Displacement mechanism for a remotely operated vehicle

A displacement mechanism for a remotely operated vehicle, the displacement mechanism being for raising and lowering wheels onto a rail system that the remotely operated vehicle runs on, the displacement mechanism comprising:

• a motor that provides rotational drive;
• a drive crank coupled to the motor to transmit the rotational drive from the motor;
• a coupler link pivotally coupled to the drive crank;
• a lift rocker pivotally coupled to the coupler link, wherein the coupler link couples the rotational drive from the drive crank to the lift rocker;
• a displacement link pivotally coupled to the lift rocker;
• and
• a displacement plate comprising wheels, the displacement plate being configured to slide in a frame of the remotely operated vehicle,
• wherein the displacement plate is pivotally coupled to the displacement link such that the lift rocker, the displacement link, and the displacement plate act as a rocker slider mechanism that raises and lowers the displacement plate and the wheels, and
• wherein the coupler link, the drive crank, the lift rocker, the displacement link, and the displacement plate are coupled to each other by pivots, and
• wherein in a lowered position, the coupler link straddles a pivot connection between the drive crank and motor such that the pivots of the coupler link are positioned on opposite sides of the pivot connection between the drive crank and the motor.