Machine wolf pack with airfoil retraction mechanism

Abstract

The utility model discloses a machine wolf group mother cabin with wing type collection and expansion mechanism relates to bionic control technical field, including square cabin, wing type collection and expansion mechanism, locking mechanism, positioning mark spare, extension board, turnover mechanism and vehicle, and the square cabin is installed on the vehicle, and the designated combat position of mobile quick arrival can be realized, through servo hydraulic synchronous drive wing type collection and expansion mechanism, drive the machine wolf group that locks on the tray of wing type collection and expansion mechanism always with horizontal posture quick and stable collection and expansion movement, complete all machine wolf disposable quick and stable up and down square cabin and release, form " wolf group " combat situation on the battlefield quickly, otherwise can complete machine wolf group's disposable quick recovery and shift. The utility model discloses simple structure, quick operation, stable and reliable, can make machine wolf group's release or recovery process in 1~3min full -automatic quick completion, make machine wolf group mother cabin have very high mobility and quick response ability, realize wolf, vehicle, person integration cluster combat new mode.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic control technology, and in particular to a robotic wolf pack mother cabin with an airfoil-shaped folding and unfolding mechanism. Background Technology

[0002] A robot dog is a quadrupedal, biomimetic, legged, and unibody intelligent robot. Mimicking the limb structure and walking style of a dog, it utilizes highly complex mechanical structures and precise control algorithms, along with various types of sensors, actuators, and control systems, giving it exceptional environmental adaptability. It can stably walk and perform tasks in a variety of complex terrains. Compared to bipedal robots, quadrupedal robots offer better load capacity and higher stability; compared to multi-legged robots, they have greater leg movement space, less structural redundancy, and lower complexity. Therefore, considering load capacity, environmental adaptability, stability, control difficulty, and manufacturing cost, quadrupedal robots, such as robot dogs, represent the optimal form of legged robots. With the continuous development of unmanned combat equipment, unmanned combat robots are gradually acquiring intelligent perception, autonomous judgment, autonomous planning, and autonomous strike capabilities. They can perform various combat missions on the battlefield, such as forward reconnaissance, fire support, and direct strikes. They also possess significant effectiveness in urban counter-terrorism, street fighting, and combat in complex terrain, effectively reducing personnel casualties and improving combat efficiency. As people know, dogs usually hunt alone, while wolves are pack animals that excel at hunting in teams and fighting in packs.

[0003] Compared to traditional "wolf robots," the "robotic wolf" boasts enhanced capabilities in reconnaissance, strike, and logistical support. The "robotic wolf" combat unit simulates the collaborative methods of a wolf pack, comprising different roles such as the reconnaissance "alpha wolf," the precision strike "shooter wolf," and the comprehensive support "transportation and support wolf." This transformation from "dog" to "wolf" reflects a significant improvement in combat effectiveness. Utilizing the concept of swarm warfare, the "robotic wolf" quadruped robot swarm system enables interconnection, information sharing, and dynamic autonomous collaboration among "human, vehicle, and wolf" units. Robotic wolf units with different combat function combinations are increasingly demonstrating their advantages through intelligent, unmanned swarm warfare. However, the robotic wolf is limited by its energy (battery) and command and control distance, hindering long-distance movement and combat. Therefore, the need for swarm transportation, command, maintenance, and support for robotic wolf packs is extremely urgent. Current technologies cannot achieve integrated tasks such as long-distance transportation, rapid release and recovery, command and control, energy replenishment, and maintenance of unmanned robotic wolf packs. Utility Model Content

[0004] The purpose of this invention is to design a machine wolf pack mother cabin with an airfoil-shaped retraction mechanism to solve the above problems.

[0005] This utility model achieves the above objectives through the following technical solutions: The robot wolf pack mother cabin with an airfoil retraction mechanism includes a container, two sets of airfoil retraction mechanisms, two sets of locking mechanisms, two sets of positioning markers, two extension plates, four sets of tilting mechanisms, and a carrier vehicle. The 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 airfoil retraction mechanism 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.

[0006] The beneficial effects of this invention are as follows: The modular container can be mounted on a vehicle to quickly and maneuver to a designated combat position. Through two sets of wing-shaped retraction and deployment mechanisms, each composed of a double-linked parallel four-bar linkage, driven by servo-hydraulic synchronous drive, the robot pack locked to the trays of the retraction and deployment mechanisms maintains a rapid and stable horizontal retraction and deployment motion, completing the rapid and stable deployment and deployment of all robot wolves in one go, thus quickly forming a "wolf pack" combat posture on the battlefield. Conversely, it can complete the rapid recovery and transfer of the robot pack in one go. This invention features a simple structure, easy operation, fast running, and stable reliability. The release or recovery process of the robot pack can be completed fully automatically and rapidly within 1-3 minutes, giving the robot pack's main container extremely high mobility and rapid response capabilities, and realizing a new integrated cluster combat mode of wolves, vehicles, and personnel. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the airfoil retraction mechanism of the robot wolf pack mother cabin of this utility model in the retracted state. Figure 2This is a rear view of the airfoil-shaped retraction mechanism of the robot wolf pack mother cabin of this utility model in the retracted state. Figure 3 This is a schematic diagram of the airfoil-shaped retraction mechanism of the wolf pack mother cabin of this utility model in the deployed state. Figure 1 ; Figure 4 This is a schematic diagram of the airfoil-shaped retraction mechanism of the wolf pack mother cabin of this utility model in the deployed state. Figure 2 ; Figure 5 This is a rear view of the deployed state of the airfoil-shaped retractable mechanism in the mother cabin of the robot wolf pack of this utility model; Figure 6 This is a schematic diagram of the structural principle of the airfoil retraction mechanism in the mother cabin of the robot wolf pack of this utility model; Figure 7 This is a schematic diagram of the tilting mechanism in the mother cabin of the robotic wolf pack, which has an airfoil-shaped retraction mechanism according to this utility model. Figure 1 ; Figure 8 This is a schematic diagram of the tilting mechanism in the mother cabin of the robotic wolf pack, which has an airfoil-shaped retraction mechanism according to this utility model. Figure 2 ; Figure 9 This is a schematic diagram of the locking mechanism in the mother cabin of the robotic wolf pack with an airfoil-shaped retraction mechanism, as described in this utility model. Figure 1 ; Figure 10 This is a schematic diagram of the locking mechanism in the mother cabin of the robotic wolf pack with an airfoil-shaped retraction mechanism, as described in this utility model. Figure 2 ; The corresponding figure labels are: 1-Robot Wolf, 2-Carrier Vehicle, 3-Container, 4-Airfoil Retraction and Expansion Mechanism, 5-Locking Mechanism, 6-Positioning Marker, 7-Extension Plate, 8-Flipping Mechanism; 301 - Cabin, 302 - Side hatch, 303 - Door opening hydraulic cylinder; 401-Base, 402-Upper support arm, 403-Lower support arm, 404-Connecting arm, 405-Support arm, 406-Pattern, 407-Extension and retraction hydraulic cylinder; 501-Locking seat, 502-Locking hydraulic cylinder, 503-Locking linkage, 504-Locking head, 505-Locking guide sleeve, 506-Elastic charging contact; 601-Location marker post, 602-Location marker plate, 603-Connecting plate; 801 - Tilting hydraulic cylinder, 802 - Tilting connecting rod. Detailed Implementation

[0008] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0009] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0010] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0011] In the description of this utility model, 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 accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use, or the orientation or positional relationship that is commonly understood by those skilled in the art. They are only used to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0012] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0013] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0014] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0015] like Figures 1-5As shown, the robotic wolf pack mother cabin with an airfoil retraction mechanism includes a container 3 mounted on and used in conjunction with the carrier 2, as well as two sets of left and right airfoil retraction mechanisms 4, two sets of locking mechanisms 5, two sets of positioning markers 6, two extension plates 7, and four sets of tilting mechanisms 8. Specifically: Two sets of airfoil retraction mechanisms 4 are installed on the left and right sides inside the container 3, forming a double-airfoil retraction mechanism 4; each set of airfoil retraction mechanism 4 includes a set of double parallel four-bar linkages and two retraction drive components; the double parallel four-bar linkages include two parallel four-bar linkages that are completely symmetrical front and rear, two support arms 405 and a tray 406.

[0016] A parallel four-bar linkage includes: Base 401; Base 401 is fixedly installed inside container 3; Upper support arm 402; the first end of the upper support arm 402 is rotatably connected to the first end of the base 401; Lower support arm 403; the first end of the lower support arm 403 is rotatably connected to the second end of the base 401; Connecting arm 404; the two ends of connecting arm 404 are rotatably connected to the second ends of upper support arm 402 and lower support arm 403, respectively.

[0017] The vertical beams of the two support arms 405 are fixedly connected to the connecting arm 404; the two trays 406 are respectively fixedly installed on the horizontal beams of the front and rear support arms 405, thereby connecting the front and rear sets of parallel four-bar linkages together to form a double parallel four-bar linkage.

[0018] The retraction and extension drive is a retraction and extension hydraulic cylinder 407 or an electric cylinder; the two ends of each retraction and extension hydraulic cylinder 407 are rotatably connected to two points on a diagonal of a set of parallel four-bar linkages, that is, the first end of the retraction and extension hydraulic cylinder 407 is rotatably connected to the second end of the base 401 and the first end of the lower support arm 403, and the second end of the retraction and extension hydraulic cylinder 407 is rotatably connected to the second end of the upper support arm 402 and the first end of the connecting arm 404; through the synchronous extension and retraction movement of the two retraction and extension hydraulic cylinders 407, a set of double parallel four-bar linkages can be driven to rotate on the base 401, thereby forming a set of airfoil retraction and extension mechanisms 4 and realizing the entry, exit and movement of the tray 406 on the container 3.

[0019] like Figure 3 , Figure 4 As shown, two sets of locking mechanisms 5 are respectively installed on the trays 406 of the left and right sets of wing-shaped retraction mechanisms 4. Each set of locking mechanisms 5 includes multiple locking mechanisms 5, and one locking mechanism 5 is used for locking and unlocking one robotic wolf 1. Figure 9 , Figure 10As shown, each locking mechanism 5 includes a locking seat 501, a locking hydraulic cylinder 502, two locking links 503, two lock heads 504, two locking guide sleeves 505, and two elastic charging contacts 506. The locking hydraulic cylinder 502 is fixedly installed inside the locking seat 501, and the first ends of the two locking links 503 are rotatably connected to the working ends of the locking hydraulic cylinder 502; the first ends of the two lock heads 504 are rotatably connected to the second ends of the two locking links 503 respectively; the locking guide sleeves 505 are fixedly installed on both sides of the locking seat 501, and the two lock heads 504 are movably installed in the inner holes of the locking guide sleeves 505 respectively; the two elastic charging contacts 506 are disposed 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 slots on both sides of the robot wolf 1 under the action of the locking link 503. The robot wolf 1 is locked on the locking mechanism 5. At the same time, the two elastic charging contacts 506 also make reliable electrical contact with the corresponding two charging contacts on the robot wolf 1 under the action of the spring and automatically charge. When the locking mechanism 5 releases the robot wolf 1, the locking hydraulic cylinder 502 retracts, and the second ends of the two locking heads 504 are disengaged from the two locking slots of the robot wolf 1 under the action of the locking link 503. The robot wolf 1 can then be released from the locking mechanism 5.

[0020] like Figure 3 , Figure 4 As shown, two sets of positioning markers 6 are rotatably connected to the inner sides of two trays 406 respectively. Each set of positioning markers 6 includes a connecting plate 603, at least two positioning marker posts 601, and a positioning marker plate 602. The positioning marker posts 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. The connecting plate 603 is rotatably connected to the inner sides of the two trays 406. Two adjacent robot wolves 1 share a positioning marker post 601 between them. Two adjacent positioning marker posts 601 and a positioning marker plate 602 indicate and guide one robot wolf 1 to move autonomously onto a corresponding locking mechanism 5.

[0021] like Figure 7 , Figure 8 As shown, the two extension plates 7 are rotatably connected to the outside of the two trays 406 of the left and right sets of wing-shaped flipping mechanisms 4, respectively, to assist the robot wolf 1 in autonomously returning to its original position and moving the upper and lower trays 406. like Figure 7 , Figure 8As shown, each set of flipping mechanisms 8 includes at least two flipping mechanisms 8. Each flipping mechanism 8 includes a flipping drive and a flipping connecting rod 802. The flipping drive is a flipping hydraulic cylinder 801 or an electric cylinder. The cylinder body of the flipping drive is fixedly installed on the bottom of the tray 406. The first end of the flipping connecting rod 802 is rotatably connected to the output end of the flipping hydraulic cylinder 801, and the second end is rotatably connected to the positioning marker 6 or the extension plate 7. The flipping of the two sets of positioning markers 6 and the two extension plates 7 can be controlled by the synchronous extension and retraction movement of the flipping hydraulic cylinder 801.

[0022] Furthermore, such as Figure 6 As shown, the airfoil retraction mechanism 4, based on the structural principle and mechanical characteristics of a parallel four-bar linkage, maintains a corresponding angular relationship. During the synchronous extension and retraction of the four hydraulic cylinders 407 in the two sets of double-linked parallel four-bar linkages on the left and right sides, the four parallel four-bar linkages rotate on their respective bases 401, thereby driving the synchronous retraction and retraction of the two trays 406. This ensures that the robot wolf 1 always maintains a horizontal airfoil state, synchronously entering and exiting the cabin 3. The use of a double-linked parallel four-bar linkage effectively improves the structural rigidity of the airfoil retraction mechanism 4, ensuring stability during the airfoil retraction and retraction process. Simultaneously, by adjusting the structural dimensions of the double-linked parallel four-bar linkage and the height of the support arm 405, when the airfoil retraction mechanism 4 retracts into the cabin 3, the trays 406 can be placed on the floor or support within the cabin 3 and hydraulically and mechanically locked, thus ensuring the stability of the trays 406 and the robot wolf 1 during movement.

[0023] Furthermore, such as Figure 1 As shown, the longitudinal distance between the two parallel four-bar linkages of a double-link parallel four-bar structure within the container 3 is the first distance, and the longitudinal distance between the two parallel four-bar linkages of another double-link parallel four-bar structure within the container 3 is the second distance. The first distance and the second distance are determined based on the space required by the machine wolf pack and the airfoil retraction mechanism 4 within the container 3 to avoid lateral interference between the left and right sets of airfoil retraction mechanisms 4; the lengths of the left and right trays 406 also differ due to the difference between the first distance and the second distance.

[0024] Furthermore, such as Figure 1 , Figure 2As shown, to address the dimensional limitations in the width direction after the left and right robotic wolves 1 enter the container 3, the longitudinal lengths of the two sets of double-link parallel four-bar linkages are designed to be different, i.e., the first distance and the second distance are different. This allows the double-link parallel four-bar linkages on both sides to continue moving to the other side after reaching the vertical position, forming an intersection in space. This results in a smaller distance between the left and right trays 406 within the container 3. Simultaneously, to avoid interference, a flipping mechanism 8 for the positioning marker is designed. The flipping motion of the positioning marker is driven by the telescopic movement of the flipping hydraulic cylinder 801 to achieve the flipping motion during the retraction and extension process. Thus, the airfoil retraction and extension mechanisms 4 on both sides can be retracted into the container 3 with the minimum width dimension.

[0025] Furthermore, such as Figure 3 , Figure 4 As shown, to address the adaptability of the robot wolf 1 to different terrains on the battlefield and its need to autonomously enter the locking mechanism 5 when autonomously loading and unloading the pallet 406, an extension plate 7 and a flipping mechanism 8 are added to the outside of the pallet 406 to assist the robot wolf 1 in entering and exiting the locking mechanism 5 and loading and unloading the pallet 406. When the wing-shaped retractable mechanism 4 unfolds and reaches the ground, the flipping hydraulic cylinder 801 retracts, driving it to unfold synchronously to a horizontal state, better ensuring the robot wolf 1's attitude adjustment requirements when autonomously entering the locking mechanism 5 and its adaptability to the terrain when loading and unloading the pallet 406; when the wing-shaped retractable mechanism 4 retracts and leaves the ground, the flipping hydraulic cylinder 801 extends, driving it to flip synchronously to a vertical state, so that the double-wing flipping mechanism 4 has a minimum lateral dimension without causing width restrictions on the container 3, meeting the road and rail transportation requirements of the robot wolf pack's mother container.

[0026] like Figures 1-5 As shown, the modular shelter 3 is mounted on and used in conjunction with the carrier vehicle 2, and includes a body 301, two side doors 302, and two sets of door opening components. The first ends of the two side doors 302 are rotatably mounted on opposite sides of the upper end of the body 301. Each set of door opening components includes two opening assemblies, which are either hydraulic cylinders 303 or electric cylinders, used to control the opening and closing of the left and right side doors 302 respectively. The two ends of the hydraulic cylinders 303 are rotatably connected to the side doors 302 and the body 301 respectively. The synchronous extension and retraction of the two hydraulic cylinders 303 enables the synchronous deployment and closure of the side doors 302 during the airfoil deployment and retraction mechanism 4. Meanwhile, the vehicle platform 2 is equipped with cabinets and a generator platform for installing servo control cabinets, servo hydraulic oil sources, backup battery cabinets, and alcohol-hydrogen silent power stations, etc. The airfoil retraction mechanism 4, the airfoil retraction and extension and the release and recovery of the robot wolf 1, and the command and control terminal of the robot wolf 1 are all located in the driver's cab of the vehicle 2, and the operating status of the airfoil retraction mechanism 4 can be monitored in real time through cameras installed inside and outside the container 3.

[0027] In this embodiment, the door opening mechanism, the retraction and extension drive mechanism, the flipping drive mechanism, and the locking hydraulic cylinder 502 are described using hydraulic cylinders. The hydraulic servo system is designed as four identical distributed hydraulic servo systems. Each hydraulic servo system uses a servo motor and a servo hydraulic cylinder to achieve precise synchronous control of the speed and position of each movement in the system.

[0028] The door opening mechanism, the retraction and extension drive mechanism, the tilting drive mechanism, and the locking hydraulic cylinder 502 are all equipped with position control switches and hydraulic locks or mechanical locks, which can automatically complete the entire operation of the mechanism and reliably lock it in the corresponding state.

[0029] The base 401, upper support arm 402, lower support arm 403 and connecting arm 404 are all made of high-strength structural steel with excellent weldability and welded into a beam structure with a π-shaped cross section.

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

[0031] The pallet 406 and extension plate 7 are made of high-strength structural steel with excellent weldability, welded into a frame structure, and covered with anti-slip aluminum alloy plate.

[0032] The working process of the robotic wolf pack mothership with an airfoil retraction mechanism is as follows: 1. Release process of the first group of machine wolves: 1) When the Wolf Pack 1 needs to perform combat missions, the left and right side doors 301 of the container 3 will be deployed synchronously in an airfoil shape under the action of the door opening hydraulic cylinder 302. 2) The hydraulic cylinder 407 retracts synchronously, driving the double parallel four-bar linkage of the left and right wing-shaped retraction mechanism 4 to rotate outward toward the container 3 and unfold synchronously to both sides in an airfoil shape. The tray 406 then exits the container and descends to the ground. 3) The tilting hydraulic cylinder 801 retracts, and the tilting connecting rod 802 drives the positioning marker 6 and the extension plate 7 to unfold to a horizontal state; 4) The locking hydraulic cylinder 502 retracts, driving the lock head 504 to retract and unlock. The robot wolf 1 stands up and leaves the locking seat 501, then descends to the ground via the extension plate 7, completing the release of the robot wolf 1 (e.g., Figure 3 (as shown) 5) The tilting hydraulic cylinder 801 extends, and the tilting connecting rod 802 drives the positioning marker 6 and the extension plate 7 to fold to a 90° state; 6) The hydraulic cylinders 407 extend synchronously, driving the double parallel four-bar linkage of the left and right wing-shaped retraction mechanism 4 to rotate synchronously into the container 3, driving the left and right trays 406 wing-shaped to rise synchronously and retract into the container 3. 7) The left and right side hatches 301 close synchronously in an airfoil shape under the synchronous contraction of the opening hydraulic cylinders 302, and the mother compartment reaches the marching state (e.g., Figure 1As shown), and command and control of the 1st pack of machine wolves in place or on the move, according to the requirements of the operation.

[0033] 2. Machine Wolf Pack 1 Recycling Process: 1) When the robot wolf 1 returns after completing its combat mission, the left and right side doors 301 of the container 3 are simultaneously deployed in an airfoil shape under the action of the door opening hydraulic cylinder 302. 2) The hydraulic cylinder 407 retracts synchronously, driving the double parallel four-bar linkage of the left and right wing-shaped retraction mechanism 4 to rotate outward toward the container 3 and unfold synchronously to both sides in an airfoil shape. The tray 406 then exits the container and descends to the ground. 3) The tilting hydraulic cylinder 801 retracts, and the tilting connecting rod 802 drives the positioning marker 6 and the extension plate 7 to unfold to a horizontal state; 4) The robotic wolf 1 steps onto the tray 406 via the extension plate 7, and through automatic identification and positioning of the positioning marker post 601 and positioning marker plate 602, autonomously enters the corresponding locking mechanism 5 and lies on the locking seat 501 (e.g., Figure 3 (as shown) 5) The locking hydraulic cylinder 502 extends, driving the lock head 504 to extend and lock the machine wolf 1 on the locking seat 501, and automatically charges according to its power status, or the backup battery is quickly replaced manually. 6) The tilting hydraulic cylinder 801 extends synchronously, and drives the positioning marker 6 and the extension plate 7 to fold to a 90° state through the tilting connecting rod 802; 7) The hydraulic cylinder 407 extends synchronously, driving the double parallel four-bar linkage of the left and right wing-shaped retraction mechanism 4 to rotate synchronously into the container 3, driving the left and right trays 406 wing-shaped to rise synchronously and retract into the container 3. 8) The left and right side hatches 301 close synchronously in an airfoil shape under the synchronous contraction of the opening hydraulic cylinders 302, and the mother compartment reaches the marching state (e.g., Figure 1 (as shown), and transfer or evacuate according to operational requirements.

[0034] This invention's robotic wolf pack mother capsule, equipped with an airfoil-shaped deployment and retraction mechanism, rapidly and maneuverably reaches its designated combat position. A servo hydraulic system drives two sets of double-linked parallel four-bar linkages to precisely and synchronously swing, causing the robotic wolves on tray 406 to rapidly and stably deploy in a horizontal posture. This allows for the simultaneous and rapid release of all robotic wolves 1, quickly forming a "wolf pack" combat posture on the battlefield. Conversely, it enables the rapid and 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 container 3 enable automatic charging or rapid battery swapping of the robotic wolf pack; and the configured command and control system enables the accompanying swarm command and control of the robotic wolf pack, realizing a new integrated swarm combat mode of wolves, vehicles, and personnel.

[0035] According to operational requirements, the robot wolf pack mother compartment of this utility model with wing-shaped retraction and deployment mechanism can adopt the simultaneous retraction and deployment of two sets of wing-shaped retraction and deployment 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 the single-wing deployment and retraction of a single set of wing-shaped retraction and deployment mechanisms 4 on one side; it can install a single set of wing-shaped retraction and deployment mechanisms 4 on any side of the container 3, or install a single set of wing-shaped retraction and deployment mechanisms 4 on the rear side of the container 3, so that the robot wolf pack can enter, exit and get on and off at the rear of the container 3, to meet the needs of different numbers of robot wolf packs and battlefield environments; it can arrange different numbers of robot wolf packs longitudinally on the tray 406, or it can be set as a double-layer or multi-layer tray 406 to meet the needs of loading different numbers of robot wolf pack teams. Meanwhile, the double-link parallel four-bar airfoil retraction mechanism 4 of this utility model can be applied to the operational needs of a robot wolf pack mothership, as well as to a robot dog pack mothership carrying fire-fighting or rescue robot dog packs, and also to a drone swarm mothership carrying fixed-wing or rotary-wing drone swarms. Therefore, this utility model has extremely strong scalability and application scenarios, and can provide a new type of swarm transport mothership for various unmanned intelligent combat weapons or unmanned intelligent emergency rescue equipment.

[0036] The technical solution of this utility model is not limited to the specific embodiments described above. All technical modifications made based on the technical solution of this utility model shall fall within the protection scope of this utility model.

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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