit.

[0011] Preferably, the extension cylinder of the hydraulic control unit includes an extension cylinder barrel and an extension cylinder rod. The extension cylinder barrel is connected to a preset connection seat on the basic section through a basic section pin seat, and the extension cylinder rod is connected to a preset connection seat on the extension section through a pin to realize the extension of the extension section; The sliding cylinder includes a first-stage cylinder and a last-stage cylinder. The first-stage cylinder is connected to a preset connection seat on the X-frame unit through a pin, and the last-stage cylinder is connected to a preset connection seat on the basic section of the sliding unit through a pin to realize the relative sliding between the sliding unit and the X-frame unit. The last-stage cylinder is connected to a cross beam through a front flange, and a second-stage cylinder and a third-stage cylinder are also provided between the first-stage cylinder and the last-stage cylinder.

[0012] Preferably, the hydraulic control unit includes three groups of hydraulic cylinders, namely a crawler cylinder, an extension cylinder, and a sliding cylinder. The crawler cylinder drives the relative sliding between the crawler unit and the X-frame unit, the extension cylinder drives the extension of the extension section, and the sliding cylinder drives the relative sliding between the sliding unit and the X-frame unit.

[0013] Preferably, a crawler frame tail plate is also installed at the tail of the crawler frame body of the crawler unit. A tail plate pin shaft seat is arranged on the crawler frame tail plate. The tail end of the crawler cylinder barrel of the crawler cylinder is connected to the tail plate pin shaft seat through a pin shaft, and the crawler cylinder rod is connected to the X-frame pin shaft seat below the bottom plate of the X-frame unit through a pin shaft.

[0014] Preferably, the base section and the extension section of the sliding unit are reinforced and connected through a connecting lining plate. The external support legs of the sliding unit are of a two-stage telescopic structure, including a base support leg and an extension support leg. The foot end of the external support leg is welded below the extension support leg. The connecting lining plate is threadedly connected with a nylon slider, and a mounting plate is welded on the side of the base section.

[0015] Preferably, modular interfaces are reserved on the top plate of the X-frame unit for installing exploration and monitoring equipment.

[0016] Preferably, the inchworm bionic mobile device realizes the continuous movement of the X-frame unit through the alternating support of the crawler unit and the sliding unit. The specific movement process is as follows: when the crawler unit lands and supports, the external support legs retract and do not contact the ground. Under the push of the crawler cylinder, the X-frame unit slides forward. At the same time, the sliding cylinder and the external support legs act, respectively pushing the sliding unit to slide forward relative to the X-frame unit and controlling the external support legs to extend downward. When the crawler cylinder extends to the end of the stroke, the X-frame unit moves to the front end of the crawler unit, and the sliding unit moves to the front end relative to the X-frame unit; Subsequently, the external support legs continue to extend, and the crawler unit leaves the ground, completing the switching of the support part from the crawler unit to the sliding unit; Then, the sliding cylinder and the crawler cylinder move simultaneously, respectively pushing the X-frame unit and the crawler unit to slide. During this process, the external support legs retract upward. When the X-frame unit slides to the front end of the sliding unit, the crawler unit simultaneously slides to the front end relative to the X-frame unit and contacts the ground. After the support legs continue to retract upward, the next walking cycle begins.

[0017] Preferably, the X-frame unit is in a sliding state both when supported by the crawler unit and the sliding unit, which improves the movement continuity and flexibility of the device.

[0018] Preferably, the forward distance of a single stride period of the inchworm bionic mobile device is the actual slidable length of the second raceway of the sliding unit minus the length of the X-frame unit plus the slidable length of the X-frame unit on the crawler frame body.

[0019] Preferably, the hydraulic control unit can distribute the system flow according to the preset flow relationship to ensure the synchronization of the actions of the crawler unit, the X-frame unit, and the sliding unit.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Through the alternating support mechanism of the crawler unit and the skid unit, efficient and stable movement on unstructured low-bearing-pressure ground such as tidal flats and wetlands is achieved. This bionic design enables the device to flexibly adapt to complex terrains such as soft sediment, silt, and vegetation cover, effectively overcoming the problems that the wet and soft, muddy ground has weak bearing capacity and poor shear resistance, and cannot provide effective support and sufficient traction, resulting in mechanical subsidence and slipping and inability to walk and work normally, and significantly improving the passability and operation ability of the equipment in complex environments.

[0022] 2. The device adopts the X-frame unit as the core support structure, and its top plate and bottom plate are connected by an intermediate beam to form a stable frame system. The crawler unit and the skid unit achieve a sliding connection with the X-frame unit through the precise cooperation of the conical guide rail, raceway, and roller group, ensuring the stability of the device during movement. At the same time, the secondary telescopic support leg structure equipped on the skid unit further enhances the bearing capacity of the device in the support state.

[0023] 3. By controlling the crawler cylinder and the skid cylinder, continuous movement of the X-frame unit can be achieved, thus ensuring continuity and flexibility. Brief Description of the Drawings

[0024] Figure 1 is a schematic diagram of the overall structure of the present invention and the connection relationship of each unit;

[0025] Figure 2 is a schematic diagram of the structure of the crawler unit of the present invention;

[0026] Figure 3 is a schematic diagram of the structure of the X-frame unit of the present invention;

[0027] Figure 4 is a schematic diagram of the structure of the skid unit of the present invention;

[0028] Figure 5 is a schematic diagram of the movement process of the present invention.

[0029] In the figure: 1. Crawler unit; 11. Crawler body; 12. Crawler frame main body; 13. Crawler frame tail plate; 14. Conical guide rail; 15. First raceway; 2. X-frame unit; 21. Top plate; 22. Bottom plate; 23. Intermediate beam; 24. Conical slider; 25. First roller group; 26. Second roller group; 3. Sliding unit; 31. Basic section; 311. Mounting plate; 32. Extension section; 33. Connecting liner; 34. Second raceway; 35. Third raceway; 36. Third roller group; 37. Leg; 371. Basic leg; 372. Extension leg; 373. Foot end; 38. Cross beam; 39. Nylon slider; 4. Hydraulic control unit; 41. Crawler cylinder; 411. Crawler cylinder barrel; 412. Crawler cylinder rod; 413. Tail plate pin seat; 414. X-frame pin seat; 42. Extension cylinder; 421. Extension cylinder barrel; 422. Extension cylinder rod; 423. Basic section pin seat; 43. Sliding cylinder; 431. First stage cylinder; 432. Final stage cylinder; 433. Multi-stage cylinder pin seat. Specific embodiments

[0030] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0031] As shown in the attached Figure 1 to the attached Figure 5 figure:

[0032] Example 1: As shown in Figures 1 - 5 the figure, the present invention provides an unstructured low specific pressure ground stepping mobile device based on inchworm bionic gait, including a crawler unit 1, an X-frame unit 2, a sliding unit 3 and a hydraulic control unit 4;

[0033] The crawler unit 1 is slidably connected to the X-frame unit 2 through a conical guide rail 14 and a first raceway 15. Among them, the crawler unit 1 includes a crawler frame main body 12, on which a conical guide rail 14 and a first raceway 15 of the same length as the crawler frame main body 12 are installed. The cross-section of the conical guide rail 14 is hourglass-shaped, and a crawler body 11 is installed outside the first raceway 15;

[0034] The crawler frame main body 12 serves as the main support structure of the crawler unit 1, on which a conical guide rail 14 and a first raceway 15 of the same length as itself are installed. The cross-section of the conical guide rail 14 is designed to be hourglass-shaped. This unique design helps to closely cooperate with the conical slider 24 on the X-frame unit 2 to achieve stable sliding connection, while reducing the frictional resistance during the sliding process. The tail of the crawler frame main body 12 is provided with a crawler frame tail plate 13, and a tail plate pin seat 413 is arranged on the crawler frame tail plate 13. This structure provides a support point for the installation of the crawler cylinder 41, ensuring that the crawler cylinder 41 can accurately drive the relative sliding between the crawler unit 1 and the X-frame unit 2;

[0035] Embodiment 2: As shown in accordance with Figure 1 and Figure 3 The main body of the X-shaped frame unit 2 is composed of a top plate 21, a bottom plate 22 and several intermediate beams 23. Four groups of tapered sliders 24 are installed at the lower edge of the top plate 21 and are connected in cooperation with the tapered guide rails 14. Four groups of first roller sets 25 are installed on the side of the bottom plate 22 and are connected in cooperation with the first raceways 15. A second roller set 26 is installed below the bottom plate 22. A modular interface is reserved on the top plate 21 of the X-shaped frame unit 2 for installing exploration and monitoring equipment;

[0036] Four groups of tapered sliders 24 are installed at the lower edge of the top plate 21. These tapered sliders 24 are precisely matched with the tapered guide rails 14 of the crawler unit 1, enabling the X-shaped frame unit 2 to slide stably on the crawler unit 1. At the same time, a modular interface is reserved on the top plate 21, which can be conveniently installed with special equipment such as exploration and monitoring according to different operation requirements, enhancing the versatility and multi-functionality of the device;

[0037] Embodiment 3: As shown in accordance with Figure 1 Figure 4 The sliding unit 3 is composed of a base section 31 and an extension section 32 to form a two-stage telescopic structure. A third raceway 35 is installed on the side of the base section 31. Four groups of third roller sets 36 are installed on the side of the extension section 32. A second raceway 34 is installed above each of the base section 31 and the extension section 32 and is connected in cooperation with the second roller set 26 of the X-shaped frame unit 2. The sliding unit 3 and the X-shaped frame unit 2 can slide relative to each other along the X direction. Four groups of external support legs 37 are installed in the front and rear of the sliding unit 3. The connection between the base section 31 and the extension section 32 of the sliding unit 3 is reinforced by a connection lining plate 33. The external support legs 37 of the sliding unit 3 are of a two-stage telescopic structure, including a base support leg 371 and an extension support leg 372. The foot end 373 of the external support leg 37 is welded below the extension support leg 372. The connection lining plate 33 is threadedly connected with a nylon slider 39. An installation plate 311 is welded on the side of the base section 31;

[0038] The X-shaped frame unit 2 is in a sliding state both when supported by the crawler unit 1 and the sliding unit 3, improving the movement continuity and flexibility of the device. The forward distance of a single stride period of the inchworm-like bionic mobile device is the actual slidable length of the second raceway 34 of the sliding unit 3 minus the length of the X-shaped frame unit 2 plus the slidable length of the X-shaped frame unit 2 on the crawler frame main body 12.

[0039] Four groups of external support legs 37 are installed in the front and rear of the sliding unit 3. The external support legs 37 are of a two-stage telescopic structure, including a base support leg 371 and an extension support leg 372. The foot end 373 is welded below the extension support leg 372. The telescopic function of the external support legs 37 helps the device maintain stability on different terrains and enhances the support ability.

[0040] Embodiment 4: According to Figure 1 、 Figure 3 and Figure 4 shown, the extension cylinder 42 of the hydraulic control unit 4 includes an extension cylinder barrel 421 and an extension cylinder rod 422. The extension cylinder barrel 421 is connected to a preset connecting seat on the basic section 31 through a basic section pin shaft seat 423, and the extension cylinder rod 422 is connected to a preset connecting seat on the extension section 32 through a pin shaft to drive the extension of the extension section 32; the sliding cylinder 43 includes a primary cylinder 431 and a final stage cylinder 432. The primary cylinder 431 is connected to a preset connecting seat on the X-frame unit 2 through a pin shaft 433, and the final stage cylinder 432 is connected to a preset connecting seat on the basic section 31 of the sliding unit 3 through a pin shaft to drive the relative sliding between the sliding unit 3 and the X-frame unit 2. The final stage cylinder 432 is connected to the cross beam 38 through a front flange; the hydraulic control unit 4 includes three groups of hydraulic cylinders, namely a crawler cylinder 41, an extension cylinder 42, and a sliding cylinder 43. The crawler cylinder 41 drives the relative sliding between the crawler unit 1 and the X-frame unit 2, the extension cylinder 42 drives the extension of the extension section 32, and the sliding cylinder 43 drives the relative sliding between the sliding unit 3 and the X-frame unit 2. A crawler frame tail plate 13 is also installed at the tail of the crawler frame main body 12 of the crawler unit 1, and a tail plate pin shaft seat 413 is provided on the crawler frame tail plate 13. The tail end of the crawler cylinder barrel 411 of the crawler cylinder 41 is connected to the tail plate pin shaft seat 413 through a pin shaft, and the crawler cylinder rod 412 is connected to the X-frame pin shaft seat 414 below the bottom plate 22 of the X-frame unit 2 through a pin shaft;

[0041] The hydraulic control unit 4 can distribute the system flow according to a preset flow relationship to ensure the synchronization of the actions of the crawler unit 1, the X-frame unit 2, and the sliding unit 3;

[0042] Drive the relative sliding between the crawler unit 1 and the X-frame unit 2. The tail end of its crawler cylinder barrel 411 is connected to the tail plate pin shaft seat 413 through a pin shaft, and the crawler cylinder rod 412 is connected to the X-frame pin shaft seat 414 below the bottom plate 22 of the X-frame unit 2 through a pin shaft. Through the expansion and contraction of the crawler cylinder 41, the relative movement between the crawler unit 1 and the X-frame unit 2 is realized, providing power for the movement of the device.

[0043] Next, with the help of Figure 5 elaborate in detail the working mode and working process of an unstructured low ground pressure ground stepping mobile device based on the inchworm bionic gait.

[0044] A non-structured low ground pressure stepping mobile device based on inchworm bionic gait (hereinafter referred to as the mobile device). When the ground shear strength of the working environment is high and sufficient traction can be provided, the crawler unit 1 drives the mobile device to move alone. The X-frame unit 2 is fixed on the crawler frame main body 12 through positioning pins, and the two will not slide relative to each other. The sliding unit 3 retracts and does not participate in the movement process of the mobile device. When working in non-structured low ground pressure environments such as wetlands and tidal flats, the ground shear strength is low and insufficient traction can be provided, and the sliding unit 3 starts to participate in the movement process of the mobile device. The working process of the sliding unit 3 participating in the device movement is divided into the deployment stage ①-② and the movement stage ③-⑤. The movement states of each mechanism of the device during the process ①-⑤ are as follows:

[0045] ① When the sliding unit 3 does not participate in the movement of the mobile device, the X-frame unit 2 is fixed, the sliding unit 3 retracts, and the crawler unit 1 drives the mobile device to move.

[0046] ② The extension cylinder 42 drives the extension section 32 to deploy by Nm, and the extension cylinders 42 and 44 drive the extension legs 372 to extend and contact the ground, lifting the crawler unit 1 and the X-frame unit 2 off the ground.

[0047] ③ The crawler cylinder 41, the sliding cylinder 43, and the extension cylinder 42 respectively drive the crawler unit 1 to slide forward, the X-frame unit 2 to slide forward, and the extension legs 372 to retract. The three actions end synchronously, the crawler unit 1 re-contacts the ground, and the extension cylinder 42 continues to drive the extension legs 372 to retract.

[0048] ④ The crawler cylinder 41, the sliding cylinder 43, and the extension cylinder 42 respectively drive the X-frame unit 2 to move forward, the sliding unit 3 to move forward, and the extension legs 372 to extend. The three actions end synchronously, and the extension cylinder 42 continues to drive the extension legs 372 to extend and contact the ground, lifting the crawler unit 1 and the X-frame unit 2 off the ground.

[0049] ⑤ The crawler cylinder 41, the sliding cylinder 43, and the extension cylinder 42 respectively drive the crawler unit 1 to slide forward, the X-frame unit 2 to slide forward, and the extension legs 372 to retract. The three actions end synchronously, the crawler unit 1 re-contacts the ground, and the extension cylinders 42 and 44 continue to drive the extension legs 372 to retract.

[0050] When the sliding unit 3 participates in the movement of the mobile device, it only needs to be deployed once. To maximize the single-step span of the mobile device, the extension section 32 defaults to extend to the maximum length. When the road conditions change, such as when there are potholed ground or obstacles, the extended length of the extension section 32 can be adjusted to cross the potholed ground or avoid obstacles. The above steps ③-⑤ constitute a complete single-step movement cycle. When the sliding unit 3 is deployed, the mobile device starts to move in this movement cycle as a period.

[0051] The forward distance of a single-step movement cycle is as follows:

[0052] L = M + N - X + L x (1)

[0053] Wherein, L—the forward distance of a single-step motion cycle (m); M—the length of the third raceway of the base section (m); N—the extended length of the extension section (m); X—the length of the X-frame unit (m); L x —the slidable length of the X-frame unit on the crawler frame (m).

[0054] To ensure the synchronization of the actions of the crawler unit 1, the X-frame unit 2, and the outrigger 37 in step ③ of the single-step motion cycle, the flow rate relationship of each hydraulic cylinder of the hydraulic control unit 4 is as follows:

[0055] The time required for the crawler unit to move is:

[0056]

[0057] Wherein, q l有杆腔 —the flow rate of the rod chamber of the crawler cylinder (L / min); A l有杆腔 —the area of the rod chamber of the crawler cylinder (m2). The time required for the X-frame unit to move is:

[0058]

[0059] Wherein, q h无杆腔 —the flow rate of the rodless chamber of the sliding cylinder (L / min); A h无杆腔 —the area of the rodless chamber of the sliding cylinder (m2).

[0060] The time required for the outrigger to retract is:

[0061]

[0062] Wherein, q z有杆腔 —the flow rate of the rod chamber of the extension cylinder (L / min); A z有杆腔 —the area of the rod chamber of the extension cylinder (m2).

[0063] Let t in (2)(3)(4) l = t x = t z Get:

[0064]

[0065] The hydraulic control unit can distribute the system flow rate according to formula (5) to ensure the synchronization of the actions of the crawler unit 1, the X-frame unit 2, and the outrigger 37.

[0066] Similarly, to ensure the synchronization of the actions of the X-frame unit 2, the sliding unit 3, and the outrigger 37 in step ④ of the single-step motion cycle, the flow rate relationship of each hydraulic cylinder of the hydraulic control unit 4 is as follows:

[0067]

[0068] The hydraulic control unit can distribute the system flow according to Equation (6) to ensure the synchronization of the actions of the X-frame unit 2, the sliding unit 3, and the outrigger 37.

[0069] The flow distribution in step ⑤ of the single-step motion cycle is the same as that in step ③.

[0070] All standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts a conventional connection method in the prior art, which will not be described in detail herein. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0071] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "a plurality" is two or more unless otherwise specifically defined.

[0072] In the present invention, unless otherwise clearly specified and defined, the terms such as "mounted", "connected", "connected with", and "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below", and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal height than the second feature.

[0074] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0075] In the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. For other structures, reference may be made to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0076] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An unstructured low-specific-pressure ground stepping mobile device based on inchworm bionic gait, characterized in that: It includes a caterpillar unit (1), an X-frame unit (2), a sliding unit (3) and a hydraulic control unit (4); The caterpillar unit (1) is slidably connected to the X-frame unit (2) through a conical guide rail (14) and a first raceway (15). Among them, the caterpillar unit (1) includes a caterpillar frame body (12). A conical guide rail (14) and a first raceway (15) of the same length as the caterpillar frame body (12) are installed on the caterpillar frame body (12). The cross-section of the conical guide rail (14) is hourglass-shaped, and a caterpillar main body (11) is installed outside the first raceway (15); The main body of the X-frame unit (2) is composed of a top plate (21), a bottom plate (22) and several intermediate beams (23). Four groups of conical sliders (24) are installed at the lower edge of the top plate (21) and are connected in cooperation with the conical guide rail (14). Four groups of first roller sets (25) are installed on the side of the bottom plate (22) and are connected in cooperation with the first raceway (15). A second roller set (26) is installed below the bottom plate (22); The sliding unit (3) consists of a base section (31) and an extension section (32) to form a two-stage telescopic structure. A third raceway (35) is installed on the side of the base section (31). Four groups of third roller sets (36) are installed on the side of the extension section (32). A second raceway (34) is installed above each of the base section (31) and the extension section (32) and is connected in cooperation with the second roller set (26) of the X-frame unit (2). The sliding unit (3) and the X-frame unit (2) can slide relative to each other in the X direction. Four groups of external support legs (37) are installed in the front and back of the sliding unit (3).

2. The non-structured low-specific-pressure ground stepping mobile device based on the inchworm bionic gait according to claim 1, wherein: The extension cylinder (42) of the hydraulic control unit (4) includes an extension cylinder barrel (421) and an extension cylinder rod (422). The extension cylinder barrel (421) is connected to a preset connecting seat on the base section (31) through a base section pin seat (423). The extension cylinder rod (422) is connected to a preset connecting seat on the extension section (32) through a pin to drive the extension of the extension section (32); The sliding cylinder (43) includes a first-stage cylinder (431) and a final-stage cylinder (432). The first-stage cylinder (431) is connected to a preset connecting seat on the X-frame unit (2) through a pin (433). The final-stage cylinder (432) is connected to a preset connecting seat on the base section (31) of the sliding unit (3) through a pin to drive the relative sliding of the sliding unit (3) and the X-frame unit (2). The final-stage cylinder (432) is connected to a cross beam (38) through a front flange.

3. The non-structured low-specific-pressure ground stepping mobile device based on the inchworm bionic gait according to claim 1, characterized in that: The hydraulic control unit (4) includes three groups of hydraulic cylinders, namely a caterpillar cylinder (41), an extension cylinder (42) and a sliding cylinder (43). The caterpillar cylinder (41) drives the relative sliding of the caterpillar unit (1) and the X-frame unit (2). The extension cylinder (42) drives the extension of the extension section (32). The sliding cylinder (43) drives the relative sliding of the sliding unit (3) and the X-frame unit (2).

4. The unstructured low specific pressure ground step - type mobile device based on inchworm bionic gait according to claim 1, characterized in that: At the tail of the crawler frame body (12) of the crawler unit (1), a crawler frame tail plate (13) is also installed. A tail plate pin shaft seat (413) is provided on the crawler frame tail plate (13). The tail end of the crawler cylinder barrel (411) of the crawler cylinder (41) is connected to the tail plate pin shaft seat (413) through a pin shaft, and the crawler cylinder rod (412) is connected to an X-frame pin shaft seat (414) below the bottom plate (22) of the X-frame unit (2) through a pin shaft.

5. The non-structured low specific pressure ground stepping mobile device based on inchworm bionic gait according to claim 1, characterized in that: Between the basic section (31) and the extension section (32) of the skidding unit (3), they are firmly connected through a connecting liner (33). The external support leg (37) of the skidding unit (3) is a two-stage telescopic structure, including a basic support leg (371) and an extension support leg (372). The foot end (373) of the external support leg (37) is welded below the extension support leg (372). The connecting liner (33) is threadedly connected with a nylon slider (39), and a mounting plate (311) is welded to the side of the basic section (31).

6. The unstructured low specific pressure ground stepping mobile device based on the inchworm bionic gait according to claim 1, characterized in that: On the top plate (21) of the X-frame unit (2), modular interfaces are reserved for installing exploration and monitoring equipment.

7. The non-structured low specific pressure ground stepping mobile device based on the inchworm bionic gait according to claim 6, characterized in that: The inchworm bionic mobile device realizes the continuous movement of the X-frame unit (2) through the alternating support of the crawler unit (1) and the skidding unit (3).

8. The non-structured low-specific-pressure ground step-type mobile device based on the inchworm bionic gait according to claim 7, characterized in that: The X-frame unit (2) is in a sliding state both when supported by the crawler unit (1) and the skidding unit (3), improving the movement continuity and compliance of the device.

9. The non-structured low specific pressure ground stepping mobile device based on inchworm bionic gait according to claim 1, characterized in that: The forward distance of a single stride cycle of the inchworm bionic mobile device is the actual slidable length of the second raceway (34) of the skidding unit (3) minus the length of the X-frame unit (2) plus the slidable length of the X-frame unit (2) on the crawler frame body (12).

10. The unstructured low-specific-pressure ground stepping mobile device based on inchworm bionic gait according to claim 1, characterized in that: The hydraulic control unit (4) can distribute the system flow according to the preset flow relationship to ensure the synchronization of the actions of the crawler unit (1), the X-frame unit (2), and the skidding unit (3).

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