Crawler-type mobile platform with multidirectional adjustable gravity center

Abstract

The crawler-type moving platform comprises a central machine body, double-cross-arm connecting rod mechanisms and crawler walking mechanisms, the double-cross-arm connecting rod mechanisms are symmetrically arranged on the two sides of the central machine body and connected with the crawler walking mechanisms, and each crawler walking mechanism comprises a walking supporting frame. The walking supporting frame is composed of an outer connecting plate and an inner connecting plate which are fixedly connected through a connecting shaft, the middle position of the inner connecting plate is fixedly connected with a longitudinal sliding base through a bolt, a walking driving assembly is arranged at the rear end of the inner connecting plate, and a tensioning mechanism is installed on the inner side of the outer connecting plate. The problems that in the prior art, a crawler-type platform is insufficient in obstacle crossing ability and poor in stability in the complex terrain are solved, adjustment of the gravity center of the whole machine in the transverse direction, the longitudinal direction and the vertical direction is achieved, and the trafficability and the stability under the unstructured terrain are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of all-terrain mobile equipment technology, and relates to a tracked mobile platform with a multi-directional adjustable center of gravity. Background Technology

[0002] With the increasing demand for field operations, disaster relief, planetary exploration, and mechanized mountain agriculture, extremely high requirements are being placed on the terrain mobility and operational stability of mobile platforms. In complex, unstructured terrains such as soft mud, gravel roads, gullies, and steep slopes, tracked mobile platforms have become the mainstream choice due to their advantages such as low ground pressure, high traction, and good adhesion. However, existing tracked mobile platforms mainly suffer from the following problems:

[0003] 1. Poor terrain adaptability: Most existing platforms are rigidly connected, and when passing through transverse slopes, they will tilt with the slope, causing the on-board precision instruments to fail or the whole vehicle to roll over.

[0004] 2. Insufficient stability: The existing platform cannot actively adjust the track gauge and center of gravity, resulting in reduced stability and difficulty in meeting the diverse needs of unstructured terrain;

[0005] 3. Limited functional scalability: Most existing platforms have limited functions and lack universal interfaces, which restricts their application potential under different working conditions and makes it impossible to achieve multiple uses on one machine, resulting in difficulties in platform scheduling when facing complex tasks.

[0006] Therefore, in the field of all-terrain mobile equipment technology, there is an urgent need to design a compact, small tracked mobile platform with active adjustment of track gauge and center of gravity. Summary of the Invention

[0007] To achieve the above objectives, the present invention provides a tracked mobile platform with a multi-directional adjustable center of gravity, which solves the problems of insufficient obstacle-crossing ability and poor stability of existing tracked platforms in complex terrain.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is a tracked mobile platform with a multi-directional adjustable center of gravity, including a central body. Symmetrically arranged on both sides of the central body are double-arm linkage mechanisms, which are connected to the tracked traveling mechanism.

[0009] The double horizontal arm linkage mechanism includes two parallel upper swing arms, a lower swing arm is arranged parallel below the upper swing arms, and an electric push rod is arranged at the middle position of the two upper swing arms and the two lower swing arms.

[0010] The tracked walking mechanism includes a walking support frame, which consists of an outer connecting plate and an inner connecting plate. The two are fixedly connected by multiple sets of vertically parallel connecting shafts. A longitudinal sliding base is fixedly connected to the middle position of the inner connecting plate by bolts. A walking drive assembly is provided at the rear end of the inner connecting plate. A tensioning mechanism is installed on the inner side of the outer connecting plate.

[0011] Furthermore, hinged supports are provided on both sides of the central body, and the inner ends of the upper and lower swing arms are hinged to the sides of the hinged supports, while the inner end of the electric push rod is hinged to the center of the hinged supports.

[0012] Furthermore, a load slide is provided in the middle of the longitudinal sliding base, and three nut seats are provided on both sides of the load slide. A screw support seat and two guide rod support seats are provided at both ends of the longitudinal sliding base, with the screw support seat located between the two guide rod support seats.

[0013] One end of the ball screw passes through the screw support seat and is rotatably connected to the screw support seat via a bearing; the other end passes through the nut seat corresponding to the screw support seat and is rotatably connected to the nut seat via a bearing. One end of the guide rod passes through the guide rod support seat and is fixed to the guide rod support seat with bolts; the other end passes through the nut seat corresponding to the guide rod support seat and is fixed to the nut seat with bolts.

[0014] Furthermore, a lateral connecting seat is provided on the load slide, and the outer ends of the upper and lower swing arms are respectively hinged at the upper and lower points of the lateral connecting seat, and the outer end of the electric push rod is hinged to the middle of the lateral connecting seat.

[0015] Furthermore, a longitudinal sliding mechanism is provided at the front end of the longitudinal sliding base, and a longitudinal displacement drive component is installed on the longitudinal sliding mechanism. The longitudinal displacement drive component includes a longitudinal adjustment motor, the output end of which is connected to one end of a ball screw through a longitudinal coupling.

[0016] Furthermore, the walking drive assembly includes a coupling fixed at the rear end of the inner connecting plate, a drive wheel is provided at the rear end of the outer connecting plate, the output end of the reducer is connected to the drive wheel via the coupling, and the output end of the motor is fixedly connected to the other end of the reducer.

[0017] Furthermore, the tensioning mechanism is a screw tensioning mechanism, including a tensioning screw, an adjusting nut, and a tensioning seat. The tensioning seat is fixed to the outer connecting plate by bolts, the tensioning screw passes through the threaded hole of the tensioning seat, and the adjusting nut is located at one end of the tensioning screw.

[0018] Furthermore, the front end of the outer connecting plate is provided with a longitudinally extending groove, the guide wheel is mounted on the tensioning screw, and the wheel axle of the guide wheel is slidably assembled in the groove at the front end of the outer connecting plate.

[0019] Furthermore, each of the connecting shafts is equipped with a support wheel.

[0020] Furthermore, the tracked walking mechanism also includes a rubber track, which is fitted over the wheel system consisting of a support wheel, a drive wheel, and a guide wheel.

[0021] The beneficial effects of this invention are:

[0022] 1. This invention achieves the adjustment of the overall center of gravity in three dimensions—lateral, longitudinal, and vertical—through the cooperation of a double-arm linkage mechanism and a longitudinal sliding mechanism, significantly improving the passability and stability in unstructured terrain.

[0023] 2. This invention adopts a rubber tracked chassis, which can effectively cope with extremely complex terrains such as soft mud, gravel roads, ditches and steep slopes. The tracked walking mechanism on both sides can adapt to the terrain. The upper central body uses the principle of inverted pendulum to maintain perpendicularity to the direction of gravity, which can effectively improve the obstacle crossing ability. The double horizontal arm linkage mechanism on both sides can adjust the track gauge of the tracked mobile platform simultaneously or individually according to the actual situation to adapt to different road widths.

[0024] 3. This invention, through a double-arm linkage mechanism and a longitudinal sliding mechanism, enables the lateral, longitudinal, and vertical adjustment of the machine's center of gravity when operating on unstructured terrain. This allows for the active adjustment of the center of gravity's forward and backward position and a reduction in its height when ascending or descending steep slopes, thereby improving the longitudinal stability of the entire vehicle. When traversing side slopes, it can increase the track gauge and reduce the center of gravity height to enhance the lateral stability of the entire vehicle.

[0025] 4. This invention adopts a vertically symmetrical design, which breaks through the directional limitations of traditional chassis. When encountering extreme terrain that causes rollover, the platform can maintain normal power output, attitude perception and control capabilities in an inverted state without external assistance, thereby improving the continuous operation capability of the whole machine.

[0026] 5. The core components of this invention are all modularly designed, which facilitates assembly, disassembly and maintenance, reduces the cost of use, and provides universal tool mounting interfaces, which can be matched with different tools to achieve different operation functions. It is suitable for operation scenarios under complex unstructured terrain conditions such as steep slopes, high undulations, and irregularities, and has good environmental adaptability, and can operate stably under harsh weather conditions.

[0027] 6. This invention integrates the longitudinal moving mechanism into the inner connecting plate of the track walking mechanism, and realizes a large range of longitudinal adjustment of the center of gravity of the whole machine through the longitudinal sliding mechanism. This ingenious mechanical decoupling design realizes the effect of moving the small slide to pry the center of gravity of the whole machine over a large range, which significantly improves the climbing and ditch crossing ability of the mobile platform. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure on one side of the present invention;

[0031] Figure 3 This is a top view of the present invention;

[0032] Figure 4 This is a schematic diagram of the track gauge state when the track gauge is at its maximum unfolded according to the present invention.

[0033] Figure 5 This is a schematic diagram of the minimum track gauge state under the present invention.

[0034] Figure 6 This is a schematic diagram of the gauge state when the upper gauge is at its minimum unfolded size according to the present invention.

[0035] Figure 7 This is a schematic diagram of the single-sided track-changing state of the present invention;

[0036] Figure 8 for Figure 7 Diagram showing the change in height;

[0037] Figure 9 This is a schematic diagram of the dual-sided anti-directional trajectory change state of the present invention;

[0038] Figure 10 for Figure 9 A diagram illustrating the changes in altitude;

[0039] Figure 11 This is a schematic diagram of the forward position of the center of gravity of the present invention;

[0040] Figure 12 This is a schematic diagram showing the rearward position of the center of gravity of the present invention;

[0041] Figure 13 This is a schematic diagram of the longitudinal position adjustment result of the center of gravity on one side in this invention;

[0042] Figure 14 This is a schematic diagram of the invention when going uphill;

[0043] Figure 15 This is a schematic diagram of the invention when going downhill;

[0044] Figure 16 This is a schematic diagram of the present invention when crossing an obstacle road surface;

[0045] Figure 17 This is a perspective view of the double crossarm linkage mechanism of the present invention;

[0046] Figure 18 This is a perspective view of the longitudinal sliding mechanism of the present invention;

[0047] Figure 19 This is a perspective view of the tensioning mechanism of the present invention.

[0048] In the diagram, 1. Tracked walking mechanism; 2. Double-arm linkage mechanism; 3. Longitudinal sliding mechanism; 4. Central body; 401. Articulated support; 5. Rubber track; 6. Drive wheel; 7. Support wheel; 8. Guide wheel; 9. Walking drive assembly; 901. Motor; 902. Reducer; 903. Coupling; 10. Tensioning mechanism; 101. Tensioning screw; 102. Adjusting nut; 103. Tensioning seat; 11. Walking support frame. 111. Outer connecting plate, 112. Inner connecting plate, 113. Connecting shaft, 12. Upper swing arm, 13. Lower swing arm, 14. Electric push rod, 15. Lateral connecting seat, 16. Ball screw, 17. Smooth rod, 18. Nut seat, 19. Load slide, 20. Screw support seat, 21. Smooth rod support seat, 22. Longitudinal displacement drive assembly, 221. Longitudinal adjustment motor, 222. Longitudinal coupling, 24. Longitudinal sliding base. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Embodiments of the present invention provide a tracked mobile platform with a multi-directionally adjustable center of gravity, such as... Figure 1 , Figure 3 As shown, it includes a central body 4, which is a vertically symmetrical box structure. Its interior is used to install core electrical components such as attitude sensing module, central control unit, and battery pack to realize intelligent control and self-balancing functions.

[0051] The central body 4 is symmetrically provided with double horizontal arm linkage mechanisms 2 on both sides. The double horizontal arm linkage mechanisms 2 are used to connect the central body 4 and the track walking mechanism 1, and to adjust the center of gravity height and track gauge of the moving platform.

[0052] The double-arm linkage mechanism 2 adopts a parallelogram linkage variant structure, such as... Figure 17 As shown, the system includes two parallel upper swing arms 12, with a lower swing arm 13 arranged parallel below each upper swing arm 12. An electric push rod 14 is positioned between the two upper swing arms 12 and the two lower swing arms 13. Hinged supports 401 are provided on both sides of the central body 4. The inner ends of the upper swing arms 12 and lower swing arms 13 are hinged to the sides of the hinged supports 401, and the inner end of the electric push rod 14 is hinged to the center of the hinged supports 401. When the electric push rod 14 operates, it drives the upper swing arms 12 and lower swing arms 13 to swing up and down, thereby synchronously or independently adjusting the track gauge and the overall center of gravity height of the tracked walking mechanisms 1 on both sides. When the swing arms are in a horizontal position, the track gauge of the entire moving platform reaches its widest point. The schematic diagrams of the front and rear positions of the center of gravity of this invention are shown below. Figure 11 , Figure 12 As shown.

[0053] like Figure 2 As shown, the tracked walking mechanism 1 includes a walking support frame 11, which is the supporting part of the entire tracked walking mechanism 1. The walking support frame 11 is composed of an outer connecting plate 111 and an inner connecting plate 112, which are fixedly connected by multiple sets of vertically parallel connecting shafts 113. In this embodiment, both tracked walking mechanisms 1 are provided with eight connecting shafts 113.

[0054] A longitudinal sliding base 24 is bolted to the middle position of the inner connecting plate 112, such as... Figure 18 As shown, a load slide 19 is provided at the middle position of the longitudinal sliding base 24. Three nut seats 18 are provided on both sides of the load slide 19. A lead screw support seat 20 and two guide rod support seats 21 are provided at both ends of the longitudinal sliding base 24. The lead screw support seat 20 is located between the two guide rod support seats 21. A lateral connecting seat 15 is provided on the load slide 19. The outer ends of the upper swing arm 12 and the lower swing arm 13 are respectively hinged to the upper and lower points of the lateral connecting seat 15. The outer end of the electric push rod 14 is hinged to the middle of the lateral connecting seat 15.

[0055] One end of the ball screw 16 passes through the screw support seat 20 and is rotatably connected to the screw support seat 20 via a bearing. The other end passes through the nut seat 18 corresponding to the screw support seat 20 and is rotatably connected to the nut seat 18 via a bearing. One end of the guide rod 17 passes through the guide rod support seat 21 and is fixed to the guide rod support seat 21 with bolts. The other end passes through the nut seat 18 corresponding to the guide rod support seat 21 and is fixed to the nut seat 18 with bolts. The guide rod 17 mainly serves as a guide for movement and a load support, ensuring the smooth longitudinal operation of the slide table. The two ends of the ball screw 16, through the cooperation of the bearings with the screw support seat 20 and the nut seat 18, adjust the longitudinal position of the center of gravity of the entire device. A schematic diagram of the longitudinal position adjustment result of the center of gravity on one side is shown below. Figure 13 As shown.

[0056] The longitudinal sliding base 24 is also provided with a longitudinal sliding mechanism 3 at its front end, which is used to install the longitudinal displacement drive assembly 22. The longitudinal displacement drive assembly 22 includes a longitudinal adjustment motor 221, the output end of which is connected to one end of the ball screw 16 through a longitudinal coupling 222.

[0057] The rear end of the inner connecting plate 112 is provided with a walking drive component 9, such as... Figure 2 As shown, the walking drive assembly 9 includes a coupling 903 fixed at the rear end of the inner connecting plate 112. The rear end of the outer connecting plate 111 is provided with a drive wheel 6, and the front end is provided with a guide wheel 8. The output end of the reducer 902 is connected to the drive wheel 6 through the coupling 903. The output end of the motor 901 is fixedly connected to the other end of the reducer 902. When the motors 901 on both sides run in the same direction and at the same speed, the tracked walking mechanism 1 can move forward and backward. When the motors 901 on both sides run in the same direction but at different speeds, the tracked walking mechanism 1 can turn left and right.

[0058] The front end of the outer connecting plate 111 has a longitudinally extending groove. The axle of the guide wheel 8 is slidably fitted into the groove at the front end of the outer connecting plate 111. A tensioning mechanism 10 is installed on the inner side of the outer connecting plate 111. Figure 19 As shown. The tensioning mechanism 10 is a screw tensioning mechanism, including a tensioning screw 101, an adjusting nut 102, and a tensioning seat 103. The tensioning seat 103 is fixed to the outer connecting plate 111 by bolts. The tensioning screw 101 passes through the threaded hole of the tensioning seat 103, and the adjusting nut 102 is located at one end of the tensioning screw 101. The guide wheel 8 is installed on the tensioning screw 101. By rotating and adjusting the adjusting nut 102 on the tensioning screw 101, the guide wheel 8 is driven to move back and forth along its own axis in the slide groove by the threaded transmission. This drives the wheel axle of the guide wheel 8 to move synchronously along the slide groove of the outer connecting plate 111, thereby precisely controlling the front and rear position of the guide wheel 8 in the slide groove, and finally achieving precise adjustment and reliable positioning of the tension of the rubber track 5, ensuring the stable and controllable track tension.

[0059] Support wheels 7 are installed on the connecting shafts 113 between the outer connecting plate 111 and the inner connecting plate 112. The rubber track 5 is fitted over the wheel system composed of the support wheels 7, drive wheels 6, and guide wheels 8. The connecting shafts 113 are arranged in two rows, upper and lower. The lower row of connecting shafts 113 is arranged along the ground end of the rubber track 5, and its support wheels 7 are used to transmit vertical loads. The support wheels 7 on the upper row of connecting shafts 113 are used to support the upper part of the rubber track 5, ensuring that the rubber track 5 does not sag during movement. The power of the entire device is transmitted from the walking drive assembly 9 to the rubber track 5 through the drive wheels 6. The drive wheels 6 and the rubber track 5 move through internal meshing.

[0060] The central body 4 has a universal tool mounting interface on its exterior, which can be used with different tools to achieve different operating functions. When the mobile platform rolls over or is inverted in complex terrain, the central body 4 can still maintain normal control and communication functions, so that the whole machine has the ability to travel inverted and operate continuously.

[0061] In this invention, the central control unit is electrically connected to the attitude sensing module, the electric push rod 14, the longitudinal displacement drive assembly 22, and the walking drive assembly 9. The attitude sensing module includes an inertial measurement unit (IMU) installed inside the central body 4, and tilt sensors mounted on the walking support frames 11 of the two side track walking mechanisms 1. These sensors are used to collect overall machine attitude information and issue control commands to the electric push rod 14, the longitudinal adjustment motor 221, and the motor 901 according to a preset control strategy. The preset control strategy can be selected from PID control (proportional-integral-derivative control), model predictive control, sliding mode control, reinforcement learning control strategies, etc. The central control unit controls the extension and retraction of the electric push rod 14 to drive the double crossarm linkage mechanism 2 to swing, thereby adjusting the track gauge of the two track walking mechanisms 1 and the height of the overall center of gravity. It controls the forward or reverse rotation of the longitudinal adjustment motor 221, which drives the ball screw 16 to rotate via the longitudinal coupling 222, thus driving the load slide 19 to move back and forth along the longitudinal sliding base 24 to adjust the longitudinal position of the overall center of gravity. By controlling the speed and direction of the two motors 901, it achieves the platform's forward, backward, and turning movements, as well as attitude correction in a self-balancing state. The working principles and control algorithms of each module, as well as the electrical connections between the central control unit and each actuator and attitude sensing module, are existing technologies.

[0062] This invention achieves self-balancing of the central body 4 through the principle of an inverted pendulum. When the inertial measurement unit (IMU) detects that the central body 4 is tilting forward or backward, the central control unit controls the motor 901 of the walking drive assembly 9 to rotate forward or backward, thereby driving the rubber track 5 to rotate and maintaining the central body 4 perpendicular to the direction of gravity. Figure 14 , Figure 15 and Figure 16As shown, when the platform goes uphill or over obstacles, the tracked walking mechanism 1 can rotate relative to the central body 4 according to the terrain and its own gravity. The central body 4 always remains perpendicular to the direction of gravity. The tilt sensor tilts along with the tracked walking mechanism 1 to detect the absolute slope data of the current terrain in real time. After the central control unit obtains and processes this data, it performs coordinated control. On the one hand, it sends a command to the longitudinal displacement drive component 22 to drive the load slide 19 to move, thereby adjusting the longitudinal center of gravity of the entire machine. On the other hand, it sends a command to the electric push rod 14 in the middle of the double horizontal arm linkage mechanism 2 to perform a telescopic action, thereby actively adjusting the track gauge and center of gravity height of the moving platform. At this time, the double horizontal arm linkage mechanisms 2 on the left and right sides extend synchronously, and the tracked walking mechanisms 1 on both sides unfold outward, so that the platform is in a wide track gauge and low center of gravity state. The load slide 19 of the longitudinal sliding mechanism 3 is placed at the geometric center of the entire machine, ensuring the balance of the front and rear axle loads and achieving high-speed and stable movement. Figure 4 As shown, the increased track gauge improves the lateral support area, while the lower center of gravity reduces the lateral roll arm.

[0063] When the platform needs to operate on narrow sections of road, the central control unit drives the double-arm linkage mechanism 2 to retract downwards simultaneously. At this time, the track walking mechanisms 1 on both sides retract downwards and inwards, putting the platform in a narrow-gauge, high-center-of-gravity state. Figure 5 As shown. Although lateral stability is somewhat reduced, the overall vehicle width is minimized, and the high ground clearance prevents the chassis from getting stuck on road bumps. When the platform rolls over and requires inverted operation, the central control unit drives the double wishbone linkage mechanism 2 to shorten upwards simultaneously. At this time, the track walking mechanisms 1 on both sides retract upwards and inwards, as shown. Figure 6 As shown, this allows the platform to remain in a narrow track gauge and high center of gravity even after being flipped, enabling inverted travel and continuous operation. When the platform is on an uphill slope, as... Figure 14 As shown, the longitudinal adjustment motor 221 drives the load slide 19 to move along the ball screw 16 towards the leading edge of the track ground contact point, causing the center of gravity to shift forward and generating a reverse torque to counteract the overturning torque caused by the slope. When the entire platform is on a downhill slope, as... Figure 15 As shown, the longitudinal adjustment motor 221 drives the load slide 19 to move along the ball screw 16 towards the rear edge of the track ground contact point, shifting the center of gravity rearward. When the platform approaches the trench, the load slide 19 is first moved to its rearmost position to reduce the weight on the front of the machine, allowing the entire machine to cross the trench edge; after the front half touches the ground, the load slide 19 is quickly moved forward to increase the weight on the front of the machine, dragging the rear of the machine across the trench. The single-sided track-changing state of this invention is as follows. Figure 7 As shown, its height changes as follows Figure 8 As shown; the bilateral anti-directional trajectory change state is as follows Figure 9 As shown, its height changes as follows Figure 10 As shown.

[0064] This invention differs from traditional tracked chassis that can only passively bear load distribution. It features a longitudinally movable load slide 19, enabling a wide range of active adjustment of the longitudinal center of gravity, thus solving the problem of traditional chassis being limited by their geometric dimensions in terms of climbing ability. Furthermore, it employs a high-rigidity double-arm linkage mechanism 2, coupling the variable track gauge and variable height functions, simplifying control and ensuring structural strength in the deployed state, adapting to the severe impacts of unstructured terrain. Simultaneously, the overall vertically symmetrical design ensures that even when the platform rolls over or is inverted in complex terrain, the central body 4 maintains normal control and communication functions, enabling the entire machine to travel inverted and continue operating.

[0065] The technical problems to be solved by the present invention are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0066] The longitudinal sliding mechanism 3 can be changed to an eccentric wheel structure.

[0067] The tracked walking mechanism 1 may include a shock-absorbing support wheel assembly to effectively absorb terrain impacts.

[0068] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A tracked mobile platform with a multi-directional adjustable center of gravity, comprising a central body (4), characterized in that, The central body (4) is symmetrically provided with double horizontal arm linkage mechanisms (2) on both sides, and the double horizontal arm linkage mechanisms (2) are connected to the track walking mechanism (1). The double horizontal arm linkage mechanism (2) includes two parallel upper swing arms (12), a lower swing arm (13) is arranged in parallel below the upper swing arms (12), and an electric push rod (14) is arranged in the middle of the two upper swing arms (12) and the two lower swing arms (13). The tracked walking mechanism (1) includes a walking support frame (11), which is composed of an outer connecting plate (111) and an inner connecting plate (112). The two are fixedly connected by multiple sets of vertically parallel connecting shafts (113). A longitudinal sliding base (24) is fixedly connected to the middle position of the inner connecting plate (112) by bolts. A walking drive assembly (9) is provided at the rear end of the inner connecting plate (112). A tensioning mechanism (10) is installed on the inner side of the outer connecting plate (111).

2. The tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, The central body (4) is provided with hinged supports (401) on both sides. The inner ends of the upper swing arm (12) and the lower swing arm (13) are hinged to the side of the hinged support (401), and the inner end of the electric push rod (14) is hinged to the center of the hinged support (401).

3. The tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, A load slide (19) is provided in the middle of the longitudinal sliding base (24). Three nut seats (18) are provided on both sides of the load slide (19). A screw support seat (20) and two smooth rod support seats (21) are provided at both ends of the longitudinal sliding base (24). The screw support seat (20) is located in the middle of the two smooth rod support seats (21). One end of the ball screw (16) passes through the screw support seat (20) and is rotatably connected to the screw support seat (20) through a bearing. The other end passes through the nut seat (18) corresponding to the screw support seat (20) and is rotatably connected to the nut seat (18) through a bearing. One end of the smooth rod (17) passes through the smooth rod support seat (21) and is fixed to the smooth rod support seat (21) by bolts. The other end passes through the nut seat (18) corresponding to the smooth rod support seat (21) and is fixed to the nut seat (18) by bolts.

4. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 3, characterized in that, The load slide (19) is provided with a lateral connecting seat (15). The outer ends of the upper swing arm (12) and the lower swing arm (13) are respectively hinged to the upper and lower points of the lateral connecting seat (15). The outer end of the electric push rod (14) is hinged to the middle of the lateral connecting seat (15).

5. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 3, characterized in that, The longitudinal sliding base (24) is provided with a longitudinal sliding mechanism (3) at its front end. The longitudinal displacement drive assembly (22) is installed on the longitudinal sliding mechanism (3). The longitudinal displacement drive assembly (22) includes a longitudinal adjustment motor (221), the output end of which is connected to one end of a ball screw (16) through a longitudinal coupling (222).

6. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, The walking drive assembly (9) includes a coupling (903) fixed at the rear end of the inner connecting plate (112), a drive wheel (6) is provided at the rear end of the outer connecting plate (111), the output end of the reducer (902) is connected to the drive wheel (6) through the coupling (903), and the output end of the motor (901) is fixedly connected to the other end of the reducer (902).

7. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, The tensioning mechanism (10) is a screw tensioning mechanism, including a tensioning screw (101), an adjusting nut (102) and a tensioning seat (103). The tensioning seat (103) is fixed to the outer connecting plate (111) by bolts. The tensioning screw (101) passes through the threaded hole of the tensioning seat (103), and the adjusting nut (102) is located at one end of the tensioning screw (101).

8. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, The front end of the outer connecting plate (111) is provided with a longitudinally extending groove, the guide wheel (8) is installed on the tension screw (101), and the wheel axle of the guide wheel (8) is slidably assembled in the groove at the front end of the outer connecting plate (111).

9. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, Each of the connecting shafts (113) is equipped with a support wheel (7).

10. A tracked mobile platform with a multi-directional adjustable center of gravity according to claim 1, characterized in that, The tracked walking mechanism (1) also includes a rubber track (5), which is fitted on the outside of the wheel system consisting of a support wheel (7), a drive wheel (6) and a guide wheel (8).

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