CN107235087A - A kind of robot vehicle - Google Patents
A kind of robot vehicle Download PDFInfo
- Publication number
- CN107235087A CN107235087A CN201710402640.9A CN201710402640A CN107235087A CN 107235087 A CN107235087 A CN 107235087A CN 201710402640 A CN201710402640 A CN 201710402640A CN 107235087 A CN107235087 A CN 107235087A
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- China
- Prior art keywords
- switching mechanism
- supplying apparatus
- power supplying
- component
- support
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- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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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
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
Abstract
The invention discloses a kind of robot vehicle.The robot vehicle includes：Vehicle body；Wheel, the wheel is connected with the vehicle body；First switching mechanism, first switching mechanism is arranged on a face of the vehicle body；Second switching mechanism, second switching mechanism is arranged on being provided with the face of first switching mechanism of the vehicle body；First power supplying apparatus, first power supplying apparatus are connected with first switching mechanism；Second power supplying apparatus, second power supplying apparatus are connected with second switching mechanism.In this application, power is provided by the first power supplying apparatus and the second power supplying apparatus, power direction is changed by the first switching mechanism and the second switching mechanism, so as to form vector power, in this way, so as to realize the flight function of climbing wall function, ground running function or robot vehicle of robot vehicle.
Description
Technical field
The present invention relates to climbing machine technical field, more particularly to a kind of robot vehicle.
Background technology
Prior art generally uses Pneumatic suction cup Shi Pan walls robot.The flexible pneumatic sucker of robot bottom, passes through gas
Absorption and separation to wall are realized in the pumping and inflation of pump.The advantage of sucked type Pan Bi robots is heavy burden and stability, is
Wall operation provides a good platform.The mode of action of sucker causes sucked type Pan Bi robots to the roughness of wall
There is higher requirement, the sealing of sucker need to be met.Scope of activities of this kind of robot on wall is equally also limit, it is convex
Rise, the presence of the specific condition such as crack can influence absorption property.
Another type of Pan Bi robots are to realize adsorption function using special material, such as magnet is puted forth effort as absorption
Point, it is possible to achieve the free movement on the metope that metal material is made.Such a climbing mode needs to meet specific occasion, and
It is not that can all be worked on all walls.
Thus, it is desirable to have a kind of technical scheme come overcome or at least mitigate prior art at least one drawbacks described above.
The content of the invention
It is an object of the invention to provide a kind of robot vehicle come overcome or at least mitigate prior art at least one is above-mentioned
Defect.
To achieve the above object, the present invention provides a kind of robot vehicle, and the robot vehicle includes：Vehicle body, the one of the vehicle body
Individual side is recessed to another edge direction corresponding thereto, forms the first recess, this is when being referred to as first, with first side phase
To another when being referred to as second；Second side is recessed to the first edge direction, forms the second recess；Wheel, the car
Wheel is connected with the vehicle body；First switching mechanism, first switching mechanism is arranged on a face of the vehicle body；Second turns over
Rotation mechanism, second switching mechanism is arranged on being provided with the face of first switching mechanism of the vehicle body；First power
Device is provided, first power supplying apparatus are connected with first switching mechanism；Second power supplying apparatus, described second
Power supplying apparatus are connected with second switching mechanism；Wherein, first power supplying apparatus are carried with second power
Power can be provided for device for the robot vehicle；First switching mechanism can control first power supplying apparatus to turn over
Turn, so as to change the direction for the power that first power supplying apparatus are provided；Second switching mechanism can be controlled
The second power supplying apparatus upset, so as to change the direction for the power that second power supplying apparatus are provided.
Preferably, first power supplying apparatus include：First ring-type duct, the first ring-type duct is hollow, institute
The first ring-type duct is stated to be connected with first switching mechanism；3rd switching mechanism, the 3rd switching mechanism is arranged on described
It is connected in first ring-type duct and with the first ring-type duct；First rotor assemblies, first rotor assemblies are arranged on institute
State on the 3rd switching mechanism；Second power supplying apparatus include：Second ring-type duct, the second ring-type duct is hollow,
The second ring-type duct is connected with second switching mechanism；4th switching mechanism, the 4th switching mechanism is arranged on institute
State in the second ring-type duct and be connected with the second ring-type duct；Second rotor assemblies, second rotor assemblies are arranged on
On 4th switching mechanism；Wherein, first rotor assemblies are used to provide the power with second rotor assemblies；Institute
Stating the first ring-type duct is used under the control of first switching mechanism carry out first direction upset；3rd switching mechanism
For controlling first rotor assemblies to carry out second direction upset；The second ring-type duct is used in second tipper
First direction upset is carried out under the control of structure；4th switching mechanism is used to control second rotor assemblies to carry out second party
To upset.
Preferably, first switching mechanism includes：First rollover stand component, the first rollover stand component is arranged on institute
State on vehicle body；First steering wheel component, the first steering wheel component is arranged on the first rollover stand component；First bindiny mechanism
Component, first bindiny mechanism component connects first power supplying apparatus and the first steering wheel component；Described second
Switching mechanism includes：Second rollover stand component, the second rollover stand component is arranged on the vehicle body；Second steering wheel component,
The second steering wheel component is arranged on the second rollover stand component；Second bindiny mechanism's component, second bindiny mechanism
Component connects second power supplying apparatus and the second steering wheel component.
Preferably, the first rollover stand component include first support and second support, the first support with it is described
Second support is spaced apart, and first power supplying apparatus are arranged between the first support and the second support；Institute
The first steering wheel component is stated to be arranged in the second support；First bindiny mechanism component includes the first transmission mechanism and the
Two transmission mechanisms, described first transmission mechanism one end is connected with the first support, and the other end provides dress with first power
Put connection；Described second transmission mechanism one end is connected with the first steering wheel component, and the other end provides dress with first power
Put connection；The second upset component includes the 3rd support and the 4th support, the 3rd support and the 4th support phase
Every setting, second power supplying apparatus are arranged between the 3rd support and the 4th support；Second steering wheel
Component is arranged on the 3rd support；Second bindiny mechanism component includes the 3rd transmission mechanism and the 4th driver
Structure, described 3rd transmission mechanism one end is connected with the 3rd steering wheel, and the other end is connected with second power supplying apparatus；Institute
State the 4th transmission mechanism one end to be connected with the 4th support, the other end is connected with second power supplying apparatus.
Preferably, the robot vehicle further comprises spring suspension system, and the spring suspension system is arranged on the car
Between wheel and the vehicle body.
Preferably, the spring suspension system is parallel four-bar linkage.
Preferably, the quantity of the wheel is multiple, and two of which wheel is deflecting roller, each deflecting roller and the vehicle body
Connected by a turning mechanism；Wherein,
Two turning mechanisms being capable of deflecting roller steering described in Synchronization Control.
Preferably, it is provided with anisotropy patch material on the outer surface of the wheel.
Preferably, the robot vehicle further comprises flexible Suction cup assembly, and the flexible Suction cup assembly is arranged on the car
Body is provided with the relative face in the face of the first switching mechanism.
Preferably, the flexible Suction cup assembly includes：Electric expansion bar, one end of the electric expansion bar is arranged on described
Vehicle body is provided with the relative face in the face of the first switching mechanism；Sucker, the sucker and the other end of the electric expansion bar
Connection.
In this application, power is provided by the first power supplying apparatus and the second power supplying apparatus, is turned over by first
Rotation mechanism and the second switching mechanism change power direction, so that vector power is formed, in this way, so as to realize robot vehicle
The flight function of climbing wall function, ground running function or robot vehicle.
The application is realized by way of vector power climbs wall function, is adapted to various metopes, can solve the problem that prior art
Middle sucker mode and special material carry out the deficiency of both modes of suction type.
Brief description of the drawings
Fig. 1 is the structural representation of robot vehicle according to an embodiment of the invention.
Fig. 2 is another structural representation of the robot vehicle shown in Fig. 1.
Fig. 3 is another structural representation of the robot vehicle shown in Fig. 1.
Fig. 4 is the structural representation of the wheel portion of the robot vehicle shown in Fig. 1.
Reference
| 1 | Vehicle body | 51 | First ring-type duct |
| 11 | First recess | 52 | 3rd switching mechanism |
| 12 | Second recess | 53 | First rotor assemblies |
| 2 | Wheel | 61 | Second ring-type duct |
| 3 | First switching mechanism | 62 | 4th switching mechanism |
| 4 | Second switching mechanism | 63 | Second rotor assemblies |
| 5 | First power supplying apparatus | 307 | 3rd support |
| 6 | Second power supplying apparatus | 308 | 4th support |
| 301 | First support | 7 | Quadric chain |
| 302 | Second support | 8 | Linkage |
| 303 | First steering wheel component | 9 | Connector |
| 304 | Second steering wheel component | 10 | It is hinged |
Embodiment
To make the purpose, technical scheme and advantage of the invention implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
A part of embodiment, rather than whole embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to uses
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.Under
Embodiments of the invention are described in detail with reference to accompanying drawing for face.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to present invention protection
The limitation of scope.
Fig. 1 is the structural representation of robot vehicle according to an embodiment of the invention.Fig. 2 is the another of the robot vehicle shown in Fig. 1
One structural representation.Fig. 3 is another structural representation of the robot vehicle shown in Fig. 1.
The robot vehicle as shown in Figure 1 to Figure 3 includes vehicle body 1, wheel 2, the first switching mechanism 3, the second switching mechanism
4th, the first power supplying apparatus 5 and the second power supplying apparatus 6.
Referring to Fig. 1, a side of vehicle body 1 is recessed to another edge direction corresponding thereto, forms the first recess 11, should
When being referred to as first, it is referred to as the second side in another relative with first, the second side is recessed to the first edge direction, forms second
Recess 12.
First switching mechanism 3 is arranged on a face of vehicle body；What the second switching mechanism 4 was arranged on vehicle body is provided with first
On the face of switching mechanism 3；First power supplying apparatus 5 are connected with the first switching mechanism 3；Second power supplying apparatus 6 and second
Switching mechanism 4 is connected；Wherein, the first power supplying apparatus 5 and the second power supplying apparatus 6 can provide power for robot vehicle；
First switching mechanism 3 can control the first power supplying apparatus 5 to overturn, and be provided so as to change the first power supplying apparatus 5
Power direction；Second switching mechanism 4 can control the second power supplying apparatus 6 to overturn, so as to change the second power
The direction for the power that device 6 is provided is provided.
It is understood that in order to control the first switching mechanism, the second switching mechanism, the first power supplying apparatus and
Two power supplying apparatus, the application is provided with controller, and controller is made of prior art, therefore, in this application, no longer
Repeat.
In this application, power is provided by the first power supplying apparatus and the second power supplying apparatus, is turned over by first
Rotation mechanism and the second switching mechanism change power direction, so that vector power is formed, in this way, so as to realize robot vehicle
The flight function of climbing wall function or robot vehicle.
The application is realized by way of vector power climbs wall function, is adapted to various metopes, can solve the problem that prior art
Middle sucker mode and special material carry out the deficiency of both modes of suction type.
Referring to Fig. 1 to Fig. 3, in the present embodiment, the first power supplying apparatus and the second power supplying apparatus are in upset
When in order to not interfere vehicle body, therefore, lower space (the first power supplying apparatus bottom shown in Fig. 1 of the first power supplying apparatus
Space) it is the first recess；The lower space of second power supplying apparatus is the second recess.
Referring to Fig. 1 to Fig. 3, in the present embodiment, the first power supplying apparatus 5 are turned over including the first ring-type duct the 51, the 3rd
The rotor assemblies 53 of rotation mechanism 52 and first.First ring-type duct 51 is hollow, the first ring-type duct 51 and the first tipper
Structure 3 is connected.3rd switching mechanism 52 is arranged in the first ring-type duct 51 and is connected with the first ring-type duct 51；First rotor
Component 53 is arranged on the 3rd switching mechanism 52.
Referring to Fig. 1, in the present embodiment, the second power supplying apparatus 6 include the second ring-type duct 61, the 4th switching mechanism
62 and second rotor assemblies 63.Second ring-type duct 61 is hollow, and the second ring-type duct 61 is connected with the second switching mechanism 4；The
Four switching mechanisms 62 are arranged in the second ring-type duct 61 and are connected with the second ring-type duct 61；Second rotor assemblies 63 are arranged on
On 4th switching mechanism 62.
Referring to Fig. 1, when robot vehicle works, the first rotor assemblies 53 and the second rotor assemblies 63 are used to provide described dynamic
Power；First ring-type duct 51 is used under the control of the first switching mechanism 3 carry out first direction upset；3rd switching mechanism 52 is used
Second direction upset is carried out in controlling the first rotor assemblies 53；Second ring-type duct 61 is used for the control in the second switching mechanism 4
Lower progress first direction upset；4th switching mechanism 62 is used to control the second rotor assemblies 63 to carry out second direction upset.
Specifically, in the present embodiment, the first rotor assemblies powered rotation, by the first switching mechanism in first party
To upset and the 3rd switching mechanism second direction upset cooperation come realize power direction vector adjust.Similarly,
Second rotor assemblies powered rotation, by the upset in a first direction of the second switching mechanism and the 4th switching mechanism
The direction vector for coordinating to realize power of the upset in two directions is adjusted.
It is understood that the vector regulation of action edge can also be entered using other modes.For example, being turned over by changing first
The connected mode of the connected mode of rotation mechanism and the first power supplying apparatus, the second switching mechanism and the second power supplying apparatus is come
Carry out.
For example, in an alternative embodiment, the first switching mechanism is connected with the first power supplying apparatus by universal joint,
And first switching mechanism include multiple expansion links, and each expansion link is connected from the first power supplying apparatus and is arranged on different
Link position, now, by way of making different expansion links and stretch, can reach that the first power supplying apparatus are carried out different
The purpose of direction upset.
Similarly, in this alternative embodiment, the second switching mechanism is connected with the second power supplying apparatus by universal joint, and
Second switching mechanism includes multiple expansion links, and each expansion link connects from the second power supplying apparatus and is arranged on different companies
Position is connect, now, by way of making different expansion links and stretch, can reach that the first power supplying apparatus carry out not Tongfang
To the purpose of upset.
Referring to Fig. 1 to Fig. 3, in the present embodiment, the first switching mechanism 3 includes the first rollover stand component, the first steering wheel group
Part and first bindiny mechanism's component.First rollover stand component is arranged on vehicle body 1；First steering wheel component is arranged on the first upset
On frame component；First bindiny mechanism's the first power supplying apparatus of component connection 5 and the first steering wheel component.Specifically, first
Rollover stand component includes first support 31 and second support 302, and first support 301 and second support 302 are spaced apart, and first
Power supplying apparatus 5 are arranged between first support 301 and second support 302；First steering wheel component is arranged on second support 302
On；First bindiny mechanism's component include the first transmission mechanism and the second transmission mechanism, first transmission mechanism one end with first
Frame 301 is connected, and the other end is connected with the first power supplying apparatus 5；Second transmission mechanism one end is connected with the first steering wheel component, separately
One end is connected with the first power supplying apparatus 5.
Referring to Fig. 1 to Fig. 3, in the present embodiment, the second switching mechanism 4 includes the second rollover stand component, the second steering wheel group
Part and second bindiny mechanism's component.Second rollover stand component is arranged on vehicle body 1；Second steering wheel component is arranged on the second upset
On frame component；Second bindiny mechanism's component connects the second power supplying apparatus 6 and the second steering wheel component.Specifically, the second upset
Component includes the 3rd support 307 and the 4th support 308, and the 3rd support 307 and the 4th support 308 are separated by setting, the second power
Device 6 is provided to be arranged between the 3rd support 307 and the 4th support 308；Second steering wheel component is arranged on the 3rd support 307；
Second bindiny mechanism's component includes the 3rd transmission mechanism and the 4th transmission mechanism, the 3rd transmission mechanism one end and the 3rd steering wheel
309 connections, the other end is connected with the second power supplying apparatus 6；4th transmission mechanism one end is connected with the 4th support, the other end with
Second power supplying apparatus 6 are connected.
In the present embodiment, the first transmission mechanism, the second transmission mechanism, the 3rd transmission mechanism and the 4th transmission mechanism are equal
For power transmission shaft.
In the present embodiment, the first steering wheel component includes the first steering engine seat and the first steering wheel, and the first steering engine seat is arranged on
In second support, first steering wheel is arranged on first steering engine seat.
In the present embodiment, the second steering wheel component includes the second steering engine seat and the second steering wheel, and the second steering engine seat is arranged on
On 3rd support, the second steering wheel is arranged on the second steering engine seat.
Referring to Fig. 1, in the present embodiment, wheel 2 is connected with vehicle body 1.
Referring to Fig. 1, in the present embodiment, the quantity of wheel is 4.It is understood that the quantity of wheel can basis
Need and sets itself.For example, when body dimensions are longer or wider, it is also to be contemplated that to be provided with the wheel more than 4
's.
In another example, when body dimensions are smaller, it is also what is be contemplated that to be provided with the wheel less than 4.
In the present embodiment, robot vehicle further comprises spring suspension system, and spring suspension system is arranged on wheel and car
Between body.It is understood that being each provided with a spring suspension system between wheel and vehicle body.Specifically, the spring
Suspension is adjustable rigidity damping, adjustable using this adjustable damping mechanism rigidity so that robot vehicle is in different fortune
Different rigidity conditions can be selected under dynamic model formula or different moving conditions, dolly can be made to obtain optimal damping effect
Really, extraordinary protecting effect is played to vehicle.
Because the robot vehicle of the application will bear very big pressure on the wall, and it is air-ground, wall transfer process in
It is severely affected, damping compression-resistant can be played a part of using spring suspension system.
Advantageously, the spring suspension system of the present embodiment uses quadric chain 7.It is to save using quadric chain
Save space also achieves expected effect.
Specifically, referring to Fig. 4, the adjustable rigidity damping is connected by two sets of parallel four-bar linkages and one with parallel four
Body suspension is got up in the adjustable hardness spring composition that linkage is removably connected, this combination, and spring absorbs impact
Energy, parallel four-bar linkage keep wheel stabilization, with realize bradyseism act on.Pass through the spring of application different-stiffness, car
Body can realize different damping intensity, to tackle different road conditions, and realize optimal protecting effect.The shock mitigation system application
Two sets of parallel four-bar linkages, limit displacement of the car body in addition to vertical direction in shock absorbing process so that the stress of wheel is all the time
In the carrying direction of spoke, the effect for the stability for improving car body has been reached.
It is understood that spring suspension system can also use other schemes.For example, using hydraulic damper, air
Spring damper etc..
Referring to Fig. 1, in the present embodiment, two wheels in four wheels are deflecting roller, it is advantageous to which two front-wheels are
Deflecting roller (two wheels in left side in Fig. 1), each deflecting roller is connected with vehicle body by a turning mechanism；Wherein, two turnings
Mechanism being capable of the steering of Synchronization Control deflecting roller.
In the present embodiment, turning mechanism includes steering wheel and force transmission mechanism, by the cooperation of steering wheel and force transmission mechanism,
Realize the steering of deflecting roller.
More specifically, force transmission mechanism include linkage 8, connector 9 and hinged 10, linkage include rocking bar and
Connecting rod, rocking bar one end is connected with vehicle body, one end connection of the other end and connecting rod, the other end of connecting rod and the wheel shaft of wheel.In addition,
Connector connects hinged on wheel shaft and vehicle body also by connecting rod.During turning, the steering wheel that control is arranged on rocking bar makes rocking bar
Swing, simultaneously because two fulcrum relative motions on the effect of connector, axletree, realize the function that wheel is turned.Such as exist
Under steering wheel drives, rocking bar is swung to the left, and connecting rod also drives turning mechanism to turn left around the shaft therewith, finally realizes that wheel turns left.This
Outside, this design can also allow wheel to be moved up and down in vertical direction, reach damping effect.
In the present embodiment, it is separately controlled by then passing through two steering wheels, two vehicle wheel rotation angles can be adjusted arbitrarily on demand
Section, rather than the situation that two vehicle wheel rotation angle ratios are fixed in the case of a servos control.
In the present embodiment, it is provided with anisotropy patch material on the outer surface of wheel.Due to the robot vehicle of the application
Need to crawl in places such as metopes, therefore, absorption affinity can be increased by increasing anisotropy patch material.
Advantageously, in an alternative embodiment, the robot vehicle of the application further comprises flexible Suction cup assembly, stretches
Suction cup assembly is arranged on being provided with the relative face in the face of the first switching mechanism of vehicle body.Specifically, in this alternative embodiment,
Flexible Suction cup assembly includes electric expansion bar and sucker, and what one end of electric expansion bar was arranged on vehicle body is provided with the first upset
On the relative face in the face of mechanism；Sucker and the other end of electric expansion bar are connected.
Using this structure, in the robot vehicle using the application, if necessary to robot vehicle be stuck in a certain position or
It is slow to move or need in the case of increasing creeping force, adsorbed by the wall for the Suction cup assembly that stretches, so that
Realize further absorption.
It is understood that in order to prevent flexible Suction cup assembly from interfering the traveling of the robot vehicle of the application, by flexible sucker
Component is designed as what can be stretched, so, when that need not use flexible Suction cup assembly, is retracted sucker by electric expansion bar
(sucker is less than the height of wheel), now, it can not both interfere the action of robot vehicle.
In the present embodiment, the vehicle body of robot vehicle, wheel and the first ring-type duct and the second ring-type duct use linden
Timber layer plate is made, and wheel, the first ring-type duct and the second ring-type duct use truss structure, are also wrapped on stressed-skin construction, carry
While high each several part intensity, the selection of whole material and the design of structure significantly reduce robot vehicle weight and into
This.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
The present invention is described in detail with reference to the foregoing embodiments for pipe, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part technical characteristic is equally replaced
Change；And these modifications or replacement, the essence of appropriate technical solution is departed from the essence of various embodiments of the present invention technical scheme
God and scope.
Claims (10)
1. a kind of robot vehicle, it is characterised in that the robot vehicle includes：
Vehicle body (1) a, side of the vehicle body (1) is recessed to another edge direction corresponding thereto, forms the first recess
(11), this is referred to as the second side in another relative when being referred to as first with described first；
Second side is recessed to the first edge direction, forms the second recess (12)；
Wheel (2), the wheel (2) is connected with the vehicle body (1)；
First switching mechanism (3), first switching mechanism (3) is arranged on a face of the vehicle body；
Second switching mechanism (4), what second switching mechanism (4) was arranged on the vehicle body is provided with first switching mechanism
(3) on face；
First power supplying apparatus (5), first power supplying apparatus (5) are connected with first switching mechanism (3)；
Second power supplying apparatus (6), second power supplying apparatus (6) are connected with second switching mechanism (4)；Its
In,
First power supplying apparatus (5) can provide power with second power supplying apparatus (6) for the robot vehicle；
First switching mechanism (3) can control first power supplying apparatus (5) to overturn, so as to change described the
The direction for the power that one power supplying apparatus (5) are provided；
Second switching mechanism (4) can control second power supplying apparatus (6) to overturn, so as to change described the
The direction for the power that two power supplying apparatus (6) are provided.
2. robot vehicle as claimed in claim 1, it is characterised in that first power supplying apparatus (5) include：
First ring-type duct (51), the first ring-type duct (51) is hollow, the first ring-type duct (51) and described first
Switching mechanism (3) is connected；
3rd switching mechanism (52), the 3rd switching mechanism (52) be arranged in the first ring-type duct (51) and with it is described
First ring-type duct (51) is connected；
First rotor assemblies (53), first rotor assemblies (53) are arranged on the 3rd switching mechanism (52)；
Second power supplying apparatus (6) include：
Second ring-type duct (61), the second ring-type duct (61) is hollow, the second ring-type duct (61) and described second
Switching mechanism (4) is connected；
4th switching mechanism (62), the 4th switching mechanism (62) be arranged in the second ring-type duct (61) and with it is described
Second ring-type duct (61) is connected；
Second rotor assemblies (63), second rotor assemblies (63) are arranged on the 4th switching mechanism (62)；Wherein,
First rotor assemblies (53) are used to provide the power with second rotor assemblies (63)；
The first ring-type duct (51) is used under the control of first switching mechanism (3) carry out first direction upset；
3rd switching mechanism (52) is used to control first rotor assemblies (53) to carry out second direction upset；
The second ring-type duct (61) is used under the control of second switching mechanism (4) carry out first direction upset；
4th switching mechanism (62) is used to control second rotor assemblies (63) to carry out second direction upset.
3. robot vehicle as claimed in claim 2, it is characterised in that first switching mechanism (3) includes：
First rollover stand component, the first rollover stand component is arranged on the vehicle body (1)；
First steering wheel component, the first steering wheel component is arranged on the first rollover stand component；
First bindiny mechanism's component, first bindiny mechanism component connects first power supplying apparatus (5) and described the
One steering wheel component；
Second switching mechanism (4) includes：
Second rollover stand component, the second rollover stand component is arranged on the vehicle body (1)；
Second steering wheel component, the second steering wheel component is arranged on the second rollover stand component；
Second bindiny mechanism's component, second bindiny mechanism component connects second power supplying apparatus (6) and described the
Two steering wheel components.
4. robot vehicle as claimed in claim 3, it is characterised in that the first rollover stand component include first support (31) with
And second support (302), the first support (301) and the second support (302) be spaced apart, and first power is provided
Device (5) is arranged between the first support (301) and the second support (302)；
The first steering wheel component is arranged in the second support (302)；
First bindiny mechanism component includes the first transmission mechanism and the second transmission mechanism, described first transmission mechanism one end
It is connected with the first support (301), the other end is connected with first power supplying apparatus (5)；Second transmission mechanism
One end is connected with the first steering wheel component, and the other end is connected with first power supplying apparatus (5)；
The second upset component includes the 3rd support (307) and the 4th support (308), the 3rd support (307) and institute
State the 4th support (308) and be separated by setting, second power supplying apparatus (6) be arranged on the 3rd support (307) with it is described
Between 4th support (308)；
The second steering wheel component is arranged on the 3rd support (307)；
Second bindiny mechanism component includes the 3rd transmission mechanism and the 4th transmission mechanism, described 3rd transmission mechanism one end
It is connected with the 3rd steering wheel (309), the other end is connected with second power supplying apparatus (6)；
Described 4th transmission mechanism one end is connected with the 4th support, and the other end connects with second power supplying apparatus (6)
Connect.
5. robot vehicle as claimed in claim 1, it is characterised in that the robot vehicle further comprises spring suspension system, institute
Spring suspension system is stated to be arranged between the wheel and the vehicle body.
6. robot vehicle as claimed in claim 5, it is characterised in that the spring suspension system is quadric chain (7).
7. robot vehicle as claimed in claim 1, it is characterised in that the quantity of the wheel is multiple, and two of which wheel is
Deflecting roller, each deflecting roller is connected with the vehicle body by a turning mechanism；Wherein,
Two turning mechanisms being capable of deflecting roller steering described in Synchronization Control.
8. the robot vehicle as described in any one in claim 1 to 6, it is characterised in that set on the outer surface of the wheel
There is anisotropy patch material.
9. robot vehicle as claimed in claim 1, it is characterised in that the robot vehicle further comprises flexible Suction cup assembly, institute
State flexible Suction cup assembly and be arranged on being provided with the relative face in the face of the first switching mechanism of the vehicle body.
10. robot vehicle as claimed in claim 9, it is characterised in that the flexible Suction cup assembly includes：
Electric expansion bar, the face for being provided with the first switching mechanism that one end of the electric expansion bar is arranged on the vehicle body is relative
Face on；
Sucker, the sucker is connected with the other end of the electric expansion bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710402640.9A CN107235087A (en) | 2017-06-01 | 2017-06-01 | A kind of robot vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710402640.9A CN107235087A (en) | 2017-06-01 | 2017-06-01 | A kind of robot vehicle |
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| CN107235087A true CN107235087A (en) | 2017-10-10 |
Family
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| CN201710402640.9A Pending CN107235087A (en) | 2017-06-01 | 2017-06-01 | A kind of robot vehicle |
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| CN (1) | CN107235087A (en) |
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| CN108528556A (en) * | 2018-03-10 | 2018-09-14 | 中国人民解放军空军工程大学 | Movable body based on rotor aerodynamic force and its climb wall method |
| CN109624629A (en) * | 2019-02-15 | 2019-04-16 | 苏州融萃特种机器人有限公司 | Climbing robot based on flight vector |
| CN113071576A (en) * | 2021-04-23 | 2021-07-06 | 北京理工大学 | Reverse thrust adsorption high-speed mobile robot |
| CN113771979A (en) * | 2021-09-27 | 2021-12-10 | 北京理工大学 | Reverse thrust adsorption wall-climbing robot |
| US20220355636A1 (en) * | 2021-04-28 | 2022-11-10 | Ford Global Technologies, Llc | Configurable vehicle frames and associated methods |
| US11702162B2 (en) | 2021-04-28 | 2023-07-18 | Ford Global Technologies, Llc | Configurable vehicle chassis and associated methods |
| US11807302B2 (en) | 2021-04-28 | 2023-11-07 | Ford Global Technologies, Llc | Methods and apparatus for scalable vehicle platforms |
| US11858571B2 (en) | 2021-04-28 | 2024-01-02 | Ford Global Technologies, Llc | Vehicle chassis with interchangeable performance packages and related methods |
| US11866095B2 (en) | 2021-04-28 | 2024-01-09 | Ford Global Technologies, Llc | Multi-position wheel assembly mounts |
| US11938802B2 (en) | 2021-04-28 | 2024-03-26 | Ford Global Technologies, Llc | Electric motorized wheel assemblies |
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| US11702162B2 (en) | 2021-04-28 | 2023-07-18 | Ford Global Technologies, Llc | Configurable vehicle chassis and associated methods |
| US11807302B2 (en) | 2021-04-28 | 2023-11-07 | Ford Global Technologies, Llc | Methods and apparatus for scalable vehicle platforms |
| US11858571B2 (en) | 2021-04-28 | 2024-01-02 | Ford Global Technologies, Llc | Vehicle chassis with interchangeable performance packages and related methods |
| US11866095B2 (en) | 2021-04-28 | 2024-01-09 | Ford Global Technologies, Llc | Multi-position wheel assembly mounts |
| US11938802B2 (en) | 2021-04-28 | 2024-03-26 | Ford Global Technologies, Llc | Electric motorized wheel assemblies |
| CN113771979A (en) * | 2021-09-27 | 2021-12-10 | 北京理工大学 | Reverse thrust adsorption wall-climbing robot |
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