CN207617846U - A kind of wheeled more ground adaptability vehicles - Google Patents
A kind of wheeled more ground adaptability vehicles Download PDFInfo
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- CN207617846U CN207617846U CN201721821746.4U CN201721821746U CN207617846U CN 207617846 U CN207617846 U CN 207617846U CN 201721821746 U CN201721821746 U CN 201721821746U CN 207617846 U CN207617846 U CN 207617846U
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- wheeled
- vehicles
- support arm
- chassis
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Abstract
The utility model discloses a kind of wheeled more ground adaptability vehicles, the vehicle of the utility model provides two sets of secondary wheels by support arm, and in normal pass, two sets of secondary wheels are packed up, in obstacle detouring, secondary wheel can be put down, the support force needed for obstacle detouring is provided, make vehicle that there are more ground adaptability, it can be when in level land, vehicle forward is driven by the rotation of main wheel, when monitoring road surface mutation, obstacle detouring is completed by its belt wheel support arm auxiliary vehicle.
Description
Technical field
The utility model belongs to vehicle obstacle detouring field, and in particular to a kind of wheeled more ground adaptability vehicles.
Background technology
With the development of science and technology, people replace people to do those using some intelligentized devices more and more
The simply but work with certain risk, can not only ensure the accuracy of operation but also can farthest ensure the person in this way
Safety, this is also the development trend of current era.For specific operative scenario, developing corresponding intelligent device can be more efficient
Complete task in ground.Dilly is chiefly used in the exploration of narrow landform because it has the characteristics that compact, flexibility are good
Or the scouting etc. of high-risk areas, but since its included wheel is smaller, the low event passability of chassis height is poor, it is only used for work
Region is the area of smooth-riding surface, and various obstacles are often had in actual life, so dilly need to have one
Fixed obstacle climbing ability could really apply in real life.Common walking vehicle mainly has wheeled, leg formula, carries out both at home and abroad
Belt etc., these three modes respectively have advantage and disadvantage again.(1) wheeled construction.The running velocity of wheeled construction is fast, and flexibility is good,
It operating steadily in smooth-riding surface, but due to the limitation of vehicle body, wheel cannot do too much, therefore its chassis is relatively low, and passability is poor,
When roughness pavement is run, vehicle body jolts greatly, larger to the impact of vehicle, if road surface big rise and fall, or even will appear " support
Bottom " phenomenon makes vehicle cisco unity malfunction.；(2) leg formula structure.Leg formula constructed machine people uses bionic design, has very
Strong obstacle climbing ability and certain flexibility, but when in smooth-riding surface, vehicle body jolts seriously, and be difficult to reach faster speed
Degree, due to control a plurality of supporting leg coordination, therefore its control difficulty is larger；(3) track structure.Track structure robot
Have stronger cross-country power, can also reach certain speed, but its caterpillar belt structure volume it is big, from great, high energy consumption, therefore efficiency
It is low.According to the advantage and disadvantage of each structure, by two of which or it is two or more be combined, learn from other's strong points to offset one's weaknesses, play respective advantage,
The ground conformability of walking vehicle can be greatly promoted.Have pertinent literature and technical situation is, Xie little Qiang is designed at it
Obstacle detouring wheel construction in, devise sheave structure, when encountering obstacle, stabilizer blade work can be played by stretching out the obstacle detouring block in obstacle detouring block hole
With as rotating for wheel completes crossing for obstacle.Its shortcoming is that wheel itself is complicated, and design difficulty is big, reliably
Property is not high.Piao Chun etc. devises a kind of four swing arm mobile robot of six crawler belt, will using the creeper undercarriage of robot
Robot is raised to the outer linea angulata of barrier, and is completed by the outer linea angulata that climbing motion makes the barycenter of robot clear the jumps
Obstacle detouring.Its shortcoming is to have used compared with multi-track so that robot dead weight is larger, causes particle carrying capacity not high.Hong
Etc. tool is devised, there are three the adaptive Stump-jump wheel mechanisms of wheel, and the mechanism dumps forward automatically when encountering obstacle, passes through three vehicles
Alternately stress carrys out crossing over blockage to wheel.Its shortcoming is larger for the volume and quality of Stump-jump wheel itself, and due to the part of wheel
Transmission mechanism is easily broken down by the impurity effect that wheel is rolled, therefore reliability is not high between three wheels.
Utility model content
Purpose of the utility model is to overcome the above-mentioned shortcomings and provide a kind of wheeled more ground adaptability vehicles, to solve
The deficiency that wheeled construction vehicle obstacle climbing ability of having determined is weak, leg formula construction vehicle vehicle body impact is big and the speed of service is slow.
In order to achieve the above object, the utility model includes chassis, is arranged on chassis there are four transfer gear and driving motor,
The front-end and back-end on chassis are hinged with support arm, are provided with linking arm on support arm, and the both sides of linking arm are both provided with secondary wheel, and four
A transfer gear and driving motor are separately connected four main wheels, before two transfer gears and driving motor connecting base plate of chassis front end
The support arm at end, two transfer gears of the extreme end of chassis and the support arm of driving motor connecting base plate rear end, the front on chassis be provided with away from
From sensor, range sensor connects central control module, and central control module connects four transfer gears and driving motor；
Central control module is used to acquire the information of range sensor, and controls four transfer gears and driving motor drive respectively
Dynamic main wheel or support arm.
Transfer gear and driving motor include transfer case and driving motor, and transfer case includes first axle, the second axis and third axis,
First axle drives main wheel, the second axis to drive support arm, the first helical gear is provided in first axle, and second is provided on the second axis tiltedly
Gear is provided with the third helical gear that can be engaged with the first helical gear on third axis and can be engaged with the second helical gear
4th helical gear is provided with first bevel gear and third hand tap gear on third axis, and second bevel gear can be nibbled with first bevel gear
It closes, second bevel gear is often engaged with third hand tap gear, and shift lever, driving motor driving the second cone tooth are provided on third axis
Wheel.
Second axis is connect by splined shaft with support arm.
The support column for fixing support arm is provided on chassis.
Deep floor is provided between support arm and linking arm.
Range sensor uses ultrasonic type range sensor.
Range sensor is connect using IEEE802.15.4 agreements or ZigBee-network communication module with central control module.
Main wheel includes wheel hub, and anti-slip rubber tire is arranged on wheel hub.
Four angles on chassis are both provided with chamfering.
The front and rear on chassis is respectively arranged with approach angle and departure angle
Compared with prior art, the vehicle of the utility model provides two sets of secondary wheels by support arm, will in normal pass
Two sets of secondary wheels are packed up, and in obstacle detouring, can be put down secondary wheel, be provided the support force needed for obstacle detouring, vehicle is made to have mostly
Face adaptability can drive vehicle forward when in level land by the rotation of main wheel, when monitoring road surface mutation, borrow
Its belt wheel support arm auxiliary vehicle is helped to complete obstacle detouring.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the structural schematic diagram of support arm in the utility model；
Fig. 4 is the schematic diagram of splined shaft in the utility model；
Fig. 5 is the schematic diagram of the utility model transfer case and driving motor；
Fig. 6 is that the utility model crosses over boss type road surface mutation process schematic diagram；
Fig. 7 is that the utility model crosses over concave station type road surface mutation process schematic diagram；
Fig. 8 is that the utility model crosses over pit type road surface mutation process schematic diagram；
Wherein, 1. secondary wheel；1.1. forward secondary wheel；1.2. rear portion pair wheel；2. deep floor；3. support arm 3.1. belt wheels
Front arm；3.2. belt wheel back arm；；4. transfer case and driving motor；4.1. preceding transfer case；4.2. transfer case after；5. distance passes
Sensor；6. main wheel；6.1. front main wheel；6.2. rear portion main wheel；7. support column；8. chassis；9. central control module；
10. linking arm；11. splined shaft；401. first helical gears；402. third helical gears；407. second helical gears；408. the 4th tiltedly
Gear；403. first bevel gear；404. second bevel gear；405. third hand tap gear；406. shift lever.
Specific implementation mode
The utility model is described further below in conjunction with the accompanying drawings.
Referring to Fig. 1 to Fig. 5, a kind of wheeled more ground adaptability vehicles, including chassis 8, there are four transfers for setting on chassis 8
The front-end and back-end of device and driving motor 4, chassis 8 are hinged with support arm 3, and linking arm 10, linking arm 10 are provided on support arm 3
Both sides be both provided with secondary wheel 1, four transfer gears and driving motor 4 are separately connected four main wheels 6, the two of 8 front end of chassis
The support arm 3 of 8 front end of a transfer gear and 4 connecting base plate of driving motor, two transfer gears and driving motor 4 connection of 8 rear end of chassis
The front of the support arm 3 of 8 rear end of chassis, chassis 8 is provided with range sensor 5, and range sensor 5 connects central control module 9,
Central control module 9 connects four transfer gears and driving motor 4, and the support column 7 for fixing support arm 3 is provided on chassis 8,
Deep floor 2 is provided between support arm 3 and linking arm 10；
Central control module 9 is used to acquire the information of range sensor 5, and controls four transfer gears and driving motor respectively
4 driving main wheels 6 or support arm 3.
Range sensor 5 is ultrasonic type range sensor, and the sensing system is using technology maturation
IEEE802.15.4 agreements and ZigBee-network communication module, by transmitting and reception ultrasonic wave can measure and road surface ahead
Between distance, the range information of each point is integrated as front road conditions figure, suitable channel is chosen according to working environment,
Wirelessly road conditions are timely feedbacked to central control module 9, traffic information control of the central control module 9 further according to feedback
Vehicle processed enters different operational modes.Main wheel 6 is made of wheel hub and anti-slip type rubber tyre, wheel hub and the axis phase on chassis
Even.8 surrounding of chassis is designed with chamfering, it is possible to reduce stress concentration, before and after chassis 8 side be designed with suitable approach angle and from
Beveling.
Transfer gear and driving motor 4 include transfer case and driving motor, and transfer case includes first axle, the second axis and third
Axis, first axle drive main wheel 6, the second axis to drive support arm 3, be provided with the first helical gear 401 in first axle, be arranged on the second axis
There is the second helical gear 407, the third helical gear 402 that can be engaged with the first helical gear 401 is provided on third axis and can
The 4th helical gear 408 engaged with the second helical gear 407 is provided with first bevel gear 403 and third hand tap gear on third axis
405, second bevel gear 404 can be engaged with first bevel gear 403, and second bevel gear 404 is often engaged with third hand tap gear 405,
Shift lever 406 is provided on third axis, driving motor drives second bevel gear 404, the second axis to pass through splined shaft 11 and support arm 3
Connection.
Boss type road surface is mutated：
As shown in Fig. 6 (a), vehicle travels the front being mutated to boss type road surface, by shift lever in preceding transfer case 4.1
406 are switched to left position, and driving motor rotates forward, and power is transmitted with engaging for first bevel gear 403 by drive shaft through second bevel gear 404
Power is reached into the second axis with engaging for the second helical gear 407 to third axis, then through the 4th helical gear 408 on the right side of third axis, and
The spline rotation expansion belt wheel front arm 3.1 being connected with the second axis is driven, after forward secondary wheel 1.1 contacts road surface, after extension
It opens, vehicle first half will be lifted, and vehicle body be lifted contour to front main wheel 6.1 and target road surface；
As shown in Fig. 6 (b), rear portion main wheel 6.2 drives vehicle forward, when front main wheel 6.1 reaches target road surface,
Stop moving ahead；
As shown in Fig. 6 (c), belt wheel front arm 3.1 is withdrawn, shift lever 406 in preceding transfer case 4.1 is switched to right position, it will
Shift lever 406 is switched to left position in transfer case 4.2 afterwards, and driving motor reversion, belt wheel back arm 3.2 is unfolded backward, when rear portion pair
After wheel 1.2 contacts road surface, continue to be unfolded, vehicle latter half will be lifted, and vehicle body is lifted to rear portion main wheel 6.2 and target
Road surface is contour；
As shown in Fig. 6 (d), front main wheel 6.1 drives vehicle forward, when rear portion main wheel 6.2 reaches target area
Stop, withdrawing belt wheel back arm 3.2, shift lever 406 in rear transfer case 4.2 is switched to right position, so far, is completed to boss type
The leap of road surface mutation.
Concave station type road surface is mutated：
As shown in Fig. 7 (a), vehicle is travelled to recessed edge of table, and shift lever 406 in preceding transfer case 4.1 is switched to left position,
Driving motor rotates forward, and power is transferred to third axis with engaging for first bevel gear 403 through second bevel gear 404 by drive shaft, then
Power is reached into the second axis with engaging for the second helical gear 407 through the 4th helical gear 408 on the right side of third axis, and is driven and the second axis
Connected spline rotation expansion belt wheel front arm 3.1, after forward secondary wheel 1.1 contacts road surface, belt wheel front arm 3.1 is no longer opened up
It opens；
As shown in Fig. 7 (b), rear portion main wheel 6.2 drives vehicle forward, when the traveling of rear portion main wheel 6.2 to concave station edge
When, stop moving ahead；
As shown in Fig. 7 (c), belt wheel front arm 3.1 is withdrawn, shift lever 406 in preceding transfer case 4.1 is switched to right position, it will
Shift lever 406 is switched to left position, driving motor reversion in transfer case 4.2 afterwards, and belt wheel back arm 3.2 is unfolded backward, works as forward secondary
After wheel 1.2 contacts road surface, stop expansion；
As shown in Fig. 7 (d), front main wheel 6.1 drives vehicle forward, when the traveling of rear portion pair wheel 1.2 to concave station edge
When, stop moving ahead, withdraws belt wheel back arm 3.2, shift lever 406 in rear transfer case 4.2 is switched to right position, so far, is completed
Leap to the mutation of boss type road surface.
Pit type road surface is mutated：
As shown in Fig. 8 (a), vehicle travels the edge being mutated to road surface, and shift lever 406 in preceding transfer case 4.1 is cut
To left position, driving motor rotates forward, and power engaging through second bevel gear 404 and first bevel gear 403 is transferred to the by first axle
Three axis, then power is reached into the second axis with engaging for helical gear 407 through helical gear 408 on the right side of third axis, and drive and the second axis
Connected spline rotation expansion belt wheel front arm 3.1, after forward secondary wheel 1.1 contacts road surface, belt wheel front arm 3.1 is no longer opened up
It opens, rear portion main wheel 6.2 drives vehicle forward, and when main wheel proceeds to the edge of road surface mutation, vehicle stops moving ahead；
As shown in Fig. 8 (b), belt wheel front arm 3.1 is withdrawn, shift lever 406 in preceding transfer case 4.1 is switched to right position, it will
Shift lever 406 is switched to left position in transfer case 4.2 afterwards, and driving motor reversion, belt wheel back arm 3.2 is unfolded backward, when rear portion pair
After wheel 1.2 contacts road surface, stop expansion；
As shown in Fig. 8 (c), front main wheel 6.1 drives vehicle forward, when the traveling of rear portion pair wheel 1.2 to concave station edge
When, stop moving ahead；
As shown in Fig. 8 (d), belt wheel back arm 3.2 is withdrawn, shift lever 406 in rear transfer case 4.2 is switched to right position, until
This, is completed to target area less than the leap that the pit type road surface of current region is mutated.
Pit type road surface for target area higher than current region is mutated, and the operation principle of vehicle is similar, is only above-mentioned
The inverse operation of step, therefore details are not described herein again.
In the normal mode, shift lever 406 in transfer case 4 is switched to right position, power is through second bevel gear 404 and third
The engagement of bevel gear 405 is transferred to third axis by drive shaft, then through third helical gear 402 and the first helical gear on the left of third axis
Power is reached first axle by 401 engagement, and the first main wheel 6 being connected with axis is driven to operate, and the forward-reverse of vehicle can lead to
The positive and negative rotation of motor of overdriving realizes, the turning of vehicle can keep certain differential by controlling left and right main wheel 6 and realize.
Under obstacle detouring pattern, the auxiliary by belt wheel support arm 3 is needed to realize obstacle detouring, the expansion of belt wheel support arm 3 and be retracted through driving
The linkage of motor and transfer case 4 realizes that, when shift lever 406 is switched to left position, power is bored through second bevel gear 404 and first
The engagement of gear 403 is transferred to third axis by drive shaft, then through the 4th helical gear 408 and the second helical gear 407 on the right side of third axis
Engagement power is reached into the second axis, and the spline being connected with the second axis is driven to rotate, is controlled by the positive and negative rotation of driving motor
The expansion and withdrawal of support arm 3 processed.Due to there is linking arm 10 to be connected between front and back two pairs of support arms 3, therefore in the exhibition of control belt wheel support arm 3
When opening with withdrawal, front and back respectively there are one transfer cases to work, but on the one hand considers the uniformity that vehicle total quality is distributed,
On the other hand severe in view of working environment, it needs give over to spare there are one transfer case, therefore devises 4 identical transfers altogether
Case.
The utility model acquires current road information by range sensor in real time, and controls two support arms and carry out obstacle detouring,
The utility model judges road surface mutation type by sensing and detecting system, and the obstacle detouring of vehicle is realized by obstacle detouring control method,
Not only it ensure that vehicle in the rapidity of smooth-riding surface, but also enhanced vehicle in the passability of rough ground, improves the complete of vehicle
Ground adaptability.
Claims (10)
1. a kind of wheeled more ground adaptability vehicles, which is characterized in that including chassis (8), there are four transfers for setting on chassis (8)
The front-end and back-end of device and driving motor (4), chassis (8) are hinged with support arm (3), and linking arm (10) is provided on support arm (3),
The both sides of linking arm (10) are both provided with secondary wheel (1), and four transfer gears and driving motor (4) are separately connected four main wheels
(6), two transfer gears of chassis (8) front end and the support arm (3) of driving motor (4) connecting base plate (8) front end, chassis (8) rear end
Two transfer gears and driving motor (4) connecting base plate (8) rear end support arm (3), the front of chassis (8) is provided with Distance-sensing
Device (5), range sensor (5) connect central control module (9), and central control module (9) connects four transfer gears and driving electricity
Machine (4)；
Central control module (9) is used to acquire the information of range sensor (5), and controls four transfer gears and driving motor respectively
(4) driving main wheel (6) or support arm (3).
2. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that transfer gear and driving motor
(4) including transfer case and driving motor, transfer case includes first axle, the second axis and third axis, and first axle drives main wheel (6),
Second axis drives support arm (3), is provided with the first helical gear (401) in first axle, the second helical gear is provided on the second axis
(407), the third helical gear (402) that can be engaged with the first helical gear (401) is provided on third axis and can be with second
4th helical gear (408) of helical gear (407) engagement, is provided with first bevel gear (403) and third hand tap gear on third axis
(405), second bevel gear (404) can be engaged with first bevel gear (403), second bevel gear (404) and third hand tap gear
(405) it often engages, is provided with shift lever (406) on third axis, driving motor drives second bevel gear by drive shaft
(404)。
3. the wheeled more ground adaptability vehicles of one kind according to claim 2, which is characterized in that the second axis passes through splined shaft
(11) it is connect with support arm (3).
4. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that chassis is provided on (8)
Support column (7) for fixing support arm (3).
5. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that support arm (3) and linking arm
(10) deep floor (2) is provided between.
6. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that range sensor (5) is adopted
With ultrasonic type range sensor.
7. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that range sensor (5) is adopted
With IEEE802.15.4 agreements or ZigBee-network communication module with connect central control module (9).
8. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that main wheel (6) includes wheel
Hub is arranged with anti-slip rubber tire on wheel hub.
9. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that four angles of chassis (8)
It is both provided with chamfering.
10. the wheeled more ground adaptability vehicles of one kind according to claim 1, which is characterized in that the front of chassis (8) and
Rear portion is respectively arranged with approach angle and departure angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721821746.4U CN207617846U (en) | 2017-12-23 | 2017-12-23 | A kind of wheeled more ground adaptability vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721821746.4U CN207617846U (en) | 2017-12-23 | 2017-12-23 | A kind of wheeled more ground adaptability vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207617846U true CN207617846U (en) | 2018-07-17 |
Family
ID=62820539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721821746.4U Expired - Fee Related CN207617846U (en) | 2017-12-23 | 2017-12-23 | A kind of wheeled more ground adaptability vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207617846U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN109398531A (en) * | 2018-11-27 | 2019-03-01 | 五邑大学 | A kind of obstacle detouring carrying engineering truck |
-
2017
- 2017-12-23 CN CN201721821746.4U patent/CN207617846U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985443A (en) * | 2017-12-23 | 2018-05-04 | 长安大学 | A kind of wheeled more ground adaptability vehicles and its obstacle-detouring method |
| CN107985443B (en) * | 2017-12-23 | 2023-09-19 | 长安大学 | Wheeled multi-ground adaptive vehicle and obstacle crossing method thereof |
| CN109398531A (en) * | 2018-11-27 | 2019-03-01 | 五邑大学 | A kind of obstacle detouring carrying engineering truck |
| CN109398531B (en) * | 2018-11-27 | 2023-10-17 | 五邑大学 | Obstacle surmounting carrying engineering truck |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180717 Termination date: 20181223 |