WO2023131210A1 - Dispositif mobile, procédé de commande, appareil de commande, support de stockage et plateforme mobile - Google Patents

Dispositif mobile, procédé de commande, appareil de commande, support de stockage et plateforme mobile Download PDF

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Publication number
WO2023131210A1
WO2023131210A1 PCT/CN2023/070556 CN2023070556W WO2023131210A1 WO 2023131210 A1 WO2023131210 A1 WO 2023131210A1 CN 2023070556 W CN2023070556 W CN 2023070556W WO 2023131210 A1 WO2023131210 A1 WO 2023131210A1
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WO
WIPO (PCT)
Prior art keywords
traveling mechanism
traveling
frame
equipment
running
Prior art date
Application number
PCT/CN2023/070556
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English (en)
Chinese (zh)
Inventor
冯春魁
Original Assignee
冯春魁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/CN2022/070157 external-priority patent/WO2022144029A1/fr
Priority claimed from PCT/CN2022/071683 external-priority patent/WO2023133743A1/fr
Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2023131210A1 publication Critical patent/WO2023131210A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/12—Supports

Definitions

  • the invention belongs to the field of wheeled or crawler-type movable equipment mainly referring to automobiles, motorcycles or bicycles, and in particular relates to movable equipment, control methods, control devices, storage media and mobile platforms.
  • the present invention does not relate to the design and manufacturing processes of engines, engine controllers, ABS, battery materials, etc. inside automobiles and motorcycles.
  • the main purpose of the present invention is to design an exoskeleton device that can cooperate with the vehicle and assist the vehicle to overcome obstacles.
  • Wheeled or tracked mobile equipment (such as vehicles) that can run on the road, compared with humanoid robots or robot dogs with mechanical legs, has the advantages of heavy load, low energy consumption (green environmental protection), fast driving speed and high efficiency
  • wheeled or tracked mobile equipment (such as vehicles) that can run on the road, compared with humanoid robots or robot dogs with mechanical legs, has the advantages of heavy load, low energy consumption (green environmental protection), fast driving speed and high efficiency
  • the common first type of obstacles include obstacles protruding from the road surface (such as stones, soil slopes, fallen tree trunks, steps higher than 0.3 meters, railings, concrete piers, etc.), lower (higher than 0.3m) steps
  • the common second type of obstacles include sandy beaches, road sections with silt or gravel, snow, grassland, swampy land, road sections with continuous steps, road sections with multiple raised obstacles, and road sections with multiple depressions
  • Road sections with obstacles, road sections with both raised and sunken obstacles simple wheeled or tracked equipment is difficult to adapt to many types of obstacles or terrain; new technologies are urgently needed to improve wheeled or tracked mobile equipment (e.g. vehicle) obstacle-surmounting capability or complex terrain adaptability.
  • the purpose of the embodiments of the present application is to provide a mobile device, a control method, a control device, a storage medium, and a mobile platform, aiming to solve how to improve the obstacle-surmounting ability or The problem of adaptability to complex terrain.
  • the first traveling mechanism (511) is located in front of the center of gravity (O) of the movable equipment
  • the second traveling mechanism (522) is located After the center of gravity (O) of the device
  • Part or all of the third traveling mechanism connected to the frame (01) is located between the first traveling mechanism (511) and the second traveling mechanism (522), the first of the third traveling mechanism
  • the arrival point of the second end of the third walking mechanism is located before the center of gravity (O) of the device, and the arrival point of the second end of the third walking mechanism is located behind the center of gravity (O) of the device;
  • the movable equipment also includes a first lifting mechanism (211) and a second lifting mechanism (222), and one end of the first lifting mechanism (211) and the second lifting mechanism (222) are connected to the machine. frame(01);
  • the other end of the first elevating mechanism (211) is connected to the first traveling mechanism (511), and the first elevating mechanism (211) is used to make the first traveling mechanism (511) relative to the frame (01) lifting,
  • the other end of the second elevating mechanism (222) is connected to the second traveling mechanism (522), and the second elevating mechanism (222) is used to make the second traveling mechanism (522) relative to the frame (01) lifting;
  • the movable device is configured to be switchable between a first mode and a second mode
  • the first mode is: the lower surface of the third traveling mechanism is not higher than the lower surface of the first traveling mechanism (511) and the lower surface of the second traveling mechanism (522), and the third walking mechanism
  • the traveling mechanism supports the frame (01) off the ground and enables the movable equipment to travel along the road, or one of the first traveling mechanism (511) and the second traveling mechanism (522) and the other
  • the third traveling mechanism supports the frame (01) off the ground and enables the movable equipment to travel along the road surface;
  • the second mode is: neither the lower surface of the first traveling mechanism (511) nor the lower surface of the second traveling mechanism (522) is higher than the lower surface of the third traveling mechanism, and the second traveling mechanism A traveling mechanism (511) and the second traveling mechanism (522) support the frame (01) off the ground and enable the movable equipment to travel along the road surface.
  • the movable device is configured to be switchable between a first mode and a second mode for enabling the movable device to overcome obstacles.
  • the cooperation of the movable first traveling mechanism (511), the movable second traveling mechanism (522) and the third traveling mechanism enables the movable equipment to be constructed with front, middle and rear three-stage walking mechanisms.
  • the third traveling mechanism supports the frame (01) off the ground and the movable equipment travels along the road, or the first traveling mechanism (511) and the second traveling mechanism One of (522) and the third running mechanism support the frame (01) off the ground and make the movable equipment travel along the road (so that the running mechanism of the front section and/or the running mechanism of the rear section can lift off the ground to overcome obstacles)
  • the second mode is to support the frame (01) off the ground by the first traveling mechanism (511) and the second traveling mechanism (522) and make the movable equipment along the road Face driving (so that the running gear in the middle section can leave the ground to overcome obstacles).
  • the combination and switching of the two modes can be perfectly used for (head-up-arch bridge-lift tail) obstacle surmounting. .
  • the third traveling mechanism is a crawler-type traveling mechanism (07); the front edge of the crawler-type traveling mechanism (07) is located before the front edge of the first traveling mechanism (511) or the second traveling mechanism (522 ) is located in front of the rear edge of the tracked running gear (07);
  • the third traveling mechanism can run along the road independently of the equipment; and/or, the equipment also includes a
  • the third traveling mechanism is detachably connected to the first connecting part of the frame (01), the first connecting part is connected to the frame (01) or the first connecting part is the frame A part of (01), and/or the device includes the third traveling mechanism.
  • the configuration of the third traveling mechanism is: connected with a power system independent of the equipment, capable of traveling independently of the equipment, and having a communication module capable of accepting the control of the equipment;
  • the third walking mechanism is a crawler-type walking machine.
  • the crawler-type walking machine On the basis of the above-mentioned three-stage obstacle surmounting of "head-arch bridge-lifting tail", the crawler-type walking machine is more suitable for crossing the beach, road sections with silt or gravel , snow, grass, swamp, road sections with continuous steps or continuous obstacles, the perfect combination of the two is of great significance, and the first lifting mechanism (211) and the second lifting mechanism (222) in this device, Compared with ordinary wheel-track equipment, the cost of a special lifting mechanism for wheel-track switching is saved.
  • Fixing the third traveling mechanism to the equipment enables the third traveling mechanism to be customized on demand, making the equipment compact in size and good in rigidity, and better able to meet specific, higher-performance, and more professional obstacle-crossing requirements.
  • Connecting and grabbing other equipment that can run independently of the equipment along the road surface through the first connecting portion serves as the third traveling mechanism, which saves the cost of the dedicated third traveling mechanism (or together with its power unit); and when needed, The equipment can release the third traveling mechanism to allow it to drive independently, and one machine can be transformed into two machines, which is of more significance.
  • the third traveling mechanism is a wheeled traveling mechanism, the front edge of the traveling wheel at the first end of the wheeled traveling mechanism is located in front of the front edge of the first traveling mechanism (511), and the wheeled traveling mechanism
  • the rear edge of the running wheel at the second end of the second end is positioned before the rear edge of the second running gear (522); or, the front edge of the first running gear (511) is positioned at the first end of the wheeled running gear Before the front edge of the road wheel, and the rear edge of the second running gear (522) is located before the rear edge of the road wheel at the second end of the wheeled running gear;
  • the third traveling mechanism can run along the road independently of the equipment; and/or, the equipment also includes a
  • the third traveling mechanism is detachably connected to the second connection part of the frame (01), the second connection part is connected to the frame (01) or the second connection part is the frame A part of (01), and/or the device includes the third traveling mechanism.
  • the crawler-type walking machine is a crawler-type stair climbing machine or a crawler machine for outdoor work.
  • the third traveling mechanism is the third distributed rolling traveling mechanism, based on Scheme 1, it can realize the three-stage obstacle surmounting of "head-up-arch bridge-lift-tail" without the need for the third lifting mechanism and the least hardware cost. significance.
  • the movable equipment also includes: a third lifting mechanism, the two ends of the third lifting mechanism are respectively connected to the frame (01) and the third traveling mechanism, and the third lifting mechanism is used to make the The third traveling mechanism is lifted relative to the frame (01);
  • the third traveling mechanism is a crawler-type traveling mechanism (07);
  • the front edge of the first running gear (511) is located in front of the front edge of the crawler running gear (07) and/or the rear edge of the crawler running gear (07)
  • the front edge of the crawler-type traveling mechanism (07) is located in front of the front edge of the first traveling mechanism (511) and/or the second
  • the rear edge of the running gear (522) is located in front of the rear edge of the tracked running gear (07).
  • the crawler-type traveling mechanism is arranged in a special position, for example, both ends of the crawler belt are located between the front and rear edges of the first traveling mechanism (511) and the second traveling mechanism (522), or at least one end is located outside it.
  • the crawler-type traveling mechanism has special effects on the complex road section, for example, the road section is any one of a beach, a road section with silt or gravel, snow, grassland, marshland, and a road section with continuous steps.
  • the beneficial value of this scheme on traveling direction, be positioned at one end or two ends of the 3rd running gear (573) in the middle and be positioned at the first running gear (571) or the 2nd running gear (572) of the outer end of the same end ) part of the overlapping, overlapping, can shorten the length of the equipment, reduce the floor area, compact structure;
  • the non-overlapping of the first traveling mechanism (571) or the second traveling mechanism (572) part can increase the distance between the first traveling mechanism (571) or the second traveling mechanism (572), and promote (arch bridge, head-up, tail-lifting transformation) )
  • Three-stage obstacle-surmounting capability increasing driving stability. To overlap is to overlap.
  • the movable equipment is configured to realize the third mode or is configured to be able to switch between the third mode and the fourth mode; and/or the end of the third lifting mechanism is connected with a wheeled walking mechanism, and the The lower surface of the wheeled traveling mechanism is not lower than the lower surface of the crawler-type traveling mechanism (07);
  • the third mode is: the lower surfaces of several kinds of running gears contained in the first running gear (511), the second running gear (522) and the third running gear are lower than the lower surface connected to the machine.
  • the lower surface of the fourth running mechanism (15) of the frame (01), the frame (01) is supported off the ground by the several kinds of running mechanisms and the movable equipment is driven along the road;
  • the mechanism is the third traveling mechanism, or the several kinds of traveling mechanisms are at least two kinds of the first traveling mechanism (511), the second traveling mechanism (522) and the third traveling mechanism;
  • the fourth mode is: the lower surface of the first traveling mechanism (511), the lower surface of the second traveling mechanism (522) and the lower surface of the third traveling mechanism are all higher than those connected to the machine.
  • the lower surface of the fourth traveling mechanism (15) of the frame (01), the arrival point of the fourth traveling mechanism (15) is distributed before and after the center of gravity (O) of the equipment, and the fourth traveling mechanism (15) Supporting the frame (01) off the ground and enabling the movable equipment to travel along the road.
  • the fourth traveling mechanism is not connected to the frame (01) through the first, second, and third lifting mechanisms, and compared with the lifting traveling mechanism, it can be configured as a walking Different performance of the mechanism; if it can enter the fourth mode, the fourth traveling mechanism can provide different driving performance for the whole machine (such as faster speed, or greater bearing capacity).
  • the mechanism can help the fourth traveling mechanism or the vehicle driven by the fourth traveling mechanism to achieve the three-stage "head-up-arch bridge-lifting tail" obstacle surmounting, which solves the problem that the fourth traveling mechanism cannot overcome obstacles.
  • the equipment can also have a three-stage lifting type obstacle-surmounting capability.
  • the wheeled traveling mechanism connected to the end of the third lifting mechanism can be set as a non-powered traveling wheel, and the cost is extremely low, and the cost and volume of the equipment will not be significantly increased.
  • the movable equipment also includes: a third lifting mechanism, the two ends of the third lifting mechanism are respectively connected to the frame (01) and the third traveling mechanism, and the third lifting mechanism is used to make the The third traveling mechanism is lifted relative to the frame (01); the third traveling mechanism is a third traveling wheel;
  • the third road wheel comprises a third road wheel whose impact point is located at a first end before the center of gravity (O) of the equipment and a third road wheel whose impact point is located at a second end behind the center of gravity (O) of the equipment, or,
  • the equipment also includes a third forward and backward movement mechanism (183), the frame (01), the third forward and backward movement mechanism (183), the third lifting mechanism and the third walking mechanism are connected in sequence, and the The third forward and backward movement mechanism (183) is used to make the landing point of the third road wheel move forward and backward at the center of gravity (O) of the equipment;
  • the movable device is configured to implement a third mode or is configured to switch between a third mode and a fourth mode;
  • the third mode is: the lower surfaces of several kinds of running gears contained in the first running gear (511), the second running gear (522) and the third running gear are lower than the lower surface connected to the machine.
  • the lower surface of the fourth running mechanism (15) of the frame (01), the frame (01) is supported off the ground by the several kinds of running mechanisms and the movable equipment is driven along the road;
  • the mechanism is the third traveling mechanism, or the several kinds of traveling mechanisms are at least two kinds of the first traveling mechanism (511), the second traveling mechanism (522) and the third traveling mechanism;
  • the fourth mode is: the lower surface of the first traveling mechanism (511), the lower surface of the second traveling mechanism (522) and the lower surface of the third traveling mechanism are all higher than those connected to the machine.
  • the lower surface of the fourth traveling mechanism (15) of the frame (01), the arrival point of the fourth traveling mechanism (15) is distributed before and after the center of gravity (O) of the equipment, and the fourth traveling mechanism (15) Supporting the frame (01) off the ground and enabling the movable equipment to travel along the road.
  • the fourth traveling mechanism can be configured to have different performance from the lifting traveling mechanism; if it can enter the fourth mode, the fourth traveling mechanism can provide the whole machine with different The same driving performance (for example, faster speed, or greater bearing capacity), in the third mode, the movable traveling mechanism can help the fourth traveling mechanism or the vehicle driven by the fourth traveling mechanism to realize the "head-up-arch bridge-lifting "Tail" three-stage obstacle surmounting, which solves the problem that the fourth traveling mechanism cannot surmount obstacles. And this scheme allows the third traveling mechanism to be a rolling traveling mechanism.
  • the third traveling mechanism When the third traveling mechanism is a single wheel in the front-rear direction, its position can be dynamically switched through the third front-rear movement mechanism, thereby realizing dynamic support balance while reducing the number of traveling wheels.
  • the 3rd traveling mechanism is all provided with traveling wheel in front and back direction, is prior art normal state, for example a large amount of 4-wheel flatbed carts, carts. This solution can reduce the cost compared with the dedicated third traveling mechanism.
  • the first traveling mechanism (511) is located at the center of gravity of the movable equipment Before (O)
  • the second traveling mechanism (522) is located behind the center of gravity (O) of the movable device;
  • the first traveling mechanism (511) includes a first traveling mechanism (051) located on a first side of the center of gravity (O) of the equipment and a first traveling mechanism located on a second side of the center of gravity (O) of the equipment (053),
  • the second traveling mechanism (522) includes a second traveling mechanism (052) located on a first side of the center of gravity (O) of the equipment and a second traveling mechanism located on a second side of the center of gravity (O) of the equipment (054);
  • the movable equipment also includes: a first lifting mechanism (211L) on the first side, a first lifting mechanism (211R) on the second side, a second lifting mechanism (222L) on the first side, a second lifting mechanism (222L) on the second side, Two elevating mechanism (222R), the first forward and backward movement mechanism (181L) of the first side, the first forward and backward movement mechanism (181R) of the second side, the second forward and backward movement mechanism (182L) of the first side and the second side
  • the second forward and backward motion mechanism (182R) The second forward and backward motion mechanism (182R);
  • One end of the second forward and backward movement mechanism (182R) is connected to the frame (01);
  • the other end of the first front and rear movement mechanism (181L) on the first side, the first lifting mechanism (211L) on the first side, and the first walking mechanism (051) on the first side are connected in sequence, and the The first lifting mechanism (211L) on the first side is used to make the first walking mechanism (051) on the first side lift relative to the frame (01), and the first front and rear movement mechanism on the first side ( 181L) for moving the first traveling mechanism (051) on the first side forward and backward relative to the frame (01);
  • the other end of the first front and rear movement mechanism (181R) on the second side, the first lifting mechanism (211R) on the second side, and the first walking mechanism (053) on the second side are connected in sequence, and the The first lifting mechanism (211R) on the second side is used to lift the first traveling mechanism (053) on the second side relative to the frame (01), and the first front and rear movement mechanism on the second side ( 181R) is used to make the first traveling mechanism (053) on the second side move back and forth relative to the frame (01);
  • the other end of the second front and rear movement mechanism (182L) on the first side, the second lifting mechanism (222L) on the first side, and the second walking mechanism (052) on the first side are connected in sequence, and the The second lifting mechanism (222L) on the first side is used to make the second walking mechanism (052) on the first side lift relative to the frame (01), and the second forward and backward movement mechanism on the first side ( 182L) is used to move the second traveling mechanism (052) on the first side forward and backward relative to the frame (01);
  • the other end of the second front and rear movement mechanism (182R) on the second side, the second lifting mechanism (222R) on the second side, and the second walking mechanism (054) on the second side are connected in sequence, and the The second elevating mechanism (222R) on the second side is used to make the second walking mechanism (054) on the second side lift relative to the frame (01), and the second forward and backward movement mechanism on the second side ( 182R) for moving the second traveling mechanism (054) on the second side forward and backward relative to the frame (01);
  • the lower surface of any one of the running gears in the running gear (522) can be higher than the lower surfaces of the other three running gears, and the landing points of the other three running gears can be distributed on the
  • the center of gravity (O) of the equipment is front, rear, left, and right, and the other three running mechanisms can support the frame (01) off the ground and enable the movable equipment to travel along the road;
  • the movable device is configured to implement a fifth mode or is configured to switch between a fifth mode and a sixth mode;
  • the fifth mode is: the first traveling mechanism (051) on the first side, the first traveling mechanism (053) on the second side, the second traveling mechanism (052) on the first side and all
  • the lower surface of at least three kinds of running gears in the second running gear (054) on the second side is lower than the lower surface of the fourth running gear (15) connected to the frame (01), by the at least three
  • a walking mechanism supports the frame (01) off the ground and enables the movable equipment to travel along the road;
  • the sixth mode is: the lower surface of the first traveling mechanism (051) on the first side, the lower surface of the first traveling mechanism (053) on the second side, the second walking mechanism on the first side
  • the lower surface of the mechanism (052) and the lower surface of the second traveling mechanism (054) on the second side are all higher than the lower surface of the fourth traveling mechanism (15) connected to the frame (01), the The arrival point of the fourth traveling mechanism (15) is distributed before and after the center of gravity (O) of the equipment, and the fourth traveling mechanism (15) supports the frame (01) off the ground and makes the movable equipment follow the road.
  • the first front and rear movement mechanism (181L) on the left side and/or the first front and rear movement mechanism (181R) on the right side can make the first walking mechanism (571) on the left side and the first front and rear movement mechanism (181R) on the right side
  • the distances from the first running mechanism (571) to the center of the frame (01) in the front-back direction are not equal, when the first running mechanism (571) on the left side and the first running mechanism (571) on the right side ( 571) when one traveling mechanism is relatively behind the other, the third traveling mechanism (573) is the other relatively rear traveling mechanism, and the third elevating mechanism (233) is connected to the other The lifting mechanism of the relatively rear running gear mechanism; and/or,
  • the second forward and backward movement mechanism (182L) on the left side and/or the second forward and backward movement mechanism (182R) on the right side can make the second walking mechanism (572) on the left side and the second walking mechanism (572) on the right side
  • the distances from the two running gears (572) to the center of the frame (01) in the front-rear direction are unequal, when the second running gear (572) on the left side and the second running gear (572) on the right side
  • the third running gear (573) is the other relatively forward running gear
  • the third lifting mechanism (233) is connected to the other relatively forward running gear.
  • any two of the running gear in the front section, the running gear in the middle section and the running gear in the rear section can include three running gears.
  • the The figure formed by the successive connection of the touch points of the three running gears can contain the center of gravity of the equipment, that is, the three running gears can stably support the frame of the equipment off the ground.
  • the other walking mechanism of the second obstacle-crossing device except the three walking mechanisms can be lifted and moved back and forth under the control of the corresponding lifting mechanism and the forward and backward movement mechanism to overcome the first type of obstacles (such as going up steps, hurdles, etc.) ), or this other walking mechanism can move forward, descend, and reach the steps below the ground under the control of the corresponding lifting mechanism and the forward and backward movement mechanism.
  • the first type of obstacles such as going up steps, hurdles, etc.
  • the movable equipment shown in this scheme is actually a subordinate scheme of scheme 1.
  • the movable device shown in the scheme 7 is substantially equivalent to the equipment shown in the scheme 1+including the scheme 8. Therefore, the movable device shown in Scheme 7 does not cause unity conflict.
  • the fourth traveling mechanism can be configured to have different performance from the lifting traveling mechanism; if it can enter the sixth mode, the fourth traveling mechanism can provide the whole machine with different The same driving performance (for example, faster speed, or greater bearing capacity), in the fifth mode, the movable traveling mechanism can help the fourth traveling mechanism or the vehicle driven by the fourth traveling mechanism to realize the "head-up-arch bridge-lifting "Tail" three-stage obstacle surmounting, which solves the problem that the fourth traveling mechanism cannot surmount obstacles.
  • the first feature + the second feature there are forward and backward movement mechanisms and/or walking mechanisms in the front left, right, front, left, and rear. This solution is similar to a robot dog, which can move forward and backward on four legs and cross obstacles in a lifting manner, which is of great significance.
  • the fourth traveling mechanism (15) When the fourth traveling mechanism (15) is disconnected from the frame (01), the fourth traveling mechanism (15) can travel along the road independently of the equipment; and/or, the equipment It also includes a fourth connecting part for detachably connecting the fourth traveling mechanism (15) to the frame (01), the fourth connecting part is connected to the frame (01) or the The fourth connecting part is a part of the frame (01), and/or the equipment includes the fourth traveling mechanism (15).
  • the part connects the existing vehicle to the mobile device, the latter can help the former achieve (high-performance head-arch bridge-lift tail three-stage transformation) obstacle surmounting, and the mobile device can use vehicles without obstacle surmounting capability
  • the fourth traveling mechanism (15) realizes differentiated traveling performance. When there is no need to surmount obstacles, (obstacle surmountable) equipment and (conventional) vehicles can travel independently again, thereby greatly improving comprehensive benefits.
  • the fourth traveling mechanism (15) is connected with a vehicle body and the fourth traveling mechanism (15) is also used to support the vehicle body off the ground, and the first traveling mechanism (511) or the second traveling mechanism (522 ) or the third walking mechanism or the first lifting mechanism (211) or the second lifting mechanism (222) or the third lifting mechanism are arranged on the outside of the vehicle body, and/or include the first The vehicle of four traveling gears (15) is any in automobile, motorcycle and bicycle; And/or,
  • the fourth traveling mechanism (15) is a crawler-type traveling mechanism; or, the fourth traveling mechanism (15) is a wheel-type traveling mechanism comprising a wheel (15A) at a first end and a wheel (15B) at a second end, And: the first traveling mechanism (511) is located in front of the wheel (15A) at the first end, and/or the third traveling mechanism is located behind the wheel (15A) at the first end, and/or the The third traveling mechanism is located before the wheel (15B) at the second end, and/or the second traveling mechanism (522) is located behind the wheel (15B) at the second end, and/or the wheeled traveling mechanism The highest traveling speed is greater than the highest traveling speed of any one of the first traveling mechanism (511), the second traveling mechanism (522) and the third traveling mechanism.
  • Cars, motorcycles or bicycles are very important tools in human society and a symbol of human civilization; compared with humanoid robots or robot dogs with mechanical legs, this first type of vehicle has energy saving, emission reduction, environmental protection, driving speed The advantage of being fast, but there has always been a worldwide problem of weak obstacle-crossing ability;
  • the liftable running mechanism contained in the movable equipment can also include helping the fourth running mechanism (15) to realize the three steps of "raising the head-arch bridge-lifting the tail". Segmental obstacle surmounting solves the difficulty of surmounting obstacles in the third mode. If the fourth mode can be entered, the fourth traveling mechanism (15) can provide a driving capability different from that of the movable traveling mechanism;
  • the liftable running mechanism contained in the equipment can help the vehicle realize the three-stage obstacle surmounting of "head-raising-arch bridge-lifting tail", It solves the problem that the vehicle cannot overcome obstacles; if it can enter the fourth mode, the vehicle can provide a driving ability that is differentiated from the lifting traveling mechanism;
  • the obstacle-climbing mechanism is arranged on both sides of the vehicle body as much as possible, which can minimize the invasion of the obstacle-climbing mechanism into the interior space of the vehicle body; and it is more convenient to arrange the obstacle-climbing mechanism as a structure that matches the vehicle body as much as possible.
  • the obstacle-breaking mechanism is arranged on the U-shaped or inverted U-shaped outside of the vehicle body, which is convenient for the obstacle-breaking mechanism to better wrap the vehicle body from the side, better support the vehicle from the ground and overcome obstacles.
  • the movable equipment can be the obstacle-climbing mechanism supporting the vehicle, which is equivalent to the vehicle (automobile, motorcycle) Vehicle, bicycle or boat), the obstacle-surmounting mechanism, and the exoskeleton for obstacle-surpassing.
  • the movable device can not only run independently and overcome obstacles, but also assist vehicles with the fourth traveling mechanism (15) to overcome obstacles, which helps to solve the worldwide problem of weak obstacle-surmounting ability of such vehicles, and is of great value.
  • the fourth traveling mechanism (15) is a crawler-type traveling mechanism, which has special effects on crossing complex road sections (such as sandy beaches or snow fields).
  • the first traveling mechanism (511) is located in front of the wheel (15A) at the first end and/or the third traveling mechanism is located behind the wheel (15A) at the first end and/or the third traveling mechanism
  • the mechanism is located behind the wheel (15A) at the first end, and/or the third traveling mechanism is located in front of the wheel (15B) at the second end and/or the second traveling mechanism (522) is located at the first
  • the scheme of the layout can increase the distance between the first traveling mechanism and the second traveling mechanism as much as possible, which enhances the stability of the obstacle-breaking device; Interference between the running gear of existing standard vehicles.
  • each liftable traveling mechanism may be connected with a lifting mechanism, it is not convenient for enlargement; therefore, the maximum traveling speed of the wheeled traveling mechanism is greater than that of the first traveling mechanism (511) and the second traveling mechanism (522). and the maximum running speed of any one of the running gears in the third running gear is conducive to improving the speed and traffic efficiency of the equipment on flat roads.
  • the third traveling mechanism can travel along the road independently of the device; and/or, the device also includes a The third traveling mechanism is detachably connected to the third connecting part of the third lifting mechanism, and the third connecting part is connected to the end of the third lifting mechanism, and/or, the equipment includes the third walking mechanism.
  • the third traveling mechanism is a crawler stair climber or a crawler for outdoor work.
  • the device also includes a first front and rear movement mechanism (181), one end of the first front and rear movement mechanism (181) is connected to the frame (01), and the other end of the first front and rear movement mechanism (181) is connected to the The first lifting mechanism (211) and/or the edge part of the first end of the manned compartment of the device, the first front and rear movement mechanism (181) is used to make the first walking mechanism (511) and/or Or the edge part of the first end of the manned compartment of the device moves back and forth relative to the frame (01); and/or,
  • the device also includes a second back and forth movement mechanism (182), one end of the second back and forth movement mechanism (182) is connected to the frame (01), and the other end of the second back and forth movement mechanism (182) is connected to the The second lifting mechanism (222) and/or the edge part of the second end of the manned compartment of the device, the second forward and backward movement mechanism (182) is used to make the second walking mechanism (522) and/or The edge part of the second end of the manned compartment of the device moves back and forth relative to the frame (01); and/or,
  • the movable equipment is used for overcoming obstacles; the overcoming obstacles refers to obstacles and/or lower steps protruding from the road surface, and/or the height of the overcoming obstacles is not greater than that used to make the first walking mechanism (511) and a lifting stroke of a plurality of lifting mechanisms for lifting and lowering the second traveling mechanism (522) and/or the third traveling mechanism relative to the frame (01).
  • Obstacle surmounting is the main purpose of the equipment and has great value.
  • the front and rear movement mechanism can increase the distance between the first walking mechanism (511) and the second walking mechanism (522) to improve driving stability; when static: the front and rear movement mechanism can reduce the first walking mechanism (511) ) and the second traveling mechanism (522) to reduce the footprint of the equipment.
  • the first forward and backward motion mechanism (181) and/or the second forward and backward motion mechanism (182) can adjust the landing points of the first traveling mechanism (511) and the second traveling mechanism (522) respectively according to the obstacle situation Position, can improve the ability to overcome obstacles.
  • the mechanism can adjust the length of the manned cabin, the increase of the length can increase the comfort of the passengers, and the reduction of the length can reduce the Manned area
  • the lifting stroke of the first lifting mechanism (211) and/or the second lifting mechanism (222) and/or the third lifting mechanism is not less than 0.3 meters or not less than 0.4 meters or not less than 0.5 meters or not less than 0.6 meters or not less than 0.8 meters or not less than 1 meter or not less than 1.2 meters; and/or,
  • the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism are all connected to a driver, and the driver is electrically connected to the control device and controlled by the control device; and/or,
  • At least two of the first traveling mechanism (511), the second traveling mechanism (522) and the third traveling mechanism are connected to drivers, and the drivers are electrically connected to and controlled by the control device.
  • the lifting stroke is greater than 0.3 meters, which is of great significance for the equipment to overcome obstacles, because the vehicle can forcibly rush over the obstacles below 0.3 meters under severe turbulence.
  • a large number of types of obstacles have a height of 0.4 meters, 0.5 meters or 0.6 meters.
  • 0.8 meters, 1 meter and 1.2 meters are the heights of conventional highway guardrails. It is of great significance for emergency rescue vehicles to be able to cross the guardrail.
  • Various stroke parameters have their own meanings, and the larger the stroke, the greater the height of the obstacle. Under the premise that the set obstacle-crossing function can be realized, the smaller the stroke, the lower the cost.
  • the drive connection is powered.
  • the mechanism is controlled by a driver, which is less labor-saving than manual control.
  • the active suspension device of the wheel in the existing automobile can also lift the ground height of the chassis, it cannot constitute a specific position and is used for the third running mechanism for surmounting obstacles, and cannot realize three-stage spanning (arch bridge, Lifting the head, raising the tail conversion formula) to overcome obstacles, it can only be that the four wheels land on the ground and the vehicle body is raised but it cannot be the wheel itself to overcome obstacles.
  • the movable equipment is used for overcoming obstacles; the overcoming obstacles refers to obstacles and/or lower steps protruding from the road surface, and/or the height of the overcoming obstacles is not greater than that used to make the first walking mechanism (511) and a lifting stroke of a plurality of lifting mechanisms for lifting and lowering the second traveling mechanism (522) and/or the third traveling mechanism relative to the frame (01).
  • Obstacle surmounting is the main purpose of the equipment and has great value.
  • Cars, motorcycles or bicycles are very important tools in human society and a symbol of civilization; compared with humanoid robots or robot dogs with mechanical legs, these vehicles have the advantages of energy saving, emission reduction, environmental protection, and fast driving speed.
  • the mobile device characterized in that: the wheel (15A) at the first end of the vehicle is the first traveling mechanism (511) or the second traveling mechanism (522) Or, the wheel (15B) at the second end of the vehicle is the second running gear (522) or the first running gear (511).
  • This technology makes the wheel (15A) at the first end or the wheel (15B) at the second end contained in the vehicle become the first running gear (511) or the second running gear (522), that is, It becomes a part of the obstacle surmounting device, reduces the cost of the obstacle surmounting device and reduces the volume.
  • the number of the first running gear (511) is one and/or the number of the second running gear (522) is one; or,
  • the first traveling mechanism (511) includes a first traveling mechanism (051) disposed on the first side of the center of gravity (O) of the equipment and a first traveling mechanism disposed on the second side of the center of gravity (O) (053), the first lifting mechanism (211) includes a first lifting mechanism (211L) on the first side and a first lifting mechanism (211R) on the second side, and the first lifting mechanism (211L) on the first side ) and one end of the first lifting mechanism (211) on the second side are connected to the frame (01), and the other end of the first lifting mechanism (211L) on the first side is connected to the The first traveling mechanism (051), the other end of the first lifting mechanism (211R) on the second side is connected to the first traveling mechanism (053) on the second side; and/or,
  • the second traveling mechanism (522) includes a second traveling mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second traveling mechanism arranged on the second side of the center of gravity (O) (054), the second lifting mechanism (222) includes a second lifting mechanism (222L) on the first side and a second lifting mechanism (222R) on the second side, and the second lifting mechanism (222L) on the first side ) and one end of the second lifting mechanism (222R) on the second side are connected to the frame (01), and the other end of the second lifting mechanism (222L) on the first side is connected to the first side
  • the second traveling mechanism (052), the other end of the second lifting mechanism (222R) on the second side is connected to the second traveling mechanism (054) on the second side.
  • the beneficial value of this scheme is one, and the equipment can be designed light and flexible like a motorcycle or a bicycle. If the first road wheel (511) and/or the second road wheel (522) are designed to be separated left and right, then the static stability of the equipment will increase.
  • the movable equipment as described in technical solution 1, 2, 3, 4, 5, 6 or 7, characterized in that: the first traveling mechanism (511) is a first traveling wheel or a first distributed crawler mechanism, the second traveling mechanism (522) is a second traveling wheel or a second distributed crawler mechanism; and/or,
  • the movable equipment is used for overcoming obstacles; the overcoming obstacles refers to obstacles and/or lower steps protruding from the road surface, and/or the height of the overcoming obstacles is not greater than that used to make the first walking mechanism (511) and a lifting stroke of a plurality of lifting mechanisms for lifting and lowering the second traveling mechanism (522) and/or the third traveling mechanism relative to the frame (01).
  • Obstacle clearance is the primary purpose of the device and has significant value.
  • the cost of the walking wheel is low and the efficiency is high.
  • the distributed crawler mechanism can prevent slipping.
  • the crawler type traveling mechanism (07) includes: a crawler belt (0701) on the first side, a crawler belt (0702) on the second side, a first track wheel on the first side, a first track wheel on the second side, a first side
  • the second track wheel on the first side and the second track wheel on the second side, the track (0701) on the first side is set over the first track wheel on the first side and the second track wheel on the first side, so
  • the track (0702) on the second side is nosed to the first track wheel on the second side and the second track wheel on the second side; or, the landing point of the crawler-type traveling mechanism (07) is distributed on the
  • the front, rear, left, and right sides of the center of gravity (O) point of the equipment or the orthographic projection of the center of gravity (O) of the equipment on the ground is located in the area formed by connecting the arrival points of the third traveling mechanism in turn; and/or ,
  • the end of the third lifting mechanism is connected to the crawler-type traveling mechanism (07) as follows: the first crawler wheel on the first side and the second crawler wheel on the first side pass through the crawler-type walking mechanism on the first side.
  • the base of the traveling mechanism (07) is connected to at least one of the third lifting mechanisms, and the first crawler wheel on the second side and the second crawler wheel on the second side pass through the crawler-type traveling mechanism on the second side
  • the base of (07) is connected to at least one of the third lifting mechanism.
  • the crawler belt (0701) on the first side and the crawler belt (0702) on the second side can run at a differential speed.
  • the crawlers of the crawler-type traveling mechanism are arranged on the left and right sides, which improves the static support stability.
  • the crawler-type traveling mechanism (07) also includes a first roller and a second roller, the shaft of the first roller is connected to the first end of the base of the crawler-type traveling mechanism (07), and the second roller
  • the shaft of the running belt is connected to the second end of the base
  • the running belt is hooked to the first roller and the second roller
  • the crawler type walking mechanism (07) can also drive the running belt to run for people Running on the running belt
  • the crawler belt (0701) of the first side included in the crawler-type walking mechanism (07) is located on the left side of the running belt
  • the second side of the crawler-type walking mechanism (07) includes The crawler belt (0702) is located on the right side of the running belt; or, the crawler belt in the crawler type running gear (07) is the running belt; and/or,
  • the device includes a first clutch, the output of the driver of the crawler-type traveling mechanism (07) is connected to the power input end of the first clutch, the power output end of the first clutch is connected to the running belt, and the power output end of the first clutch is connected to the running belt.
  • the first clutch is used to switch the power link between the driver and the running belt; and/or, the device includes a second clutch, and the output member of the driver of the crawler-type traveling mechanism (07) is connected to the The power input end of the second clutch, the power output end of the second clutch is connected to the track on one side, and the second clutch is used to switch the power link between the driver and the track.
  • a certain side is the first side or the second side; and/or, the diameter of the first crawler wheel is larger than the diameter of the first roller, and/or the diameter of the second track wheel is larger than the diameter of the first roller the diameter of the second roller; and/or,
  • the movable equipment also includes movable connecting legs, the frame (01) and the fifth connecting part, when the crawler-type walking mechanism (07) drives the running belt to run, the The legs can touch the ground and support the running belt driven by the crawler-type walking mechanism (07);
  • the sixth connection part of (01), the personnel carrier is a seat, a bed or a footrest, when the device is working in a non-treadmill mode: the personnel carrier can be set through the connection of the sixth connection part A person can be carried above the running belt and on the person carrier.
  • the fifth connecting part is a motion mechanism that lifts the lower surface of the support leg relative to the frame (01), and the motion mechanism is a vertical linear motion mechanism or a swing mechanism. Both ends of the movement mechanism are respectively connected to the frame (01) and the legs.
  • the sixth connecting part is a linear motion mechanism arranged along the traveling direction of the equipment for making the personnel carrier slide back and forth relative to the machine frame (01) or is used to make the personnel carrier slide relative to the machine frame (01).
  • the swing mechanism for swinging the frame (01). Two ends of the movement mechanism are respectively connected to the frame (01) and the personnel carrier.
  • the fifth connecting part is wood
  • the sixth connecting part is a beam capable of supporting the personnel carrier from the bottom.
  • the fifth connecting part is a motion mechanism that lifts the lower surface of the support leg relative to the frame (01), and the motion mechanism is a vertical linear motion mechanism or a swing mechanism.
  • the main function of the mobile equipment is to be used as an outdoor (sports, fitness) obstacle platform, and the scheme can also enable the crawler driving equipment (nearly zero cost) to be used as a running (in the category of sports equipment) Machine, highly innovative, and one machine with dual functions, which reduces the user's purchase cost and storage space while satisfying two functions.
  • the fifth connecting part makes it easier to lift the legs, and the sixth connecting part makes it easier to move the personnel carrier.
  • the first clutch enables the controlled on-off of the power supplied to the running belt
  • the second clutch enables the controlled on-off of the power supplied to the crawler on one side.
  • the clutch is used to prevent the movement of the running belt and the movement of the crawler on one side from interfering with each other. .
  • the electric push rod and guide rail slider mechanisms are easier to control (for example, no air source is required), and the telescopic hydraulic cylinder (for example, a jack) has a greater load-carrying capacity.
  • the mobile device according to technical solution 1, 2, 3, 4, 5, 6 or 7, characterized in that: the mobile device is configured to carry an adult, and/or the Mobile equipment including manned compartments; and/or,
  • the movable equipment is used for overcoming obstacles; the overcoming obstacles refers to obstacles and/or lower steps protruding from the road surface, and/or the height of the overcoming obstacles is not greater than that used to make the first walking mechanism (511) and a lifting stroke of a plurality of lifting mechanisms for lifting and lowering the second traveling mechanism (522) and/or the third traveling mechanism relative to the frame (01).
  • Obstacle clearance is the main purpose of the device and has great value.
  • Man is the master of the earth, and the movable device is constructed as a vehicle for adults and can carry people, which is more economically meaningful than designing the device as a non-carrying tool or a toy.
  • the movable equipment further includes an underwater propulsion device (09) connected to the frame (01), and the underwater propulsion device (09) is configured to drive the movable equipment to travel in water; and/or , the buoyancy generated by the movable device in water is not less than the gravity of the movable device or the movable device is a boat.
  • the scheme can enhance the ability of the movable equipment to travel in water.
  • the crawler-type walking mechanism can assist the equipment to cross soft road sections (beach, mud) and enhance the equipment's ability to overcome obstacles in amphibious switching.
  • the obstacle-climbing mechanism enables ships (such as yachts) to go up and down steps and hurdles on the ground. It is highly innovative and has two functions, which reduces the purchase cost of users when two functions are met. storage.
  • Control the lifting mechanism connected with the several types of running gears so that the several types of running gears are lowered relative to the frame (01) to touch the ground and/or lift the frame (01); and/or, control The lifting mechanism connected with any one of the running gears can make the any one of the running gears rise relative to the frame (01); so that the lower surface of the any one of the running gears is not lower than the obstacle the upper surface of
  • the several types of running gears are the third running gears or the third running gears and the second running gears (522 ); if any one of the running gears is the third running gear, then the several kinds of running gears are the first running gear (511) and the second running gear (522); if any of the One type of running gear is the second running gear (522), and the several kinds of running gears are the third running gear or the third running gear and the first running gear (511);
  • the several types of running gears are the third running gears or the third running gears and the second running gears (522 ); if any one of the running gears is the third running gear, then the several kinds of running gears are the first running gear (511) and the second running gear (522); if any of the One type of running gear is the second running gear (522), and the several kinds of running gears are the third running gear or the third running gear and the first running gear (511);
  • the third lifting mechanism makes the wheeled traveling mechanism rise relative to the frame (01), and/or controls the first lifting mechanism (211) to make the first traveling mechanism (511) relative to the machine
  • the frame (01) rises and controls the second lifting mechanism (222) to make the second traveling mechanism (522) rise relative to the frame (01);
  • the set road section includes sandy beaches, road sections with silt or gravel, snow, grass, swamps, A road section with continuous steps, a road section with multiple raised obstacles, a road section with multiple sunken obstacles, or a road section with both raised and sunken obstacles;
  • the step S1 is used to control the movable device to cross over obstacles raised on the road surface.
  • This step S2 is used to control the movable equipment to go down the steps.
  • This step S3 provides a control scheme for the device to travel on the (complex) set road section.
  • This step S4 provides a control scheme for the device to drive on the barrier-free road.
  • This step S5 providing a control scheme for the movable device to travel in water.
  • control method for movable equipment as described in technical solution 2, 4 or 5, characterized in that the control method comprises the steps of:
  • control the second lifting The mechanism (222) lowers the second traveling mechanism (522) relative to the frame (01) and touches the ground on the flat road, raising the rear part of the crawler-type traveling mechanism (07); and /or, control the first lifting mechanism (211) so that the first traveling mechanism (511) descends relative to the frame (01) and touches the ground on the downhill section, so as to reduce the The impact force of the front end of the traveling mechanism (07) bumping into the ground; or,
  • control method includes the steps of:
  • This scheme provides the control scheme that makes the crawler-type walking mechanism (07) break away from the ground and drives the running belt to run for people to run, and has unexpected effects.
  • All the running gears are the first running gear (511), the second running gear (522) and the third running gear; or, all the running gears are the first running gear (511) and the second walking mechanism (522);
  • Y2 Control the lifting mechanism correspondingly connected to several kinds of walking mechanisms among all the lifting mechanisms of the equipment, so that the several kinds of walking mechanisms are lowered relative to the frame (01) to support the ground, so that the The fourth traveling mechanism (15) rises to overcome obstacles; said all traveling mechanisms are said first traveling mechanism (511), said second traveling mechanism (522) and the third traveling mechanism; or, said all The running gear is the first running gear (511) and the second running gear (522);
  • the several kinds of running gears are the third running gears, or the several kinds of running gears are at least one of the first running gear (511), the second running gear (522) and the third running gear Two kinds of walking mechanism.
  • the lifting control of a plurality of dry running gears is preferably carried out simultaneously. It can also be distributed.
  • step Y1 the liftable traveling mechanism is lifted off the ground, and the wheels (15A) at the first end and/or the wheels (15B) at the second end can carry the liftable traveling mechanism to travel.
  • This step Y1 is used to make the movable device travel on an obstacle-free road section. That is: when the movable device is on an unobstructed road section, step Y1 is executed.
  • the obstacle surmounting method can be performed using any of the obstacle surmounting methods described herein.
  • This step Y2 solves the problem that the frame 01 needs to overcome an obstacle or that the fourth traveling mechanism 15 needs to overcome an obstacle.
  • the above steps Y1 and Y2 are performed separately at different times.
  • the source of the control command can be the operator in the device, the network or the automatic driving module.
  • the figure enclosed by the lines connecting the contact points of the several running gears in turn includes the center of gravity (O) of the equipment.
  • the number of contact points of the several running gears is not less than three. Of course, it is also allowed to control more traveling gears to descend relative to the frame (01) to support the ground.
  • the contact point of a road wheel is 1.
  • the method for controlling movable equipment as described in technical solution 23, 24 or 26 it is characterized in that, before performing the steps or when performing the steps, the control method further includes the following steps S0 and/or Step S12:
  • S0 Obtain the road condition information of the road section where the movable device is located; or obtain the distance in the vertical direction between the lower surface of the running mechanism included in the movable device and the ground below the lower surface information; or, obtain the lower surface of the first running gear (511), the third running gear and the second running gear (522) relative to the wheel (15A) at the first end or the first running gear (15A) or the second running gear
  • S12 Control the first forward and backward movement mechanism to adjust the distance of the first traveling mechanism (511) relative to the center of the frame (01) in the front and rear direction, and/or control the second forward and backward movement mechanism to adjust the The distance between the second traveling mechanism (522) relative to the center of the frame (01) in the front-rear direction.
  • step S12 The information acquired in step S12 is helpful for better obstacle surmounting.
  • This step S12 is used to adjust the landing point of the first running gear and/or the second running gear according to the road conditions. To better overcome obstacles.
  • a storage medium for a removable device characterized in that: the storage medium stores a computer program, and when the computer program is executed by a processor, the implementation as described in technical solution 23, 24, 25, 26 or 27 is achieved. control method described above.
  • This solution provides a perfect storage medium for storing programs used in technical solutions 23, 24, 25, 26 or 27.
  • a control device for movable equipment characterized in that: the control device is used to implement the control method described in technical solution 23, 24, 25, 26 or 27; or, the control device includes processing A device and a storage medium, the storage medium is used to store a program, and when the program is executed by the processor, the control method as described in technical solution 23, 24, 25, 26 or 27 is implemented.
  • This solution provides a complete program control device for realizing the method described in technical solution 23, 24, 25, 26 or 27.
  • the control device can be located either in the mobile device or in another vehicle separate from the mobile device.
  • control device includes a signal acquisition module for acquiring the information described in step S0.
  • the signal acquiring module includes an environment sensing module (08) or a communication module capable of reading an external environment sensing module (08).
  • the signal acquisition module is connected to the processor included in the control device.
  • a mobile platform the mobile platform is a mobile device as described in technical solution 1, 2, 3, 4, 5, 6 or 7, or the mobile platform is independent of the mobile device
  • the platform includes a traveling mechanism for driving the platform along the road surface, and the feature is that: the mobile platform also includes the control device as described in technical solution 29.
  • This solution provides a mobile platform including the control device described in the aforementioned solution 29.
  • the mobile platform may refer to the mobile device described in the foregoing solutions, or may be another platform independent of the mobile device.
  • the beneficial effect of the mobile device of the present application is that: the cooperation of the first liftable walking mechanism (511), the second liftable walking mechanism (522) and the third walking mechanism makes the movable equipment have a front, middle and rear three-dimensional structure.
  • the third traveling mechanism supports the frame (01) off the ground and enables the movable equipment to travel along the road, or the first traveling mechanism (511) and the One of the second running gear (522) and the third running gear support the frame (01) off the ground and make the movable equipment travel along the road (so that the running gear of the front section and/or the rear section
  • the walking mechanism can leave the ground to overcome obstacles
  • the second mode is to support the frame (01) off the ground and make the movable
  • the mobile equipment travels along the road (so that the walking mechanism in the middle section can leave the ground to overcome obstacles).
  • the combination and switching of the two modes can be perfectly used for (head-up-arch bridge-lift tail) obstacle surmounting.
  • the technical solution provided by the application can improve the obstacle-surmounting ability of wheeled or crawler-type movable equipment (such as vehicles) or the adaptability to complex terrain.
  • FIG. 1 is a schematic diagram of a mobile device according to Embodiment 1 of the present application.
  • Fig. 2 is a schematic diagram of the mobile device according to Embodiment 1 of the present application, which is a rear view;
  • Fig. 3 is a schematic diagram of the mobile device according to Embodiment 1 of the present application, which is a side view;
  • Fig. 4 is a schematic diagram of a movable device in a first mode
  • FIG. 5 is a schematic diagram of a mobile device in a second mode
  • Fig. 6 is a schematic diagram of a mobile device in a third mode according to Embodiment 1 of the present application, which is a side view;
  • Fig. 7 is a schematic diagram of the mobile device in the fourth mode according to Embodiment 1 of the present application, which is a side view;
  • FIG. 8 is a schematic diagram of a mobile device in a third mode according to Embodiment 1 of the present application.
  • FIG. 9 is a schematic diagram of a mobile device in a third mode according to Embodiment 1 of the present application.
  • Fig. 10 is a schematic diagram of a movable device, which is a rear view
  • Fig. 11 is a schematic diagram of a movable device
  • Fig. 12 is a schematic diagram of a movable device
  • FIG. 13 is a schematic perspective view of a mobile device according to an embodiment of the present application.
  • Fig. 14 is a schematic diagram of the mobile device according to Embodiment 1 of the present application, and the device is a ship, which is lowered by the third traveling mechanism to support the ground;
  • Fig. 15 is a schematic diagram of the mobile device in Embodiment 1 of the present application, and the device is a boat, which is lowered by the first traveling mechanism 511 and the second traveling mechanism 522 to support the ground;
  • Fig. 16 is a schematic diagram of the mobile device according to Embodiment 1 of the present application, and the device is a boat supported by a fourth traveling mechanism 15;
  • Fig. 17 is a schematic diagram of the mobile device in Embodiment 1 of the present application, and the device is a cart, which is lowered by the third traveling mechanism to support the ground;
  • Fig. 18 is a schematic diagram of the mobile device in Embodiment 1 of the present application, and the device is a cart, which is lowered by the first traveling mechanism 511 and the second traveling mechanism 522 to support the ground;
  • Fig. 19 is a schematic diagram of the mobile device according to Embodiment 1 of the present application, and the device is a cart supported by a fourth traveling mechanism 15;
  • Fig. 20 is a schematic diagram of the mobile device of Embodiment 1 of the present application, and the device is a car; and the first traveling mechanism 511, the second traveling mechanism 522 and the third traveling mechanism all descend to support the ground, and the third traveling mechanism is third walking wheel;
  • Fig. 21 is a schematic top view of the mobile device according to Embodiment 1 of the present application.
  • Fig. 22 is a schematic diagram of climbing continuous stairs of the mobile device according to Embodiment 1 of the present application, and the device is a car;
  • Figure 23 is a schematic diagram of a mobile device according to Embodiment 4 of the present application, and the device is a car;
  • Figure 24 is a schematic diagram of a mobile device according to Embodiment 4 of the present application, and the device is a car;
  • Figure 25 is a schematic diagram of the mobile device according to Embodiment 4 of the present application, and the device is a cart, which is a top view;
  • Figure 26- Figure 31 are schematic diagrams of obstacles protruding from the road surface of the mobile device according to Embodiment 1 of the present application, and the device is a car;
  • Figure 32 is a schematic diagram of a mobile device according to Embodiment 2 of the present application.
  • Figure 33 is a schematic diagram of a crawler-type walking mechanism, which is a perspective view
  • Fig. 34 is a schematic diagram of a crawler-type traveling mechanism, which is a top view
  • Fig. 35 is a schematic diagram of a crawler-type traveling mechanism, which is a side view
  • Fig. 36 is a schematic diagram of another crawler-type traveling mechanism, which is a perspective view
  • Figure 37 is a schematic diagram of another crawler-type traveling mechanism, which is a top view
  • Figure 38 is a schematic diagram of another crawler-type traveling mechanism, which is a perspective view
  • Figure 39 is a schematic diagram of an electric push rod
  • Fig. 40 is a schematic diagram of a rail type motion mechanism.
  • the first front and rear movement mechanism 181L-the first front and rear movement mechanism on the first side; 181R-the first front and rear movement mechanism on the second side;
  • the second front and rear movement mechanism 182L-the second front and rear movement mechanism on the first side; 182R-the second front and rear movement mechanism on the second side;
  • L and R marks when there are several components horizontally placed along the traveling direction, their labels will be followed by L and R marks, wherein L indicates that it is located on the left side of the rack along the traveling direction, and R indicates that it is located on the left side of the rack along the traveling direction.
  • the third traveling wheel 512 at the first end is provided with two, one of which is marked as 512R, and the other is marked as 512L, wherein the third traveling wheel 512L at the first end is located on the left side of the frame, and the third traveling wheel 512L at the first end is The third road wheel 512R is located on the right side of the frame.
  • the first lifting mechanism 211 is provided with two, wherein one first lifting mechanism is marked as 211L, and the other first lifting mechanism is marked as 211R, then the first lifting mechanism 211L is located on the left side of the frame along the traveling direction, and the first The lifting mechanism 211R is located on the right side of the frame along the traveling direction.
  • the second elevating mechanism 222 is provided with two, wherein one second elevating mechanism is marked as 222L, and another second elevating mechanism is marked as 222R, then the second elevating mechanism 222L is positioned at the left side of the frame along the travel direction, and the second The lifting mechanism 222R is located on the right side of the frame in the direction of travel. Others, and so on.
  • the reference number of the third lifting mechanism at the first end is 212 .
  • the number 221 of the third lifting mechanism at the first end may also be the same as that of the third lifting mechanism at the second end.
  • the label of the crawler-type traveling mechanism may also be 07M.
  • the present invention proposes a scientific and reasonable device architecture design through in-depth research on the overall machine topology, motion characteristics, and motion mechanism of the mobile device, which is helpful for the realization of vehicles (automobiles, motorcycles, bicycles or ships), ships ( Such as yacht) up and down steps, hurdles (even mountain climbing) and other difficult obstacles.
  • Vehicles or boats are important equipment and important industries in modern human society, and the present invention has important economic and social values.
  • this article is not an ordinary, conventional way of thinking, only limited to enabling the equipment itself to achieve "head-arch bridge-tail lift" three-stage obstacle surmounting (up and down steps, hurdles); more importantly, this article is creative Proposed a design plan to maximize the modularization, instrumentation, and sharing of the walking mechanism:
  • the movable equipment can be grasped through the corresponding connection part, with the help of an external, shareable traveling mechanism that can run independently of the equipment, and be connected to the set position to be used as the third traveling mechanism, In order to minimize the cost; on the contrary, the movable equipment can also release the third traveling mechanism to allow it to drive independently, and one car can be transformed into two cars to complete two different tasks at the same time;
  • the movable equipment can assist external vehicles or boats without obstacle-crossing ability (including the fourth running mechanism) to overcome obstacles, so as to maximize economic and social benefits. Conversely, the movable equipment can also release the fourth traveling mechanism to allow it to drive independently, and one vehicle can be transformed into two vehicles to complete two different tasks at the same time.
  • the movable device can also release the third traveling mechanism and the fourth traveling mechanism at the same time, changing one car into three cars, and performing three different tasks at the same time.
  • Both the third traveling mechanism and the fourth traveling mechanism can run independently.
  • the movable equipment can also run independently relying on the first traveling mechanism and the second traveling mechanism.
  • the equipment includes a frame 01, a first traveling mechanism 511, and a second traveling mechanism 522;
  • the first traveling mechanism 511 is located in front of the center of gravity O of the movable equipment
  • the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment
  • Part or all of the third traveling mechanism connected to the frame 01 is located between the first traveling mechanism 511 and the second traveling mechanism 522, and the landing point of the first end of the third traveling mechanism is located at the center of gravity O of the equipment Before, the arrival point of the second end of the third traveling mechanism was located behind the center of gravity O of the device;
  • the movable equipment also includes a first lifting mechanism 211 and a second lifting mechanism 222, one end of the first lifting mechanism 211 and the second lifting mechanism 222 are connected to the frame 01; the other end of the first lifting mechanism 211 Connect the first traveling mechanism 511, the first lifting mechanism 211 is used to lift the first traveling mechanism 511 relative to the frame 01, the other end of the second lifting mechanism 222 is connected to the second traveling mechanism 522, the second lifting mechanism 222 The second lifting mechanism 222 is used to lift the second traveling mechanism 522 relative to the frame 01;
  • the movable device is configured to be switchable between the first mode and the second mode
  • the first mode is: the lower surface of the third traveling mechanism is not higher than the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522, and the frame 01 is lifted off the ground by the third traveling mechanism and make the movable equipment travel along the road, or support the frame 01 off the ground by one of the first traveling mechanism 511 and the second traveling mechanism 522 and the third traveling mechanism and make the movable equipment move along the road face driving;
  • the second mode is: the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are not higher than the lower surface of the third traveling mechanism, the first traveling mechanism 511 and the second walking mechanism Mechanism 522 supports the frame 01 off the ground and enables the movable equipment to travel along the road.
  • the mobile equipment shown in Figures 1-32 the equipment shown in Figure 4 is in the first mode, and the frame 01 is supported off the ground by the crawler-type running mechanism 07 as the third running mechanism; Figure 5 and The device shown in Figure 13 is in the second mode.
  • the equipment also includes: a third lifting mechanism and a third connecting part detachably connecting the third traveling mechanism to the third lifting mechanism; the frame 01, the third lifting mechanism The mechanism, the third connecting portion and the third traveling mechanism are sequentially connected, and the third lifting mechanism is used to lift the third traveling mechanism relative to the frame 01;
  • the third traveling mechanism is a crawler-type traveling mechanism 07, and when the connection between the third traveling mechanism and the third lifting mechanism is disconnected, the third traveling mechanism can travel along the road independently of the equipment;
  • the crawler-type traveling mechanism Position feature 1 is: on the traveling direction of the equipment: the front edge of the first traveling mechanism 511 is located before the front edge of the crawler-type traveling mechanism 07, and the rear edge of the crawler-type traveling mechanism 07 is located at the second traveling mechanism Before the trailing edge of 522;
  • the equipment also includes a fourth connecting portion for detachably connecting the fourth traveling mechanism 15 to the frame 01, and when the connection between the fourth traveling mechanism 15 and the frame 01 is disconnected, the fourth traveling mechanism 15 Can drive along the road independently of the equipment;
  • the movable device is configured to be switchable between a third mode and a fourth mode
  • the third mode is: the lower surfaces of the first running gear 511, the second running gear 522, and the third running gears included in several running gears are lower than those of the fourth running gear 15 connected to the frame 01.
  • the frame 01 On the lower surface, the frame 01 is supported off the ground by the several types of running mechanisms and the movable equipment is driven along the road; the several types of running mechanisms are the third running mechanisms, or the several types of running mechanisms are the first walking mechanisms.
  • the fourth mode is: the lower surface of the first traveling mechanism 511, the lower surface of the second traveling mechanism 522 and the lower surface of the third traveling mechanism are all higher than that of the fourth traveling mechanism 15 connected to the frame 01. On the lower surface, the landing point of the fourth traveling mechanism 15 is distributed before and after the center of gravity O of the equipment, and the fourth traveling mechanism 15 supports the frame 01 off the ground and makes the movable equipment travel along the road.
  • the fourth traveling mechanism is driven by a fourth driver whose output part is connected to the power input part of the fourth traveling mechanism, so that the equipment travels along the road surface.
  • the power input part of the fourth traveling mechanism is connected with the output part of the fourth driver.
  • the liftable traveling mechanism can be driven by a driver whose output part is connected to (the power input part of) the liftable traveling mechanism, so that the device can travel along the road surface.
  • the power input of the liftable running gear is connected to the output of a driver for driving the running gear.
  • a movable device configured to switch between the first mode and the second mode means that the device can realize both the first mode and the second mode at different times, and the device can also realize Switch between the first mode and the second mode.
  • a movable device configured to switch between the third mode and the fourth mode means that the device can realize both the third mode and the fourth mode at different times, and the device can also realize the fourth mode at different times. Switch between the third mode and the fourth mode. To implement a mode is to work in that mode.
  • Fig. 1, Fig. 2, Fig. 3, Fig. 6 and Fig. 7 are all the same mobile device shown in Embodiment 1, and the device is a motorcycle or a bicycle.
  • the fourth traveling mechanism 15 connected to the frame 01 is a wheeled traveling mechanism including a wheel 15A at a first end and a wheel 15B at a second end; the first traveling mechanism 511 is the wheel 15A at the first end.
  • the number of wheels 15A at the first end is one, and the number of wheels 15B at the second end is also one.
  • the third traveling mechanism connected to the frame 01 is a crawler-type traveling mechanism 07 .
  • the crawler running mechanism 07 is located behind the wheel 15A at the first end, and the crawler running mechanism 07 is located in front of the wheel 15B at the second end.
  • the second traveling mechanism 522 includes a second traveling mechanism 052 disposed on a first side of the center of gravity O of the device and a second traveling mechanism 054 disposed on a second side of the center of gravity O.
  • the equipment shown in FIG. 1 , FIG. 2 and FIG. 3 is in a third mode in which the frame 01 is lifted off the ground by the first traveling mechanism 511 and the second traveling mechanism 522 .
  • Figure 1 is a perspective view
  • Figure 2 is a rear view
  • Figure 3 is a side view.
  • the first traveling mechanism 511 and the second traveling mechanism 522 are brought to the ground by three traveling wheels, and the figure surrounded by the lines connecting the landing points of the three traveling wheels in the direction of the plan surrounds the equipment The center of gravity O.
  • the landing point of the first traveling mechanism 511 is located before the center of gravity O of the equipment, the landing point of the second traveling mechanism 052 on the first side is located at the left rear of the center of gravity O of the equipment, and the second traveling mechanism 054 of the second side The arrival point is located to the right rear of the center of gravity O of the device.
  • the equipment shown in Fig. 6 and Fig. 7 is the same type of equipment as the equipment shown in Fig. 1, Fig. 2 and Fig. 3, the difference is that the equipment shown in Fig. A third mode for terrain, which enables the device to travel through set (complex) road sections (such as climbing stairs, driving in snow or on the beach). And in the top view direction, the figure surrounded by the arrival points of the third traveling mechanism 07 encloses the center of gravity O of the equipment.
  • the equipment shown in FIG. 7 is in the fourth mode, and the frame 01 is lifted off the ground by the fourth traveling mechanism 15 .
  • Fig. 8, Fig. 9 and Fig. 10 are the same mobile device shown in Embodiment 1, and the device is a car.
  • the equipment shown in FIG. 9 does not include the fourth traveling mechanism 15 and the vehicle body connected to the fourth traveling mechanism 15 .
  • Figure 10 is a rear view of the device shown in Figure 9 .
  • the obstacle escaping mechanism is divided into a left obstacle escaping mechanism and a right obstacle escaping mechanism, the left obstacle escaping mechanism is arranged on the left side of the vehicle body, and the right obstacle escaping mechanism is arranged on the vehicle body to the right of the .
  • the fourth traveling mechanism 15 connected to the frame 01 is a wheeled traveling mechanism including a wheel 15A at a first end and a wheel 15B at a second end.
  • the number of wheels 15A at the first end is two, and the number of wheels 15B at the second end is also two.
  • the third traveling mechanism connected to the frame 01 is a crawler-type traveling mechanism 07 .
  • the first traveling mechanism 511 includes a first traveling mechanism 051 arranged on a first side of the center of gravity O of the equipment and a first traveling mechanism 053 arranged on a second side of the center of gravity O of the equipment.
  • the second traveling mechanism 522 includes a second traveling mechanism 052 disposed on the first side of the center of gravity O of the device and a second traveling mechanism 054 disposed on the second side of the center of gravity O.
  • Fig. 14, Fig. 15 and Fig. 16 are the same mobile device shown in Embodiment 1, and the device is a ship.
  • the device shown in Figures 14 and 15 is in a third mode.
  • the equipment shown in Figure 14 is lifted off the ground by the support frame 01 of the third traveling mechanism.
  • the equipment shown in FIG. 15 is supported by the first traveling mechanism 511 and the second traveling mechanism 522 to lift the frame 01 off the ground.
  • the equipment shown in FIG. 16 is in the fourth mode, and the frame 01 is lifted off the ground by the fourth traveling mechanism 15 .
  • Ships in this article refer to amphibious vehicles.
  • a boat is a boat.
  • Fig. 17, Fig. 18 and Fig. 19 are the same mobile device shown in Embodiment 1, and the device is a car.
  • the device shown in Figures 17 and 18 is in a third mode.
  • the equipment shown in FIG. 17 is supported by the third running mechanism to lift the frame 01 off the ground.
  • the equipment shown in FIG. 18 is supported by the first traveling mechanism 511 and the second traveling mechanism 522 to lift the frame 01 off the ground.
  • the equipment shown in FIG. 19 is in the fourth mode, and the frame 01 is lifted off the ground by the fourth traveling mechanism 15 .
  • the movable device shown in FIG. 20 is similar in structure to the movable device shown in FIG. 17 , FIG. 18 and FIG. 19 , and the device is a cart.
  • the third running mechanism connected to the frame 01 in the equipment shown in Figure 17, Figure 18 and Figure 19 is a crawler type running mechanism 07;
  • the third running mechanism connected to the frame 01 in the equipment shown in Figure 20 It is a third wheeled traveling mechanism, which includes a third traveling wheel whose landing point is located at the first end before the center of gravity O of the equipment and a third traveling wheel whose landing point is located at the second end behind the center of gravity O of the equipment .
  • the equipment shown in FIG. 20 is in the third mode, and the equipment is jointly supported by the first traveling mechanism 511 , the third traveling mechanism and the second traveling mechanism 522 to lift the frame 01 off the ground.
  • Figure 21 is shown in Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, Figure 22, Figure 26, Figure 27, Figure 28, Figure 29, Figure 30 and Figure 31.
  • Figures 26 to 31 show the same type of mobile equipment shown in Embodiment 1, which is a car. And these Figures 26 to 31 are arranged sequentially to form a dynamic demonstration diagram of the movable device protruding from road obstacles. Its specific action process is shown in the above-mentioned content of the invention.
  • the equipment includes the first traveling mechanism, the second traveling mechanism, the third traveling mechanism and the fourth traveling mechanism.
  • the 3rd running gear is crawler type running gear 07
  • crawler type running gear 07 contains the crawler type running gear of the first side and the crawler type running gear of the second side.
  • the fourth running mechanism 15 is also connected with a vehicle body. The 4th traveling mechanism 15 is positioned at the below of this vehicle body. Then the crawler-type traveling mechanism on the first side is arranged on the outer side of the vehicle body.
  • the crawler-type traveling mechanism on the second side is arranged on the other side of the vehicle body. Even if the crawler-type traveling mechanism on the first side and the crawler-type traveling mechanism on the second side go up and down, they will not interfere with the fourth traveling mechanism 15 and the vehicle body.
  • any one or more of the first traveling mechanism 511 , the second traveling mechanism 522 and the third traveling mechanism are called liftable traveling mechanisms.
  • Liftable running gear is also called auxiliary running gear.
  • the liftable traveling mechanism is used to enable the movable equipment to overcome obstacles and travel along the road (at a slow speed).
  • the liftable traveling mechanism and the fourth traveling mechanism can jointly support the ground and jointly enable the equipment to travel along the road surface.
  • the bottom of the lifting traveling mechanism and the bottom of the fourth traveling mechanism can be equal in height.
  • the bottom of any running gear can be positioned under the frame 01.
  • the front edge of the crawler-type traveling mechanism 07 is the front edge of the crawler belt contained in the crawler-type traveling mechanism 07.
  • the rear edge of the crawler-type traveling mechanism 07 is the rear edge of the crawler belt contained in the crawler-type traveling mechanism 07 .
  • the front edge of the crawler-type traveling mechanism 07 is the front edge of the crawler belt before the first track wheel 07201 at the first end.
  • the rear edge of the tracked running gear 07 refers to the rear edge of the track behind the second crawler wheel 07202 .
  • the front edge of the crawler-type traveling mechanism 07 leans against the direction of X1 indicating the traveling direction.
  • the arrival point of the first end of the crawler-type traveling mechanism 07 refers to the point of the first end of the lowermost part of the caterpillar included in the crawler-type traveling mechanism 07 .
  • the landing point of the first end is the track below the axis of the first track wheel 07201.
  • the arrival point of the second end of the crawler-type traveling mechanism 07 refers to the point of the second end of the bottom part of the track included in the crawler-type traveling mechanism 07 .
  • the landing point of the second end is the track below the axis of the second track wheel 07202.
  • the arrival point of a walking mechanism is distributed before and after the center of gravity O of the equipment, and the situation that the arrival point of the walking mechanism is located below the center of gravity O of the equipment is not excluded.
  • the arrival points of the traveling mechanism are distributed on the front, rear, left, and right sides of the center of gravity O of the equipment, which means: in the direction of looking down, the figure surrounded by the lines connecting the arrival points of the traveling mechanism encloses the center of gravity O of the equipment.
  • Embodiment 3 An extended embodiment based on Embodiment 1: In the equipment shown in Embodiment 1, the end of the third lifting mechanism is connected with a wheeled traveling mechanism, and the lower surface of the wheeled traveling mechanism is not lower than the crawler-type traveling mechanism The lower surface of 07.
  • the running wheels on the first side of the wheeled running mechanism are arranged outside the first side of the crawler running mechanism 07 .
  • the road wheels on the second side of the wheeled traveling mechanism are arranged outside the second side of the crawler-type traveling mechanism 07 .
  • the wheel-type traveling mechanism is used as the third traveling mechanism for overcoming obstacles.
  • the wheeled traveling mechanism is set as a wheeled traveling mechanism without a power device. Its cost is extremely low.
  • Embodiment 1A based on Embodiment 1: In the equipment shown in Embodiment 1, replace the position feature 1 with: In the driving direction of the equipment: the front edge of the crawler-type traveling mechanism 07 is located at the first traveling mechanism 511 and the rear edge of the second traveling mechanism 522 is before the rear edge of the crawler-type traveling mechanism 07, or: the front edge of the crawler-type traveling mechanism 07 is before the front edge of the first traveling mechanism 511, the The rear edge of the second running gear 522 is behind the rear edge of the crawler running gear 07; or: the front edge of the crawler running gear 07 is behind the front edge of the first running gear 511, and the second running gear 522 The rear edge is located in front of the rear edge of the caterpillar 07 .
  • Embodiment 1B based on Embodiment 1: In the device shown in Embodiment 1, the device is not configured in the fourth mode and can only implement the third mode.
  • Embodiment 1C based on Embodiment 1: In the equipment shown in Embodiment 1, the equipment does not have a fourth connecting part, and the fourth traveling mechanism 15 is fixedly connected to the frame 01 .
  • Embodiment 1D based on Embodiment 1: In the device shown in Embodiment 1, the device is not connected to the fourth traveling mechanism 15 . The third mode cannot be realized.
  • Embodiment 1E based on Embodiment 1: In the device shown in Embodiment 1, the device does not have the third connecting part, or the third traveling mechanism cannot run independently.
  • FIG. 20 embodiment 1F based on this embodiment 1:
  • the crawler-type traveling mechanism 07 as the third traveling mechanism is replaced by the third wheel-type traveling mechanism, the third wheel-type The traveling mechanism includes a third road wheel whose arrival point is located at the first end before the center of gravity O of the equipment and a third road wheel whose arrival point is located at the second end behind the center of gravity O of the equipment.
  • the third traveling mechanism can travel along the road independently of the equipment.
  • the first traveling mechanism 511 is located in front of the third traveling wheel at the first end, and the third traveling wheel 521 at the second end is located in front of the second traveling mechanism.
  • the third road wheels 512 at the first end include third road wheels 512L at the first end on the first side and third road wheels 512R at the first end on the second side.
  • the third road wheel 521 at the second end includes a third road wheel 521L at the second end of the first side and a third road wheel 521R at the second end of the second side.
  • each third traveling wheel is respectively connected to a third lifting mechanism and driven up and down by it.
  • the third elevating mechanism 212L at the first end of the first side is connected to the third traveling wheel 512L at the first end of the first side;
  • the third elevating mechanism 221L at the second end of the first side is connected to the third traveling wheel 521L at the second end of the first side;
  • the third elevating mechanism 212R at the first end of the second side is connected to the third traveling wheel 512R at the first end of the second side;
  • the third lifting mechanism 221R at the second end of the second side is connected to the third traveling wheel 521R at the second end of the second side.
  • a third elevating mechanism is simultaneously connected to two third traveling wheels on the same side through a longitudinal support, or a third elevating mechanism is simultaneously connected to two third traveling wheels on the same end through a transverse support.
  • Embodiment 1G based on this embodiment 1:
  • the crawler-type traveling mechanism 07 as the third traveling mechanism is replaced with the third traveling wheel, and the equipment also includes a third front and rear movement mechanism 183,
  • the frame 01, the third front and rear movement mechanism 183, the third elevating mechanism and the third traveling mechanism are sequentially connected, and the third front and rear movement mechanism 183 is used to make the arrival point of the third traveling wheel at the center of gravity of the equipment O Move back and forth to maintain the balance of the device.
  • the method for maintaining the balance of the equipment is: when the first traveling mechanism 511 is off the ground, the third forward and backward movement mechanism 183 makes the landing point of the third traveling wheel be located before the center of gravity O of the equipment; the second traveling mechanism 522 is off the ground At this time, the third forward and backward movement mechanism 183 makes the landing point of the third road wheel behind the center of gravity O of the equipment.
  • At least two third road wheels are arranged laterally along the traveling direction, and the third road wheels include a third road wheel located on the first side of the center of gravity O of the equipment and a The third road wheel on the second side of the equipment center of gravity O.
  • the orthographic projection of the center of gravity of the equipment on the ground is located in the area formed by connecting the contact points of the third traveling mechanism in sequence.
  • the contact points formed by the third road wheels 512 at each first end and the third road wheels 521 at each second end contacting the ground are sequentially connected to form an area, and the orthographic projection of the center of gravity of the movable device on the ground Located in this area, so that the third running mechanism can stably support the frame 01.
  • Embodiment 1F and Embodiment 1G The core of Embodiment 1, Embodiment 1F and Embodiment 1G is that the third running gear is located between the front edge of the first running gear 511 and the rear edge of the second running gear 522 .
  • the first traveling mechanism 511 is used as a front-stage traveling mechanism
  • the third traveling mechanism is used as a middle-stage traveling mechanism
  • the second traveling mechanism 522 is used as a rear-stage traveling mechanism.
  • each third traveling wheel is respectively connected to a third lifting mechanism and driven up and down by it.
  • the third lifting mechanism on the first side is connected to the third traveling wheel on the first side; the third lifting mechanism on the second side is connected to the third traveling wheel on the second side.
  • This embodiment 1G can be carried out with reference to FIG. 23 , FIG. 24 and FIG. 25 , and the equipment shown in FIG.
  • the first end of arrow X1; the first front and rear movement mechanism 181L of the first side in Fig. 25 is replaced by the third front and rear movement mechanism 183 of the first side, and the first front and rear movement mechanism 181R of the second side is replaced by the second side
  • the third front and rear movement mechanism 183; the third front and rear movement mechanism 183 on the first side is connected to the third road wheel on the first side by the third lifting mechanism on the first side, and the third front and rear movement mechanism 183 on the second side passes through the second side
  • the third lifting mechanism is connected with the third road wheel on the second side.
  • the third forward and backward movement mechanism 183 can make the landing point of the third road wheel move forward and backward at the center of gravity O of the equipment.
  • the equipment shown in embodiment A also includes a first connection part for detachably connecting the third traveling mechanism to the frame 01; when the first When the connection between the three traveling mechanisms and the frame 01 is disconnected, the third traveling mechanism can travel along the road independently of the equipment; the third traveling mechanism is a crawler-type traveling mechanism 07; and the crawler-type traveling mechanism 07 is set at a specific The second position: the front edge of the crawler traveling mechanism 07 is located in front of the front edge of the first traveling mechanism 511 and the rear edge of the second traveling mechanism 522 is located behind the rear edge of the crawler traveling mechanism 07 .
  • the first connecting portion is not marked.
  • Embodiment 2 there may be no first connecting part for detachable connection, and the third traveling mechanism is fixedly connected to the frame 01 .
  • the second crawler wheel 07202 of the device in FIG. 32 is placed behind the second traveling mechanism 522 .
  • Embodiment 3 based on the embodiment A: the mobile device shown in embodiment A, the third traveling mechanism is a wheeled traveling mechanism, and the wheeled traveling mechanism is set at a specific third position: The front edge of the road wheels of the first end of the wheeled running gear is positioned before the front edge of the first running gear 511, and the rear edge of the road wheels of the second end of the wheeled running gear is positioned at the side of the second running gear 522. Before the rear edge; when the connection between the third running gear and the frame 01 was disconnected, the third running gear could run along the road independently of the equipment; the equipment also includes a detachable Connected to the second connection part of the frame 01.
  • This embodiment 3 can also refer to Figure 32, the third traveling mechanism in the equipment shown in Figure 32 is replaced by a crawler-type traveling mechanism 07 with a wheel-type traveling mechanism, and the first crawler wheel 07201 is replaced by the first-end traveling wheel , replace the second crawler wheel 07202 with the second-end road wheel; then, the replaced equipment includes: frame 01, first traveling mechanism 511, third traveling mechanism, second traveling mechanism 522, first lifting mechanism 211 and a second lifting mechanism 222, and the device is configured to be able to switch between the first mode and the second mode; the third traveling mechanism is a wheeled traveling mechanism, and the wheeled traveling mechanism includes road wheels at the first end and The road wheels at the second end; and: the front edge of the road wheels at the first end is located in front of the front edge of the first running gear 511, and the rear edge of the road wheels at the second end is positioned at the rear edge of the second running gear 522 Before.
  • the traveling wheels at the first end of the wheeled traveling mechanism protrude forward compared with the front edge of the first traveling mechanism 511 .
  • the replaced device includes a second connection part, which is not shown for the sake of brevity in the drawing.
  • the traveling wheels at the second end of the wheeled traveling mechanism protrude backward compared to the rear edge of the second traveling mechanism 522 .
  • the first traveling mechanism 511 is used as the front-stage traveling mechanism
  • the third traveling mechanism is used as the middle-stage traveling mechanism
  • the second traveling mechanism 522 is used as the rear-stage traveling mechanism.
  • Embodiment 3 there is no second connecting part for detachable connection in Embodiment 3, and the third traveling mechanism is fixedly connected to the frame 01 .
  • the core of both Embodiment 2 and Embodiment 3 is: make the third traveling mechanism have a front section mechanism that protrudes farther forward than the front edge of the first traveling mechanism 511 .
  • the front section of the walking mechanism can be overlapped on the step 10005, so that the first walking mechanism Mechanism 511 was liberated and allowed to leave the ground.
  • the solutions of the embodiment 2A and the embodiment 3 allow the control device to go down the steps in the backward direction.
  • the core points of both embodiment 2A and embodiment 3A are: when the equipment is going down the steps, the first running gear 511 is used as the front running gear, the second running gear 522 is used as the middle running gear, and the third running gear is used as the front running gear.
  • the schemes of the embodiment 2A and the embodiment 3A allow the control device to step up in the backward direction.
  • the core points of embodiment 2B are: the third running gear can be used as the running gear of the front section more forward than the front edge of the first running gear 511, and can also be used as a running gear compared to the front edge of the first running gear 511
  • the rear edge of the second running mechanism 522 is more backward than the running mechanism of the rear section.
  • Embodiment 5 based on Embodiment 1: the device shown in Embodiment 1, the device also includes a first front and rear movement mechanism 181, one end of the first front and rear movement mechanism 181 is connected to the frame 01, and the first front and rear movement mechanism 181 is connected to the frame 01. The other end of the moving mechanism 181 is connected to the first lifting mechanism 211, and the first forward and backward moving mechanism 181 is used to make the first traveling mechanism 511 move back and forth relative to the frame 01;
  • the device also includes a second front and rear movement mechanism 182, one end of the second front and rear movement mechanism 182 is connected to the frame 01, the other end of the second front and rear movement mechanism 182 is connected to the second elevating mechanism 222, and the second front and rear movement mechanism 182 is used to make the second traveling mechanism 522 move back and forth relative to the frame 01 .
  • the other end of the first forward and backward movement mechanism 181 is also connected to the edge part at the first end of the passenger cabin of the device.
  • the other end of the second forward and backward movement mechanism 182 is also connected to the edge part at the second end of the passenger cabin of the device.
  • the embodiment 5 is not superimposed on the embodiment 1, and the embodiment 5 is superimposed on the embodiment 2 or its alternative embodiment 2.
  • this embodiment 5 is only superimposed on embodiment 3 or its replacement embodiment 3.
  • first front and rear movement mechanism 181 includes a first front and rear movement mechanism 181L on the first side and a first front and rear movement mechanism 181R on the second side
  • second front and rear movement mechanism 182 includes a second front and rear movement mechanism 182L on the first side and Second side fore and aft movement mechanism 182R.
  • the front and rear movement mechanism is divided into the front and rear movement mechanisms of the first side and the second side. The beneficial value is: it is used to make the left and right walking mechanisms connected to the front and rear movement mechanisms of the equipment move separately, so as to enhance the obstacle surmounting ability of the equipment.
  • the equipment shown in Figure 1, Figure 2, Figure 3, Figure 6 and Figure 7, and Figures 8 to 31, optionally, the equipment includes a manned cabin, and there are edge parts around the manned cabin, and the edge
  • the parts include a first end edge part, a second end edge part, a first side edge part and a second side edge part.
  • Edge parts are borders or borders.
  • the edge part of the first end is the first border 111
  • the edge part of the second end is the second border 112
  • the edge part of the first side is the third border 113
  • the edge part of the second side is the fourth border 114 .
  • the first implementation plan A1 of the first traveling mechanism and the second traveling mechanism is as follows:
  • the number of the first traveling mechanism 511 and the first lifting mechanism 211 is one, and the number of the second traveling mechanism 522 and the second lifting mechanism 222 is one.
  • the device is a two-wheeled motorcycle or a two-wheeled bicycle.
  • the first traveling mechanism 511 includes a first traveling mechanism 051 arranged on a first side of the center of gravity O of the equipment and a first traveling mechanism 053 arranged on a second side of the center of gravity O, and the first lifting mechanism 211 includes a first The first lifting mechanism 211L on the first side and the first lifting mechanism 211R on the second side, one end of the first lifting mechanism 211L on the first side and the first lifting mechanism 211 on the second side are connected to the frame 01, the second The other end of the first lifting mechanism 211L on one side is connected to the first traveling mechanism 051 on the first side, and the other end of the first lifting mechanism 211R on the second side is connected to the first traveling mechanism 053 on the second side;
  • the second traveling mechanism 522 includes a second traveling mechanism 052 disposed on a first side of the center of gravity O of the device and a second traveling mechanism 054 disposed on a second side of the center of gravity O.
  • the second elevating mechanism 222 includes a second elevating mechanism 222L on the first side and a second elevating mechanism 222R on the second side, one end of the second elevating mechanism 222L on the first side and the second elevating mechanism 222R on the second side All connected to the frame 01, the other end of the second lifting mechanism 222L on the first side is connected to the second traveling mechanism 052 on the first side, and the other end of the second lifting mechanism 222R on the second side is connected to the second side
  • the device is a four-wheeled vehicle.
  • the third implementation plan A3 of the first traveling mechanism and the second traveling mechanism is as follows: on the basis of the plan A2, the first traveling mechanism 511 And the number of the first lifting mechanism 211 is one.
  • the number of the second traveling mechanism 522 and the number of the second lifting mechanism 222 are both one.
  • Each lifting mechanism drives the traveling mechanism connected with it to rise or fall.
  • each lifting mechanism drives a traveling mechanism connected to it to go up and down.
  • a lifting mechanism can connect the two traveling mechanisms on the left and right sides through a bracket, and the lifting mechanism simultaneously drives the two traveling mechanisms on the left and right sides to go up and down.
  • Embodiment 4 of a movable device the device includes:
  • the first traveling mechanism 511 is located before the center of gravity O of the movable equipment, and the second traveling mechanism 522 is located at the movable behind the center of gravity O of the moving device;
  • the first traveling mechanism 511 includes a first traveling mechanism 051 located on a first side of the center of gravity O of the equipment and a first traveling mechanism 053 located on a second side of the center of gravity O of the equipment, and the second traveling mechanism 522 comprises a The second traveling mechanism 052 on the first side of the center of gravity O of the equipment and the second traveling mechanism 054 located on the second side of the center of gravity O of the equipment;
  • the movable device also includes: a first lifting mechanism 211L on the first side, a first lifting mechanism 211R on the second side, a second lifting mechanism 222L on the first side, a second lifting mechanism 222R on the second side, a first The first front and rear movement mechanism 181L on the first side, the first front and rear movement mechanism 181R on the second side, the second front and rear movement mechanism 182L on the first side, and the second front and rear movement mechanism 182R on the second side;
  • first front and rear movement mechanism 181L on the first side, the first front and rear movement mechanism 181R on the second side, the second front and rear movement mechanism 182L on the first side, and the second front and rear movement mechanism 182R on the second side are all connected to the rack 01;
  • the other end of the first front and rear movement mechanism 181L on the first side, the first elevating mechanism 211L on the first side, and the first traveling mechanism 051 on the first side are connected in sequence, and the first elevating mechanism 211L on the first side is used to To make the first traveling mechanism 051 on the first side move up and down relative to the frame 01 , the first front and rear movement mechanism 181L on the first side is used to make the first traveling mechanism 051 on the first side relative to the frame 01 move back and forth;
  • the other end of the first front and rear movement mechanism 181R of the second side, the first elevating mechanism 211R of the second side, and the first traveling mechanism 053 of the second side are connected in sequence, and the first elevating mechanism 211R of the second side is used to To make the first traveling mechanism 053 on the second side move up and down relative to the frame 01, the first forward and backward movement mechanism 181R on the second side is used to make the first traveling mechanism 053 on the second side relative to the frame 01 move back and forth;
  • the other end of the second front and rear movement mechanism 182L on the first side, the second elevating mechanism 222L on the first side, and the second traveling mechanism 052 on the first side are connected in sequence, and the second elevating mechanism 222L on the first side is used to To make the second traveling mechanism 052 on the first side move up and down relative to the frame 01, the second forward and backward movement mechanism 182L on the first side is used to make the second traveling mechanism 052 on the first side relative to the frame 01 move back and forth;
  • the other end of the second front and rear movement mechanism 182R on the second side, the second elevating mechanism 222R on the second side, and the second traveling mechanism 054 on the second side are connected in sequence, and the second elevating mechanism 222R on the second side is used to To make the second traveling mechanism 054 on the second side move up and down relative to the frame 01, the second forward and backward movement mechanism 182R on the second side is used to make the second traveling mechanism 054 on the second side relative to the frame 01 move back and forth;
  • the bottom of any one of the first traveling mechanism 051 of the first side, the first traveling mechanism 053 of the second side, the second traveling mechanism 052 of the first side and the second traveling mechanism 522 of the second side The surface energy is higher than the lower surfaces of the other three running gears, and the arrival points of the other three running gears can be distributed around the center of gravity O of the equipment under the action of the forward and backward motion mechanisms connected respectively, and the other three running gears
  • a walking mechanism can support the frame 01 off the ground and make the movable equipment run along the road;
  • the movable device is configured to switch between the fifth mode and the sixth mode
  • the fifth mode is: the first traveling mechanism 051 on the first side, the first traveling mechanism 053 on the second side, the second traveling mechanism 052 on the first side and the second traveling mechanism 054 on the second side
  • the lower surfaces of at least three kinds of running gears are all lower than the lower surface of the fourth running gear 15 connected to the frame 01, and the frame 01 is supported by the at least three kinds of running gears to lift off the ground and make the movable equipment move along the road surface. driving;
  • the sixth mode is: the lower surface of the first running gear 051 on the first side, the lower surface of the first running gear 053 on the second side, the lower surface of the second running gear 052 on the first side, and the second running gear 052 on the second side.
  • the lower surface of the second running gear 054 on both sides is all higher than the lower surface of the fourth running gear 15 that is connected to the frame 01, and the arrival point of the fourth running gear 15 is distributed before and after the center of gravity O of the equipment, by the
  • the fourth traveling mechanism 15 supports the frame 01 off the ground and enables the movable equipment to travel along the road.
  • a movable device configured to switch between the fifth mode and the sixth mode means that the device can realize both the fifth mode and the sixth mode at different times, and the device can also realize the sixth mode at different times. Switch between fifth mode and sixth mode.
  • the movable device is configured to only implement the fifth mode.
  • This paper also provides a kind of movable equipment, which includes frame 01 and second obstacle-surpassing device; Mechanism 522 and the 3rd walking mechanism.
  • the equipment is the same as that described in this Example 4.
  • the movable device shown in FIG. 23 is the device shown in Embodiment 4.
  • the equipment is in the fifth mode, the first running gear 051 on the first side of the equipment lifts off the ground and crosses the obstacle 10005, the first running gear 053 on the second side in the equipment, the first running gear on the first side
  • the lower surface of the second traveling mechanism 052 and the second traveling mechanism 054 of the second side is lower than the lower surface of the fourth traveling mechanism 15 connected to the frame 01, and the frame 01 is supported by the three kinds of traveling mechanisms. ground and drive the movable device along the road.
  • the equipment shown in FIG. 23 does not include a vehicle, which is a vehicle including a fourth running mechanism 15 and a vehicle body connected to the fourth running mechanism 15 .
  • Fig. 25 is a top view of the apparatus shown in Figs. 23 and 24 .
  • the equipment shown in Figure 24 is the obstacle-surmountable exoskeleton device of the vehicle.
  • the equipment shown in Figure 23 includes the vehicle's obstacle-surmountable exoskeleton device and the vehicle.
  • Fig. 25 The main purpose of Fig. 25 is to show the first front and rear movement mechanism 181L of the first side, the first front and rear movement mechanism 181R of the second side, the second front and rear movement mechanism 182L of the first side and the second front and rear movement of the second side in the device Positional relationship of mechanism 182R.
  • the first forward and backward movement mechanism 181L on the first side moves the first traveling mechanism 051 on the first side forward and backward within the stroke position indicated by L11.
  • the first forward and backward movement mechanism 181R on the second side moves the first traveling mechanism 053 on the second side forward and backward within the stroke position indicated by L12.
  • the second forward and backward movement mechanism 182L on the first side moves the second traveling mechanism 052 on the first side forward and backward within the stroke position indicated by L21.
  • the second back-and-forth movement mechanism 182R on the second side moves the second traveling mechanism 054 on the second side back and forth within the stroke position indicated by L22.
  • the core of the equipment shown in Embodiment 4 is: the front and rear positions of the corresponding running gears can be continuously adjusted through the four front and rear motion mechanisms.
  • the location can move forward and backward under the control of the corresponding forward and backward motion mechanism to surround the center of gravity O point of the equipment, so that the equipment can maintain balance.
  • the remaining three running gears not only support the frame 01 off the ground, but also can drive the equipment to travel along the road surface as required so that the next running gear is close to the obstacle and becomes a new running gear to overcome the obstacle.
  • the composition of the other three walking mechanisms will also change dynamically, so that the four walking mechanisms can become the walking mechanism to be overcome in turn, and all the walking mechanisms will be made step by step. can overcome obstacles.
  • the fourth traveling mechanism 15 is a wheeled traveling mechanism comprising a wheel 15A at a first end and a wheel 15B at a second end; the first traveling mechanism 511 is positioned before the wheel 15A at the first end, and the third traveling mechanism is positioned at the second After the wheel 15A at one end, the third traveling mechanism is positioned before the wheel 15B at the second end, and the second traveling mechanism 522 is positioned behind the wheel 15B at the second end; the maximum travel speed of the wheeled traveling mechanism is greater than that of the first walking mechanism.
  • the fourth traveling mechanism 15 is connected with the vehicle body and the fourth traveling mechanism 15 is also used to support the vehicle body off the ground, the first traveling mechanism 511, the second traveling mechanism 522, the third traveling mechanism, the first lifting mechanism 211. All six mechanisms of the second lifting mechanism 222 and the third lifting mechanism are arranged on the outside of the vehicle body; the vehicle including the fourth running mechanism 15 is an automobile.
  • the fourth running mechanism 15 in embodiment A5 is a crawler type running mechanism
  • embodiment A5B of embodiment A5 in embodiment A5, only the third lifting mechanism and the third traveling mechanism are arranged on the outside of the vehicle body among the six mechanisms.
  • the third lifting mechanism, the third traveling mechanism, the second lifting mechanism 222 and the second traveling mechanism 522 are arranged on the outside of the vehicle body.
  • embodiment A5C of embodiment A5 In embodiment A5, the vehicle is not a car, but a motorcycle or a bicycle.
  • the obstacle clearance mechanism arranged on the outside of the vehicle body is divided into a left obstacle clearance mechanism and a right obstacle clearance mechanism, and the left obstacle clearance mechanism is arranged on the left side of the vehicle body and/or the right obstacle clearance mechanism The mechanism is provided on the right side of the body of the vehicle.
  • the fourth running gear is also called the main running gear.
  • the wheels 15A at the first end and the wheels 15B at the second end are both fast wheels or main wheels.
  • the fourth traveling mechanism 15 is connected to the frame 01 of the movable platform to improve reliability.
  • the fourth running mechanism is used to make the movable equipment run quickly along the road surface. Fast refers to the traveling speed higher than the traveling speed of the lifting traveling mechanism. Above is also faster than.
  • the traveling mechanism that can be lifted is slow but can overcome obstacles, and the fourth traveling mechanism is fast and has a large carrying capacity but cannot overcome obstacles.
  • the combination of the two can make up for their respective shortcomings, give full play to their respective advantages, and greatly improve the overall performance of the equipment.
  • the traveling mechanism included in the array of liftable traveling mechanisms is a rolling traveling mechanism
  • the lifting mechanism included in the array of liftable traveling mechanisms is used to lift and lower the rolling traveling mechanism.
  • the lifting mechanism used to lift the rolling traveling mechanism is the rolling element lifting mechanism.
  • the first traveling mechanism 511 , the second traveling mechanism 522 , the third traveling mechanism and the fourth traveling mechanism are all rolling traveling mechanisms.
  • Rolling running gear includes wheel running gear and/or crawler running gear.
  • the rolling traveling mechanism refers to a wheel-type traveling mechanism and/or a crawler-type traveling mechanism.
  • Embodiment 1 In the equipment shown in Embodiment A, Embodiment 1, 2, and 3, at least two of the first traveling mechanism 511 , the second traveling mechanism 522 and the third traveling mechanism are connected with drivers. At least one of the first traveling mechanism 511 and the second traveling mechanism 522 is connected with a driver.
  • the first traveling device is composed of the first traveling mechanism 511 and the second traveling mechanism 522 .
  • crawler type traveling mechanism 07 is as follows:
  • the crawler-type traveling mechanism 07 includes a first-side crawler-type traveling mechanism and a second-side crawler-type traveling mechanism.
  • the crawler type traveling mechanism on the first side includes crawler belts 0701 on the first side, first crawler wheels 07201 on the first side, and second crawler wheels 07202 on the first side.
  • the crawler-type traveling mechanism on the second side includes crawler belts 0702 on the second side, first crawler wheels 07201 on the second side, and second crawler wheels 07202 on the second side, and the crawler belts 0702 on the second side are hitched to the The first track wheel 07201 and the second track wheel 07202 on the second side.
  • the crawler belt 0701 on the first side is driven by the crawler-type traveling mechanism on the first side
  • the crawler belt 0702 on the second side is driven by the crawler-type traveling mechanism on the second side.
  • the crawler-type traveling mechanism included in any of the equipment described herein can use the solution of the crawler-type traveling mechanism 07 .
  • the crawler belt 0701 on the first side and the crawler belt 0702 on the second side can run at a differential speed.
  • the differential speed operation enables the third traveling mechanism to have a differential speed function, so that the movable equipment can turn conveniently when driving along the road.
  • the first crawler wheel 07201 is a moving part, and the moving part is connected to the driver of the crawler belt, and the driver of the crawler belt drives the crawler-type traveling mechanism 07 to move.
  • the prime mover rotates under the drive of the drive of the track, driving the track and the driven part to rotate.
  • the drive of the crawler is connected to the control device of the equipment, and the control device controls the operation of the crawler-type traveling mechanism.
  • the second crawler wheel 07202 is the original moving part.
  • the drive 07n of the track is a motor or a fuel engine.
  • the drive for the tracks may include a gear reducer.
  • the crawler-type traveling mechanism 07 may also include several intermediate pieces.
  • the middle piece is arranged in the ring around which the caterpillar tracks surround.
  • the middle piece is a middle rotating piece or a running board.
  • the intermediate rotating member is a road wheel, idler or idler pulley.
  • FIG. 33 is a perspective view
  • FIG. 34 is a plan view
  • FIG. 35 is a side view.
  • the first end and the second end of the base 071 in the crawler-type traveling mechanism 07 are equal in height.
  • FIG. 36 is a perspective view
  • Fig. 37 is a top view
  • Fig. 38 is a perspective view from another angle.
  • the upper part of the first end of the base 071 in the crawler-type traveling mechanism 07 is higher than the upper part of the second end.
  • the first end of the tracked running gear 07 contains an inducer higher than the second track wheel 07202 at the second end.
  • the first track wheel 07201 on the first side is connected to the drive 07n1 of the track on the first side, and is driven by the drive 07n1 on the first side; the first track wheel 07201 on the second side
  • the drive 07n2 of the crawler on the second side is connected and driven by the drive 07n2 of the crawler on the second side.
  • the base 071 of the crawler-type traveling mechanism is a support for connecting the rotation shaft of the first crawler wheel 07201 and the rotation shaft of the second crawler wheel 07202 .
  • the base of crawler-type traveling mechanism 07m is rectangular metal frame, and this rectangular metal frame is arranged in parallel with the bottom plate of this movable equipment, and the long side of this rectangular metal frame is arranged in parallel with the longitudinal axis of this equipment.
  • the base includes a base on the first side and a base on the second side.
  • the rectangular metal frame includes metal rods on the first side and metal rods on the second side.
  • the arrival points of the crawler-type traveling mechanism 07 are distributed on the front, rear, left, and right sides of the center of gravity O of the equipment, that is, the center of gravity O of the equipment.
  • the orthographic projection on the ground is located in the area formed by successively connecting the arrival points of the third traveling mechanism.
  • This solution can also refer to the crawler-type traveling mechanism 07 shown in FIGS. 33 to 38 .
  • the third lifting mechanism 212L at the first end of the first side is connected to the first end of the base of the crawler-type traveling mechanism 07 on the first side;
  • the third lifting mechanism 221L at the second end of the first side is connected to the second end of the base of the crawler-type traveling mechanism 07 on the first side;
  • the third lifting mechanism 212R at the first end of the second side is connected to the first end of the base of the crawler-type traveling mechanism 07 on the second side;
  • the third lifting mechanism 221R at the second end of the second side is connected to the second end of the base of the crawler-type traveling mechanism 07 at the second side.
  • the third lifting mechanism is detachably connected to the third traveling mechanism through the third connecting portion.
  • the third connecting portion is also correspondingly divided into four third connecting portions.
  • the crawler-type running mechanism 07 is configured as a treadmill: the crawler-type running mechanism 07 is configured to realize the function of a treadmill, that is, the crawler-type running mechanism 07 can also drive a running belt for people to run on the treadmill. Take it for a run.
  • the crawler belt is the running belt in the crawler type running mechanism 07 in this equipment.
  • the track wheel is the drum
  • the first track wheel is the first drum 0721
  • the second track wheel is the second drum 0722.
  • the crawler belt is configured to also realize the running belt function in the crawler-type running mechanism 07 . That is: in the left-right direction, the gap between the crawler belt 0701 on the first side and the crawler belt 0702 on the second side is smaller than the set value for people to run on the crawler belt 0701 on the first side and the crawler belt 0702 on the second side .
  • the set value is 10 cm or 5 cm or 3 cm. The smaller the set value, the better the running performance and the higher the cost.
  • the belt 070 is both a crawler track and a running speed.
  • the track and the running belt are the same part.
  • the running belt 070 is divided into left and right parts, the running belt on the left is the track on the first side, and the running belt on the right is the track on the second side.
  • the crawler type traveling mechanism 07 also includes a first roller 0721 and a second roller 0722, and the shaft of the first roller 0721 is connected to the crawler belt
  • the first end of the base of the type walking mechanism 07, the shaft of the second roller 0722 is connected to the second end of the base, the running belt is hooked to the first roller 0721 and the second roller 0722, and the track
  • the running gear 07 can also drive the running belt for people to run on the running belt.
  • the crawler belt 0701 on the first side included in the crawler running gear 07 is located on the left side of the running belt.
  • a second side track 0702 is included on the right side of the running belt. That is, in the left-right direction, a running belt is provided between the crawler belt 0701 on the first side and the crawler belt 0702 on the second side.
  • the driver 07n2 of the crawler on the second side is connected to the first clutch
  • the output of the driver 07n2 of the crawler on the second side is connected to the power input end of the first clutch
  • the power output end of the first clutch is connected to the power output end of the first clutch through the transmission mechanism 07n20.
  • the running belt 070, the first clutch is used to switch the power link between the drive 07n2 of the crawler on the second side and the running belt 070.
  • the device also includes a second clutch, the output of the drive 07n2 of the crawler belt on the second side is connected to the power input end of the second clutch, the power output end of the second clutch is connected to the crawler belt 0702 on the second side, the second clutch It is used to switch on and off the power link between the driver 07n2 of the crawler belt on the second side and the crawler belt 0702 on the second side.
  • the transmission mechanism 07n20 of this running belt is a belt type transmission mechanism.
  • the crawler running mechanism 07 drives the running belt and drives the running belt 070 to run simultaneously or at different times.
  • the transmission mechanism 07n20 is a chain transmission mechanism or a gear transmission mechanism.
  • the structure of the clutch for example, can refer to the scheme of an electro-hydraulic integrated control clutch disclosed in the Chinese invention patent with the authorized announcement number CN100383425C, or refer to the three-speed clutch disclosed in the Chinese invention patent with the authorized announcement number CN201428507.
  • the scheme of the electromagnetic fan clutch is carried out, or the scheme of a kind of clutch shell and clutch disclosed by the Chinese invention patent of application publication number CN107504091A is carried out.
  • the device includes only the first clutch or only the second clutch.
  • the transmission mechanism 07n20 of the running belt is a chain transmission mechanism or a gear transmission mechanism.
  • the movable equipment also includes movable connecting legs and the frame 01 and the fifth connecting part.
  • the crawler-type walking mechanism 07 When used as a treadmill, the legs can touch the ground and support the The driven running belt of crawler-type running gear 07 leaves the ground.
  • the rotation shaft of the first side of the first roller 0721 and the rotation shaft of the first side of the second roller 0722 are both connected to the inside of the metal rod on the first side.
  • the rotation shaft on the second side of the first roller 0721 and the rotation shaft on the second side of the second roller 0722 are both connected to the inner side of the metal rod on the second side.
  • the inner sides of the metal rods on the first side and the metal rods on the second side both refer to the side close to the center of gravity O of the device.
  • the first track wheel 07201 is not coaxial with the first roller 0721, and the second track wheel 07202 is not coaxial with the second roller 0722; or optional: the first track wheel 07201 and the second roller 0722 are not coaxial.
  • a roller 0721 is coaxial; the second track wheel 07202 and the second roller 0722 are coaxial.
  • the coaxial track wheel and the roller can simplify the structure. Track wheels and rollers are not coaxial, which can optimize the respective performance of track and running belt.
  • the diameter of the first track wheel 07201 is larger than the diameter of the first roller 0721 ; and/or the diameter of the second track wheel 07202 is larger than the diameter of the second roller 0722 .
  • the diameter of the crawler wheels is greater than that of the drum, which naturally facilitates the realization of "when the two sides of the track are on the ground, the middle running belt can be naturally suspended and off the ground”. This scheme makes the layout of the moving belt type walking mechanism (07) reasonable and compact.
  • the fifth connecting portion is a screw hole at the front, rear, left, and right corners of the base of the crawler-type traveling mechanism 07.
  • the leg is a screw rod matched with the screw hole and has a foot cup at its lower end. The leg can be screwed down to It can also spin up and off the ground.
  • support members 117 are provided around the lower surface of the crawler-type traveling mechanism 07 .
  • the support member 117 When the support member 117 is in working condition, its lower surface is lower than the track 070 .
  • the beneficial effect of this solution is: although the first running gear and the second running gear can be used to support the ground, the crawler belt 070 is lifted off the ground. Because the walking mechanism may adopt rubber tires or pneumatic tires to have certain elasticity. If the crawler-type walking mechanism 07 is configured as a treadmill for people to run or walk for training, the support member 117 can provide a more rigid ground support effect or prevent damage to the walking wheels.
  • the supporting member 117 is a threaded foot cup, and the connecting part of the supporting member 117 is located on the base of the crawler-type traveling mechanism 07 and has threaded holes. Or the support member 117 is hinged on the base of the crawler-type traveling mechanism 07 .
  • the supporting member 117 is rotated to the working position, the lower surface supports the ground, so that the caterpillar is lifted off the ground.
  • the support member 117 can be rotated to a non-working position so as not to hinder the track from reaching the ground.
  • the movable device further includes a sixth connection part for movablely connecting the personnel carrier to the frame 01, the personnel carrier is a seat, a bed or a footrest component, when the device works in a non-treadmill mode: the personnel carrier can be arranged above the running belt through the connection of the sixth connection part and can carry personnel on the personnel carrier.
  • the personnel carrier is a foot pedal
  • the sixth connecting part is a hinged mechanism provided in the front and rear directions.
  • the movable part is connected to the pedal, and when the device works in a non-treadmill mode, the pedal can be arranged on the top of the running belt through the connection of the sixth connection part and can carry people on the pedal;
  • the hinge mechanism When the crawler-type walking mechanism of the equipment is used to drive the running belt for people to run on the running belt, the hinge mechanism enables the pedals to be turned up along the hinge axis to expose the running belt below.
  • the obstacle crossing refers to obstacles and/or steps that protrude from the road surface, and/or, the height of the obstacle crossing is not greater than that used to make the first walking mechanism 511, the second walking mechanism 522 and the The lifting strokes of the multiple lifting mechanisms for the third traveling mechanism to lift relative to the frame 01 .
  • the mobile device is used to overhang the obstacle 10005 protruding from the road surface 10000 .
  • the height of an obstacle that is more protruding from the road surface refers to the height difference between the road surface 10000 and the upper surface of the obstacle 10005 .
  • the height difference is the distance in the up and down direction.
  • Obstacles raised above the road surface and steps down are performed at different times.
  • the obstacles protruding from the road surface are steps.
  • the more protruding obstacles on the road are the steps.
  • the upper step refers to from the first step to the second step, and the height of the second step is greater than that of the first step.
  • the first step is the road surface 10000.
  • the second step is the obstacle 10005 protruding from the road surface.
  • the lower step means from the second step to the first step lower than the second step.
  • the height of overcoming obstacles when going down the steps refers to the height difference between the upper surface of the second step and the upper surface of the first step.
  • the equipment includes a third lifting mechanism for lifting the third traveling mechanism relative to the frame 01
  • multiple lifting mechanisms refer to the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism .
  • the lifting stroke of the plurality of lifting mechanisms refers to: the height difference between the lowest stroke position that the lower surfaces of the three kinds of running mechanisms can reach and the highest stroke position that the lower surfaces of the three kinds of running mechanisms can reach.
  • a kind of running gear refers to the first running gear 511, the second running gear 522 and the third running gear.
  • the lowest travel position is lower than the highest travel position.
  • the frame 01 of the equipment is not connected with the fourth traveling mechanism 15, the highest stroke position is not higher than the lower surface of the frame 01.
  • the highest stroke position is not higher than the lower surface of the fourth traveling mechanism 15 . Both the lowest travel position and the highest travel position reached by the traveling mechanism are driven by the lifting mechanism connected to the traveling mechanism.
  • the multiple lifting mechanisms refer to the first lifting mechanism 211 and the second lifting mechanism 222.
  • the lifting stroke of the multiple lifting mechanisms refers to the lower surface of the two walking mechanisms.
  • the height difference between the lowest travel position and the lower surface of the third traveling mechanism, the two traveling mechanisms refer to the first traveling mechanism 511 and the second traveling mechanism 522 .
  • the lowest travel position is lower than the lower surface of the third running gear.
  • the lifting strokes of multiple lifting mechanisms refer to the common lifting strokes of the multiple lifting mechanisms.
  • the collective refers to overlapping or coincidence.
  • the lifting stroke of multiple lifting mechanisms refers to the difference between the lowest stroke position that can be reached by the lower surfaces of the multiple running mechanisms driven by the multiple lifting mechanisms and the highest stroke position that the lower surfaces of the multiple running mechanisms can reach. height difference between them.
  • the lifting stroke of the first lifting mechanism 211 is 0.3 meters
  • the lifting stroke of the second lifting mechanism 222 is 350 millimeters
  • the lifting stroke of the third lifting mechanism is 0.4 meters
  • the first lifting mechanism 211, the second lifting mechanism 222 and the lifting stroke of the third lifting mechanism will not be greater than 0.3 meters.
  • the length of the obstacle is not important. As shown in Fig. 8, Fig. 9, Fig. 26 to Fig. 31, the length of the obstacle 10005 is relatively long. It can abut against the upper surface of the obstacle 10005 steps under the control of the lifting mechanism connected thereto. As shown in Fig. 23, Fig. 24 and Fig. 25, the length of obstacle 10005 is very short, and this kind of obstacle is a railing, and this obstacle is hurdle. The length of the obstacle is very short, and the traveling mechanism of the equipment can descend and touch the road ahead of the obstacle under the control of the lifting mechanism connected to it after crossing the obstacle.
  • any of the above-mentioned embodiments may also include the following multiple options:
  • the lifting strokes of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism are not less than 0.3 meters or not less than 0.4 meters or not less than 0.5 meters or not less than 0.6 meters or not less than 0.8 meters Or not less than 1 meter or not less than 1.2 meters.
  • the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism are all connected to drivers, and the drivers are electrically connected to and controlled by the control device.
  • At least two of the first traveling mechanism 511 , the second traveling mechanism 522 and the third traveling mechanism are connected to drivers, and the drivers are electrically connected to and controlled by the control device.
  • at least two types are three types, or the first running gear 511 and the second running gear 522, or the first running gear 511 and the third running gear, or the second running gear 522, and the third running mechanism.
  • the first traveling mechanism 511 is a first traveling wheel
  • the second traveling mechanism 522 is a second traveling wheel.
  • the first traveling wheel is replaced by a first distributed crawler mechanism
  • the second traveling wheel is replaced by a second distributed crawler mechanism.
  • the traveling wheel connected to the driver is preferably a hub motor.
  • the in-wheel motor refers to a motor that drives the road wheel to rotate and a brake for braking the road wheel in the housing of the road wheel.
  • the hub motor can make the traveling wheel and drive small in size, light in weight and simplified in structure.
  • the first traveling mechanism 511 is connected with a driver
  • the second traveling mechanism 522 is connected with a driver.
  • only one of the first traveling mechanism 511 and the second traveling mechanism 522 is connected with a driver.
  • the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism are vertical electric push rods.
  • all lifting mechanisms are vertical telescopic hydraulic cylinders.
  • all lifting mechanisms are vertical guide rail slider mechanisms.
  • both the first forward and backward movement mechanism 181 and the second forward and backward movement mechanism 182 are electric push rods arranged along the traveling direction of the device.
  • the electric push rod can be replaced by a telescopic hydraulic cylinder or a guide rail slider mechanism.
  • the mobile device is configured to carry an adult, and the mobile device includes a passenger cabin.
  • the weight and height of adults can be set according to national standards or industry standards.
  • the frame and walking mechanism of the device are structurally designed to be able to carry an adult with a preset standard weight (for example, 100KG).
  • the mobile device is any vehicle among automobiles, motorcycles and bicycles.
  • the vehicle containing the fourth running mechanism 15 is any vehicle among automobiles, motorcycles and bicycles.
  • a motor vehicle is especially an emergency rescue vehicle.
  • Emergency rescue includes fire rescue, earthquake rescue, and flood rescue.
  • the wheel 15A at the first end of the vehicle is the first traveling mechanism 511
  • the wheel 15B at the second end of the vehicle is the second traveling mechanism 522
  • the wheel 15A at the first end of the vehicle is the second traveling mechanism 522
  • the wheel 15B at the second end of the vehicle is the first traveling mechanism 511 .
  • the device is a vehicle, and the vehicle is a motorcycle or a bicycle.
  • the wheel 15A at the first end is the same part as the first traveling mechanism 511 .
  • the end of the first lifting mechanism 211 is connected to the wheel 15A at the first end, and is used to lift the wheel 15A at the first end relative to the frame 01 .
  • the wheel 15B at the second end is not the second traveling mechanism 522 .
  • the second traveling mechanism 522 includes a second traveling mechanism 052 arranged on the first side of the center of gravity O of the equipment and a second traveling mechanism 054 arranged on the second side of the center of gravity O, and the second lifting mechanism on the first side
  • the other end of 222L is connected to the second traveling mechanism 052 on the first side
  • the other end of the second lifting mechanism 222R on the second side is connected to the second traveling mechanism 054 on the second side.
  • the wheels 15A at the first end and the second traveling mechanism 522 descend and touch the ground compared with the frame 01 and the wheels 15B at the second end.
  • the wheels 15A at the first end, the second traveling mechanism 052 at the first side and the second traveling mechanism 054 at the second side form a three-wheel mechanism, which can stably support the frame 01 and the wheels 15B at the second end off the ground.
  • the mobile device further includes an underwater propulsion device 09 connected to the frame 01, and the underwater propulsion device 09 is configured to be able to drive
  • the movable device travels in water; the buoyancy generated by the movable device in the water is not less than the weight of the movable device.
  • the movable device is a boat.
  • the device is constructed such that all parts in contact with water are waterproof.
  • the device can travel in water.
  • the device can travel amphibiously. Amphibious means dual use.
  • the lower part or the whole of the device is configured to contain a closed space; and/or, the device is configured with an air bag (inflatable device).
  • the air cells create buoyancy when in water.
  • each lifting mechanism independently controls the lifting and lowering of the running mechanism connected to it relative to the frame 01 . If a lifting mechanism is connected with two traveling mechanisms at the same time, the lifting mechanism controls the lifting of the two traveling mechanisms relative to the frame 01 at the same time. If multiple physical lifting mechanisms are connected in parallel and simultaneously connected to a traveling mechanism, in this paper, multiple physical lifting mechanisms connected in parallel (in function) are regarded as one lifting mechanism.
  • the first lifting mechanism 211 is erected and the base of the first lifting mechanism 211 is connected to the frame 01, the first traveling mechanism 511 is located below the frame 01, and the base of the first traveling mechanism 511 is connected to the output member of the first lifting mechanism 211 , so that the output member of the first elevating mechanism 211 expands or descends vertically, and the first elevating mechanism 211 can make the first traveling mechanism 511 far away from the frame 01 by a predetermined distance, so that the first traveling mechanism 511 touches the ground and adjusts The supporting length of the first lifting mechanism 211, thereby adjusting the vertical height of the frame 01;
  • the first lifting mechanism 211 can make the first traveling mechanism 511 close to the predetermined distance relative to the frame 01, so that the first traveling mechanism 511 is separated from the ground, so that the first traveling mechanism 511 can move from the obstacle over the obstacle.
  • the second elevating mechanism 222 is connected to the frame 01 in the vertical direction, and the second traveling mechanism 522 is located below the frame 01 and connected to the second elevating mechanism 222, so that the output member of the second elevating mechanism 222 expands and contracts in the vertical direction to adjust the second elevating mechanism 222.
  • the length of the second lifting mechanism 222 along the vertical direction, the second lifting mechanism 222 can make the second traveling mechanism 522 away from the predetermined distance relative to the frame 01, so that the second traveling mechanism 522 touches the ground, thereby adjusting the vertical position of the frame 01 high,
  • the second elevating mechanism 222 can make the second traveling mechanism 522 close to the predetermined distance relative to the frame 01, so that the second traveling mechanism 522 is detached from the ground, so that the second traveling mechanism 522 can be lifted from the obstacle.
  • the obstacle is crossed above the object, that is, the height of the lower surface of the second traveling mechanism 522 is not less than the height of the upper surface of the obstacle.
  • one end of the third lifting mechanism 212 is connected to and supports the frame 01 , and the other end of the third lifting mechanism 212 can expand and contract relative to the frame 01 and is connected to the third traveling mechanism.
  • the third elevating mechanism 212 is connected to the frame 01 in the vertical direction, and the third traveling mechanism is located below the frame 01 and connected to the third elevating mechanism 212, so that the output member of the third elevating mechanism 212 is along the vertical direction.
  • Telescopic to adjust the length of the third elevating mechanism 212 in the vertical direction the third elevating mechanism 212 can make the third running mechanism far away from the frame 01 by a predetermined distance, so that the third running mechanism touches the ground, thereby adjusting the height of the frame 01 vertical height,
  • the third elevating mechanism 212 can make the third traveling mechanism close to the predetermined distance relative to the frame 01, so that the third traveling mechanism is separated from the ground, so that the third traveling mechanism can be lifted from above the obstacle.
  • Overcoming the obstacle that is, the height of the lower surface of the third traveling mechanism is not less than the height of the upper surface of the obstacle; or. There is no limitation here, and it can be selected according to the actual situation.
  • the first connecting part, the left first connecting part and the right first connecting part; the elongated left first connecting part is set on the left side of the bottom plate of the
  • the four corners of the strip-shaped area are provided with four light holes for bolt penetration and fastening, and the lower part of the strip-shaped area is used for installing the left crawler mechanism in the crawler-type traveling mechanism.
  • the right first connecting part corresponding to the left first connecting part relative to the longitudinal axis of the frame 01 has the same structure as the left first connecting part, and the lower part of the right first connecting part is used to install the right crawler mechanism in the crawler-type traveling mechanism .
  • the height refers to the distance in the up and down direction relative to the ground. Any running gear can pass over the obstacle from above the obstacle, which means that the height of the lower surface of the running gear is not less than the height of the upper surface of the obstacle.
  • the second connection part the left front second connection part, the right front second connection part, the left rear second connection part and the right rear second connection part, the second connection parts in each orientation are 2 light holes at corresponding positions on the bottom plate of the frame 01 are used for bolt penetration and fastening, and the bottom of the bottom plate is used to install the wheeled running mechanism, which is a four-wheeled flatbed.
  • the third connecting part is a metal bracket, the bottom of the third connecting part is locked with the third traveling mechanism by threads, and the end of the vertical third lifting mechanism to be connected is provided with a horizontal Positioning hole, the bracket is provided with an upward lifting mechanism connecting hole for the end of the third lifting mechanism to enter and exit from above, and the side wall of the upward lifting mechanism connecting hole is provided with a horizontal pin hole; when the third lifting mechanism The end of the lifting mechanism is inserted into the connection hole of the lifting mechanism from top to bottom and when it is in place, the horizontal pin is inserted from the horizontal pin hole into the horizontal positioning hole at the end of the third lifting mechanism, which realizes the detachable movement of the third walking mechanism.
  • the bolt can also be driven by a miniature electric push rod.
  • the mobile devices shown in Figures 1 to 31 all include a third connecting portion for detachably connecting the third traveling mechanism to the end of the third lifting mechanism, when the third traveling mechanism is connected to the When the connection of the end of the third lifting mechanism is disconnected, the third traveling mechanism can travel along the road independently of the equipment.
  • the third connecting portion is not marked in FIGS. 1 to 31 .
  • the mobile equipment shown in Figure 1, Figure 2, Figure 3, Figure 6 and Figure 7, and the mobile equipment shown in Figure 8, Figure 9 and Figure 10, and the mobile equipment shown in Figure 14 to Figure 31 The equipment has the following characteristics: when the connection between the fourth running gear 15 and the frame 01 is disconnected, the fourth running gear 15 can run along the road independently of the equipment;
  • the traveling mechanism 15 is detachably connected to the fourth connecting portion of the frame 01 , and the fourth connecting portion is connected to the frame 01 .
  • the fourth connecting part is not marked in the series of drawings.
  • the equipment is an automobile, and the vehicle containing the fourth traveling mechanism 15 is an automobile; the overall structure of the frame 01 of the equipment is an elongated frame with an inverted U-shaped cross section.
  • the top layer of the frame 01 includes longitudinal beams respectively arranged on the left and right sides of the vehicle body.
  • the length of the longitudinal beams is slightly longer than that of the vehicle body.
  • the left and right longitudinal beams are connected by a plurality of cross beams.
  • the width of the longitudinal beam on the left side of the vehicle body on the top floor is respectively connected with vertical beams at the front and rear ends.
  • the lower end of the vertical beam is connected with the longitudinal beam; similarly, the front and rear ends of the longitudinal beam on the right side of the vehicle body are respectively connected with vertical beams, and the lower surface of the vertical beam is flush with the lower surface of the chassis of the vehicle body, that is, the height of the vertical beam is slightly greater than that of the vehicle body. Height, the lower end of this vertical beam is connected with longitudinal beam again, and in this frame, the connection between all crossbeams, longitudinal beams and vertical beams is welding. In this embodiment, slightly larger means larger than 5 mm.
  • the frame 01 is used to be buckled on the vehicle body of the vehicle containing the fourth running mechanism 15, and the size and shape of the frame 01 are configured to be adapted to the vehicle so as to better wrap the vehicle body from the side, better Support the vehicle to lift off the ground and overcome obstacles.
  • the molding of the frame 01 is especially as shown in FIG. 10 which is a rear view.
  • the vehicle that contains this 4th running mechanism 15 has chassis, and the front end of the left side of this chassis, the rear end of the left side of this chassis, the front end of the right side of this chassis and the rear end of the right side of this chassis are all provided with for tight solid screw holes;
  • the fourth connection part of the equipment is arranged on the frame 01, and the fourth connection part contains four sub-sections, and the four sub-sections are respectively arranged on the front end of the lower part of the left side of the frame 01 , the lower rear end of the left side of the rack 01 , the lower front end of the right side of the rack 01 and the lower rear end of the right side of the rack 01 .
  • the four subsections are provided with light holes and fastening bolts respectively corresponding to the screw holes in the four parts of the chassis.
  • FIG. 1 Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 6 and Fig. 7, another embodiment of the frame 01 and the fourth connecting part of the movable equipment is:
  • the movable equipment is a motorcycle or bicycle type equipment, or the vehicle containing the fourth running gear 15 is a motorcycle or bicycle;
  • the overall structure of the frame 01 of the movable equipment is a U-shaped elongated frame in cross section.
  • the structure is adapted to the vehicle so as to better wrap the body of the vehicle from the side, better support the vehicle from the ground and overcome obstacles.
  • the vehicle has a vehicle frame, and the front end on the left side of the vehicle frame, the rear end on the left side of the vehicle frame, the front end on the right side of the vehicle frame and the rear end on the right side of the vehicle frame are respectively provided with screw holes.
  • the fourth connecting part is arranged on the frame 01, and the fourth connecting part includes four subsections, and the four subsections are respectively arranged at the front end of the left side of the frame 01 and the rear side of the left side of the frame 01. end, the front end of the right side of the rack 01 and the rear end of the right side of the rack 01.
  • the four subsections of the fourth connecting portion are respectively provided with light holes and fastening bolts corresponding to the fastening screw holes of the vehicle frame.
  • connection position When the equipment and the vehicle reach the connection position, four fastening bolts respectively penetrate through the light holes of the four subsections and screw into the corresponding screw holes of the frame to realize the connection between the equipment and the vehicle in a threaded locking manner. connect.
  • the lifting mechanism of the equipment can adjust the height, and both the equipment and the vehicle can move back and forth relative to each other, so that the equipment and the vehicle can accurately reach the connection position.
  • the frame 01 is set in a hollow shape, and the frame 01 is arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of cross beams, and the two ends of each cross beam are respectively connected to two corresponding longitudinal beams.
  • a plurality of longitudinal beams may be stacked vertically, and a plurality of cross beams may be stacked vertically, so as to jointly enclose and form a cabin for human body to enter.
  • the longitudinal beams and cross beams of the frame 01 are made of metal materials, such as stainless steel square tubes, and a plurality of square tubes are welded to form the engine room.
  • the connecting parts are located in different positions according to their different functional plans, and are constructed so as not to conflict with each other.
  • multiplexing of some connection parts is also allowed.
  • the first connection part and the second connection part allow the reuse of part of the connection parts.
  • the first connection part, the second connection part, the third connection part and the fourth connection part do not need to work at the same time. But reserve as much as possible, so that the equipment can obtain the maximum expansion capability. Any one of the first connecting part, the second connecting part and the fourth connecting part, the connecting part is connected to the rack 01 or the first connecting part is a part of the rack 01 .
  • the third connecting portion is connected to the end of the third lifting mechanism.
  • the docking device docked with any connecting part
  • the docking device is the chassis of the vehicle or the frame of the vehicle. If both the connecting part and the docking device are light holes, the two are fastened by passing through the corresponding light holes with bolts and nuts.
  • the connection part on the docking device corresponds to a certain connection part of the movable equipment, it is a screw hole. Then it is only necessary to screw the bolt through the light hole of the connection part of the equipment and then screw it into the screw hole to fasten.
  • the first connecting part, the second connecting part, the third connecting part or the fourth connecting part is an electric control lock
  • the running mechanism is connected to the frame through the electric control lock, so as to lock the corresponding running mechanism on the frame through the electric control lock.
  • the electric control lock is an electric bolt.
  • the first connection part, the second connection part, the third connection part or the fourth connection part is a manual latch. Connect the traveling mechanism to the frame through the manual bolt, so as to lock the corresponding traveling mechanism to the frame 01 through the manual bolt.
  • the first connection part, the second connection part, the third connection part or the fourth connection part are respectively arranged at different positions.
  • This article also provides a mobile device, which includes the frame 01 and the obstacle-over-obstacle device; the obstacle-over-obstacle device includes the first lifting mechanism 211, the second lifting mechanism 222, the third lifting mechanism 212, the first traveling mechanism 511, And the second traveling mechanism 522 and the 3rd traveling mechanism.
  • the frame is the same as the technical solution of the frame in the aforementioned embodiment 1.
  • the technical solutions of each lifting mechanism and each running mechanism included in the obstacle-crossing device and each lifting mechanism and each running mechanism included in (basic) embodiment 1 (parts, the connection relationship between the parts and the connection between the parts) logical relationship) is the same.
  • Obstacle-surmounting devices can also be referred to as obstacle-surmountable exoskeleton devices.
  • the types of the first traveling mechanism 511 , the second traveling mechanism 522 and the third traveling mechanism are all crawler-type traveling mechanisms or wheel-type traveling mechanisms.
  • the first traveling mechanism 511 , the second traveling mechanism 522 or the third traveling mechanism are all rolling traveling mechanisms.
  • the first traveling mechanism 511 is the first rolling traveling mechanism.
  • the second traveling mechanism 522 is the first rolling traveling mechanism.
  • the third running gear is the third rolling running gear. Based on the figures shown in this paper, the road wheels can be installed on the bottom or side of the frame.
  • any mechanism in the first traveling mechanism 511, the second traveling mechanism 522, the third traveling mechanism, the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism can be called For the obstacle-surpassing agency.
  • the first traveling mechanism 511, the second traveling mechanism 522, the third traveling mechanism, the first elevating mechanism 211, the second elevating mechanism 222 and the third elevating mechanism can be called segmentable
  • the lifting rolling traveling mechanism group can also be called obstacle-surmounting device.
  • the rolling walking mechanism group that can be lifted and lowered in sections can be a section-lifting obstacle-climbing device.
  • the section-liftable obstacle-climbing device can be simply referred to as the obstacle-climbing device.
  • the obstacle-surmounting device may also be referred to as an exoskeleton device for obstacle-surmounting.
  • the rolling walking mechanism is the rolling walking mechanism.
  • the movable equipment includes the first traveling mechanism 511, the second traveling mechanism 522, the third traveling mechanism, the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism, which can also be described as : Movable equipment, including a rolling traveling mechanism group that can be lifted and lowered in sections, and the rolling traveling mechanism group that can be lifted and lowered in sections includes a first traveling mechanism 511, a second traveling mechanism 522, a third traveling mechanism, and a first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism.
  • Movable equipment including a rolling traveling mechanism group that can be lifted and lowered in sections, and the rolling traveling mechanism group that can be lifted and lowered in sections includes a first traveling mechanism 511, a second traveling mechanism 522, a third traveling mechanism, and a first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism.
  • the running gear contained in the liftable running gear array is called a liftable running gear. Any one of the liftable traveling mechanism and the correspondingly connected lifting mechanism belongs to the obstacle-surmounting device of the movable equipment.
  • the obstacle-surmounting device is equivalent to the array of liftable running gear.
  • the first obstacle-climbing device is the first liftable walking mechanism array.
  • the second obstacle-surmounting device is the second liftable traveling mechanism array.
  • Arrays may also be referred to as clusters or groups.
  • the liftable running gear array can also be referred to as a liftable running gear group or a liftable running gear group.
  • Supporting the frame 01 off the ground means that the lower surface of the components used to support the frame 01 off the ground is lower than the lower surface of the frame 01 .
  • This part can be several kinds or supporting foot in the running mechanism.
  • At least one of the first traveling mechanism 511 and the second traveling mechanism 511 is connected to a steering mechanism.
  • the drive of the steering mechanism is connected to the control unit.
  • the steering of the first traveling mechanism 511 and/or the second traveling mechanism 511 is controlled by the control device.
  • the settings of the steering mechanism can be made with reference to cars, motorcycles or bicycles.
  • the steering of the crawler running mechanism is realized by the differential operation of the left and right crawlers. Both steering and steering mechanism can adopt prior art to carry out.
  • the first traveling mechanism when it is not stated that the first traveling mechanism is the first distributed crawler mechanism, the first traveling mechanism refers to the first traveling wheel.
  • the second traveling mechanism when it is not stated that the second traveling mechanism is the second distributed crawler mechanism, the second traveling mechanism refers to the second traveling wheels. Traveling wheels are less costly than distributed crawler mechanisms.
  • Switching of any mode or lifting of any mode or any traveling mechanism refers to performing by controlling the lifting mechanism corresponding to the traveling mechanism.
  • the lifting mechanism corresponding to the first traveling mechanism 511 is the first lifting mechanism 211 .
  • the lifting mechanism corresponding to the second traveling mechanism 522 is the second lifting mechanism 222 .
  • the lifting mechanism corresponding to the third traveling mechanism is the third lifting mechanism.
  • Control the lifting mechanism connected with the several types of running gear so that the several types of running gear will descend relative to the frame 01 to touch the ground and/or lift the frame 01; and/or, control the connection with any type of running gear a lifting mechanism, so that any type of running mechanism rises relative to the frame 01; so that the lower surface of any type of running mechanism is not lower than the upper surface of the obstacle;
  • this any kind of running gear is this first running gear 511, then these several kinds of running gears are this 3rd running gear or be this 3rd running gear and this second running gear 522; If this any kind of running gear is The third running gear, then the several kinds of running gears are the first running gear 511 and the second running gear 522; if any kind of running gear is the second running gear 522, then the several kinds of running gears are the The third traveling mechanism may be the third traveling mechanism and the first traveling mechanism 511 .
  • Control the several kinds of walking mechanisms to make the equipment travel in the direction of the lower step, so that any of the walking mechanisms can reach the top of the front section of the step;
  • a walking mechanism descends relative to the frame 01 to support the ground in the front section of the step to make the device go down the step;
  • this any kind of running gear is this first running gear 511, then these several kinds of running gears are this 3rd running gear or be this 3rd running gear and this second running gear 522; If this any kind of running gear is The third running gear, then the several kinds of running gears are the first running gear 511 and the second running gear 522; if any kind of running gear is the second running gear 522, then the several kinds of running gears are the The third traveling mechanism may be the third traveling mechanism and the first traveling mechanism 511 .
  • Frame 01 is the chassis.
  • the frame 01 is supported off the ground by the walking mechanism and the equipment is driven along the road surface.
  • the driving can be non-power gliding, or the equipment can be driven along the road surface by one or more walking mechanisms connected with drivers in the running mechanism. drive.
  • This step S1 is the core step for the device to pass the obstacle protruding from the road surface.
  • Enabling the running gear to overcome obstacles refers to placing the running gear on the obstacle or making the running gear straddle the obstacle. Make the lower surface of any running gear not lower than the upper surface of the obstacle, even if the running gear rises to protrude more on the obstacle on the road surface. Overcoming obstacles is the goal. Making the running gear go up/down is a means of overcoming obstacles. Making the traveling mechanism ascend/fall does not make all the traveling mechanisms in the equipment ascend/fall, but the (one or two) traveling mechanisms close to the obstacle are raised and lowered.
  • Any plan for controlling the driving of the equipment or controlling the equipment to overcome obstacles may include: making several running mechanisms in the equipment touch the ground except the walking mechanism to be overcome. And the figure surrounded by the contact points of the several running gears in the direction of looking down includes the center of gravity (point O) of the equipment.
  • point O the center of gravity
  • the contact point of a road wheel is 1.
  • the middle part herein refers to the part between the first traveling mechanism 511 and the second traveling mechanism 522 .
  • Going up a step refers to climbing from a first step to a second step, and the height of the second step is greater than that of the first step. Going down a step means traveling from the second step to the first step, and the second step is higher than or lower than the first step.
  • the road section in front of the steps and the road section below the steps are both the first steps. Any running gear described in step S1 or S2 is the running gear to be overcome.
  • Encountering an obstacle protruding from the road surface and reaching the section of the lower step are both called encountering an obstacle. Encountering an obstacle is also known as approaching an obstacle.
  • the approaching refers to approaching from the traveling direction of the mobile device.
  • the first traveling mechanism 511 corresponds to the first lifting mechanism.
  • the third traveling mechanism corresponds to the third lifting mechanism.
  • the second traveling mechanism 522 corresponds to the second lifting mechanism.
  • the control methods for different types of equipment to overcome obstacles are the same, and both include steps S1 and S2.
  • the traveling mechanism of the front stage, the traveling mechanism of the middle stage and the traveling mechanism of the rear stage in the equipment will successively become the traveling mechanism to be overcome. Firstly make the running mechanism of the front section overcome the obstacle, then make the running mechanism of the middle section overcome the obstacle, and then make the running mechanism of the rear section overcome the obstacle.
  • the traveling mechanism of the front stage overcome the obstacle
  • the running mechanism of the middle section overcome the obstacle
  • the running mechanism of the rear section overcome the obstacle.
  • step S1 is the core step for the equipment to overcome the obstacles protruding from the road surface.
  • the equipment is not able to overcome the obstacles in the front, middle and rear sections at one time, but must be executed in a distributed manner.
  • step S3 must be executed step by step and multiple times.
  • the first traveling mechanism 511 , the third traveling mechanism and the second traveling mechanism 522 of the equipment are all in a state of not descending to the position relative to the frame 01 of the equipment.
  • This state is the default state. Any traveling mechanism is in a state of not falling in place relative to the frame 01 of the equipment, which means that the output end of the lifting mechanism corresponding to the traveling mechanism has not fallen to the lower limit position of the output end relative to the base of the lifting mechanism.
  • the position of the output of the kinematic mechanism is defined by the travel of the output of the kinematic mechanism.
  • the position of the output end of the kinematic mechanism is between the upper limit position and the lower limit position of the stroke.
  • a control method 1.1-3 for a movable device (whole) over an obstacle protruding from the road surface including steps S1_1, S1_2, and S1_3.
  • step S1 is executed for the first time, so that the traveling mechanism (the first traveling mechanism 511 contained in the equipment in Embodiment 1) of the preceding section is able to overcome obstacles;
  • a kind of running gear is the running gear of the front section, and these several running gears are the running gear of the middle section (the 3rd running gear contained in the equipment in embodiment 1) and the running gear of the rear section (contained in the equipment in embodiment 1).
  • step S1 is executed for the second time, so that the traveling mechanism in the middle section (the first traveling mechanism 511 contained in the equipment in embodiment 1) is able to overcome obstacles.
  • the several traveling mechanisms are The running gear of the front section and the running gear of the rear section.
  • step S1 is executed for the third time, so that the running mechanism of the rear section (the second running mechanism 522 contained in the equipment in embodiment 1), these several running mechanisms in this step are the running mechanisms of the front section And the walking mechanism of the middle section.
  • step S1_1A is further included: controlling the lifting mechanism connected to the front running gear to lower the front running gear to the ground relative to the frame 01 .
  • step S1_2A is further included: controlling the lifting mechanism connected to the running gear in the middle section to lower the running gear in the middle section to the ground relative to the frame 01 .
  • Landing includes abutting against the upper surface of the long raised barrier.
  • the several running gears are (only) the middle running gear (the third running gear contained in the first obstacle-breaking device) mechanism).
  • step S2 is the most critical step for the movable equipment going down the steps.
  • step S2_1 Execute step S2 for the first time to make the front-stage running gear go down the steps; in this step, the several running gears are the middle-stage running gear and the rear-stage running gear.
  • step S2_2 Executing step S2 for the second time to make the running mechanism in the middle section go down the steps; in this step, the several running mechanisms are the running mechanism in the front section and the running mechanism in the rear section.
  • step S2_3 Executing step S2 for the third time to make the running mechanism of the rear section go down the steps; in this step, the several running mechanisms are the running mechanism of the front section and the running mechanism of the middle section.
  • the several running gears are (only) the middle running gear (the third running gear included in the first obstacle-surmounting device).
  • a control method 1.3 for a movable device comprising step S3:
  • the frame 01 rises, and/or controls the first lifting mechanism 211 to make the first traveling mechanism 511 rise relative to the frame 01 and controls the second lifting mechanism 222 to make the second traveling mechanism 522 relative to the frame 01 up;
  • a control method 1.4 of a movable device comprising step S4:
  • the mechanism 511 and the second traveling mechanism 522 support the frame 01 off the ground and drive the movable equipment to travel on the road section.
  • a control method 1.5 for movable equipment includes step S5: when the equipment is in the water, control the underwater propulsion device 09 connected to the frame 01 to make the equipment travel in the water.
  • the movable equipment supports the frame 01 of the equipment by the crawler-type traveling mechanism 07 and makes the equipment travel from a flat road into a downhill section: control the second lifting mechanism 222 to make the second traveling mechanism 522 Descending relative to the frame 01 and reaching the ground on the flat road, the rear portion of the crawler-type traveling mechanism 07 is raised; and/or, controlling the first elevating mechanism 211 makes the first traveling mechanism 511 relative to the machine Frame 01 descends and touches the ground on the downhill road section, so as to reduce the impact force of the front end of the crawler-type traveling mechanism 07 hitting the ground; or,
  • control the The second elevating mechanism 222 makes the second traveling mechanism 522 descend relative to the frame 01 and touch the ground on the incline road section, so as to reduce the inclination angle of the crawler-type traveling mechanism 07; and/or, control the first elevating The mechanism 211 makes the first traveling mechanism 511 descend relative to the frame 01 and touch the ground on the flat road, so as to reduce the impact force of the front end of the crawler-type traveling mechanism 07 hitting the ground.
  • control method 3 of the movable device as described in embodiment 1 or embodiment 2 includes the steps of:
  • the second elevating mechanism 222 makes the second traveling mechanism 522 drop to the ground relative to the frame 01; when the crawler-type traveling mechanism 07 leaves the ground, it controls the third traveling mechanism to drive the running belt to run, so that people can run on the running belt. Take it for a run.
  • control method 4 of the movable device as described in embodiment 1, the control method 4 includes steps Y1 and/or Y2:
  • the all running gears are the first running gear 511, the second running gear 522 and the third running gear; or, all the running gears are the first running gear 511 and the second running gear 522;
  • Y2 Control the lifting mechanism correspondingly connected to several kinds of walking mechanisms among all the movable traveling mechanisms of the equipment, so that the several kinds of traveling mechanisms are lowered relative to the frame 01 to support the ground, so that the fourth traveling mechanism 15 rises To overcome obstacles; the all running gears are the first running gear 511, the second running gear 522 and the third running gear; or, all the running gears are the first running gear 511 and the second running gear 522 ;
  • the several types of running gears are the third running gears, or the several types of running gears are at least two kinds of running gears among the first running gear 511 , the second running gear 522 and the third running gear.
  • the step Y1 is used to make the movable device drive on a road section without obstacles. That is: when the movable device is on an unobstructed road section, step Y1 is executed.
  • the figure surrounded by the lines connecting the ground contact points of the several running gears contains the center of gravity (O) of the equipment.
  • the number of contact points of the plurality of running gears is not less than three. Of course, it is also allowed to control more running gears to descend relative to the frame 01 to support the ground.
  • the above steps Y1 and Y2 are performed separately at different times.
  • step Y2 Control the correspondingly connected lifting mechanisms of several running gears. When there are multiple running gears, there may be multiple corresponding lifting mechanisms.
  • the lifting control of a plurality of dry running gears is preferably carried out simultaneously. It can also be done in time.
  • the obstacle surmounting method can be performed using any of the obstacle surmounting methods described herein. This step Y2 is used to enable the fourth traveling mechanism 15 to overcome obstacles.
  • control method further includes step S0 and/or step S12 before performing this step or when performing this step:
  • S0 Obtain the road condition information of the road section where the movable device is located; or obtain the distance information in the vertical direction between the lower surface of the running mechanism included in the movable device and the ground below the lower surface; or , obtain the height difference information of the lower surface of the first traveling mechanism 511, the third traveling mechanism and the second traveling mechanism 522 relative to the lower surface of the wheel 15A at the first end or the wheel 15B at the second end, or obtain The distance information of the first traveling mechanism 511, the third traveling mechanism and the second traveling mechanism 522 relative to the frame 01 in the vertical direction;
  • S12 Control the first front and rear movement mechanism to adjust the distance between the first traveling mechanism 511 and the center of the frame 01 in the front and rear direction, and/or control the second front and rear movement mechanism to adjust the second walking mechanism 522 in the front and rear direction. The distance from the center of the rack01.
  • the step S12 is used to: distribute the arrival points of the several types of running gears before and after the center of gravity O of the equipment.
  • a storage medium for a removable device characterized in that: the storage medium stores a computer program, and when the computer program is executed by a processor, any one of the above-mentioned control methods 1, 2, 3 and 4 or Any variety.
  • Control method 1 includes any one or more of control methods 1.1, 1.2, 1.3, 1.4 and 1.5.
  • the storage medium may be located in the removable device, in the cloud, or in another vehicle independent of the removable device.
  • the storage medium is the memory or the storage module. Further, the storage medium is also a U disk, a mobile hard disk, RAM, a magnetic disk or an optical disk, and the like.
  • control device for movable equipment, characterized in that: the control device is used to implement any one or more of the control methods 1, 2, 3 and 4; or the control device includes a processor and a storage medium , the storage medium is used to store a program, and when the program is executed by the processor, any one or more of the control methods 1, 2, 3 and 4 are realized.
  • the control device includes a signal acquisition module for acquiring the information in step S0.
  • the signal acquiring module includes an environment sensing module (08) or a communication module capable of reading an external environment sensing module (08).
  • the signal acquisition module is connected to the processor included in the control device.
  • the communication module is also used to obtain the human-computer interaction module to obtain the control instructions of the personnel.
  • the environment perception module is the sensor module.
  • the sensor module is connected to rack 01.
  • the control instruction is a manual control instruction obtained through the human-computer interaction module, or an automatic control instruction generated by the automatic driving module.
  • Driving includes gliding along the road surface without power, and driving along the road surface under the drive of the power device. If the running mechanism that can run independently of the equipment is connected with a power device, the power device can communicate with the control device of the equipment through the communication module.
  • the control device of the equipment includes a first communication module, the power device is connected with a second communication module, and the first communication module and the second communication module are configured to be paired and communicate with each other.
  • the communication module is a wired communication module or a wireless communication module.
  • the docking port of the wired communication module is set in the connecting part of the frame 01 connecting the traveling mechanism and the equipment.
  • the traveling mechanism and the equipment is also successfully connected. More preferably, the traveling mechanism and the equipment are connected through a wireless communication module, even if the traveling mechanism is not on the equipment rack 01, the traveling mechanism and the equipment can still communicate and control. Multiple traveling mechanisms and multiple devices allow simultaneous multi-machine communication.
  • this mobile platform is the movable equipment as described in any one of embodiment 1, 2 or 3, or this mobile platform is the platform that is independent of this movable equipment, and this platform comprises the device for making this platform
  • the traveling mechanism for traveling along the road surface is characterized in that the mobile platform further includes the above-mentioned control device. Any embodiment herein may also refer to alternative embodiments and extended embodiments thereof.
  • the mobile device when the mobile device travels along the predetermined direction X1 on a flat road and travels to an obstacle road section with a protrusion on the road surface, it is ready to start over-obstacle; as shown in Figure 27: first: the third lifting mechanism 212 drives The third traveling mechanism touches the ground and descends relative to the frame 01, and the first lifting mechanism 211 drives the first traveling mechanism 511 to rise relative to the frame 01, so that the height of the lower surface of the first traveling mechanism 511 is not less than the height of the obstacle 10005;
  • the second traveling mechanism 522 cooperates with the third traveling mechanism, and the drive frame 01 and the first traveling mechanism 511 continue to move a predetermined distance toward the obstacle road section, so that the first traveling mechanism 511 is located at the obstacle.
  • the first lifting mechanism 211 drives the first traveling mechanism 511 to descend to touch the upper surface of the obstacle
  • the third lifting mechanism 212 drives the third traveling mechanism to rise and be located above the obstacle;
  • the first traveling mechanism 511 and the second traveling mechanism 522 cooperate to drive the frame 01 and the third traveling mechanism to continue to move, so that the third traveling mechanism is located directly above the obstacle in the road section, and the third The lifting mechanism 212 drives the third traveling mechanism to move down to abut against the upper surface of the obstacle,
  • the second lifting mechanism 222 drives the second traveling mechanism 522 to rise and be located above the obstacle, the first traveling mechanism 511 cooperates with the third traveling mechanism, thereby driving the frame 01 and the second traveling mechanism 522 continues to move and completes the obstacle course.
  • the movable equipment can carry out continuous obstacle surmounting operations. And based on the reversible action of the process, the device can also go down steps.
  • the movable equipment can overcome obstacles, thereby improving the obstacle-surmounting capability of the movable equipment.
  • the obstacle surmounting mentioned in this article refers to the obstacle surmounting within the height range set based on the movable equipment.
  • the height of overcoming obstacles refers to the height of steps up and down from a flat road. The height of overcoming obstacles does not exceed the lifting stroke of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism in the movable equipment.
  • the road surface refers to a flat road.
  • the mobile device is placed flat on a level road.
  • any device mentioned herein is a device that is mobile.
  • a removable device is simply referred to as a device.
  • a movable device which moves in a predetermined direction X1.
  • the predetermined direction X1 is the horizontal direction.
  • the predetermined direction X1 also has a certain angle with the horizontal direction.
  • the first type of obstacle surmounting refers to obstacles protruding from the road surface (such as stones, soil slopes, fallen tree trunks, steps higher than 0.3 meters, railings, concrete piers, etc.) or steps down;
  • the second type of obstacle surmounting refers to over complex terrain.
  • Complex terrain refers to sandy beaches, road sections with silt or gravel, snow, grass, swamps, continuous steps, road sections with multiple raised obstacles, road sections with multiple sunken obstacles, raised obstacles and downhill obstacles. Any of the road sections with concave obstacles.
  • the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme.
  • equipment is a machine or a robot, and the three are equivalent.
  • all definitions of front, rear, left, and right directions are based on the driving direction of the device along the road. Taking the driving direction of the device along the road as a reference, it can also be described as being in the driving direction of the device, and the two are equivalent.
  • the benchmark is the reference.
  • the road surface refers to a flat road.
  • the first end is the first part, that is, the first part, that is, the front part.
  • the second end is the second part or the second part or the rear part.
  • the first part is the part before the center of gravity of the device.
  • the second part is the part behind the center of gravity of the device.
  • the first site and the second site are opposite sites.
  • the first end and the second end are opposite ends bounded by the center of gravity O.
  • one side of the center of gravity O is the first side
  • the other side of the center of gravity O is the second side.
  • the first side and the second side are located on opposite sides of the center of gravity O.
  • a specific embodiment is that the driving direction is the front, the first side is the left side, and the second side is the right side. Either side, not limited to the outer surface of that side.
  • To the left of the vertical axis is the left side.
  • To the right of the vertical axis is the right side.
  • the internal and external directions on either side refer to: the direction close to the longitudinal axis is inward, and the direction away from the longitudinal axis is external.
  • the front part is the first part
  • the rear part is the second part.
  • the second part is the second part.
  • the first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction.
  • the position of any lifting mechanism refers to the position of the output member of the lifting mechanism.
  • the position of any forward and backward movement mechanism refers to the position of the output member of the forward and backward movement mechanism.
  • the walking wheel is a wheeled walking mechanism. To walk is to move the ground and to travel. Wheeled walking is wheeled movement, that is, wheeled travel.
  • the wheeled traveling device is the wheeled mobile device and the wheeled traveling device.
  • the walking wheel is the middle wheel of the wheeled walking device.
  • the wheel at the first end is the first wheel or the front wheel.
  • the wheel at the second end is the second or rear wheel. Wheel is also a wheeled running gear.
  • the second forward and backward motion mechanism is also referred to as the second motion mechanism for short; the first forward and backward motion mechanism is also referred to as the first motion mechanism for short.
  • the crawler-type traveling mechanism is the crawler-type traveling device, and the two are equivalent.
  • the crawler-type walking mechanism is the crawler-type motion mechanism.
  • the arrival points are distributed before and after the center of gravity (O) of the equipment, which means: the arrival points include the arrival points before the center of gravity (O) of the equipment and the arrival points behind the center of gravity (O) of the equipment.
  • the front edge of the tracked running gear refers to the front edge of the track included in the crawler running gear.
  • the rear edge of the crawler running gear refers to the rear edge of the crawler belt contained in the crawler running gear.
  • the wheeled walking mechanism is the walking wheel.
  • the front edge of the road wheel refers to the front edge of the road wheel.
  • the rear edge of the road wheel refers to the rear edge of the road wheel. Touching the ground means touching the road. When you support the ground, you reach the ground. The ground is the road.
  • the third traveling wheel refers to the traveling wheel contained in the third traveling mechanism.
  • the 3rd road wheel of first end promptly the wheel that middle part is front is also referred to as the second front wheel.
  • the third running wheel at the second end is the wheel behind the middle part which is also called the first rear wheel.
  • the 3rd traveling wheel of first end is the traveling wheel near the front of the middle part.
  • the third traveling wheel of the second end is the traveling wheel near the middle part.
  • the middle part refers to the position between the first traveling mechanism 511 and the second traveling mechanism 522 .
  • the first road wheel on the first side is also referred to as the first left front wheel.
  • the first road wheel on the second side is also referred to as the first right front wheel.
  • the center front left wheel is also called the second left front wheel.
  • the middle front right wheel is also called the second right front wheel.
  • the third road wheel at the second end is also called the first rear wheel.
  • the middle rear left wheel is also called the first left rear wheel.
  • the rear right wheel in the middle is also called the first rear right wheel.
  • the second road wheel on the first side is also referred to as the second left rear wheel.
  • the second road wheel on the second side is also called the second right rear wheel.
  • the crawler traveling mechanism is an integral crawler traveling mechanism, or the crawler traveling mechanism includes a distributed crawler mechanism whose arrival point is located before the center of gravity of the equipment and a distributed crawler mechanism whose arrival point is located behind the center of gravity of the equipment.
  • Distributed crawler mechanism The integrated crawler-type traveling mechanism means that the forward-arriving point of the crawler-type traveling mechanism is located in front of the center of gravity of the movable equipment and the rear-arriving point of the crawler-type traveling mechanism is located behind the center of gravity of the equipment.
  • Integral crawler-type traveling mechanism refers to that crawler belts for reaching the ground are provided between the front arrival point and the rear arrival point of the crawler-type traveling mechanism.
  • the distributed crawler mechanism refers to a crawler-type walking mechanism whose front and rear arrival points are located before or after the center of gravity of the movable equipment.
  • the landing point of the road wheel refers to the lower surface of the road wheel.
  • the front arrival point of the crawler-type traveling mechanism refers to the front point of the lower surface of the crawler included in the crawler-type traveling mechanism
  • the rear-arrival point of the crawler-type traveling mechanism refers to the rearward point of the lower surface of the crawler included in the crawler-type traveling mechanism. point.
  • the lower surface of the track refers to the longest straight line in the lower surface of the track.
  • An unspecified arrival point refers to a point before and/or a subsequent point of arrival.
  • the center of the road wheel or wheel is the axis of the wheel.
  • the center of the crawler-type traveling mechanism in the front-rear direction is at the 1/2 length of the crawler belt.
  • the landing point of any walking component refers to the part of the walking component that is used to touch the ground. The arrival point is allowed to be lifted and off the ground.
  • Azimuth means direction, means angular position, means orientation.
  • the reference object is the center of the rack 01 of the movable equipment in any orientation of front, rear, left, right, up, and down. Any part refers to the center of the part unless otherwise specified.
  • inward or outward refers to the reference object as a reference, inward means: the direction pointing to the reference object; outward means: pointing in the opposite direction to the reference object.
  • forward refers to; the direction in which the movable equipment travels; refers to the direction indicated by X1 in the attached drawing.
  • X1 indicates the front, and X2 indicates the rear.
  • Left-right means left and/or right
  • front-back means front and/or back.
  • Advance and retreat refers to advance and/or retreat.
  • the front view is viewed from the front and back, the front view is the left view; the side view is the front view, which is the front view, and the view direction is from left to right; the top view is from the top to bottom view.
  • Front includes straight front, left front, and right front.
  • the rear includes positive rear, left rear, and right rear.
  • Left includes positive left, left front and left rear.
  • Right includes front right, front right and rear right.
  • the longitudinal direction is the X direction, which is the front-to-back direction.
  • the horizontal direction is the Y direction, which is the left-right direction.
  • Translating includes forward and backward movement and/or left and right movement.
  • Above includes directly above, side above, that is, obliquely above.
  • the top is above.
  • Below includes directly below, and side below is obliquely below.
  • the vertical direction is the Z direction, which refers to the up and down direction.
  • the first side and the second side are opposite orientations.
  • the first side is the left side, that is, the left side, that is, the left side
  • the second side is the right side, that is, the right side, that is, the right side.
  • any part has two ends, one end of the part refers to the root of the part, and the other end of the part refers to the end of the part.
  • the root refers to the part close to the rack.
  • the end refers to the part away from the rack.
  • the part is in particular a leg, an arm, a mechanism or a joint.
  • the root is the base, the fixed end is the fixture, the head end is the inner end, and the six are equal.
  • the end is the movable end, the movable part is the output end, the output part is the outer end, and the six are equal.
  • one end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism.
  • the movable equipment refers to the rack 01 of the movable equipment.
  • the movement of the equipment refers to the movement of the rack 01 .
  • the body is the body and the torso is the fuselage and the frame.
  • the ground is the road.
  • Floor means the bottom surface under the equipment used to support the equipment.
  • any connection wheel refers to the shaft of the connection wheel.
  • the crawler-type traveling mechanism and the crawler belt are installed in the middle of the bottom of the equipment. Unless otherwise specified, the positional relationship of any member with respect to the other member is based on the center of the two members.
  • the scheme includes the scheme after the word “can” or “may” or “with” is removed.
  • Arbitrary refers to several. Several can be one or more. A certain kind, that is, any one or any variety.
  • any functional object is function+object.
  • Any functional object means that the object is configured to have the property of realizing the function.
  • the lifting mechanism is the motion mechanism used to realize the lifting function.
  • An example is a wheeled running gear, that is, a device for wheeled mobility.
  • A includes B, including: A is connected to B or A is B. Include can be just include. Just include it.
  • connection includes direct connection or connection through an intermediate piece.
  • Connection including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc.
  • Electrical connection includes wired connection and wireless connection.
  • Direct connection such as welding or crimping or screwing or hooking or hooking or snap-in connection, etc.
  • connection refers to concatenation. A plurality of components are connected in sequence, and the end of the former component is connected to the root end of the latter component, that is, the ends of the plurality of components are connected in sequence.
  • connection is mechanical.
  • type of (mechanical) connection including: fixed connection, detachable connection.
  • the connection of the two can also be the integration of the two.
  • a detachable connection that is, a connection in such a way that it can be disconnected in a controlled manner.
  • Active connections include slidable connections or rotatable connections; rotatable connections are hinged. Fixed connection and installation.
  • any connecting part refers to a part used to connect the parts to be connected in the device.
  • the connection part refers to the part used to support and connect the parts to be connected.
  • the components to be connected are kinematic mechanisms.
  • a connection part means a part configured to have properties for connecting parts to be connected or has undergone processing for connection.
  • the connection part means that the part is configured to bear the force generated by the parts to be connected.
  • the connection part can also refer to the connection part.
  • the part is a hole, slot or pin or reinforcement. Having an attribute for connecting a part to be connected means that processing for connecting the part has been performed.
  • the connection part can be a part of the rack 01 of the equipment.
  • the connection part can also be a part that is independent from the rack 01 but connected with the rack 01 .
  • a unit is a device, a system is a module, a component is a component, a device is a component, and these eight are equivalent.
  • the components included in the device may be one or more. Any component can be distributed in multiple physical entities or a single physical entity; multiple components can also be arranged in the same physical entity.
  • the drive unit is also known as the drive or power unit. Drives are also referred to as actuators.
  • the frame is the body, the body, the torso, the fuselage, and the five are equal.
  • Any movable piece of equipment has a rack.
  • Rack that is, parts of a mobile device that are fixedly connected to each other, and the parts that are fixedly connected to each other have the largest mass among all parts of the device.
  • the equipment includes all the devices needed to realize the operation.
  • Any equipment herein includes: a control device, an operation device and an energy supply device.
  • the movable equipment may also include necessary electrical components and/or mechanical parts. Electrical components such as wires are used to electrically connect the various components. Mechanical parts are used to connect and support various components.
  • the movable equipment, control device, working device and energy supply device are all configured to realize the methods, steps and functions described anywhere in this paper.
  • the kinematic mechanism and its drive can be integrated.
  • an integrated joint means that the joint is integrated with the driving device of the joint.
  • the output end of the motion device is the output end of the motion mechanism.
  • Drives are also called drive components.
  • the crawler-type traveling mechanism is connected with a driver for driving the crawler-type traveling mechanism at any place.
  • Both the crawler-type traveling mechanism and the driver belong to the crawler-type traveling device, and the crawler-type traveling device belongs to Agency equipment.
  • the connection line of the landing site of the running gear refers to the connection line of the outer circle of the landing site of the running gear.
  • the landing site of the crawler walking mechanism is the landing site of the crawler belt.
  • a mobile platform is a platform that is mobile.
  • Any mechanism whose input is connected to the output of a driver for driving the mechanism.
  • the control unit of the device is connected to the drive.
  • the drive is controlled by the control device, and the action of the mechanism is controlled by the control device.
  • the mechanism is any lifting mechanism.
  • the output of the wheel mechanism is the rim and/or the tire that fits on the rim.
  • the output part of the wheel mechanism is connected to the outer ring of the bearing of the wheel shaft through the spokes.
  • the bearing's outer ring, spokes, rim and tire rotate about the axle.
  • the traveling wheels are connected to the frame 01 of the movable equipment, and the traveling wheels roll along the road surface to drive the movable equipment to travel.
  • Leg walking is walking. Walking is also called driving or moving. To walk means to move on the ground.
  • Walking gear is also called ground moving gear.
  • the center of gravity (O) of a movable device refers to the structural center of gravity (O) of the device.
  • the obstacle-crossing technical solutions of existing equipment are mostly multi-link swing joint schemes imitating the legs of humans or animals, so heavier equipment (such as automobiles) cannot High-performance (step-up, step-down, hurdles) obstacle surmounting.
  • the linear motion mechanism has the outstanding advantages of large load capacity, small size, low cost, and fast speed. It has outstanding advantages when used in combination with the walking mechanism to make the equipment overcome obstacles.
  • the jack is a typical linear motion mechanism, its price is less than 100 yuan and its load capacity reaches 1000KG, and the joint-rotating mechanical arm with a load capacity of 50KG is a typical multi-link swing mechanism, its lowest price is 25,000 yuan, and the price difference is 250 times.
  • the carrying capacity differs by 20 times.
  • the energy supply device includes or is a power source.
  • the power supply is connected to the control device to supply power to the control device.
  • the energy supply device is connected to the operation device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the working device to provide energy for the operation. Providing energy especially means supplying electricity.
  • the energy supply device may be a fuel supply system, such as a fuel tank.
  • the power source can be a battery.
  • the drive device is the drive unit, the power unit, the power system, the drive component, the drive assembly, and the six are equivalent.
  • the driving device includes a power conversion device.
  • the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, a cylinder or an air motor, etc.
  • the drive device further includes a power control device for controlling the power components.
  • the power control device is a motor drive, hydraulic valve, fuel injection system or gas valve.
  • the power conversion device is the power component.
  • the drive device may include a reducer.
  • the control device (electricity) is connected to the operating device to control it to perform operations. Specifically, the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to the moving device drives the working tool to perform operations. More specifically, the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, the drive device drives the movement mechanism connected to it (mechanically), and the movement mechanism drives the movement mechanism connected to it (mechanically). Work tools for work. For simplicity of description herein, "controlling the driving device for driving the motion mechanism” may be referred to as “controlling the motion device” or “controlling the motion mechanism", and the three are equivalent.
  • the control device (electrically) controls the driving device, which means that the processing module of the control device can process information related to the operation and execute the program related to the operation, and the control device can send control signals related to the operation to the driving device.
  • Control can be manual or automatic.
  • Manual control means that the control device receives manual control instructions through the human-computer interaction module and communication module; based on the instructions, the control operation is performed.
  • Automatic control refers to receiving control instructions issued by the automatic control module; and controlling based on the instructions.
  • the control device may include an automatic control module, or the control device obtains instructions from an external automatic control device through the communication module.
  • the control device includes software, hardware and structural components for realizing control functions.
  • the processor is at least one of CPU, DSP or CPLD.
  • the control device also includes a communication module. Further, the control device also includes at least one of a man-machine interface and a sensor module.
  • the communication module is used for communication between components within the control device and/or for communication between the control device and external systems.
  • the communication module includes a wired communication module and a wireless communication module.
  • the wired communication module is 485 bus, CAN bus or Ethernet bus.
  • An external system especially refers to an external information processing center, especially a network system.
  • the wireless communication module is a mobile communication module or an infrared communication module.
  • Human-machine interface includes voice input system, display system, keyboard, mouse, buttons, human gesture recognition system, etc.
  • the sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module (08) for acquiring environment information.
  • Sensors include IMU, gyroscope, acceleration sensor, encoder, voltage sensor, current sensor, etc.
  • Environment refers to the environment where the device is located.
  • the sensors for acquiring environmental information include at least one of visual sensors, radars, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules.
  • the radar includes at least one of lidar and millimeter wave radar.
  • Any device herein includes a steering mechanism and a driver for driving the steering mechanism.
  • the steering mechanism is connected with steerable road wheels.
  • the steerable road wheels can be steered by manipulating the steering manipulator.
  • the differential speed of the traveling mechanism on both sides of the equipment can also be controlled to steer.
  • the steering mechanism of the three-wheeled equipment can be the steering mechanism of a three-wheeled truck.
  • the steering mechanism of the four-wheeled device may be the steering mechanism of an automobile.
  • the steering mechanism can be a digital steering gear.
  • the digital steering gear is connected to the running wheels to be turned.
  • the steering gear is controlled by the control device to drive the steering wheel to turn.
  • the motion control device can be a steering wheel, accelerator, brake, rocker, and position detection device; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device. Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.
  • the automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. The automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be realized with reference to existing known technologies.
  • the moving mechanism in the device anywhere in this article is connected to the connection part used to connect the moving mechanism in the device.
  • the connection part is arranged on the frame of the equipment.
  • the base of the kinematic mechanism is connected to the connection part used to connect the kinematic mechanism in the frame.
  • the moving mechanism is the driving mechanism, the movable mechanism is the mechanism, and the four are equivalent.
  • the mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member.
  • the two components are connected by a kinematic pair.
  • the first member is relatively stationary in the mechanism and serves to support the second member.
  • the first component is the base, that is, the base, that is, the fixed piece, that is, the fixed component, that is, the frame, and these five are equivalent.
  • the base is used for connecting to the rack of the equipment or is a constituent part of the rack of the equipment.
  • the second component moves within the moving path and/or moving range set by the first component.
  • the second member is the movable part.
  • the moving parts can also be divided into driving parts, driven parts and intermodal parts.
  • the original moving part is the active part, that is, the input part, that is, the input member, and these four are equivalent.
  • the input part is the power input part.
  • the original moving part is used to connect the power device or the motion control device; the power device drives the original mover to move or the motion control device drives the original mover to move. Or the original moving part is the power part.
  • the prime mover is connected with the follower.
  • the follower is the work piece, the output piece is the output end, the output member, and the five are equivalent.
  • the output part is the motion output part or the power output part.
  • the intermodal part is an intermediary component between the original moving part and the driven part. Intermodal parts are used to transmit power, that is, transmission parts.
  • the driven part drives the connected load object to move.
  • the payload is a tool or an end effector for work.
  • the movement mechanism is connected to the power device, which means that the original moving part of the movement mechanism is connected to the power device.
  • the movement of the movement mechanism is driven by the power unit.
  • the power unit is also called a drive.
  • active items refer to output items.
  • the name of the device can be directly used to indicate the mechanism of the device.
  • Electric push rod refers to electric push rod mechanism.
  • Cylinder refers to a cylinder mechanism.
  • the hydraulic cylinder refers to the hydraulic cylinder mechanism.
  • the mechanical arm refers to the mechanical arm mechanism.
  • the motion mechanism includes a rotary motion mechanism, a linear movement mechanism, and the like.
  • the base of the rotary motor mechanism is the stator of the motor, and the output of the rotary motor is the rotor.
  • Linear movement is linear motion. Linear especially refers to a straight line.
  • a linear motion mechanism means that the output part of the motion mechanism is a slider, and the slider can linearly reciprocate relative to the base of the motion mechanism.
  • a linear motion mechanism is a linear joint.
  • a slider is a slider.
  • an electric push rod its interior is a screw mechanism
  • the base 201A of the electric push rod is the outer tube of the push rod
  • the output part 203A of the electric push rod is the telescopic rod of the push rod
  • the internal screw rod The mechanism comprises a screw 202A driven by a motor 204A.
  • the screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole.
  • the base 201B is a bracket connecting the screw rod 202B and the output member 203B.
  • the output piece 203B with a screw hole means that the output piece is provided with a screw hole or the output piece 203B is connected with a nut.
  • the screw hole or the nut is provided with a thread matched with the threaded rod 202B.
  • the output member 203B is sleeved on the screw rod 202B and screwed to the screw rod 202B.
  • the driver of the mechanism is a motor.
  • the input to the mechanism is the lead screw 202B.
  • the base of the motor is connected to the base 201B of the screw mechanism.
  • the output shaft of the motor is connected to one end of the screw rod 202B of the mechanism, and the motor can drive the screw rod 202B to rotate around its own axis.
  • the rotation of the lead screw 202B can drive the output member 203B to move along the length direction of the lead screw. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into the linear movement of the output member.
  • the piston cylinder that is, the telescopic cylinder
  • the piston cylinder is a cylindrical metal device that guides the piston to perform linear reciprocating motion.
  • Telescopic hydraulic cylinders especially refer to piston hydraulic cylinders.
  • the base of the piston cylinder is a cylinder block, and the output part is a telescopic rod connected to the piston.
  • the base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.
  • the lifting mechanism is the motion mechanism used to realize the lifting function.
  • the output part of the kinematic mechanism can be raised and lowered relative to the base of the kinematic mechanism.
  • the swing mechanism herein refers to a single-link swing mechanism, that is, a single-stage swing mechanism.
  • the lifting mechanism can be a vertical linear movement mechanism or a swing mechanism.
  • the swing mechanism is the swing joint.
  • the swing mechanism refers to: the output part of the mechanism is hinged to the base of the mechanism; the output part can rotate around the hinge, and one end of the output part is a hinged end.
  • the output part of the swing mechanism is a swing arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif mobile, comprenant un bâti (01), un premier mécanisme de marche (511) et un deuxième mécanisme de marche (522). Le premier mécanisme de marche (511) est situé devant le centre de gravité (0) du dispositif, et le deuxième mécanisme de marche (522) est situé derrière le centre de gravité (0). Une partie ou la totalité d'un troisième mécanisme de marche relié au bâti (01) est située entre le premier mécanisme de marche (511) et le deuxième mécanisme de marche (522). Un point de butée d'une première extrémité du troisième mécanisme de marche est situé devant le centre de gravité (0), et un point de butée d'une seconde extrémité du troisième mécanisme de marche est situé derrière le centre de gravité (0). Le dispositif mobile comprend en outre un premier mécanisme de levage (211) et un second mécanisme de levage (222), et le dispositif mobile est conçu pour pouvoir commuter entre un premier mode et un second mode. Grâce à la solution de la présente demande, la capacité de franchissement d'obstacle ou l'adaptabilité aux terrains complexes du dispositif mobile de type à roues ou à chenilles (tel qu'un véhicule) peut être améliorée.
PCT/CN2023/070556 2022-01-04 2023-01-04 Dispositif mobile, procédé de commande, appareil de commande, support de stockage et plateforme mobile WO2023131210A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
PCT/CN2022/070157 WO2022144029A1 (fr) 2021-01-04 2022-01-04 Dispositif mobile, procédé de commande, appareil de commande, support de stockage, plateforme mobile et accessoire
CN202210006036.5 2022-01-04
CN202210006036.5A CN114715298A (zh) 2021-01-04 2022-01-04 可移动的设备、控制方法、控制装置、存储介质、移动平台及附件
CNPCT/CN2022/070157 2022-01-04
CNPCT/CN2022/071683 2022-01-12
PCT/CN2022/071683 WO2023133743A1 (fr) 2022-01-12 2022-01-12 Appareil mobile, procédé de commande, dispositif de commande, support d'enregistrement et accessoire
CN202210034117.6 2022-01-12
CN202210034117 2022-01-12

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WO2023131210A1 true WO2023131210A1 (fr) 2023-07-13

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PCT/CN2023/071975 WO2023134734A1 (fr) 2022-01-12 2023-01-12 Appareil mobile, procédé et dispositif de commande, support de stockage et plateforme mobile

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