Machine wolf pack mother cabin with wing-shaped folding and unfolding mechanism

Abstract

The invention discloses a machine wolf pack mother cabin with a wing-shaped folding and unfolding mechanism, and relates to the technical field of bionic control, the machine wolf pack mother cabin comprises a square cabin, the wing-shaped folding and unfolding mechanism, a locking mechanism, a positioning identification piece, an expansion plate, a turnover mechanism and a carrying vehicle, the wing-shaped folding and unfolding mechanism is synchronously driven through servo hydraulic pressure, the machine wolf pack locked on a tray of the wing-shaped folding and unfolding mechanism is driven to do rapid and stable folding and unfolding movement in a horizontal posture all the time, one-time rapid and stable shelter loading and unloading and releasing of all the machine wolves are completed, and a'wolf pack 'combat situation is rapidly formed on a battlefield; otherwise, one-time rapid recovery and transfer of the wolf pack of the machine can be completed. The device is simple in structure, rapid in operation, stable and reliable, the release or recovery process of the machine wolf pack can be fully automatically and rapidly completed within 1-3 min, the machine wolf pack mother cabin has extremely high maneuverability and rapid response capacity, and a new wolf, vehicle and man integrated cluster combat mode is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic control technology, and particularly relates to a machine wolf group mother cabin with a wing type folding and unfolding mechanism. BACKGROUND

[0002] A machine dog is a four-legged bionic leg-foot type intelligent robot, which imitates the four-limb structure and walking mode of a dog, and is equipped with multiple types of sensors, drivers, control systems and the like through highly complex mechanical structures and precise control algorithms, so as to have extremely strong environmental adaptability and be able to walk stably and perform tasks in various complex terrains. Compared with a two-legged robot, a four-legged robot has better load capacity and higher stability, and compared with a multi-legged robot, the four-legged robot has greater leg movement space, less mechanism redundancy and smaller complexity. Therefore, from the aspects of load capacity, environmental adaptability, stability, control difficulty and manufacturing cost, the four-legged robot such as the machine dog is the best form of leg-foot type robots. With the continuous development of unmanned combat equipment, unmanned machine wolves gradually have functions such as intelligent sensing, autonomous judgment, autonomous planning and autonomous attack, and can perform various combat tasks in the battlefield, such as forward reconnaissance, fire support and direct attack, and also have strong power in urban counter-terrorism, street fighting and fighting in complex terrain, which can effectively reduce personnel casualties and improve combat efficiency. As people know, dogs usually fight alone, while wolves are gregarious animals and are good at team cooperation, hunting and cluster combat.

[0003] The "machine wolf" has improved abilities in terms of reconnaissance, attack, support and disposal of the "machine wolf", and the "machine wolf" combat detachment simulates the cooperation mode of a wolf pack and is divided into different roles such as a reconnaissance and detection "head wolf", an accurate attack "shooter wolf" and a comprehensive support "transportation support wolf". It can be said that the transformation from a "dog" to a "wolf" also reflects the improvement of combat effectiveness, and the "machine wolf" four-legged robot cluster system using the concept of cluster combat can realize "person-vehicle-wolf" interconnection, information sharing and dynamic autonomous cooperation. Machine wolf detachments with different combat function combinations have increasingly shown the advantages of intelligent and unmanned cluster combat mode, however, the machine wolf is limited by its energy (battery) and command and control distance, and cannot walk and fight at a long distance, so the cluster transportation, command, maintenance, support and other needs of the machine wolf group are extremely urgent. The unmanned machine wolf group in the prior art cannot realize the integration of long-distance transportation, rapid release and recovery, command and control, energy supply and maintenance. SUMMARY

[0004] The present application relates to the field of bionic control technology, and particularly relates to a machine wolf group mother cabin with a wing type folding and unfolding mechanism.

[0005] The present application achieves the above-mentioned purpose through the following technical solutions: The machine wolf group mother cabin with wing-shaped retracting mechanism comprises a shelter, two groups of wing-shaped retracting mechanisms, two groups of locking mechanisms, two groups of positioning markers, two extension plates, four groups of turnover mechanisms and a vehicle, the shelter is installed on the vehicle and used in cooperation with the vehicle; The two groups of wing-shaped retracting mechanisms are respectively installed on the left and right sides in the shelter, and are used for realizing the entering and exiting and the going up and down of the machine wolf group; each group of wing-shaped retracting mechanism comprises a double parallel four-bar linkage mechanism and two retracting driving pieces; the double parallel four-bar linkage mechanism comprises two completely symmetrical parallel four-bar linkage mechanisms, two supporting arms and a supporting plate; the two ends of one retracting driving piece are respectively rotatably connected to two points on one diagonal line of one parallel four-bar linkage mechanism; the first ends of the two supporting arms are respectively installed on the two parallel four-bar linkage mechanisms, and the two ends of the supporting plate are respectively fixedly connected with the second ends of the supporting arms; The two groups of locking mechanisms are respectively installed on the two supporting plates; one group of locking mechanism comprises a plurality of locking mechanisms, and one locking mechanism is used for the locking and unlocking of one machine wolf; The two groups of positioning markers are respectively rotatably connected to the inner sides of the two supporting plates, and are used for guiding the markers of the machine wolf to return to the original position; The two extension plates are respectively rotatably connected to the outer sides of the two supporting plates, and are used for assisting the machine wolf to go up and down the supporting plate; The first ends of the four groups of turnover mechanisms are respectively rotatably connected to the two groups of positioning markers and the two extension plates, the second ends of the four groups of turnover mechanisms are respectively fixedly connected to the inner and outer sides of the supporting plates of the two groups of wing-shaped retracting mechanisms, and the turnover mechanisms are used for the turnover of the positioning markers and the extension plates.

[0006] The shelter of the machine wolf group mother cabin with wing-shaped retracting mechanism of the present application can be installed on the vehicle, so that the vehicle can quickly and rapidly reach the designated combat position, the machine wolf group locked on the supporting plate of the wing-shaped retracting mechanism composed of the double parallel four-bar linkage mechanism driven by the servo hydraulic synchronous drive can always quickly and stably retract and expand in a horizontal posture, the one-time quick and stable going up and down of the shelter and the release of all the machine wolves can be completed, so that the "wolf group" combat posture can be quickly formed on the battlefield; conversely, the one-time quick recovery and transfer of the machine wolf group can be completed. The structure of the present application is simple, the operation is simple, the running is quick, stable and reliable, the release or recovery process of the machine wolf group can be automatically and quickly completed within 1-3 minutes, the machine wolf group mother cabin has high mobility and quick response capability, and a new wolf, vehicle and person integrated cluster combat mode is realized. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a schematic view of the wing-shaped retracting mechanism of the machine wolf group mother cabin with wing-shaped retracting mechanism of the present application in the retracted state; Figure 2 is a rear view of the wing-shaped retracting mechanism of the machine wolf group mother cabin with wing-shaped retracting mechanism of the present application in the retracted state; Figure 3 is a schematic view of the wing profile folding mechanism of the machine wolf pack mother cabin of the present application in the unfolded state Figure 1 ; Figure 4 is a schematic view of the wing profile folding mechanism of the machine wolf pack mother cabin of the present application in the unfolded state Figure 2 ; Figure 5 is a rear view of the unfolded state of the wing profile folding mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 6 is a schematic view of the structural principle of the wing profile folding mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 7 is a schematic view of the turnover mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 1 ; Figure 8 is a schematic view of the turnover mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 2 ; Figure 9 is a schematic view of the locking mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 1 ; Figure 10 is a schematic view of the locking mechanism in the machine wolf pack mother cabin of the present application with wing profile folding mechanism Figure 2 ; wherein the corresponding reference signs are: 1 - machine wolf, 2 - vehicle carrier, 3 - shelter, 4 - wing profile folding mechanism, 5 - locking mechanism, 6 - positioning identification element, 7 - expansion plate, 8 - turnover mechanism 301 - cabin body, 302 - side cabin door, 303 - door opening hydraulic cylinder 401 - base, 402 - upper support arm, 403 - lower support arm, 404 - connecting arm, 405 - support arm, 406 - tray, 407 - folding hydraulic cylinder 501 - locking seat, 502 - locking hydraulic cylinder, 503 - locking connecting rod, 504 - locking head, 505 - locking guide sleeve, 506 - elastic charging contact 601 - positioning identification column, 602 - positioning identification plate, 603 - connecting plate 801 - turnover hydraulic cylinder, 802 - turnover connecting rod DETAILED DESCRIPTION

[0008] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0009] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0010] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0011] In the description of the present application, it should be understood that the terms "upper", "lower", "inner", "outer", "left", "right", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0012] In addition, the terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0013] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0014] The specific embodiments of the present application will be described in detail below in combination with the accompanying drawings.

[0015] As Figures 1-5As shown, the machine wolf group mother cabin with the wing type retraction mechanism comprises a shelter 3 mounted on and used in cooperation with the carrier vehicle 2, and two groups of wing type retraction mechanisms 4, two groups of locking mechanisms 5, two groups of positioning markers 6, two extension plates 7, and four groups of turnover mechanisms 8. The two groups of wing type retraction mechanisms 4 are mounted on the left and right sides of the shelter 3 to form a double-wing type retraction mechanism 4; each group of wing type retraction mechanisms 4 comprises a double parallel four-bar linkage mechanism and two retraction driving members; the double parallel four-bar linkage mechanism comprises two front and rear completely symmetrical parallel four-bar linkage mechanisms, two supporting arms 405, and a supporting tray 406.

[0016] One parallel four-bar linkage mechanism comprises: a base 401; the base 401 is fixedly mounted in the shelter 3; an upper supporting arm 402; a first end of the upper supporting arm 402 is rotatably connected to a first end of the base 401; a lower supporting arm 403; a first end of the lower supporting arm 403 is rotatably connected to a second end of the base 401; a connecting arm 404; two ends of the connecting arm 404 are rotatably connected to second ends of the upper supporting arm 402 and the lower supporting arm 403, respectively.

[0017] The vertical vertical beams of the two supporting arms 405 are fixedly connected to the connecting arm 404; the two supporting trays 406 are fixedly mounted on the horizontal crossbeams of the front and rear two supporting arms 405, thereby connecting the front and rear two groups of parallel four-bar linkage mechanisms together and forming a double parallel four-bar linkage mechanism.

[0018] The retraction driving member is a retraction hydraulic cylinder 407 or an electric cylinder; two ends of each retraction hydraulic cylinder 407 are rotatably connected to two points on a diagonal line of one group of parallel four-bar linkage mechanisms, i.e., a first end of the retraction hydraulic cylinder 407 is rotatably connected to the second end of the base 401 and the first end of the lower supporting arm 403, and a second end of the retraction hydraulic cylinder 407 is rotatably connected to the second end of the upper supporting arm 402 and the first end of the connecting arm 404; through the synchronous extension and contraction movements of the two retraction hydraulic cylinders 407, one group of double parallel four-bar linkage mechanisms can be driven to perform a rotary movement on the base 401, thereby forming one group of wing type retraction mechanisms 4 and realizing the in-out and up-down of the supporting tray 406 on the shelter 3.

[0019] As shown in Figure 3 , Figure 4 , the two groups of locking mechanisms 5 are mounted on the supporting trays 406 of the left and right two groups of wing type retraction mechanisms 4, respectively; one group of locking mechanisms 5 comprises a plurality of locking mechanisms 5, and one locking mechanism 5 is used for the locking and unlocking of one machine wolf 1. Figure 9 , Figure 10As shown, each locking mechanism 5 comprises a locking seat 501, a locking hydraulic cylinder 502, two locking connecting rods 503, two locking heads 504, two locking guide sleeves 505, and two elastic charging contacts 506. The locking hydraulic cylinder 502 is fixedly installed in the locking seat 501, and the first ends of the two locking connecting rods 503 are rotatably connected to the acting end of the locking hydraulic cylinder 502. The first ends of the two locking heads 504 are rotatably connected to the second ends of the two locking connecting rods 503. The two locking guide sleeves 505 are fixedly installed on the two sides of the locking seat 501, and the two locking heads 504 are movably installed in the inner holes of the two locking guide sleeves 505, respectively. The two elastic charging contacts 506 are arranged on the upper surface of the locking seat 501 and are electrically connected to the positive and negative poles of the charging power adapter, respectively. When the robot wolf 1 enters the locking mechanism 5 and crouches down, the locking hydraulic cylinder 502 extends, and the second ends of the two locking heads 504 are inserted into the locking grooves arranged on the two sides of the robot wolf 1 under the action of the two locking connecting rods 503, so that the robot wolf 1 is locked on the locking mechanism 5. At the same time, the two elastic charging contacts 506 also achieve reliable electrical contact with the two charging contacts on the robot wolf 1 under the action of the spring and perform automatic charging. When the locking mechanism 5 releases the locking of the robot wolf 1, the locking hydraulic cylinder 502 retracts, and the second ends of the two locking heads 504 are separated from the two locking grooves of the robot wolf 1 under the action of the two locking connecting rods 503, so that the robot wolf 1 can be released from the locking mechanism 5.

[0020] As shown in Figure 3 , Figure 4 , the two groups of positioning markers 6 are rotatably connected to the inner sides of the two trays 406, respectively. Each group of positioning markers 6 comprises a connecting plate 603, at least two positioning marker columns 601, and a positioning marker plate 602. The positioning marker columns 601 are fixedly installed on the positioning marker plate 602 at a specified interval. The positioning marker plate 602 is fixedly installed on the connecting plate 603, and the connecting plate 603 is rotatably connected to the inner sides of the two trays 406. Adjacent two robot wolves 1 share one positioning marker column 601, and adjacent two positioning marker columns 601 and one positioning marker plate 602 indicate and guide one robot wolf 1 to move autonomously onto a corresponding locking mechanism 5.

[0021] As shown in Figure 7 , Figure 8 , the two extension plates 7 are rotatably connected to the outer sides of the two trays 406 of the left and right groups of airfoil flip mechanisms 4, respectively, for assisting the robot wolf 1 in autonomous homing and in the up and down movement of the trays 406. As shown in Figure 7 , Figure 8As shown, each set of turnover mechanism 8 includes at least two turnover mechanisms 8, each of which includes a turnover driving member and a turnover connecting rod 802, the turnover driving member being a turnover hydraulic cylinder 801 or an electric cylinder, the cylinder body of the turnover driving member being fixedly installed at the bottom of the tray 406; the first end of the turnover connecting rod 802 is rotatably connected with the output end of the turnover hydraulic cylinder 801, and the second end is rotatably connected with the positioning marker 6 or the extension plate 7, and through the synchronous extension and contraction movement of the turnover hydraulic cylinder 801, the turnover of the two sets of positioning markers 6 and the two extension plates 7 can be controlled.

[0022] Further, as shown in Figure 6 , the wing-shaped folding mechanism 4 is based on the structural principle and mechanical characteristics of the parallel four-bar linkage mechanism, and through the synchronous extension and contraction movement of the four folding hydraulic cylinders 407 in the two sets of double parallel four-bar linkage mechanisms on the left and right sides, the four parallel four-bar linkage mechanisms are driven to rotate on the corresponding base 401, thereby driving the synchronous folding movement of the two trays 406, so that the machine wolf 1 always enters and exits the wing-shaped cabin 3 in a horizontal state. The use of double parallel four-bar linkage mechanisms effectively improves the structural rigidity of the wing-shaped folding mechanism 4 and ensures stability during wing-shaped folding movement; at the same time, through the adjustment of the structural size of the double parallel four-bar linkage mechanism and the height size adjustment of the supporting arm 405, the tray 406 can be placed on the floor or supporting member in the cabin 3 and locked by hydraulic and mechanical means when the wing-shaped folding mechanism 4 is folded, thereby ensuring the stability of the tray 406 and the machine wolf 1 during marching.

[0023] Further, as shown in Figure 1 , the longitudinal distance between the two parallel four-bar linkage mechanisms of one double parallel four-bar linkage structure in the cabin 3 is the first distance, and the longitudinal distance between the two parallel four-bar linkage mechanisms of the other double parallel four-bar linkage structure in the cabin 3 is the second distance, the first distance and the second distance being determined according to the space size required by the machine wolf group and the wing-shaped folding mechanism 4 in the cabin 3, so as to avoid the lateral interference of the left and right wing-shaped folding mechanisms 4; the length of the left and right trays 406 is also different due to the difference between the first distance and the second distance.

[0024] Further, as shown in Figure 1 , Figure 2As shown, to solve the size limit of the left and right two sets of double parallel four-bar linkage mechanism in the width direction after the machine wolf 1 enters the shelter 3, the longitudinal length of the left and right two sets of double parallel four-bar linkage mechanism is designed to be different, that is, the first distance and the second distance are different, so that the left and right two sets of double parallel four-bar linkage mechanism can continue to move to the other side after reaching the vertical position, and the left and right two sets of double parallel four-bar linkage mechanism can form a cross in space, so that the left and right two sets of double parallel four-bar linkage mechanism can reach a smaller interval in the shelter 3; at the same time, in order to avoid interference, a turning mechanism 8 of a positioning marker is designed, and the turning mechanism 8 of the positioning marker is driven by the extension and retraction movement of a turning hydraulic cylinder 801 to realize the turning movement in the folding and unfolding process. Therefore, the wing type folding and unfolding mechanism 4 on the left and right sides can be folded into the shelter 3 with the smallest width size.

[0025] Further, as shown in Figure 3 、 Figure 4 , to solve the adaptability of the machine wolf 1 to different ground when the machine wolf 1 autonomously goes up and down the tray 406 and the need for autonomous entry into the locking mechanism 5, the expansion plate 7 and the turning mechanism 8 are designed on the outside of the tray 406 to assist the machine wolf 1 to enter and exit the locking mechanism 5 and to go up and down the tray 406. When the wing type folding and unfolding mechanism 4 is unfolded and reaches the ground, the turning hydraulic cylinder 801 retracts to drive it to be synchronously unfolded to a horizontal state, which better guarantees the requirements of the machine wolf 1 for posture adjustment when autonomously entering the locking mechanism 5 and the adaptability of the machine wolf 1 to the ground when going up and down the tray 406; when the wing type folding and unfolding mechanism 4 is retracted and leaves the ground, the turning hydraulic cylinder 801 extends to drive it to be synchronously turned to a vertical state, so that the double-wing type turning mechanism 4 has the smallest transverse size without causing the width limit of the shelter 3, which meets the transportation requirements of the machine wolf group mother cabin on the road and the railway.

[0026] As shown in Figures 1-5 , the shelter 3 is installed on the vehicle carrier 2 and used in cooperation with the vehicle carrier 2, and includes a cabin body 301, two side cabin doors 302 and two sets of door opening components. The first ends of the two side cabin doors 302 are respectively rotatably installed on the two sides of the upper end of the cabin body 301; each set of door opening component includes two door opening components, and the door opening component is a door opening hydraulic cylinder 303 or an electric cylinder, which is respectively used for opening and closing control of the left and right two side cabin doors 302; the two ends of the door opening hydraulic cylinder 303 are respectively rotatably connected with the side cabin door 302 and the cabin body 301. The synchronous unfolding and closing of the wing type of the side cabin door 302 during the folding and unfolding movement of the wing type folding and unfolding mechanism 4 is realized through the synchronous extension and retraction movement of the two door opening hydraulic cylinders 303. At the same time, a cabinet and an oil machine platform are arranged on the platform of the vehicle carrier 2, which are used for installing a servo control cabinet, a servo hydraulic oil source, a backup battery cabinet and an alcohol hydrogen silent power station, etc.; the wing type folding and unfolding of the wing type folding and unfolding mechanism 4, the release and recovery operation of the machine wolf 1, the command control terminal of the machine wolf 1, etc. are all arranged in the cab of the vehicle carrier 2, and the running state of the wing type folding and unfolding mechanism 4 can be monitored in real time through the cameras arranged inside and outside the shelter 3.

[0027] The door opening member, the folding and unfolding driving member, the overturning driving member and the locking hydraulic cylinder 502 are illustrated as hydraulic cylinders in this embodiment. Four sets of identical distributed hydraulic servo systems are designed. Each set of hydraulic servo system adopts a servo motor and a servo hydraulic cylinder to realize accurate synchronous control of the speed and position of each movement of the system.

[0028] The door opening member, the folding and unfolding driving member, the overturning driving member and the locking hydraulic cylinder 502 are provided with in-place control switches and hydraulic locks or mechanical locks, so that the whole process of mechanism operation can be automatically completed and reliably locked in the corresponding state.

[0029] The base 401, the upper support arm 402, the lower support arm 403 and the connecting arm 404 are all welded into beam structures with π-shaped cross sections by using high-strength structural steel with excellent weldability.

[0030] The support arm 405 is welded into a hollow beam structure with a rectangular cross section by using high-strength structural steel with excellent weldability.

[0031] The tray 406 and the expansion plate 7 are welded into a frame structure by using high-strength structural steel with excellent weldability, and an anti-slip aluminum alloy plate is laid on the frame structure.

[0032] The working process of the mother cabin of the machine wolf group with the wing-shaped folding and unfolding mechanism is as follows: 1. Machine wolf 1 group release process: 1) When the machine wolf 1 group needs to perform a combat task, the left and right cabin doors 301 of the shelter 3 are synchronously unfolded in a wing shape under the extension action of the door opening hydraulic cylinders 302; 2) The folding and unfolding hydraulic cylinders 407 are synchronously contracted to drive the double parallel four-bar linkage mechanisms of the left and right wing-shaped folding and unfolding mechanisms 4 to rotate outward toward the shelter 3 and synchronously unfold in a wing shape to the two sides, and the trays 406 are unfolded from the cabin and lowered to the ground; 3) The overturning hydraulic cylinders 801 are contracted to drive the positioning marker 6 and the expansion plate 7 to unfold to a horizontal state through the overturning connecting rod 802; 4) The locking hydraulic cylinders 502 are contracted to drive the lock heads 504 to retract and unlock, the machine wolf 1 stands up and leaves the locking seat 501, and then goes down to the ground through the expansion plate 7, thereby completing the release of the machine wolf 1 (as shown in Figure 3 ); 5) The overturning hydraulic cylinders 801 are extended to drive the positioning marker 6 and the expansion plate 7 to fold to a 90° state through the overturning connecting rod 802; 6) The folding and unfolding hydraulic cylinders 407 are synchronously extended to drive the double parallel four-bar linkage mechanisms of the left and right wing-shaped folding and unfolding mechanisms 4 to synchronously rotate inward toward the shelter 3, thereby driving the left and right trays 406 to synchronously rise and be folded back into the shelter 3; 7) The left and right cabin doors 301 are synchronously closed in a wing shape under the synchronous contraction action of the door opening hydraulic cylinders 302, and the mother cabin reaches a marching state (as shown in Figure 1The command and control of the robot wolf 1 group in situ or on the march according to the combat requirements.

[0033] 2. Robot wolf 1 group recycling process: 1) When the robot wolf 1 returns after completing the combat task, the left and right side doors 301 of the shelter 3 are synchronously unfolded in the form of wings under the extension of the door opening hydraulic cylinder 302; 2) The retracting hydraulic cylinder 407 is synchronously retracted, driving the double parallel four-bar linkage mechanism of the left and right wing-shaped retracting mechanism 4 to rotate outward to the shelter 3 and synchronously unfold in the form of wings to the two sides, and the tray 406 is unfolded and lowered to the ground; 3) The turning hydraulic cylinder 801 is retracted, driving the positioning identification member 6 and the extension plate 7 to unfold to the horizontal state through the turning connecting rod 802; 4) The robot wolf 1 steps on the tray 406 through the extension plate 7, and through the automatic recognition and positioning of the positioning identification column 601 and the positioning identification plate 602, it autonomously enters the corresponding locking mechanism 5 and lies on the locking seat 501 (as Figure 3 shown); 5) The locking hydraulic cylinder 502 is extended, driving the lock head 504 to extend and lock the robot wolf 1 on the locking seat 501, and automatically charging according to the power condition, or manually replacing the standby battery quickly; 6) The turning hydraulic cylinder 801 is synchronously extended, driving the positioning identification member 6 and the extension plate 7 to fold to the 90° state through the turning connecting rod 802; 7) The retracting hydraulic cylinder 407 is synchronously extended, driving the double parallel four-bar linkage mechanism of the left and right wing-shaped retracting mechanism 4 to synchronously rotate inward to the shelter 3, driving the left and right trays 406 to synchronously ascend and retract into the shelter 3; 8) The left and right side doors 301 are synchronously closed in the form of wings under the synchronous retraction of the door opening hydraulic cylinder 302, and the mother cabin reaches the marching state (as Figure 1 shown), and is transferred or evacuated according to the combat requirements.

[0034] The robotic wolf pack mother capsule of this invention, equipped with an airfoil-shaped deployment and retraction mechanism, rapidly and maneuveres to its designated combat position. It then employs a servo hydraulic system to drive two sets of double-linked parallel four-bar linkages to precisely and synchronously swing, ensuring the robotic wolf pack on tray 406 maintains a horizontal posture and rapidly and stably deploys synchronously. This allows for the rapid, one-time release of all robotic wolves 1, quickly forming a "wolf pack" combat posture on the battlefield. Conversely, it enables the rapid, one-time recovery and withdrawal of the robotic wolf pack. This invention features a simple structure, easy operation, rapid running, and stable reliability. The release or recovery process of the robotic wolf pack can be completed fully automatically within 1-3 minutes, giving the robotic wolf pack mother capsule extremely high mobility and rapid response capabilities. Simultaneously, the automatic charging system and backup batteries configured in the container 3 enable automatic charging or rapid battery swapping of the robotic wolf pack; and the configured command and control system allows for the accompanying cluster command and control of the robotic wolf pack, realizing a new integrated cluster combat mode of wolves, vehicles, and personnel.

[0035] According to operational requirements, the robot wolf pack mothership of the present invention with an airfoil deployment and retraction mechanism can adopt a double-wing synchronous deployment and retraction of two sets of airfoil deployment and retraction mechanisms 4 on the left and right sides of the container 3 to complete the one-time release and recovery of the robot wolf pack, or it can adopt a single-wing deployment and retraction of a single set of airfoil deployment and retraction mechanisms 4 on one side. A single set of airfoil deployment and retraction mechanisms 4 can be installed on either side of the container 3, or a single set of airfoil deployment and retraction mechanisms 4 can be installed on the rear side of the container 3, allowing the robot wolf pack to enter, exit, and move up and down at the rear of the container 3, to meet the needs of different numbers of robot wolf packs and battlefield environments. Different numbers of robot wolf packs can be arranged longitudinally on the tray 406, or double-layer or multi-layer trays 406 can be set to meet the needs of loading different numbers of robot wolf pack teams. At the same time, the double-link parallel four-bar airfoil deployment and retraction mechanism 4 of the present invention can be applied not only to the operational requirements of the robot wolf pack mothership, but also to the robot dog pack mothership carrying fire-fighting or rescue robot dog packs, and to the drone swarm mothership carrying fixed-wing or rotary-wing drone swarms. Therefore, this invention has strong scalability and application scenarios, and can provide a new type of cluster carrier for various unmanned intelligent combat weapons or unmanned intelligent emergency rescue equipment.

[0036] The technical solutions of the present invention are not limited to the specific embodiments described above. Any technical modifications made in accordance with the technical solutions of the present invention fall within the protection scope of the present invention.

Claims

1. A robotic wolf pack mother cabin with an airfoil retraction mechanism, characterized in that, It includes a modular container, two sets of airfoil retraction and extension mechanisms, two sets of locking mechanisms, two sets of positioning markers, two extension plates, four sets of tilting mechanisms, and a carrier vehicle. The modular container is installed on the carrier vehicle and is used in conjunction with the carrier vehicle. Two sets of airfoil retraction mechanisms are installed on the left and right sides of the container, respectively, to enable the robot wolf pack to enter and exit and move up and down the container; each set of airfoil retraction mechanisms includes a double parallel four-bar linkage and two retraction drive components; the double parallel four-bar linkage includes two completely symmetrical parallel four-bar linkages, two support arms and a tray; the two ends of one retraction drive component are rotatably connected to two points on a diagonal of one parallel four-bar linkage, the first ends of the two support arms are respectively installed on the two parallel four-bar linkages, and the two ends of the tray are respectively fixedly connected to the second ends of the support arms; Two sets of locking mechanisms are installed on two trays respectively; one set of locking mechanisms includes multiple locking mechanisms, and one locking mechanism is used for locking and unlocking a robot wolf; Two sets of positioning markers are rotatably connected to the inside of the two trays, serving as markers to guide the robotic wolf to return to its original position autonomously. Two extension plates are rotatably connected to the outside of the two trays to assist the robot wolf in loading and unloading the trays; The first ends of the four sets of flipping mechanisms are rotatably connected to two sets of positioning markers and two extension plates, respectively. The second ends of the four sets of flipping mechanisms are fixedly connected to the inner and outer sides of the trays of the two sets of wing-shaped retraction mechanisms, respectively, for flipping the positioning markers and extension plates.

2. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, Each parallel four-bar linkage includes: Base; The base is fixedly installed inside the container. Upper support arm; the first end of the upper support arm is rotatably connected to the first end of the base; Lower support arm; the first end of the lower support arm is rotatably connected to the second end of the base; Connecting arm; the two ends of the connecting arm are rotatably connected to the second ends of the upper support arm and the lower support arm, respectively, and the first end of the support arm is fixedly connected to the connecting arm.

3. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, The longitudinal distance between the two parallel four-bar linkages of a double-linked parallel four-bar structure within the shelter is taken as the first distance, and the longitudinal distance between the two parallel four-bar linkages of another double-linked parallel four-bar structure within the shelter is taken as the second distance. The first distance and the second distance are different.

4. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, The shelter includes a body, two side doors, and two sets of door opening components. The first ends of the two side doors are rotatably mounted on both sides of the upper part of the body. The two sets of door opening components are used to control the opening and closing of the two side doors. The door opening components are hydraulic cylinders or electric cylinders, and the two ends of the door opening components are rotatably connected to the side doors and the interior of the body, respectively.

5. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, The locking mechanism includes a locking seat, a locking hydraulic cylinder, two locking links, two lock heads, two locking guide sleeves, and two resilient charging contacts. The locking hydraulic cylinder is fixedly installed inside the locking seat. The first ends of the two locking links are rotatably connected to the actuating end of the locking hydraulic cylinder, and the first ends of the two lock heads are rotatably connected to the second ends of the two locking links, respectively. The locking guide sleeves are fixedly installed on both sides of the locking seat, and the two lock heads are movably installed in the inner holes of the locking guide sleeves, respectively. The two resilient charging contacts are located on the upper surface of the locking seat and are electrically connected to the positive and negative poles of the charging power adapter, respectively.

6. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, Each set of positioning markers includes a connecting plate, at least two positioning marker posts, and a positioning marker plate. The positioning marker posts are fixedly installed on the positioning marker plate at specified intervals, and the positioning marker plate is fixedly installed on the connecting plate. The connecting plate is rotatably connected to the inside of the two trays. Two adjacent robot wolves share a positioning marker post between them. The two adjacent positioning marker posts and the positioning marker plate indicate and guide one robot wolf to move autonomously onto a corresponding locking mechanism.

7. The robotic wolf pack mother cabin with an airfoil retraction mechanism according to claim 1, characterized in that, Each set of flipping mechanisms includes at least two flipping mechanisms. Each flipping mechanism includes a flipping drive and a flipping connecting rod. The flipping drive is a flipping hydraulic cylinder or an electric cylinder. The cylinder body of the flipping drive is fixedly installed on the bottom of the pallet. The first end of the flipping connecting rod is rotatably connected to the output end of the flipping drive, and the second end of the flipping connecting rod is rotatably connected to a positioning marker or an extension plate.

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