Front-track rear-wheel type all-terrain self-adaptive carrying platform based on active suspension

Abstract

The invention discloses a front-crawler rear-wheel type all-terrain self-adaptive carrying platform based on active suspension. The front-crawler rear-wheel type all-terrain self-adaptive carrying platform comprises front inverted trapezoidal rubber crawler wheels, a front double-swing-arm suspension mechanism, a chassis frame with a multifunctional base, a rear self-rotating wheel set, a power control system and a sensing feedback system. The two front inverted trapezoidal rubber crawler wheels are hinged to the two ends of the front double-swing-arm suspension mechanism respectively, the front double-swing-arm suspension mechanism is fixed to the bottom of the front end of the chassis frame, the two rear self-rotating wheel sets are connected to the rear end of the chassis frame, and the power control system and the sensing feedback system are carried on the chassis frame. The front double-swing-arm suspension mechanism is matched with the rear self-rotation wheel set, according to the statically determinate three-point leveling principle and the electro-hydraulic proportional adjustment technology, the posture change of a carrying platform vehicle body caused by ground interference is responded, and the posture of the vehicle body is kept stable so as to prevent tipping.

Description

Technical Field

[0001] This invention relates to the field of front-tracked, rear-wheeled all-terrain adaptive transport platforms. More specifically, this invention relates to a front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension. Background Technology

[0002] In disaster relief, especially in earthquake and landslide scenarios, the efficient delivery of specialized disaster relief and road clearing equipment, personnel, and materials is crucial for subsequent work. However, existing technologies have significant shortcomings. Firstly, existing transport platforms have poor terrain adaptability, easily sinking into soft post-disaster ground and struggling to overcome obstacles such as boulders and steps. They also lack sufficient turning flexibility, making it difficult to adjust their direction in narrow areas, resulting in low efficiency for personnel, machinery, and materials entering the site. Secondly, existing platforms lack effective active leveling mechanisms, relying mostly on passive suspension. They cannot adjust their vehicle posture promptly on undulating terrain, leading to risks of tilting, pitching, and even overturning, threatening the safety of personnel and materials. Furthermore, existing platforms have limited functionality; the chassis frame lacks a standardized modular base, making it difficult to quickly adapt to drilling rigs, excavator arms, and other operating equipment, failing to meet the needs of diverse post-disaster operations. Poor power and control coordination further restricts their ability to operate in complex terrain. These problems stem from the current design's inadequate adaptation to complex post-disaster environments, and resolving them requires balancing terrain adaptability, posture stability, functional expansion, and power coordination, presenting significant technical challenges. Summary of the Invention

[0003] To achieve these objectives and other advantages according to the invention, a preferred embodiment of the invention provides a front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension, comprising a front-mounted inverted trapezoidal rubber track wheel, a front-mounted double swing arm suspension mechanism, a chassis frame with a multi-functional base, a rear-mounted self-rotating wheel assembly, a power control system, and a sensing feedback system; the two front-mounted inverted trapezoidal rubber track wheels are respectively hinged to both ends of the front-mounted double swing arm suspension mechanism, the front-mounted double swing arm suspension mechanism is fixed to the bottom front end of the chassis frame with the multi-functional base, the two rear-mounted self-rotating wheel assemblies are connected to the rear end of the chassis frame with the multi-functional base, and the power control system and the sensing feedback system are mounted on the chassis frame.

[0004] The front-mounted double swing arm suspension mechanism works in conjunction with the rear-mounted self-rotating wheel assembly. Based on the statically determinate three-point leveling principle and electro-hydraulic proportional adjustment technology, it responds to changes in the vehicle body posture caused by ground disturbances, maintaining vehicle body posture stability to prevent rollover.

[0005] Preferably, the front-mounted inverted trapezoidal rubber track wheel includes a track wheel support frame, a support frame hinge hole, a drive wheel assembly, a support wheel assembly, a tension wheel assembly, a tensioning mechanism, a flexible rubber track, and a hydraulic drive motor; The hinge hole of the support frame is located above the track wheel support frame and is used to connect with the front double swing arm suspension mechanism. The drive wheel set is installed at the front end of the front inverted trapezoidal rubber track wheel and is connected to the hydraulic drive motor to provide power for the track wheel movement. Multiple sets of the support wheel sets are arranged at the bottom of the front inverted trapezoidal rubber track wheel to support the front inverted trapezoidal rubber track wheel and its upper load. The tension wheel set is arranged at the rear end of the front inverted trapezoidal rubber track wheel and is connected to the tensioning mechanism. The tensioning mechanism pushes the tension wheel set to tension the flexible rubber track, preventing the drive wheel set from skipping teeth and the support wheel set from slipping, while also facilitating the installation and removal of the flexible rubber track. The flexible rubber track is sleeved on the outside of the drive wheel set, support wheel set, and tension wheel set, and is equipped with steel teeth and steel wires inside to enhance structural strength. The drive wheel set, support wheel set, and tension wheel set work together to form an inverted trapezoidal structure for the flexible rubber track, thereby improving obstacle crossing performance.

[0006] Preferably, the front-mounted double swing arm suspension mechanism includes a front-mounted suspension base, a front-mounted double crossbeam upper swing arm, a front-mounted double crossbeam lower swing arm, a track wheel articulated base, and a front-mounted suspension cylinder. The front suspension base is bull-head shaped and fixed to the bottom front of the chassis keel of the chassis frame, providing an installation base for the suspension mechanism; the front double crossbeam upper swing arm and the front double crossbeam lower swing arm are of equal length, and their ends are respectively hinged to the front suspension base and the track wheel hinge base, forming a front and rear double-row parallelogram linkage mechanism to ensure good vertical and horizontal load-bearing capacity. The track wheel articulation base is connected to the track wheel support frame of the front inverted trapezoidal rubber track wheel, allowing the front inverted trapezoidal rubber track wheel to perform adaptive swaying motion relative to the front double swing arm suspension mechanism. The front suspension cylinders are symmetrically arranged on both sides of the front suspension base. One end of the front suspension cylinder is hinged to the top side of the front suspension base, and the other end is hinged to the middle of the front double crossbeam lower swing arm. The front suspension cylinders receive the vehicle attitude information fed back by the vehicle-mounted tilt meter of the vehicle platform in the perception feedback system, and actively adjust the relative position of the track wheel articulation base and the front suspension base, thereby controlling the vehicle body roll angle α of the vehicle platform.

[0007] Preferably, the chassis frame includes a chassis keel, a multi-functional base, a lower auxiliary frame, a rear wheel assembly base, a seat unit, and an upper protective frame; The multi-functional base is located at the front end of the chassis keel and is used for the detachable installation of modular work tools; the lower auxiliary frame is located below the middle of the chassis keel and is used to mount and protect the power control system; the rear wheel assembly base is located at the rear end of the chassis keel and is used to connect the rear self-rotating wheel assembly; the seat unit and the upper protective frame are both located above the middle of the chassis keel, the seat unit is used to carry the workers, and the upper protective frame is used to protect the workers.

[0008] Preferably, the rear self-rotating wheel assembly includes a rear wheel assembly self-rotating mechanism, a rear suspension base, a rear suspension single crossbeam swing arm, a rear wheel assembly balance beam, a rear tire assembly, and a rear suspension cylinder. The rear wheel assembly self-rotating mechanism is connected to the chassis keel of the chassis frame; the top of the rear suspension base is connected to the rear wheel assembly self-rotating mechanism; the two ends of the rear suspension single crossbeam swing arm are respectively hinged to the rear suspension base and the rear wheel assembly balance beam, the rear suspension single crossbeam swing arm can swing around the rear suspension base, and the rear wheel assembly balance beam can swing around the rear suspension single crossbeam swing arm; the rear tire assembly is symmetrically installed at both ends of the rear wheel assembly balance beam, and when encountering uneven ground excitation, it adaptively rotates around the rear suspension single crossbeam swing arm under the drive of the rear wheel assembly balance beam; The two ends of the rear suspension cylinder are respectively hinged to the top of the rear suspension base and the middle of the rear suspension single crossbeam swing arm, forming a three-point independent support structure together with the two front suspension cylinders, which are used to adjust the vehicle body pitch angle β and platform height z of the transport platform.

[0009] Preferably, the power control system includes an engine unit, a hydraulic pump unit, a hydraulic valve unit, a hydraulic oil tank, a transport platform electrical control box, and a fuel tank; The fuel tank provides fuel to the engine unit, the engine unit is connected to the hydraulic pump unit and drives the hydraulic pump unit to work; the hydraulic oil tank provides hydraulic oil to the hydraulic pump unit, and the hydraulic valve group is connected to the hydraulic pump unit, the hydraulic oil tank, the front suspension cylinder and the rear suspension cylinder respectively, and is used to control the flow direction and pressure of the hydraulic oil. The electrical control box of the transport platform is electrically connected to the engine group and the hydraulic valve group, and is used to control the start and stop of the engine group and its speed, while adjusting the action of the hydraulic valve group to achieve control of the platform's power and attitude.

[0010] Preferably, the perception feedback system includes a self-propelled positioning base station, a vehicle-mounted tilt meter on the transport platform, and a pressure sensor; The self-propelled positioning base station is installed on the chassis frame to acquire platform position information and enable the platform to autonomously walk and position itself. The vehicle-mounted tilt sensor of the transport platform is installed on the chassis frame to detect the vehicle body roll angle α and pitch angle β in real time and feed the attitude information back to the front suspension cylinder. The pressure sensor is used to detect the hydraulic system pressure and the platform load pressure to avoid system overload and ensure platform operation safety.

[0011] Preferably, the rear tire assembly can rotate relative to the transport platform along the yaw angle γ direction when turning, in conjunction with the rotation action of the rear wheel assembly self-rotating mechanism.

[0012] Preferably, the parallelogram linkage mechanism of the front double swing arm suspension mechanism maintains the contact state between the front inverted trapezoidal rubber track wheel and the ground during the extension and retraction adjustment of the front suspension cylinder, thus avoiding power loss or attitude imbalance caused by the track wheel being suspended in the air.

[0013] The present invention has at least the following beneficial effects: The all-terrain adaptive transport platform of the present invention adopts a front tracked and rear wheeled grounding form that can adapt to complex terrain conditions. The front tracked wheel is an inverted trapezoidal rubber tracked wheel with high obstacle crossing performance, which can adapt to soft ground conditions and cross obstacles with large heights such as boulders and steps. The rear tire-type wheel set has a self-rotating mechanism, which allows the transport platform to turn flexibly with large curvature under complex ground conditions. The all-terrain adaptive transport platform of the present invention adopts a three-point independent support hydraulic active suspension system. Based on the statically determinate three-point leveling principle and electro-hydraulic proportional adjustment technology, it quickly responds to changes in the vehicle body posture caused by ground disturbances, maintains vehicle body posture stability, and prevents the transport platform from tipping over. The all-terrain adaptive transport platform of the present invention adopts a chassis frame with a multi-functional base. While carrying personnel, materials and power systems, it can also install modular tools such as excavator arms, six-degree-of-freedom robotic arms and drilling rigs to meet the multi-functional application needs during disaster relief. The all-terrain adaptive transport platform of the present invention provides a front-tracked and rear-wheeled all-terrain adaptive transport platform based on active suspension, which can realize transport work under complex ground conditions and improve the efficiency of personnel, machinery and materials entering the site under harsh terrain conditions after disasters.

[0014] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0015] Figure 1 This is a perspective view of the front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension in this invention.

[0016] Figure 2 This is a side view of the front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension in this invention.

[0017] Figure 3 This is a top view of the front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension in this invention.

[0018] Figure 4 This is a schematic diagram of the front-mounted inverted trapezoidal rubber track wheel in this invention.

[0019] Figure 5 This is a diagram showing the internal structure of the front-mounted inverted trapezoidal rubber track wheel in this invention.

[0020] Figure 6 This is a schematic diagram of the front-mounted double swing arm suspension mechanism in this invention.

[0021] Figure 7 This is a front view of the front-mounted double swing arm suspension mechanism in this invention.

[0022] Figure 8 This is a schematic diagram of the single-sided obstacle crossing action of the front double swing arm suspension mechanism in this invention.

[0023] Figure 9 This is a schematic diagram of the single-sided obstacle crossing action of the front double swing arm suspension mechanism in this invention.

[0024] Figure 10 This is a schematic diagram of the double-arm suspension mechanism in the present invention, showing its action of crossing obstacles on both sides.

[0025] Figure 11 This is a schematic diagram of the low-position walking action of the front double swing arm suspension mechanism in this invention.

[0026] Figure 12 This is a schematic diagram of the low-to-high walking motion of the front-mounted double swing arm suspension mechanism in this invention.

[0027] Figure 13 This is a schematic diagram of the chassis frame with a multifunctional base in this invention.

[0028] Figure 14 This is a side view of the chassis frame with a multifunctional base in this invention.

[0029] Figure 15 This is a schematic diagram of the rear-mounted self-rotating wheel assembly in this invention.

[0030] Figure 16 This is a front view of the rear-mounted self-rotating wheel assembly in this invention.

[0031] Figure 17 This is a schematic diagram of the adaptive buoyancy action of the rear-mounted self-rotating wheel assembly in this invention.

[0032] Figure 18 This provides a schematic diagram of the steering action for the rear-mounted self-rotating wheel assembly in this invention.

[0033] Figure 19 This is a schematic diagram of the power control system and the sensing feedback system in this invention.

[0034] Figure 20 This is a schematic diagram of a front-tracked, rear-wheeled all-terrain adaptive transport platform when the modular work implement in this invention is a modular excavator arm work unit.

[0035] Figure 21This is a schematic diagram of a front-tracked, rear-wheeled, all-terrain adaptive transport platform when the modular work implement in this invention is a modular six-degree-of-freedom robotic arm work unit.

[0036] Figure 22 This is a schematic diagram of a front-tracked, rear-wheeled, all-terrain adaptive transport platform when the modular operating implement in this invention is a modular material transport box unit.

[0037] Figure 23 This is a schematic diagram of a front-tracked, rear-wheeled all-terrain adaptive transport platform when the modular work implements in this invention are modular drilling rig work units. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0039] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious modifications will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0040] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0041] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0042] like Figure 1-23As shown, another technical solution of the present invention provides a front-tracked and rear-wheeled all-terrain adaptive transport platform based on active suspension, including a front inverted trapezoidal rubber track wheel 1, a front double swing arm suspension mechanism 2, a chassis frame 3 with a multi-functional base, a rear self-rotating wheel assembly 4, a power control system 5, and a sensing feedback system 6; the two front inverted trapezoidal rubber track wheels 1 are respectively hinged to both ends of the front double swing arm suspension mechanism 2, the front double swing arm suspension mechanism 2 is fixed to the bottom front end of the chassis frame 3 with a multi-functional base, the two rear self-rotating wheel assemblies 4 are connected to the rear end of the chassis frame 3 with a multi-functional base, and the power control system 5 and the sensing feedback system 6 are mounted on the chassis frame 3.

[0043] The front double swing arm suspension mechanism 2 works in conjunction with the rear self-rotating wheel assembly 4. Based on the statically determinate three-point leveling principle and electro-hydraulic proportional adjustment technology, it responds to changes in the vehicle body posture caused by ground disturbances, maintaining vehicle body posture stability to prevent rollover.

[0044] In the above technical solution, the two front-mounted inverted trapezoidal rubber track wheels 1 are respectively connected to the hinged parts at both ends of the front-mounted double swing arm suspension mechanism 2 through the connecting structure on their own track wheel support frame 11, ensuring that the front-mounted inverted trapezoidal rubber track wheels 1 can rotate flexibly relative to the front-mounted double swing arm suspension mechanism 2; the front-mounted double swing arm suspension mechanism 2 is fastened to the front bottom of the chassis frame 3 with a multi-functional base by high-strength bolts, so that the front-mounted double swing arm suspension mechanism 2 is stably fixed on the chassis frame 3; the connecting parts at the top of the two rear-mounted self-rotating wheel sets 4 cooperate with the mounting base at the rear end of the chassis frame 3 with a multi-functional base, and are connected by a pin shaft to ensure that the rear-mounted self-rotating wheel sets 4 can rotate relative to the chassis frame 3; the core components such as the engine set 51 and hydraulic pump set 52 in the power control system 5 are fixed to the mounting bracket on the lower layer of the chassis frame 3 by bolts; the self-propelled positioning base station 61 and the vehicle-mounted tilt meter 62 in the perception feedback system 6 are also included. These components are respectively mounted on the upper protective structure and the middle crossbeam of the chassis frame 3 via brackets.

[0045] During operation, when the platform travels on complex terrain, the vehicle-mounted tilt sensor 62 in the perception feedback system 6 monitors the vehicle's attitude in real time. If ground protrusions or depressions cause the vehicle to tilt, the perception feedback system 6 transmits the detected attitude change signal to the power control system 5. Upon receiving the signal, the power control system 5, based on the statically determinate three-point leveling principle, controls the hydraulic actuators in the front double wishbone suspension mechanism 2 and the rear self-rotating wheel assembly 4 using electro-hydraulic proportional adjustment technology. For example, if the vehicle tilts to one side, the power control system 5 controls the extension and retraction of the suspension cylinder of the corresponding front double wishbone suspension mechanism 2, while simultaneously adjusting the height of the suspension cylinder of the rear self-rotating wheel assembly 4. Through the coordinated adjustment of the three support points, the influence of ground disturbances on the vehicle's attitude is offset.

[0046] In another technical solution, the front inverted trapezoidal rubber track wheel 1 includes a track wheel support frame 11, a support frame hinge hole 12, a drive wheel set 13, a support wheel set 14, a tension wheel set 15, a tensioning mechanism 16, a flexible rubber track 17, and a hydraulic drive motor 18. The hinge hole 12 of the support frame is located above the track wheel support frame 11 and is used to connect with the front double swing arm suspension mechanism 2; the drive wheel set 13 is installed at the front end of the front inverted trapezoidal rubber track wheel 1 and is connected to the hydraulic drive motor 18 to provide power for the track wheel movement; multiple sets of the support wheel sets 14 are arranged at the bottom of the front inverted trapezoidal rubber track wheel 1 to support the front inverted trapezoidal rubber track wheel 1 and its upper load; the tensioning wheel set 15 is arranged at the rear end of the front inverted trapezoidal rubber track wheel 1 and is connected to the tensioning machine. The tensioning mechanism 16 is connected to the tensioning wheel assembly 15 to tension the flexible rubber track 17, preventing the drive wheel assembly 13 from skipping teeth and the support wheel assembly 14 from slipping, while also facilitating the installation and removal of the flexible rubber track 17. The flexible rubber track 17 is sleeved on the outside of the drive wheel assembly 13, the support wheel assembly 14 and the tensioning wheel assembly 15, and is internally equipped with steel teeth and steel wires to enhance structural strength. The drive wheel assembly 13, the support wheel assembly 14 and the tensioning wheel assembly 15 work together to form an inverted trapezoidal structure for the flexible rubber track 17 to improve obstacle crossing performance.

[0047] In the above technical solution, during operation, the hydraulic pump group 52 in the power control system 5 delivers high-pressure hydraulic oil to the hydraulic drive motor 18. The hydraulic drive motor 18 drives the drive wheel group 13 to rotate. The drive wheel group 13, through meshing with the internal steel teeth of the flexible rubber track 17, drives the flexible rubber track 17 to circulate along the drive wheel group 13, support wheel group 14, and tension wheel group 15. The flexible rubber track 17 generates friction when in contact with the ground, pushing the front inverted trapezoidal rubber track wheel 1 forward or backward, thereby driving the entire transport platform to move. During travel, the support wheel group 14 is always in contact with the inner side of the flexible rubber track 17, bearing the platform load and maintaining the track's stable operation. The tensioning mechanism 16 maintains the tension of the flexible rubber track 17 in real time, ensuring stable power transmission. Among them, the front-mounted inverted trapezoidal rubber track wheel 1 can stably transmit power, and when the transport platform travels on soft ground, the flexible rubber track 17 has a large contact area with the ground, which can effectively reduce the ground pressure and prevent the platform from sinking. The inverted trapezoidal structure design allows the platform to smoothly cross obstacles with large heights such as boulders and steps. At the same time, the tensioning mechanism 16 can flexibly adjust the track tension, which not only ensures the stability of power transmission, but also facilitates the installation and maintenance of the track, improving the reliability and practicality of the front-mounted inverted trapezoidal rubber track wheel 1, and providing strong support for the transport platform to travel in complex terrain.

[0048] In another technical solution, the front double swing arm suspension mechanism 2 includes a front suspension base 21, a front double crossbeam upper swing arm 22, a front double crossbeam lower swing arm 23, a track wheel articulated base 24, and a front suspension cylinder 25. The front suspension base 21 is bull-head shaped and fixed to the bottom front of the chassis keel 31 of the chassis frame 3, providing an installation base for the suspension mechanism; the front double crossbeam upper swing arm 22 and the front double crossbeam lower swing arm 23 are of equal length, and their ends are respectively hinged to the front suspension base 21 and the track wheel hinge base 24, forming a front and rear double-row parallelogram linkage mechanism to ensure good vertical and horizontal load-bearing capacity; The track wheel articulation base 24 is connected to the track wheel support frame 11 of the front inverted trapezoidal rubber track wheel 1, so that the front inverted trapezoidal rubber track wheel 1 can make adaptive buoyancy relative to the front double swing arm suspension mechanism 2; the two front suspension cylinders 25 are symmetrically arranged on both sides of the front suspension base 21. One end of the front suspension cylinder 25 is hinged to the top side of the front suspension base 21, and the other end is hinged to the middle of the front double crossbeam lower swing arm 23. The front suspension cylinder 25 receives the vehicle body attitude information fed back by the vehicle-mounted tilt meter 62 of the vehicle platform in the perception feedback system 6, and actively adjusts the relative position of the track wheel articulation base 24 and the front suspension base 21, thereby controlling the vehicle body roll angle α of the vehicle platform.

[0049] In the above technical solution, during operation, the vehicle-mounted tilt meter 62 in the perception feedback system 6 detects the vehicle body roll angle α in real time and transmits the detected attitude signal to the vehicle platform electrical control box 55 in the power control system 5. When the vehicle body tilts to one side, such as to the left, the platform control box 55 controls the hydraulic valve group 53 to operate, causing the piston rod of the left front suspension cylinder 25 to extend and push the left front double crossbeam lower control arm 23 to rotate upward around its hinge point with the front suspension base 21. Since the front double crossbeam upper control arm 22 and the front double crossbeam lower control arm 23 form a parallelogram linkage mechanism, the left front double crossbeam upper control arm 22 will rotate upward synchronously with the front double crossbeam lower control arm 23, causing the left track wheel hinge base 24 and the front inverted trapezoidal rubber track wheel 1 to lift upward. At the same time, the right front suspension cylinder 25 retracts appropriately according to the actual situation, reducing the height of the right track wheel, until the platform's on-board tilt meter 62 detects that the vehicle body tilt angle α has returned to the set range. Then, the platform control box 55 controls the hydraulic valve group 53 to stop operating, completing the vehicle body tilt adjustment. Throughout the adjustment process, due to the characteristics of the parallelogram linkage mechanism, the outward tilt angle of the front inverted trapezoidal rubber track wheel 1 remains constant, ensuring stable contact between the track and the ground.

[0050] In another technical solution, the chassis frame 3 includes a chassis keel 31, a multi-functional base 32, a lower auxiliary frame 33, a rear wheel assembly base 34, a seat unit 35, and an upper protective frame 36. The multi-functional base 32 is arranged at the front end of the chassis keel 31 for detachable installation of modular work tools; the lower auxiliary frame 33 is arranged below the middle of the chassis keel 31 for mounting and protecting the power control system 5; the rear wheel assembly base 34 is located at the rear end of the chassis keel 31 for connecting the rear self-rotating wheel assembly 4; the seat unit 35 and the upper protective frame 36 are both arranged above the middle of the chassis keel 31, the seat unit 35 is used to carry workers, and the upper protective frame 36 is used to protect workers.

[0051] In the above technical solution, during actual use, when modular work tools need to be mounted, the mounting base of the work tool is aligned with the mounting holes of the multi-functional base 32, and fixed with bolts or quick connectors to complete the installation of the work tool; the components of the power control system 5 are installed in the lower auxiliary frame 33 according to the preset positions and connected to other components through pipelines and lines; the operator sits on the seat unit 35, and the upper protective frame 36 surrounds the operator to provide safety protection; the rear self-rotating wheel group 4 is installed at the rear end of the chassis frame 3 through the rear wheel group base 34, and cooperates with the front inverted trapezoidal rubber track wheel 1 to realize platform movement.

[0052] In another technical solution, the rear self-rotating wheel assembly 4 includes a rear wheel assembly self-rotating mechanism 41, a rear suspension base 42, a rear suspension single crossbeam swing arm 43, a rear wheel assembly balance beam 44, a rear tire assembly 45, and a rear suspension cylinder 46. The rear wheel assembly self-rotating mechanism 41 is connected to the chassis keel 31 of the chassis frame 3; the top of the rear suspension base 42 is connected to the rear wheel assembly self-rotating mechanism 41; the two ends of the rear suspension single crossbeam swing arm 43 are respectively hinged to the rear suspension base 42 and the rear wheel assembly balance beam 44, the rear suspension single crossbeam swing arm 43 can swing around the rear suspension base 42, and the rear wheel assembly balance beam 44 can swing around the rear suspension single crossbeam swing arm 43; the rear tire assembly 45 is symmetrically installed at both ends of the rear wheel assembly balance beam 44, and when encountering uneven ground excitation, it adaptively rotates around the rear suspension single crossbeam swing arm 43 under the drive of the rear wheel assembly balance beam 44; The two ends of the rear suspension cylinder 46 are respectively hinged to the top of the rear suspension base 42 and the middle of the rear suspension single crossbeam swing arm 43, forming a three-point independent support structure together with the two front suspension cylinders 25, which are used to adjust the vehicle body pitch angle β and platform height z of the transport platform.

[0053] In the above technical solution, during operation, when it is necessary to adjust the vehicle pitch angle β, for example, if the front of the vehicle is too high or the rear is too low, the vehicle-mounted tilt meter 62 in the perception feedback system 6 transmits the detection signal to the power control system 5. The vehicle-mounted electrical control box 55 controls the hydraulic valve group 53, causing the piston rod of the rear suspension cylinder 46 to extend, pushing the rear suspension single crossbeam swing arm 43 to rotate upward around its hinge point with the rear suspension base 42, thereby driving the rear wheel assembly balance beam 44 and the rear tire assembly 45 to lift upward. At the same time, according to the actual situation, the two front suspension cylinders 25 are controlled to retract appropriately to reduce the height of the front track wheel until the vehicle pitch angle β returns to the set range. When the platform height z needs to be adjusted, to raise the platform, the transport platform electrical control box 55 controls the hydraulic valve group 53 to make the piston rods of the three cylinders, including the two front suspension cylinders 25 and the rear suspension cylinder 46, extend synchronously, pushing the front track wheel and the rear tire to lift synchronously, increasing the height of the chassis frame 3 from the ground; to lower the platform, the piston rods of the three cylinders are controlled to retract synchronously, lowering the platform height.

[0054] When steering is required, the platform's electrical control box 55 controls the drive motor in the rear wheel assembly's self-rotating mechanism 41 to rotate, thereby driving the rear suspension base 42, rear suspension single crossbeam swing arm 43, rear wheel assembly balance beam 44, and rear tire assembly 45 to rotate around the slewing bearing axis, achieving platform steering. The steering angle can be controlled by the rotation angle of the drive motor as needed. When driving on uneven ground, when the ground protrudes or dips, the rear tire assembly 45 is excited by the ground, and the rear wheel assembly balance beam 44 will make adaptive buoyancy movements around its hinge point with the rear suspension single crossbeam swing arm 43. At the same time, the rear suspension single crossbeam swing arm 43 makes buoyancy movements around its hinge point with the rear suspension base 42, ensuring that the rear tire assembly 45 always maintains contact with the ground and guarantees the stability of the platform's driving.

[0055] In another technical solution, the power control system 5 includes an engine group 51, a hydraulic pump group 52, a hydraulic valve group 53, a hydraulic oil tank 54, a transport platform electrical control box 55, and a fuel tank 56. The fuel tank 56 provides fuel to the engine assembly 51. The engine assembly 51 is connected to the hydraulic pump assembly 52 and drives the hydraulic pump assembly 52 to work. The hydraulic oil tank 54 provides hydraulic oil to the hydraulic pump assembly 52. ​​The hydraulic valve assembly 53 is connected to the hydraulic pump assembly 52, the hydraulic oil tank 54, the front suspension cylinder 25 and the rear suspension cylinder 46 respectively, and is used to control the flow direction and pressure of the hydraulic oil. The electrical control box 55 of the transport platform is electrically connected to the engine group 51 and the hydraulic valve group 53. It is used to control the start and stop of the engine group 51 and its speed, and at the same time adjust the action of the hydraulic valve group 53 to realize the control of the platform's power and attitude.

[0056] In the above technical solution, during operation, the operator sends control commands through the operation buttons on the electrical control box 55 of the transport platform or the remote control to control the engine set 51 to start running. The engine set 51 drives the hydraulic pump set 52 to rotate, and the hydraulic pump set 52 pressurizes the hydraulic oil in the hydraulic oil tank 54 and delivers it to the hydraulic valve set 53. When the platform needs to move forward or backward, the solenoid directional valve corresponding to the hydraulic drive motor 18 in the control hydraulic valve group 53 is energized, and high-pressure hydraulic oil enters the hydraulic drive motor 18. The drive motor drives the front inverted trapezoidal rubber track wheel 1 to rotate, realizing the platform's movement. When the vehicle body posture needs to be adjusted, the PLC controller controls the solenoid directional valves corresponding to the front suspension cylinder 25 and the rear suspension cylinder 46 in the hydraulic valve group 53 to be energized based on the side tilt angle α and pitch angle β signals fed back by the vehicle-mounted tilt meter 62 of the transport platform. This adjusts the extension and retraction of the cylinders, realizing the vehicle body posture adjustment. When the platform needs to be turned, the PLC controller controls the relay of the drive motor in the rear wheel self-rotating mechanism 41 to operate. The drive motor rotates, driving the rear self-rotating wheel group 4 to turn.

[0057] In another technical solution, the perception feedback system 6 includes a self-propelled positioning base station 61, a vehicle-mounted tilt meter 62 on the transport platform, and a pressure sensor; The self-propelled positioning base station 61 is installed on the chassis frame 3 to acquire platform position information and enable the platform to autonomously walk and position itself. The vehicle-mounted tilt sensor 62 is installed on the chassis frame 3 to detect the vehicle body roll angle α and pitch angle β in real time and feed the attitude information back to the front suspension cylinder 25. The pressure sensor is used to detect the hydraulic system pressure and platform load pressure to avoid system overload and ensure platform operation safety.

[0058] In the above technical solution, during actual operation, the self-propelled positioning base station 61 continuously acquires the platform's location information, providing navigation basis for the platform's autonomous movement and ensuring that the platform can accurately reach the work site; the vehicle-mounted tilt sensor 62 of the transport platform monitors the vehicle's attitude in real time and quickly transmits the attitude signal to the control components, ensuring the timeliness and accuracy of vehicle attitude adjustment; the pressure sensor comprehensively monitors the hydraulic system pressure and platform load pressure, providing protection for the safe operation of the system and preventing component damage or platform overturning due to abnormal pressure.

[0059] In another technical solution, the rear tire assembly 45 can rotate relative to the transport platform along the yaw angle γ direction when turning, in conjunction with the rotation action of the rear wheel assembly self-rotating mechanism 41.

[0060] In the above technical solution, during the turning process, the self-propelled positioning base station 61 in the perception feedback system 6 detects the platform's position and driving direction in real time, and transmits the signal to the platform's electrical control box 55. The control box adjusts the rotation angle of the drive motor and the extension / retraction of the steering cylinder according to the position signal, thereby adjusting the rotation angle of the rear wheel assembly's self-rotating mechanism 41 and the yaw angle γ of the rear tire assembly 45, ensuring that the platform turns in the expected direction and path, avoiding oversteering or understeering. After the platform completes the turning, the platform's electrical control box 55 controls the drive motor to stop rotating, the steering cylinder to reset, the yaw angle γ of the rear tire assembly 45 to return to zero, the rear wheel assembly's self-rotating mechanism 41 returns to its initial position, and the platform resumes straight-line driving.

[0061] In another technical solution, the parallelogram linkage mechanism of the front double swing arm suspension mechanism 2 always maintains the front inverted trapezoidal rubber track wheel 1 in contact with the ground during the extension and retraction adjustment of the front suspension cylinder 25, so as to avoid power loss or posture imbalance caused by the track wheel being suspended.

[0062] In the above technical solution, when it is necessary to actively adjust the vehicle body roll angle α, the front suspension cylinder 25 actively extends and retracts. For example, when it is necessary to lift the left track wheel, the piston rod of the left front suspension cylinder 25 extends, pushing the left front double crossbeam lower swing arm 23 to rotate upward, and the left front double crossbeam upper swing arm 22 rotates upward simultaneously, causing the track wheel hinge base 24 and the front inverted trapezoidal rubber track wheel 1 to move upward in parallel. During the movement, the bottom surface of the track wheel always remains in contact with the ground and will not be suspended. At the same time, the right front suspension cylinder 25 retracts appropriately as needed, causing the right track wheel to move downward. Similarly, under the action of the parallelogram linkage mechanism, the right track wheel always remains in contact with the ground. Through the coordinated adjustment of the two track wheels, the vehicle body roll angle α is adjusted, and the two track wheels are not suspended during the entire adjustment process.

[0063] During platform travel, regardless of whether the ground is raised, sunken, or tilted, the parallelogram linkage mechanism of the front double swing arm suspension mechanism 2 will constrain the movement trajectory of the front inverted trapezoidal rubber track wheel 1 through its own geometric characteristics, so that the track wheel always contacts the ground in a stable posture. Even during a large range of posture adjustment, the track wheel will not be suspended in the air.

[0064] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension, characterized in that, It includes a front-mounted inverted trapezoidal rubber track wheel, a front-mounted double swing arm suspension mechanism, a chassis frame with a multi-functional base, a rear-mounted self-rotating wheel assembly, a power control system, and a sensing feedback system; the two front-mounted inverted trapezoidal rubber track wheels are respectively hinged to both ends of the front-mounted double swing arm suspension mechanism, the front-mounted double swing arm suspension mechanism is fixed to the bottom of the front end of the chassis frame, the two rear-mounted self-rotating wheel assemblies are connected to the rear end of the chassis frame, and the power control system and sensing feedback system are mounted on the chassis frame.

2. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 1, characterized in that, The front-mounted inverted trapezoidal rubber track wheel includes a track wheel support frame, a support frame hinge hole, a drive wheel assembly, a support wheel assembly, a tension wheel assembly, a tensioning mechanism, a flexible rubber track, and a hydraulic drive motor. The hinge hole of the support frame is located above the track wheel support frame and is used to connect with the front double swing arm suspension mechanism; the drive wheel set is installed at the front end of the front inverted trapezoidal rubber track wheel and is connected to the hydraulic drive motor to provide the track wheel with the power to move; multiple sets of the support wheel sets are arranged at the bottom of the front inverted trapezoidal rubber track wheel to support the front inverted trapezoidal rubber track wheel and its upper load. The tensioning wheel assembly is located at the rear end of the front inverted trapezoidal rubber track wheel and is connected to the tensioning mechanism. The tensioning mechanism pushes the tensioning wheel assembly to tension the flexible rubber track, preventing the drive wheel assembly from skipping teeth and the support wheel assembly from slipping, while also facilitating the installation and removal of the flexible rubber track. The flexible rubber track is sleeved on the outside of the drive wheel assembly, support wheel assembly, and tensioning wheel assembly, and is internally equipped with steel teeth and steel wires to enhance structural strength. The drive wheel assembly, support wheel assembly, and tensioning wheel assembly work together to form an inverted trapezoidal structure for the flexible rubber track, thereby improving obstacle crossing performance.

3. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 2, characterized in that, The front-mounted double swing arm suspension mechanism includes a front-mounted suspension base, a front-mounted double crossbeam upper swing arm, a front-mounted double crossbeam lower swing arm, a track wheel articulated base, and a front-mounted suspension cylinder. The front suspension base is bull-head shaped and fixed to the bottom front of the chassis keel of the chassis frame, providing an installation base for the suspension mechanism; the front double crossbeam upper swing arm and the front double crossbeam lower swing arm are of equal length, and their ends are respectively hinged to the front suspension base and the track wheel hinge base, forming a front and rear double-row parallelogram linkage mechanism to ensure good vertical and horizontal load-bearing capacity. The track wheel articulation base is connected to the track wheel support frame of the front inverted trapezoidal rubber track wheel, allowing the front inverted trapezoidal rubber track wheel to perform adaptive swaying motion relative to the front double swing arm suspension mechanism. The front suspension cylinders are symmetrically arranged on both sides of the front suspension base. One end of the front suspension cylinder is hinged to the top side of the front suspension base, and the other end is hinged to the middle of the front double crossbeam lower swing arm. The front suspension cylinders receive the vehicle attitude information fed back by the vehicle-mounted tilt meter of the vehicle platform in the perception feedback system, and actively adjust the relative position of the track wheel articulation base and the front suspension base, thereby controlling the vehicle body roll angle α of the vehicle platform.

4. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 3, characterized in that, The chassis frame includes a chassis keel, a multi-functional base, a lower auxiliary frame, a rear wheel base, a seat unit, and an upper protective frame. The multi-functional base is located at the front end of the chassis keel and is used for the detachable installation of modular work tools; the lower auxiliary frame is located below the middle of the chassis keel and is used to mount and protect the power control system; the rear wheel assembly base is located at the rear end of the chassis keel and is used to connect the rear self-rotating wheel assembly; the seat unit and the upper protective frame are both located above the middle of the chassis keel, the seat unit is used to carry the workers, and the upper protective frame is used to protect the workers.

5. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 4, characterized in that, The rear self-rotating wheel assembly includes a rear wheel assembly self-rotating mechanism, a rear suspension base, a rear suspension single crossbeam swing arm, a rear wheel assembly balance beam, a rear tire assembly, and a rear suspension cylinder. The rear wheel assembly self-rotating mechanism is connected to the chassis keel of the chassis frame; the top of the rear suspension base is connected to the rear wheel assembly self-rotating mechanism; the two ends of the rear suspension single crossbeam swing arm are respectively hinged to the rear suspension base and the rear wheel assembly balance beam, the rear suspension single crossbeam swing arm can swing around the rear suspension base, and the rear wheel assembly balance beam can swing around the rear suspension single crossbeam swing arm; the rear tire assembly is symmetrically installed at both ends of the rear wheel assembly balance beam, and when encountering uneven ground excitation, it adaptively rotates around the rear suspension single crossbeam swing arm under the drive of the rear wheel assembly balance beam; The two ends of the rear suspension cylinder are respectively hinged to the top of the rear suspension base and the middle of the rear suspension single crossbeam swing arm, forming a three-point independent support structure together with the two front suspension cylinders, which are used to adjust the vehicle body pitch angle β and platform height z of the transport platform.

6. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 1, characterized in that, The power control system includes an engine unit, a hydraulic pump unit, a hydraulic valve unit, a hydraulic oil tank, a transport platform electrical control box, and a fuel tank. The fuel tank provides fuel to the engine unit, the engine unit is connected to the hydraulic pump unit and drives the hydraulic pump unit to work; the hydraulic oil tank provides hydraulic oil to the hydraulic pump unit, and the hydraulic valve group is connected to the hydraulic pump unit, the hydraulic oil tank, the front suspension cylinder and the rear suspension cylinder respectively, and is used to control the flow direction and pressure of the hydraulic oil. The electrical control box of the transport platform is electrically connected to the engine group and the hydraulic valve group, and is used to control the start and stop of the engine group and its speed, while adjusting the action of the hydraulic valve group to achieve control of the platform's power and attitude.

7. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 6, characterized in that, The perception feedback system includes a self-propelled positioning base station, a vehicle-mounted tilt meter on the transport platform, and a pressure sensor. The self-propelled positioning base station is installed on the chassis frame to acquire platform position information and enable the platform to autonomously walk and position itself. The vehicle-mounted tilt sensor of the transport platform is installed on the chassis frame to detect the vehicle body roll angle α and pitch angle β in real time and feed the attitude information back to the front suspension cylinder. The pressure sensor is used to detect the hydraulic system pressure and the platform load pressure to avoid system overload and ensure platform operation safety.

8. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 5, characterized in that, When the rear-mounted tire assembly turns, it can rotate relative to the transport platform along the yaw angle γ direction, coordinating with the rotation action of the rear wheel assembly self-rotating mechanism.

9. The front-tracked, rear-wheeled all-terrain adaptive transport platform based on active suspension according to claim 3, characterized in that, The parallelogram linkage mechanism of the front double swing arm suspension mechanism maintains the contact state between the front inverted trapezoidal rubber track wheel and the ground during the extension and retraction adjustment of the front suspension cylinder, thus avoiding power loss or posture imbalance caused by the track wheel being suspended in the air.

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