Small modular crawler-duct type platform

Abstract

The invention discloses a small-sized modular crawler-duct type platform, which belongs to the technical field of land-air amphibious robots, and has the capabilities of ground running and air flying at the same time, so that the redundant complementation of the functions of ground running and air flying of a single platform is realized; the inherent defects of the micro ground robot and the unmanned aerial vehicle are overcome. When the amphibious platform travels on the ground, cross-domain passing can be achieved by means of a flying machine in an extreme environment; similarly, the amphibious platform can land on the ground after rapidly flying to a certain operation position, and long-time continuous operation such as investigation and monitoring is completed based on ground crawler belt driving.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of amphibious robots, and particularly relates to a small modular caterpillar-ducted platform. BACKGROUND

[0002] When performing inspection, detection and rescue in narrow and limited spaces such as municipal underground pipelines and indoor high-rise buildings, and when performing rapid delivery, close-in surveillance operations in complex environments in the military field, micro ground robots and unmanned aerial vehicles are commonly used tools. However, micro ground robots and unmanned aerial vehicles also have their own inherent drawbacks. Micro ground robots are difficult to pass through in special environments such as extreme bad roads and roadless areas, and have limited mobility. Unmanned aerial vehicles have short continuous operation time, high energy consumption and relatively large noise. SUMMARY

[0003] Therefore, the application provides a small modular caterpillar-ducted platform, which has two modes of land caterpillar driving and air flight, and can quickly switch between the two modes of mobility, realizing the cross-high mobility of the platform.

[0004] The application adopts the following technical scheme:

[0005] A small modular caterpillar-ducted platform comprises a ducted flight module and a caterpillar driving module.

[0006] The caterpillar driving module is detachably installed on the ducted flight module and has two modes of land caterpillar driving and air flight.

[0007] Further, the two caterpillar driving modules are located on both sides of the ducted flight module.

[0008] Further, the approach angle and the departure angle formed between the front and rear ends of the caterpillar driving module and the ground are both greater than 30 degrees.

[0009] Further, the length of the caterpillar-ducted platform is less than or equal to 700 mm, the width is less than or equal to 600 mm, and the height is less than or equal to 140 mm.

[0010] Further, a concave interface is designed on the caterpillar driving module, and the concave interface is matched with a convex interface on the ducted flight module to realize quick connection between the modules.

[0011] Further, the caterpillar-ducted platform is loaded with a camera, a sensor and a laser.

[0012] The ducted flight module comprises a frame, a rotor, a flight motor, a flight control system, a battery and an electronic speed controller installed on the frame.

[0013] The crawler travel module includes a crawler, a traveling frame, and a shock absorber, a driving wheel, a driving motor, an inducer, a balance arm, a road wheel, and a track roller installed on the traveling frame;

[0014] The crawler track is wrapped around the driving wheel, the inducer wheel, the balance arm and the road wheel, and the track roller, and the crawler track is meshed with the driving wheel, the inducer wheel, and the track roller.

[0015] Furthermore, the tracks of the tracked travel module protrude from the front and rear end surfaces of the ducted flight module; the protruding distance is equal to the radius of the inducer wheel.

[0016] Furthermore, the crawler walking module adopts a balance arm plus double shock absorber balanced suspension;

[0017] The balancing arm is designed with a balancing arm shock absorber hole, a balancing arm hole, and a road wheel mounting hole, which are used to install the shock absorber, the balancing arm, and the road wheel respectively.

[0018] Furthermore, a controller and a driver of the drive motor are also provided on the frame;

[0019] The controller, the driver and the drive motor are connected by cables.

[0020] Furthermore, the walking frame is of a hollow truss structure and is designed with corresponding connection interfaces, which are respectively used to install the track roller, the inducer, the drive motor, the shock absorber, the balance arm and the road wheel.

[0021] Beneficial effects:

[0022] 1. Tracked-ducted platforms offer both ground and air travel capabilities, enabling redundant and complementary ground and air travel within a single platform, overcoming the inherent limitations of both micro-ground robots and drones. While ground-based, amphibious platforms can utilize their flight capabilities to navigate extreme environments. Similarly, after rapidly flying to a specific operational location, they can land and utilize their tracked ground platform to conduct long-term, continuous operations such as reconnaissance and surveillance.

[0023] 2. For the ducted flight module, the flight blades are all enclosed inside the frame, which provides better safety protection for the blades. During flight operations, the blades will not be damaged or crashed by external obstacles. It has high safety and reliability and is very suitable for three-dimensional operations in complex environments in narrow spaces such as narrow streets and underground spaces.

[0024] 3. Adopting a modular design concept, the various configuration modules and components can be quickly disassembled and assembled. The platform is a universal platform that can be equipped with cameras, sensors, lasers and other equipment. It can be used for rescue and detection in confined spaces in the civilian field, and can also be used for rapid mobile deployment in the military field to perform long-term continuous operations such as ground close-range reconnaissance and monitoring.

[0025] 4. The front and rear ends of the crawlers on both sides protrude from the front and rear ends of the frame, ensuring that the crawler-ducted platform has a certain passability when traveling on the ground.

[0026] 5. The approach angle and departure angle formed by the front and rear ends of the tracks on both sides and the ground are not less than 30°, ensuring that the track-ducted platform has sufficient obstacle-crossing capability when driving on the ground.

[0027] 6. The tracked-ducted platform can be mounted on unmanned ground platforms or other large land and air amphibious platforms, thereby expanding the operating dimensions and radius.

[0028] 7. The crawler travel module adopts a balanced suspension solution of "balance arm + double shock absorber", which can achieve uniform ground contact and stability of crawler travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the overall structure of the crawler-ducted platform provided by the present invention;

[0030] Figure 2 A schematic diagram of the crawler-ducted platform provided by the present invention after being disassembled into a ducted flight module and a crawler travel module;

[0031] Figure 3 The top view and side view of the crawler-ducted platform provided by the present invention, the left picture is the top view, and the right picture is the side view;

[0032] Figure 4 A schematic diagram of the overall structure of the ducted flight module provided by the present invention;

[0033] Figure 5 A schematic diagram of the overall structure of the crawler travel module provided by the present invention;

[0034] Figure 6 This is a schematic diagram of the decomposition of the walking support structure provided by the present invention;

[0035] Figure 7 Schematic diagram of the balancing arm and road wheel structure provided by the present invention. The left figure is a cross-sectional view of the connection structure of the balancing arm and the road wheel, and the right figure is a three-dimensional schematic diagram of the connection structure of the balancing arm and the road wheel;

[0036] Figure 8Schematic diagram of the balance arm shock absorber hole, balance arm hole, and road wheel mounting hole provided on the balance arm provided by the present invention;

[0037] Figure 9 The left picture shows the inducer provided by the present invention, the middle picture shows the drive wheel, and the right picture shows a schematic diagram of the screw structure;

[0038] Figure 10 A schematic diagram of the crawler-ducted platform and unmanned platform mounting operations provided by the present invention;

[0039] Figure 11 A schematic diagram of replacing the crawler walking module provided by the present invention;

[0040] Among them, 1 - ducted flight module, 2 - track travel module, 101 - frame, 102 - rotor, 103 - flight motor, 104 - flight control system, 105 - battery, 106 - track drive control system, 107 - electric adjustment, 108 - cable interface, 1011 - convex interface, 201 - walking bracket, 202 - shock absorber, 203 - drive wheel, 204 - drive motor, 205 - track, 206 - inducer, 207 - balance arm and load wheel, 208 - track roller, 209 - screw, 2011 - motor mounting hole, 2012 - motor bracket outer hole, 2013 - motor Inner hole of bracket, 2014-shock absorber pin hole, 2015-track roller hole, 2016-concave interface, 2017-track tensioning adjustment hole, 2018-inducer wheel hole, 2019-suspension hole, 2020-threaded hole, 2041-motor hole, 2042-drive motor cable plug, 2071-balance arm, 2072-road wheel, 2073-pin shaft, 2074-road wheel retaining ring, 2075-bearing, 2076-shaft stop, 2077-hole stop, 2078-retaining ring, 20711 balance arm shock absorber hole, 20712-balance arm hole, 20713-road wheel mounting hole. DETAILED DESCRIPTION

[0041] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0042] Reference Figures 1 to 11 This embodiment provides a small modular crawler-ducted platform, including a ducted flight module 1 and a crawler driving module 2, wherein the crawler driving module 2 can be detachably installed on the ducted flight module 1, so that the crawler-ducted platform has two maneuvering modes: land crawler driving and air flight.

[0043] In this way, the crawler-ducted platform has both ground driving and air flight capabilities, achieving redundant complementarity of ground driving and air flight functions of a single platform, and solving the inherent disadvantages of micro ground robots and drones. When the crawler-ducted platform is driving on the ground, it can use its flight function to achieve cross-domain travel when encountering extreme environments; similarly, after quickly flying to a certain operating location, the crawler-ducted platform can land on the ground and complete long-term continuous operations such as reconnaissance and surveillance based on ground crawler driving. Figure 10 The tracked-ducted platform can be mounted on a ground unmanned platform or other large land and air amphibious platforms, thereby expanding the operating dimension and radius.

[0044] As an example, see Figure 2 The crawler-ducted platform adopts an overall layout of four ducted rotors plus two crawler tracks. The ducted flight module 1 is in the middle, and the two crawler tracks 2 are arranged on both sides. The ducted rotors 102 are evenly distributed around the center of the frame 101 of the ducted flight module 1. The two crawlers 205 are arranged symmetrically on the left and right, so that the length of the entire crawler-ducted platform is 1 to 1.2 times the width. For example, the overall dimensions of the crawler-ducted platform are: length less than or equal to 700mm, width less than or equal to 600mm, height less than or equal to 140mm. It is best to make the length and width ratio close to 1:1 to ensure the stability of air flight and the steering flexibility of ground drive travel. At the same time, referring to Figure 3 In the left figure, in order to ensure that the crawler-ducted platform has a certain passability when traveling on the ground, the front and rear ends of the crawlers 205 on both sides protrude from the front and rear ends of the frame 101, and the protruding distance s is equivalent to the radius of the inducer 206; Figure 3 As shown in the right figure, the approach angle a and departure angle b formed by the front and rear ends of the crawlers 205 on both sides and the ground are not less than 30°, ensuring that the crawler-ducted platform has sufficient obstacle-crossing capability when traveling on the ground.

[0045] As an example, see Figure 4 The ducted flight module 1 is located in the center of the crawler-ducted platform. It primarily comprises a frame 101, along with rotors 102, a flight motor 103, a flight control system 104, batteries 105, and an electronic speed controller 107, along with a cable interface 108. The track drive system 106 is also mounted on frame 101. Components such as the rotors 102, flight motor 103, flight control system 104, batteries 105, track drive system 106, and electronic speed controller 107 are all located within frame 101, and all cables are designed to be buried within frame 101. Cable interface 108 is used to connect to the drive motor cable plug 2042 of the crawler travel module 2, thereby controlling the drive motor 204.

[0046] As an example, see Figures 5 to 9The crawler travel module 2 is arranged on both sides of the crawler-ducted platform and includes a walking frame 201, shock absorbers 202, drive wheels 203, drive motors 204, tracks 205, idler wheels 206, balance arms and road wheels 207, track rollers 208, and screws 209. The walking frame 201 is a hollow truss design with shock absorber pin holes 2014. Four shock absorbers 202 are arranged within the walking frame 201. One end of each shock absorber 202 connects to the corresponding shock absorber pin hole 2014, and the other end connects to the balance arm shock absorber hole 20711. The shock absorbers 202 provide cushioning and vibration reduction during the crawler-ducted platform's track-driven travel. The walking frame 201 is designed with a concave interface 2016 for mating and connecting with the convex interface 1011 on the frame 101, achieving a removable and fixed connection between the ducted flight module 1 and the crawler travel module 2. At the same time, a track tensioning adjustment hole 2017 is designed on the walking bracket 201 for adjusting the tension of the track 205; the drive motor 204 is embedded in the driving wheel 203 and fixed together by screws 209 to form a drive assembly, and then the drive assembly is fixedly installed on the walking bracket 201, specifically, the motor hole 2041 on the drive motor 204 is matched with the motor mounting hole 2011 on the walking bracket 201, and the outer hole 2012 of the motor bracket away from the side of the ducted flight module 1 is used for the encoder output, close to The inner hole 2013 of the motor bracket on one side of the ducted flight module 1 is used to drive the control cable outlet; the inducer 206 is rotatably installed between the two inducer holes 2018 of the walking bracket 201; the track roller 208 is rotatably installed between the two concave shapes 2015 of the walking bracket 201; the track 205 is enclosed by the driving wheel 203, the inducer 206, the balance arm and the road wheel 207, and the track roller 208, and the track 205 is engaged with the driving wheel 203, the inducer 206, and the track roller 208.

[0047] As an example, see Figures 5 to 9 The balancing arm and road wheel 207 includes a balancing arm 2071, a road wheel 2072, a pin 2073, a road wheel retaining ring 2074, a bearing 2075, a shaft retaining ring 2076, a hole retaining ring 2077, a retaining ring 2078, etc. The balancing arm 2071 is used to suspend the main load-bearing components. The balancing arm hole 20712 on the balancing arm 2071 is hingedly connected to the suspension hole 2019 on the walking frame 201, allowing the balancing arm and road wheel 207 to swing around the central axis of the suspension hole 2019. The road wheel 2072 is installed together with the balance arm 2071 through the pin shaft 2073, the road wheel retaining ring 2074 is used for axial positioning of the road wheel 207, the bearing 2075 is used for suspension load, the shaft stop 2076 is used for axial positioning of the road wheel 207, the hole stop 2077 is used for axial limitation of the bearing 2075, and the retaining ring 2078 is used for axial limitation of the balance arm and the road wheel 207.

[0048] As an example, see Figures 7 to 9 Tracked travel module 2 utilizes a balanced suspension scheme consisting of a "balance arm 2071 + dual shock absorbers 202," which ensures uniform ground contact and stability during tracked travel. Balance arm 2071 is provided with a balance arm shock absorber hole 20711 and road wheel mounting holes 20713, for mounting the shock absorber 202 and road wheels 2072, respectively. The rolling surface of road wheels 2071 is designed with gear teeth that mesh with track teeth, ensuring the stability of track 205.

[0049] As an example, see Figure 9 The drive motor 204 is embedded in the drive wheel 203 and fixedly connected by screws 209. The mounting surface of the drive motor 204 is fixed to the walking frame 201 by screws 209. The raceway surface of the drive wheel 203 is designed with gear teeth to mesh with the crawler track and drive the crawler track 205. The idler wheel 206 is used to tension the crawler track 205. The raceway surface of the idler wheel 206 is also designed with gear teeth and meshes with the crawler track 205.

[0050] The following is an introduction to the assembly of the crawler-ducted platform:

[0051] The crawler-ducted platform includes an intermediate ducted flight module 1, two crawler travel modules 2 and mounting screws 209, etc. The assembly of the crawler-ducted platform is described below.

[0052] Step 1: Assemble the balance arm 2071 and the road wheel 207. Install the bearing 2075 into the bearing seat of the balance arm 2071, install the hole block 2077, and follow the Figure 7 As shown, the pin 2073 passes through the two road wheel retaining rings 2074, the two road wheels 2072, and the bearing 2076 in sequence to complete the assembly of the road wheel 207 and the balance arm 2071, and the shaft retainer 2076 is installed to complete the axial limitation of the pin 2073.

[0053] Step 2: Assemble the drive wheel 203 and the drive motor 204. The drive motor 204 is embedded in the drive wheel 203 and fixed together with screws 209 to form a drive wheel assembly.

[0054] Step 3: Assemble the crawler travel module 2. Align the two sets of balance arms and the balance arm holes 20712 on the road wheel 207 with the hanging holes 2019 on the travel bracket 201, and install the two hole blocks 2077 and the balance arm pin shaft; connect the mounting hole at one end of the shock absorber 202 to the shock absorber pin hole 2014 on the travel bracket 201, and connect the other end to the balance arm shock absorber hole 20711 on the balance arm 2071. Repeat the installation of the four shock absorbers 202; assemble the drive wheel 203 and the drive motor 204 together, and then align the motor hole 2041 with the travel bracket 201. Align the motor mounting holes 2011 on bracket 201 and secure them with screws. Align the center hole of idler 206 with idler hole 2018 and connect them with pin 2073. Install the track adjustment mechanism at track tensioning hole 2017. Align the center hole of support roller 208 with support roller hole 2015. Slide track 205 over support roller 208, drive wheel 203, road wheel 2072, and idler 206, meshing with the gear train. Adjust the track tension of track 205 by adjusting the track adjustment mechanism. This completes assembly of track travel module 2.

[0055] Step 4: Assemble the ducted flight module 1. Install the four rotors 102 and four flight motors 103 into the four ducts of the frame 101. Install the flight control system 104, battery 105, track drive control system 106, and electronic speed controller 107, among other components, into pre-designed locations within the frame 101 and connect the cables.

[0056] Step 5: Assemble the ducted flight module 1 and the crawler module 2. Align the two concave connectors 2016 on the assembled crawler module 2 with the convex connectors 1011 on the ducted flight module 1. Insert the fastening screws through the threaded holes 2020 and screw them into the frame 101. Insert the drive motor cable plug 2042 on the crawler module 2 through the inner hole 2013 of the motor bracket. Then, connect the cable connector 108 on the ducted flight module 1. This completes the assembly of the ducted flight module 1 and the crawler module 2.

[0057] The following describes the maintenance and replacement of the crawler-ducted platform:

[0058] Reference Figure 11 The crawler-ducted platform adopts a modular design. In actual use, if a module fails, it can be quickly disassembled and replaced. Taking the crawler walking module 2 as an example, if a part of the crawler walking module 2 on one side is seriously damaged and needs to be disassembled for repair, the spare parts can be taken out for replacement, or the intact crawler walking module 2 can be removed from the damaged platform at the work site to complete the replacement. Specific replacement steps:

[0059] Step 1: Remove the fastening screws at the threaded hole 2020 and remove the damaged crawler module 2 from the ducted flight module 1;

[0060] Step 2: Loosen the drive motor cable plug 2042 from the cable interface 108;

[0061] Step 3: Align the concave interface 2016 on the intact crawler module 2 with the convex interface 1011 on the ducted flight module 1, and install the fastening screws into the threaded holes 2020;

[0062] Step 4: Connect the drive motor cable plug 2042 to the cable interface 108. The replacement is completed.

[0063] The following is an introduction to the working principle of the small modular crawler-ducted platform:

[0064] The handheld remote controller sends a command signal and transmits it wirelessly to the receiver of the flight control system 104. The receiver of the flight control system 104 receives the wireless signal, parses it, and converts it into SBUS serial port signal data. The controller of the flight control system 104 and the controller of the track drive control system 106 both parse and judge the SBUS data.

[0065] Flight Mode: If the SBUS signal is interpreted as a flight signal, the system enters flight control mode. The flight controller, equipped with an internal IMU sensor, uses this information to determine the platform's current attitude. This information controls the platform's flight ESCs 106, which in turn control the speed of the flight motors 103, ensuring 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 platform's location in real time.

[0066] Land Mode: If the SBUS interprets the signal as land, the vehicle enters land mode. The land controller of the track drive control system 106 outputs a control signal to the driver of the left or right drive motor 204, which controls the speed and direction of the left or right drive motor 204. The left or right driver also determines and controls the motor's braking status to ensure safe land travel.

[0067] In addition, the platform remote control receiver is connected to the pan-tilt camera module, which transmits video information to the handheld remote control to observe the scene information in front in real time.

[0068] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A small modular crawler-ducted platform, characterized in that: It comprises a ducted flight module (1) and a crawler travel module (2); The crawler travel module (2) is detachably mounted on the ducted flight module (1) and has two maneuvering modes: crawler travel on land and flight in the air.

2. A small modular crawler-ducted platform according to claim 1, characterized in that: The two crawler travel modules (2) are located on both sides of the ducted flight module (1).

3. A small modular crawler-ducted platform according to claim 1, characterized in that: The approach angle and departure angle formed by the front and rear ends of the crawler tracks (205) of the crawler travel module (2) and the ground are both above 30 degrees.

4. A small modular crawler-ducted platform according to claim 1, characterized in that: The overall dimensions of the crawler-ducted platform are: length less than or equal to 700mm, width less than or equal to 600mm, height less than or equal to 140mm.

5. The small modular crawler-ducted platform according to claim 1, characterized in that: The crawler travel module (2) is designed with a concave interface (2016), and the concave interface (2016) is matched and installed with the convex interface (1011) on the ducted flight module (1) to achieve rapid connection between modules.

6. The small modular crawler-ducted platform according to claim 1, characterized in that: The crawler-ducted platform is equipped with cameras, sensors, and lasers; The ducted flight module (1) includes a frame (101), a rotor (102) installed on the frame (101), a flight motor (103), a flight control system (104), a battery (105), and an electric regulator (107); The crawler travel module (2) comprises a crawler (205), a traveling frame (201), a shock absorber (202) mounted on the traveling frame (201), a driving wheel (203), a driving motor (204), an induction wheel (206), a balancing arm and a road wheel (207), and a track roller (208); The crawler belt (205) is wrapped around the driving wheel (203), the induction wheel (206), the balance arm and the road wheel (207), and the track roller (208), and the crawler belt (205) is engaged with the driving wheel (203), the induction wheel (206), and the track roller (208).

7. A small modular crawler-ducted platform according to claim 6, characterized in that: The crawler tracks (205) of the crawler travel module (2) protrude from the front and rear end surfaces of the ducted flight module (1); the protruding distance is equal to the radius of the inducer wheel.

8. The small modular crawler-ducted platform according to claim 6, characterized in that: The crawler walking module (2) adopts a balancing arm plus a double shock absorber balanced suspension; The balancing arm is provided with a balancing arm shock absorber hole (20711), a balancing arm hole (20712), and a road wheel mounting hole (20713), which are used to mount the shock absorber (202), the balancing arm (2071), and the road wheel (2072) in sequence.

9. The small modular crawler-ducted platform according to claim 6, characterized in that: The frame is also provided with a controller and a driver of the drive motor (204); and cables are connected between the controller, the driver and the drive motor (204) by plugging and unplugging.

10. A small modular crawler-ducted platform according to any one of claims 6 to 9, characterized in that: The walking frame (201) is of a hollow truss structure and is designed with corresponding connection interfaces, which are respectively used to install the track roller (208), the inducer (206), the drive motor (204), the shock absorber (202), the balance arm and the road wheel (207).

Images