Multipurpose modular crawler-type mobile platform

Abstract

The invention discloses a multipurpose modular crawler-type mobile platform which comprises a middle module, a corner module, two crawlers and folding pieces. The middle module comprises a vehicle body and a functional subsystem integrally mounted on the vehicle body, and the functional subsystem is used for receiving an instruction, sending a control signal to the angle module and controlling flight and land running of the mobile platform; the angle module comprises an angle module bracket, and a flight assembly and a wheel train assembly which are integrally mounted on the angle module bracket; the corner module supports of the four corner modules are rotationally connected with the front ends and the rear ends of the two sides of the vehicle body through folding pieces correspondingly. The flight assembly receives the control signal and is used for realizing flight of the mobile platform; the wheel train assemblies receive control signals, and the wheel train assemblies located on the same side angle module of the vehicle body are matched with the same crawler belt and used for achieving land running of the mobile platform. Modular design is adopted, land-air amphibious high-maneuverability running can be achieved, and folding, portable transportation and rapid and efficient assembly are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of land and air amphibious mobile platforms, and in particular relates to a multi-purpose modular crawler-type mobile platform. Background Art

[0002] The off-road mobility of land mobile platforms is limited by the adhesion and support conditions of the ground. They are difficult to navigate in extreme terrain, such as bad roads and roadless areas (soft soil, deep trenches, ponds, cliffs, deserts, snowfields, swamps, etc.), extremely rough and uneven terrain, and extreme obstacles (steep slopes, side slopes, steps, trenches, etc.). Amphibious land-air mobile platforms, on the other hand, perfectly combine the amphibious motion characteristics of land travel and air flight, resolving the problem of insufficient off-road mobility of land mobile platforms in certain operating conditions and achieving cross-domain mobility for land-air platforms.

[0003] Currently, existing or under development amphibious mobile platforms at home and abroad are primarily tracked and wheeled. Wheeled amphibious mobile platforms often utilize a combination of wheeled land travel and multi-rotor aerial flight. Wheeled platforms primarily operate on paved roads, limiting their off-road maneuverability. Tracked platforms offer enhanced off-road maneuverability on soft, undulating, and other complex road conditions, making them more suitable for diverse missions in off-road environments. A new research direction is to achieve dual mobility for amphibious mobile platforms, combining both tracked land travel and aerial flight, while further enhancing their high maneuverability. Summary of the Invention

[0004] In view of this, the present invention provides a multi-purpose modular tracked mobile platform, which has a flight mode and a land mode, and adopts a modular design to achieve high-mobility amphibious travel on land and air, foldable and portable transportation, and fast and efficient assembly.

[0005] The present invention is achieved through the following technical solutions:

[0006] A multi-purpose modular tracked mobile platform comprises a middle module, corner modules, two tracks and a folding piece; the middle module comprises a vehicle body and a functional subsystem integrated with the vehicle body, the functional subsystem being used to receive instructions and send control signals to the corner modules for controlling the flight and land travel of the mobile platform; the corner modules comprise corner module brackets and a flight component and a wheel train component integrated with the corner module brackets; the corner module brackets of the four corner modules are rotatably connected to the front and rear ends of both sides of the vehicle body via folding pieces respectively; the flight component receives control signals for realizing the flight of the mobile platform; the wheel train component receives control signals, and the wheel train components of the corner modules on the same side of the vehicle body cooperate with the same track for realizing the land travel of the mobile platform.

[0007] Furthermore, the vehicle body is a special-shaped box-type structure with an open top, and the interior of the vehicle body is used to install functional subsystems and mission loads; the middle part of the bottom of the vehicle body is recessed toward the interior of the vehicle body, and the space below the bottom of the vehicle body constitutes a lower mounting room, and a loading platform is provided on the top of the vehicle body.

[0008] Furthermore, the corner module bracket is a semi-enclosed structure, the two ends of the open end of the corner module bracket are arranged one above and one below, and the openings of the corner module brackets on the same side are opposite to each other; the flight component includes two sets of rotors and flight motors respectively arranged on the inner sides of the open ends of the corner module bracket, and the rotors are driven by the flight motors to generate flight lift.

[0009] Furthermore, the wheel train assembly includes a track roller, a road wheel, a tensioning wheel, a drive wheel and a drive wheel motor; the track roller is arranged at the top of the corner module bracket, and is used to support and guide the operation of the track; the road wheel and the tensioning wheel are arranged at the bottom of the corner module bracket, the road wheel is used for driving and bearing, and the tensioning wheel is used to assist in tensioning the track; the drive wheel and the drive wheel motor are arranged at the closed end of the corner module bracket, the drive wheel engages with the track through the drive teeth and transmits driving force and braking force, and the drive wheel motor provides driving force for the drive wheel.

[0010] Furthermore, the folding part includes an inner locking tube, an inner locking part, an outer locking part, an outer locking tube, a fastening assembly and a connecting part; one end of the inner locking tube is fixed to the vehicle body through the inner locking part, and one end of the outer locking tube is fixed to the corner module bracket through the outer locking part; the other end of the inner locking tube and the other end of the outer locking tube are hinged to each other through a connecting part, and the outer locking tube rotates with the hinge point as a fulcrum. After the outer locking tube is in place, it is fixed to the inner locking tube through the fastening assembly.

[0011] Furthermore, the fastening assembly includes a locking nut and a spare nut, which are respectively mounted on the outside of the outer locking tube and the other end of the inner locking tube; when the outer locking tube and the inner locking tube are located in the same straight line, the locking nut is mounted on the connection between the inner locking tube and the outer locking tube to lock the inner locking tube and the outer locking tube.

[0012] Furthermore, the middle module also includes an intermediate support tube running through the left and right sides of the vehicle body, and the intermediate support tubes are respectively arranged at the top front end, top rear end, bottom front end and bottom rear end of the vehicle body; both ends of the intermediate support tube extending out of the vehicle body are inserted into the inner locking tube and fixed by the inner locking piece; the corner module also includes corner connecting tubes respectively fixed at the bottom and top of the corner module bracket; one end of the corner connecting tube extending out of the corner module is inserted into the outer locking tube and fixed by the outer locking piece.

[0013] Furthermore, the middle module is also provided with an intermediate electrical connector for integrating the middle module cables, and the corner module is also provided with an electrical connector for integrating the corner module cables. The middle electrical connector is connected with the electrical connector to realize electrical connection between the middle module and the corner module.

[0014] Compared with the existing technology, the beneficial effects of the present invention are:

[0015] 1. The present invention combines two maneuvering modes: high-mobility crawler off-road driving on land and flying in the air, expanding and enhancing the movement dimension of the mobile platform; adopting a modular design, the modules can be quickly disassembled and assembled; through folding parts, the corner modules and the middle modules can be rotatably connected to realize the folding function of the mobile platform and improve the portability of transportation.

[0016] 2. The mobile platform of the present invention is provided with three loading modes, namely upper loading, middle loading and lower loading. The mission payload can be loaded on the upper loading platform, the goods can be stored and transported in the front and rear loading rooms in the middle, and the goods can be mounted in the lower mounting room at the bottom, so as to efficiently perform diversified mission tasks.

[0017] 3. This invention utilizes a dual-track design combined with four axes and eight rotors for flight. The single-axis rotors are arranged vertically and layered vertically, embedded within the track loops to maximize space savings. In land-based maneuvering mode, the robot functions as a tracked mobile robot, with track drive motors on the corner modules driving the tracks. In aerial flight mode, flight motors within the corner modules drive the rotors, enabling cross-domain maneuverability.

[0018] 4. The present invention has quick connection interfaces between each component module and component, which can be quickly disassembled and assembled, and is easy to carry and transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the middle module.

[0021] Figure 3 Schematic diagram of the vehicle body structure.

[0022] Figure 4 This is a schematic diagram of the corner module.

[0023] Figure 5 Schematic diagram of folding parts.

[0024] Figure 6 Schematic diagram of the crawler track.

[0025] Figure 7 Schematic diagram of the intermediate support tube.

[0026] Figure 8 Schematic diagram of the mounting platform.

[0027] Figure 9 Schematic diagram of the application of the present invention, wherein Figure (a) is a front view and Figure (b) is a side view.

[0028] Figure 10This is a control flow chart of the present invention.

[0029] Figure 11 Schematic diagram of the assembly steps.

[0030] Figure 12 This is a schematic diagram of the folding / expanding transition of mode one.

[0031] Figure 13 This is a schematic diagram of the folding / expanding transition of mode 2.

[0032] Among them, 1-middle module, 2-corner module, 3-folding part, 4-track, 5-carrying platform, 6-upper load, 101-vehicle body, 102-middle upper support tube, 103-middle lower support tube, 104-track drive system, 105-flight control system, 106-electrical system, 107-energy system, 108-middle electrical connector, 1011-battery room, 1012-front carrying room, 1013-rear carrying room, 1014-lower mounting room, 1031-threading hole I, 1032-threading hole Ⅱ, 201-corner module bracket, 202-track roller, 203-rotor, 204-flight motor, 205-lower corner connecting tube, 206-road wheel, 207-tensioning pulley, 208-drive wheel, 209-L / R motor, 210-upper corner connecting tube, 211-electrical connector, 301-inner locking tube, 302-spare nut, 303-inner locking screw, 304-locking nut, 305-outer locking screw, 306-outer locking tube, 307-connecting screw, 401-track shoe, 402-stop gear. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] The present invention provides a multi-purpose modular crawler mobile platform, such as Figure 1 As shown, the mobile platform includes a middle module 1, corner modules 2, tracks 4, folding parts 3, and a carrying platform 5, which can realize land maneuvering mode and air flight mode.

[0035] The mobile platform is a bilaterally symmetrical structure, with the middle module 1 located in the middle. Figure 2 As shown, the intermediate module 1 includes a vehicle body 101, a functional subsystem integrated in the vehicle body 101, an intermediate support tube and an intermediate electrical connector 108. The functional subsystem is used to receive instructions and send control signals to the corner modules for flight and land driving control of the mobile platform; the functional subsystem includes a track drive system 104, a flight control system 105, an electrical system 106 and an energy system 107.

[0036] like Figure 3 As shown, the vehicle body 101 serves as a carrier for the remaining components of the intermediate module 1. The track drive system 104, electrical system 106, energy system 107, and flight control system 105 are all installed and fixed inside the vehicle body 101. The electrical system 106 includes a distribution box, wiring terminals, and cables; the energy system 107 includes a lithium battery; the flight control system 105 includes a flight controller, receiver, GPS, and a PMU power module for platform flight control; and the track drive system 104 includes a land control controller and motor driver for platform land control.

[0037] The middle support tube is used for wiring and is connected to the corner module 2 through the folding piece 3. Figure 7 As shown, the intermediate support tube is a hollow composite material structure, equipped with wire holes I 1031 and II 1032. The hollow structure of the intermediate support tube facilitates concealed wiring. Wire holes I 1031 and II 1032 can guide cables from outside the intermediate module 1 into the interior of the vehicle body 101. The intermediate support tube is divided into two intermediate upper support tubes 102 and two intermediate lower support tubes 103, which are respectively installed at the top front, top rear, bottom front, and bottom rear of the vehicle body 101. Specifically, the intermediate support tubes are parallel to the ground and pass through the left and right sides of the vehicle body 101. Both ends of the four intermediate support tubes are connected to the folding member 3. The intermediate electrical connector 108 is disposed within the intermediate support tube for quick connection and disconnection of cables.

[0038] In this embodiment, the vehicle body 101 is a shaped box-like structure with an open top. Made of lightweight carbon fiber, the vehicle body 101 has several mounting holes evenly distributed along its sides and bottom. The center of the bottom of the vehicle body 101 is recessed toward the interior of the vehicle body 101, and the bottom cross-section of the vehicle body 101 is trapezoidal. The space below the bottom of the vehicle body 101 constitutes a lower mount chamber 1014, where a thrower can be installed. Furthermore, the interior of the vehicle body 101 is provided with three storage compartments: a battery compartment 1011, a front loading compartment 1012, and a rear loading compartment 1013. The electrical system 106, energy system 107, and flight control system 105 can be located in the battery compartment 1011, while the track drive system 104 can be located in the rear loading compartment 1013. The remaining space in the rear loading compartment 1013 and the front loading compartment 1012 can be used to carry mission payloads. The battery room 1011 is arranged in the middle of the vehicle body 101 to reduce the overturning moment of the platform during flight, and the center of gravity is optimized by optimizing the positions of the various components inside the middle module 1. Figure 8 As shown, a carrying platform 5 is provided on the top of the vehicle body 101 , and the carrying platform 5 is used to carry an upper load 6 such as a drone.

[0039] Based on the mounting space distribution of the vehicle body 101, the mobile platform has three mounting modes, such as Figure 9As shown, they are upper, middle, and lower mounts. The upper mount is based on a mounting platform 5, which can carry upper payloads 6 such as drones and lidars. This mobile platform can also serve as a carrier for drones. The middle mount is based on loading within the front and rear compartments 1012 and 1013 of the middle module 1, enabling various tasks such as self-destruction, spraying, and transportation. The lower mount is based on the lower mount compartment 1014 directly below the middle module 1. A thrower can be installed in this compartment for rescue, bombing, and other missions.

[0040] The mobile platform has two non-metallic tracks 4, such as Figure 6 As shown, the crawler track 4 is composed of each track shoe 401 connected by a stopper 402, which is used to transmit driving force and drive the mobile platform to travel.

[0041] The mobile platform has four corner modules 2, which are arranged in a four-corner arrangement. The corner modules 2 are located at the front and rear ends of the two sides of the middle module 1, and the corner modules on the same side jointly support a track 4. The corner modules 2 are used to provide driving force for the mobile platform to fly and travel on land, realizing the mobile platform's flight mode and land mode. Figure 4 As shown, corner module 2 includes a corner module bracket 201, a support roller 202, a rotor 203, a flight motor 204, a lower corner connecting tube 205, a road wheel 206, a tensioning pulley 207, a drive wheel 208, an L / R motor 209, an upper corner connecting tube 210, and an electrical connector 211. Corner module 2 is connected to the center module assembly 1 via a folding member 4. The electrical connector 211 on corner module 2 and the center electrical connector 108 on center module assembly 1 can be quickly connected and disconnected.

[0042] Corner module bracket 201 utilizes a frame-like structure, securing and supporting the remaining components of corner module 2. Specifically, corner module bracket 201 integrates a support roller 202, rotor 203, flight motor 204, corner connecting tube, road wheels 206, tensioning pulley 207, drive wheel 208, L / R motor 209, and electrical connector 211. Support roller 202, road wheels 206, tensioning pulley 207, and drive wheel 208 all utilize sprockets. Corner module bracket 201 is a semi-enclosed structure, arranged vertically, with the openings of corner module brackets 201 on the same side facing each other. Specifically, the two open ends of corner module bracket 201 are arranged one above the other, with the opening of the corner module bracket 201 at the front end of center module 1 facing rearward, while the opening of the corner module bracket 201 at the rear end of center module 1 faces forward.

[0043] The track support roller 202, a sprocket structure, is located at the top of the open end of the corner module bracket 201 and is used to support and guide the track 4. The road wheel 206 is located at the bottom of the open end of the corner module bracket 201 and is used to carry loads during travel. The tensioning pulley 207 is used to assist in tensioning the track 4. The drive wheel 208 and the L / R motor 209 are located at the closed end of the corner module bracket 201. The drive wheel 208 engages with the track 4 through its drive teeth and transmits driving and braking force. The L / R motor 209 serves as the drive motor for the drive wheel 208 and generates the driving force for the track 4. The two corner modules 2 located at the front end of the vehicle body 101 do not need to be equipped with the L / R motor 209. That is, only the two corner modules 2 located at the rear end of the vehicle body 101 are equipped with the L / R motor 209 to drive the track 4.

[0044] Each corner module 2 is equipped with two sets of rotors 203 and flight motors 204. Each set of rotors 203 and flight motors 204 is located inside the open end of the corner module bracket 201 (i.e., within the semi-enclosed structure). The two sets of flight motors 204 and rotors 203 are arranged vertically. The rotors 203 are driven by the flight motors 204 to generate lift. The rotors 203 are arranged in layers and embedded within the track ring to minimize layout space.

[0045] The corner connecting tubes are fixed vertically to the corner module bracket 201 (parallel to the ground). They are divided into a lower corner connecting tube 205 and an upper corner connecting tube 210. The lower corner connecting tube 205 is located at the lower end of the corner module bracket 201, which is located at the open end, while the upper corner connecting tube 210 is located at the upper end of the corner module bracket 201, which is located at the open end. They are used to connect to the folding member 3. Specifically, the lower corner connecting tube 205 is connected to the middle lower support tube 103 through the folding member 3, and the upper corner connecting tube 210 is connected to the middle upper support tube 102 through the folding member 3. The electrical connector 211 integrates the cables for the flight motor 204 and the track drive motor.

[0046] The folding member 3 is a transition piece connecting the corner module 2 and the middle module 1. The folding member 3 is used to fold and store the corner module 2 for easy portability. The mobile platform has a total of eight folding members 3, corresponding to the two ends of the two middle upper support tubes 102 and the two ends of the two middle lower support tubes 103 of the middle module 1, and also corresponding to the lower corner connecting tubes 205 and upper corner connecting tubes 210 of the four corner modules 2. That is, the two ends of the two middle upper support tubes 102 of the middle module 1 are connected to the upper corner connecting tubes 210 of the four corner modules 2 via four folding members 3, and the two ends of the two middle lower support tubes 103 of the middle module 1 are connected to the lower corner connecting tubes 205 of the four corner modules 2 via four folding members 3.

[0047] like Figure 5As shown, the folding member 3 includes an inner locking tube 301, a spare nut 302, an inner locking screw 303, a locking nut 304, an outer locking screw 305, an outer locking tube 306, and a connecting screw 307. The inner locking tube 301 is used to connect to the middle module 1. That is, the middle upper support tube 102 and the middle lower support tube 103 of the middle module 1 can be inserted into one end of the inner locking tube 301 and fixed together via the inner locking screw 303. The outer locking tube 306 is used to connect to the corner module 2. That is, the lower corner connecting tube 205 and the upper corner connecting tube 210 of the corner module 2 can be inserted into one end of the outer locking tube 306 and fixed together via the outer locking screw 305. Connecting screw 307 is used to hinge the other end of inner locking tube 301 and the other end of outer locking tube 306. Inner locking tube 301 and outer locking tube 306 can rotate around the hinge point, that is, inner locking tube 301 and outer locking tube 306 can fold around connecting screw 307. Locking nut 304 and backup nut 302 are respectively mounted on the hinged ends of outer locking tube 306 and inner locking tube 301. After outer locking tube 306 is in place, locking nut 304 is used to lock inner locking tube 301 and outer locking tube 306, and backup nut 302 is used to prevent nut 304 from loosening.

[0048] Specifically, when the outer locking tube 306 and the inner locking tube 301 are aligned (parallel to the ground), the locking nut 304 can be inserted into the connection between the inner locking tube 301 and the outer locking tube 306 and locked in place. Loosening the locking nut 304, i.e., removing it from the connection between the inner locking tube 301 and the outer locking tube 306, allows the outer locking tube 306 to rotate about the hinge point, thereby allowing the corner module bracket 201 to be rotated and connected to the vehicle body 101. For example, the outer locking tube 306 of the corner module 2 located at the front end of the vehicle body 101 can be rotated backward, allowing the corner module 2 to be folded against the sides of the vehicle body 101.

[0049] In summary, the multi-purpose modular tracked amphibious mobile platform provided by the present invention is based on a modular design and includes a central module 1, four corner modules 2, eight folding members 3, two tracks 4, and a carrying platform 5. The mechanical interface between the central module 1 and the folding members 3 is the intermediate upper support tube 102 and the intermediate lower support tube 103, and the electrical connection interface between the central module 1 and the corner modules 2 is the intermediate electrical connector 108. The mechanical interface between the corner modules 2 and the folding members 3 is the lower corner connecting tube 205 and the upper corner connecting tube 210, and the electrical interface between the corner modules 2 and the central module 1 is the electrical connector 211. The intermediate electrical connector 108 and the electrical connector 211 can be quickly connected. The mechanical interfaces between the folding members 3 and the corner modules 2 and the central module 1 are the inner locking tube 303 and the outer locking tube 305, respectively.

[0050] like Figure 11 As shown, the assembly steps of the platform are as follows:

[0051] Step 1: The eight folding parts 3 are fixedly connected to the middle module 1. Specifically, the middle upper support tube 102 and the middle lower support tube 103 on the middle module 1 extend into the inner locking tube 301 of the folding part 3, and then tighten the inner locking screw 303 to ensure that the folding part 3 is fixedly connected to the middle module 1.

[0052] Step 2: Connect the four corner modules to the folding piece 3. Specifically, the upper corner connecting tube 210 and the lower corner connecting tube 205 of the corner module 2 are respectively extended into the outer locking tube 306 on the corresponding folding piece 3, and then the outer locking screws 305 are tightened to ensure the fixed connection between the corner module 2 and the folding piece 3; the locking nut 304 on each folding piece 3 is locked in place, and the spare nut 302 is locked in place at the same time.

[0053] Step 3: Assemble the two tracks 4 and the wheel system on the corner module 2 into place. At this point, all the mechanical structure parts of the platform are assembled. Finally, dock the electrical connector 211 on the corner module 2 with the intermediate electrical connector 108 on the intermediate module 1 to complete the assembly of the entire mobile platform.

[0054] like Figure 10 As shown, the working mechanism of the platform is as follows:

[0055] The handheld remote controller sends a command signal and transmits it wirelessly to the remote control receiver. The remote control receiver receives the wireless signal, parses it, and converts it into SBUS serial port signal data. The flight controller and land controller of the mobile platform's intermediate module both parse and judge the SBUS data.

[0056] Flight mode. If the SBUS is interpreted as a flight signal, the system enters flight control mode. The flight controller, which contains an internal IMU sensor, uses this information to determine the platform's current attitude. Based on this information, the speed of the mobile platform's electronically controlled motors is controlled to achieve stable flight. The flight controller is also connected to a GPS, which transmits information such as the platform's current position and altitude to the handheld remote control terminal, which displays the mobile platform's location in real time.

[0057] b. Land mode. If the SBUS interprets the signal as land, the system enters land mode. The land mode controller outputs control signals to the L / R motor drivers, which control the speed and direction of the L / R motors 209. The L / R motor drivers also detect and control the braking status, ensuring safe land travel.

[0058] In addition, the remote control receiver is connected to the pan-tilt camera module to transmit video information to the handheld remote control to observe the scene information in front in real time.

[0059] How platform folding / unfolding works:

[0060] When the mobile platform is carried for transportation, in order to reduce the external dimensions and improve the transport capacity, the mobile platform can be folded. Specifically, there are two folding / unfolding modes.

[0061] like Figure 12 As shown, folding / expanding mode 1:

[0062] a) Folding. Remove the two tracks 4 from the mobile platform. Loosen the nuts 302 and lock nuts 304 on the eight folding parts 3. Rotate and fold the four corner modules 2 of the mobile platform around the connecting screws 307 of the folding parts 3. The width of the folded mobile platform is reduced, improving the platform's portability.

[0063] b) Unfold. Rotate the four corner modules 2 of the mobile platform outward and in the opposite direction around the connecting screws 307 of the folding member 3 until they are fully unfolded. Tighten the locking nuts 304 and the spare nuts 302 on the folding member 3 until they are fully tightened. Install the two tracks 4 into place. The mobile platform is now fully reassembled.

[0064] like Figure 13 As shown, folding / expanding mode 2:

[0065] a) Folding. Compared to folding / unfolding mode 1, mode 2 requires disassembling the tracks 4 and corner modules 2. Then, loosen the external locking screws 305 on the eight folding parts 3 to remove the four corner modules 2 from the platform. Loosen the spare nuts 302 and locking nuts 304 on the eight folding parts 3, and rotate the external locking tubes 306 of the folding parts 3 around the connecting screws 307 to fold and retract them. After folding and retracting, the width of the mobile platform is reduced, improving its portability during transportation.

[0066] b) Unfold. Rotate the outer locking tubes 306 on the eight folding members 3 around the connecting screws 307 and unfold them into place. Tighten the locking nuts 304 and the spare nuts 302. Then, reinstall the four corner modules 2 and the two tracks 4 in this order. The mobile platform is now fully assembled.

[0067] Although mode 2 involves disassembling more items, the overall dimensions after folding are smaller, making it more convenient for portable transportation and allowing for a larger carrying capacity.

[0068] The present invention provides a multi-purpose modular crawler mobile platform that adopts the technical solution of "land crawler driving + air four-axis eight-rotor flight", combining two maneuvering modes: high-maneuverability off-road driving on land and air flight. The mobile platform realizes cross-domain maneuvering and further expands and enhances the dimension of movement; and the mobile platform is provided with three loading modes, namely upper loading, middle loading and lower loading. The mission payload can be loaded on the loading platform 5 above the platform, the front and rear loading rooms in the middle can store and transport goods, and the lower mounting room below can be used to mount goods. The mobile platform adopts a modular design concept and has a simple structural composition. Quick connection interfaces are provided between each component module and component, allowing for rapid disassembly and assembly, and easy carrying and transportation. It has huge potential and room for development in military and civilian fields.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-purpose modular crawler mobile platform, characterized in that: It includes a middle module, corner modules, two tracks and folding parts; The intermediate module includes a vehicle body and a functional subsystem integrated with the vehicle body, wherein the functional subsystem is used to receive instructions and send control signals to the corner modules for flight and land driving control of the mobile platform; The corner module includes a corner module bracket and a flight component and a wheel train component integratedly installed on the corner module bracket; the corner module brackets of the four corner modules are rotatably connected to the front and rear ends on both sides of the vehicle body through folding parts respectively; the flight component receives a control signal to realize the flight of the mobile platform; the wheel train component receives a control signal, and the wheel train component located on the corner module on the same side of the vehicle body cooperates with the same track to realize the land driving of the mobile platform.

2. The multi-purpose modular crawler mobile platform according to claim 1, characterized in that: The vehicle body is a special-shaped box-type structure with an open top. The interior of the vehicle body is used to install functional subsystems and mission payloads; the middle part of the bottom of the vehicle body is concave towards the interior of the vehicle body, and the space below the bottom of the vehicle body constitutes the lower mounting room, and a loading platform is provided on the top of the vehicle body.

3. The multi-purpose modular crawler mobile platform according to claim 1, characterized in that: The corner module bracket is a semi-enclosed structure, with the two ends of the open end of the corner module bracket arranged one above and one below, and the openings of the corner module brackets on the same side are opposite to each other; the flight component includes two sets of rotors and flight motors respectively arranged on the inner sides of the open ends of the corner module bracket, and the rotors are driven by the flight motors to generate flight lift.

4. The multi-purpose modular crawler mobile platform according to claim 3, characterized in that: The wheel train assembly includes a track roller, a road wheel, a tensioning wheel, a driving wheel and a driving wheel motor; the track roller is set on the top of the corner module bracket to support and guide the crawler track to operate; The road wheels and tension wheels are arranged at the bottom of the corner module bracket. The road wheels are used for driving and bearing, and the tension wheels are used to assist in tensioning the track. The drive wheel and the drive wheel motor are arranged at the closed end of the corner module bracket. The drive wheel engages with the track through the drive teeth and transmits driving force and braking force. The drive wheel motor provides driving force for the drive wheel.

5. The multi-purpose modular crawler mobile platform according to any one of claims 1 to 4, characterized in that: The folding part includes an inner locking tube, an inner locking part, an outer locking part, an outer locking tube, a fastening assembly and a connecting part; one end of the inner locking tube is fixed to the vehicle body through the inner locking part, and one end of the outer locking tube is fixed to the corner module bracket through the outer locking part; the other end of the inner locking tube and the other end of the outer locking tube are hinged to each other through a connecting part, and the outer locking tube rotates with the hinge point as the fulcrum. After the outer locking tube is in place, it is fixed to the inner locking tube through the fastening assembly.

6. The multi-purpose modular crawler mobile platform according to claim 5, characterized in that: The fastening assembly includes a locking nut and a spare nut, which are respectively mounted on the outer ends of the outer locking tube and the other end of the inner locking tube; When the outer locking tube and the inner locking tube are located in the same straight line, the locking nut is sleeved on the connection between the inner locking tube and the outer locking tube to lock the inner locking tube and the outer locking tube.

7. The multi-purpose modular crawler mobile platform according to claim 5, characterized in that: The middle module also includes middle support tubes that pass through the left and right sides of the vehicle body. The middle support tubes are respectively arranged at the top front end, top rear end, bottom front end and bottom rear end of the vehicle body. Both ends of the middle support tubes extending out of the vehicle body are inserted into the inner locking tubes and fixed by the inner locking parts. The corner module also includes corner connecting tubes fixed to the bottom and top of the corner module bracket respectively; one end of the corner connecting tube extending out of the corner module is inserted into the external locking tube and fixed through the external locking piece.

8. The multi-purpose modular crawler mobile platform according to claim 5, characterized in that: The middle module is also provided with an intermediate electrical connector for integrating the cables of the middle module, and the corner module is also provided with an electrical connector for integrating the cables of the corner module. The middle electrical connector is connected with the electrical connector to realize the electrical connection between the middle module and the corner module.

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