CN109435823B - Four-wheel drive wheeled mobile robot structure for carrying unmanned aerial vehicle - Google Patents
Four-wheel drive wheeled mobile robot structure for carrying unmanned aerial vehicle Download PDFInfo
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- CN109435823B CN109435823B CN201811281465.3A CN201811281465A CN109435823B CN 109435823 B CN109435823 B CN 109435823B CN 201811281465 A CN201811281465 A CN 201811281465A CN 109435823 B CN109435823 B CN 109435823B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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Abstract
The invention belongs to the field of wheeled robot equipment, and provides a four-wheel-drive wheeled mobile robot structure for carrying an unmanned aerial vehicle, which comprises four wheels which are independently driven and can independently steer within 180 degrees, a wheel steering mechanism, a vehicle body which can be transversely pulled and folded, and a vehicle body pulling and folding mechanism, wherein the independently driven wheels are electrically driven wheels, and each electrically driven wheel is provided with an independent driver matched with a driving motor so as to realize independent driving; the vehicle body capable of being transversely pulled and folded comprises a left vehicle body, a right vehicle body and a middle connecting body, when the vehicle body is in a pulling state, the left vehicle body and the right vehicle body are separated, and the middle connecting body is exposed for the unmanned aerial vehicle to ascend and descend; when the vehicle body is in a folding state, the left vehicle body and the right vehicle body are folded into a whole. The invention can meet the carrying and taking-off and landing requirements of the unmanned aerial vehicle and has the advantages of realizing flexible turning through differential speed of the left and right wheels and realizing emergency braking, parking, side parking and emergency obstacle avoidance through different steering of the four wheels.
Description
Technical Field
The invention belongs to the field of wheeled robot equipment, and particularly relates to a four-wheel-drive wheeled mobile robot structure for carrying an unmanned aerial vehicle.
Background
The wheel robot equipment plays more and more roles in helping people to produce and operate, and can replace people to work in severe environments or dangerous places, so that the research on various novel wheel robots is of great significance.
Taking power system transmission line inspection as an example, an early mode is that an operator drives a vehicle to reach the position near a transmission line tower to be inspected, and the operator climbs the tower to inspect. In recent years, due to the wide use of the unmanned aerial vehicle, the inspection mode of the power transmission line is greatly changed, namely, an operator carries the unmanned aerial vehicle to drive to reach the position near the power transmission line tower needing inspection, and then the operator remotely controls the unmanned aerial vehicle to make a video recording of the power transmission line tower facility and the surrounding environment of the power transmission line tower facility for inspection. Obviously, if adopt autopilot wheeled robot to carry unmanned aerial vehicle to by the automatic remote control unmanned aerial vehicle of robot then can make transmission line patrol and examine the process full automatization, can practice thrift a large amount of manpower resources. For this application case, the wheeled robot is required to be able to provide an unmanned plane embarkation and take-off and landing platform. In fact, there are few cases of similar applications. For example, forest fire detection, flood monitoring and the like have the same application requirements.
Disclosure of Invention
The invention aims to provide a four-wheel-drive mobile robot structure for carrying an unmanned aerial vehicle according to application requirements and in order to overcome the defects of the prior art. The invention provides a technical scheme of a wheeled mobile robot structure which can meet the carrying and taking-off and landing requirements of an unmanned aerial vehicle and can realize flexible turning through differential speed of left and right wheels and realize emergency braking, parking, side parking and emergency obstacle avoidance through different steering of four wheels, and the wheeled mobile robot structure has good application value.
The aim of the invention is achieved by the following technical measures:
the utility model provides a four wheel drive formula mobile robot structure for carrying on unmanned aerial vehicle, includes four independent drives and can independent 180 within ranges turn to wheel and wheel steering mechanism, can transversely pull open and the automobile body that folds and pull open the mechanism that folds.
The independently driven wheels are electrically driven wheels, a conventional structure that a built-in driving motor and a rotating shaft transversely penetrate through the centers of the wheels and two ends of the rotating shaft extend out is adopted, and the wheels rotate around the rotating shaft of the wheels; each electric driving wheel is provided with an independent driver matched with the driving motor to realize independent driving, so that the rotating speed of each electric driving wheel is independently controlled;
the wheels capable of steering within 180 degrees independently can realize independent steering by configuring an independent wheel steering mechanism for each wheel. The wheel steering mechanism comprises a wheel support, a wheel steering shaft, a bearing assembly, a driving gear, a driven gear, a steering driving motor and a wheel steering angle position sensor assembly. Wherein: the wheel support is a fork-shaped support and is vertically arranged, and two lower ends of the wheel support which are forked downwards are respectively fixed with two transverse extending ends of the wheel rotating shaft in a bolt mode in a loosening-proof manner. The wheel steering shaft is vertically arranged, the lower end of the wheel steering shaft is fixed with the handle end of the wheel bracket in a welding mode or in a bolt mode in a loosening-proof mode, and the upper end of the wheel steering shaft is a free end. The inner ring of the bearing assembly is sleeved and fixed at the lower part of the wheel steering shaft, and the outer ring of the bearing assembly is fixed with the frame, so that the wheel steering shaft can vertically rotate relative to the frame. The driven gear is sleeved and fixed on the upper portion of a wheel steering shaft, the driving gear is sleeved and fixed on a shaft of a steering driving motor, a base of the steering driving motor is fixed on a frame, the steering driving motor adopts a bidirectional motor capable of forward and backward rotation, so that when the steering driving motor works, the shaft drives the driving gear to rotate, the driving gear drives a driven gear to rotate, the driven gear drives the wheel steering shaft to rotate, and the wheel steering shaft drives wheels to steer through a wheel support. The wheel steering angle position sensor assembly is provided with 1 signal emitter and 5 signal receivers, the signal emitting end surface of the 1 signal emitter is outwards and fixedly arranged on the upper end surface of the driven gear, and rotating together with the driven gear, the signal receiving end faces of 5 signal receivers are inwards horizontally arranged on the frame at 45-degree angles at equal intervals according to a semicircle, and the position of each signal receiver respectively corresponds to 0 degree (the wheel is right opposite to the forward direction), positive 45 degrees (the wheel rotates clockwise 45 degrees relative to the forward direction), negative 45 degrees (the wheel rotates anticlockwise 45 degrees relative to the forward direction), positive 90 degrees (the wheel rotates clockwise 90 degrees relative to the forward direction) and negative 90 degrees (the wheel rotates anticlockwise 90 degrees relative to the forward direction) of the steering position of the wheel, and such that the signal-emitting end face of the signal transmitter is directly opposed to the signal-receiving end face of the signal receiver disposed at the wheel turning position of 0 ° when the wheel is in the forward position; the information transmission between the signal transmitter and the signal receiver can be performed by methods known to those skilled in the art, and can be optionally performed by using visible light signals, infrared signals, magnetic signals, etc., i.e., the signal transmitter transmits signals, and the signal receiver outputs action signals (usually voltage signals, current signals, or relay contact signals) when receiving the signals transmitted by the signal transmitter, so that when the signal transmitter moves to be opposite to the position of the signal receiver, the signal receiver outputs action signals, thereby sensing the steering angle position of the wheel.
The vehicle body capable of being transversely opened and closed comprises a left vehicle body similar to a left clamshell, a right vehicle body similar to a right clamshell and an intermediate connecting body; when the vehicle body is in an opening state, the left vehicle body and the right vehicle body are separated, and the middle connecting body is exposed, so that the unmanned aerial vehicle can ascend and descend; when the vehicle body is in a folding state, the left vehicle body and the right vehicle body are folded into a whole, and the middle connecting body is closed in the vehicle body. Wherein, left front wheel steering mechanism and left front wheel steering mechanism pass through wheel support and left front wheel rotation axis fixed connection are installed to the front below of left automobile body, and left rear wheel steering mechanism pass through wheel support and left rear wheel rotation axis fixed connection to the rear below of left automobile body, and left automobile body and intermediate connection body left side are connected and can transversely stretch in a flexible way and shrink between left automobile body and the intermediate connection body. The front lower part of the right vehicle body is provided with a right front wheel steering mechanism which is fixedly connected with a right front wheel rotating shaft through a wheel bracket, the rear lower part of the right vehicle body is provided with a right rear wheel steering mechanism which is fixedly connected with a right rear wheel rotating shaft through a wheel bracket, the right vehicle body is connected with the right side of the middle connecting body, and the right vehicle body can be transversely and flexibly stretched and contracted with the middle connecting body. The intermediate connector is an integrated body, an unmanned aerial vehicle parking apron is arranged on the integrated body, and corresponding parts arranged on the intermediate connector in the mechanism for pulling and folding the vehicle body are arranged on the integrated body.
The vehicle body pulling and folding mechanism comprises a plurality of left push-pull rods and movable cavities thereof, a plurality of right push-pull rods and movable cavities thereof, a middle connector position retaining mechanism, a plurality of pulling stoppers and a plurality of folding stoppers. The left end of the left push-pull rod is a fixed end and is fixedly connected with the inner wall of the left vehicle body, and the right end of the left push-pull rod is a movable end and is arranged in a movable cavity of the left push-pull rod fixed on the middle connecting body. The right end of the right push-pull rod is a fixed end and is fixedly connected with the inner wall of the right vehicle body, and the left end of the right push-pull rod is a movable end and is arranged in a movable cavity of the right push-pull rod fixed on the middle connecting body. The middle connector position holding mechanism comprises a plurality of left-push balance pull rods, a plurality of right-push balance pull rods, 1 middle sliding rod and a plurality of sliding blocks. The left end of the left push-pull equalizing pull rod is rotatably connected with the left end of the left push-pull rod, and the right end of the left push-pull equalizing pull rod is rotatably connected with the corresponding sliding block; the right end of the right push-pull equalizing pull rod is rotatably connected with the right end of the right push-pull rod, and the left end of the right push-pull equalizing pull rod is rotatably connected with a corresponding sliding block; the middle sliding rod is fixed on the center line of the middle connecting body along the longitudinal direction of the vehicle body at multiple points; the sliding blocks are respectively sleeved on different sections of the middle sliding rod and can slide in a certain range on the corresponding sections. The plurality of pulling-open limiters and the plurality of folding limiters are fixed on the middle sliding rod and used for limiting the sliding range of the plurality of sliding blocks. The middle connecting body position maintaining mechanism is used for ensuring that the middle connecting body is always positioned in the middle position of the vehicle body in the process of pulling and folding the vehicle body, so that the unmanned aerial vehicle parking apron is always positioned in the middle position of the vehicle body; the working principle of the intermediate connector position retaining mechanism is as follows: the left push-pull equalizing pull rod (the length of which is equal to that of the right push-pull equalizing pull rod) is a bevel edge, the corresponding section of the middle slide rod is a right-angle edge (shared with the right-angle triangle), the left right-angle triangle formed by the left push-pull rod being the other right-angle edge and the right push-pull equalizing pull rod (the length of which is equal to that of the left push-pull equalizing pull rod) are bevel edges, the corresponding section of the middle slide rod is a right-angle edge (shared with the right-angle triangle), and the right-angle triangle formed by the right push-pull rod being the other right-angle edge are always kept as congruent right-angle triangles in the process of opening and closing the vehicle body, so that the lengths of. Each opening limiter and each closing limiter are provided with a contact sensor which can be of a type well known by a person skilled in the art, such as a travel switch and the like; when the vehicle body is pulled open, when the sliding block slides to touch the pull open limiting stopper, the contact sensor on the pull open limiting stopper acts, and the output signal of the contact sensor is detected by the robot monitoring system; when the vehicle body is folded, when the sliding block slides to touch the folding limiting stopper, the contact sensor on the folding limiting stopper acts, and an output signal of the contact sensor is detected by the robot monitoring system. It should be noted that the method for detecting the contact sensor signal by the robot monitoring system is well known to those skilled in the art, and the present invention provides a technical solution for carrying a four-wheel-drive mobile robot structure of an unmanned aerial vehicle, which does not include the robot monitoring system, so the technology of the robot monitoring system is not further described here.
In the technical scheme, the driving force for opening and closing the vehicle body can be obtained by adopting two modes:
for the first, for the opening and closing of the light vehicle body, under the static condition of the four-wheel-driven mobile robot, the two wheels on the left side turn to the negative 90-degree position, the two wheels on the right side turn to the positive 90-degree position, the four wheels are driven to reversely run to the left and right outer sides at the same speed to form the opening force for opening the vehicle body, and the four wheels are driven to relatively run to the left and right at the same speed to form the closing force for closing the vehicle body.
And secondly, for the opening and closing of the heavy vehicle body, a special opening and closing driving device can be arranged, the special opening and closing driving device can adopt a hydraulic system, a pneumatic system or a lead screw push-pull quadrilateral structure and the like which are well known by the technical personnel in the field, for the situation, when the four-wheel drive mobile robot is in a static condition, two wheels on the left side turn to negative 90 degrees, two wheels on the right side turn to positive 90 degrees, the four wheels are driven to reversely run towards the left and right outer sides at the same speed and matched with the opening action of the special opening and closing driving device to form the opening force of the opening vehicle body, and the four wheels are driven to relatively run towards the left and right at the same speed and matched with the closing action of the special closing and opening driving device to form the closing force of.
By adopting the technical measures, the wheel-type mobile robot adopting the technical scheme of the invention has the following specific functions besides the conventional forward and backward functions:
(1) the flexible turning forward or flexible turning backward is realized through the differential speed of the left wheel and the right wheel.
(2) Emergency braking is achieved by different steering of the four wheels. For example, when emergency braking is required, the left front wheel and the right rear wheel are rotated clockwise by 45 degrees, and the right front wheel and the left rear wheel are rotated counterclockwise by 45 degrees, so that the emergency braking effect can be achieved.
(3) And parking is realized through wheel steering. For example, when parking is needed, the right front wheel and the left rear wheel rotate clockwise or counterclockwise by 90 degrees, so that the vehicle body can be ensured not to slide on a slope.
(4) The lateral parking is realized through the wheel steering. For example, when a vehicle needs to be parked laterally, the vehicle is driven to a position parallel to the parking space, and then all the wheels are rotated by 90 degrees to the parking space side simultaneously, so that the vehicle can be directly driven into the parking space.
(5) And the emergency obstacle avoidance is realized through the steering of the wheels. For example, when emergency obstacle avoidance is required, all wheels are rotated to one side at the same time by a certain angle, so that the purpose of avoiding the obstacle in front of the other side can be achieved.
(6) Possesses and carries on unmanned aerial vehicle function. Can carry unmanned aerial vehicle when the automobile body is in the state of foldeing, can supply unmanned aerial vehicle take off and land when the automobile body is in the state of pulling open.
The invention relates to a four-wheel-drive wheel type mobile robot structure for carrying an unmanned aerial vehicle, and provides a technical scheme of the wheel type mobile robot structure which can meet the carrying and taking-off and landing requirements of the unmanned aerial vehicle, realize flexible turning through differential speed of left and right wheels, and realize emergency braking, parking, side parking and emergency obstacle avoidance through different steering of four wheels.
Drawings
Fig. 1 is a schematic view of a four-wheel drive mobile robot according to the present invention.
Fig. 2 is a schematic diagram of emergency braking of the four-wheel-drive mobile robot according to the invention.
Fig. 3 is a schematic view of the four-wheel drive mobile robot parking according to the present invention.
Fig. 4 is a schematic side view of the four-wheel-drive mobile robot according to the present invention.
Fig. 5 is a schematic diagram of emergency obstacle avoidance of the four-wheel-drive mobile robot according to the present invention.
Fig. 6 is a schematic drawing of the four-wheel drive mobile robot for pulling the left and right bodies apart.
Fig. 7 is a schematic top view of a wheel steering mechanism of a four-wheel-drive mobile robot according to the present invention.
Fig. 8 is a schematic front view of a wheel steering mechanism of a four-wheel-drive mobile robot according to the present invention.
Fig. 9 is a schematic view of a light four-wheel-drive wheeled mobile robot in a closed state of a vehicle body according to an embodiment of the invention.
Fig. 10 is a schematic view of a light four-wheel-drive wheeled mobile robot in an extended state.
Fig. 11 is a schematic view of a closed state of a vehicle body of the heavy four-wheel-drive mobile robot according to the embodiment of the invention.
Fig. 12 is a schematic view of a vehicle body of the heavy four-wheel drive mobile robot in an extended state according to the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it may be directly connected to the other element or may be present as an intervening element.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiment provides a four-wheel drive type mobile robot structure for carrying an unmanned aerial vehicle, which comprises four wheels which are independently driven and can independently steer within 180 degrees, a wheel steering mechanism, a vehicle body which can be transversely pulled open and closed, and a vehicle body pulling and closing mechanism.
Referring to fig. 1 to 6, the four wheels (in the figures, the front of the positive rotation of the wheel is marked by a transverse line) include a left front wheel 1, a right front wheel 2, a left rear wheel 3 and a right rear wheel 4, each of which is an electrically driven wheel, and a conventional structure that a built-in driving motor and a rotating shaft transversely penetrate through the center of the wheel and two ends of the rotating shaft extend out is adopted (note: the electrically driven wheel with the structure is widely adopted in two-wheeled electric vehicles); an independent driver matched with a driving motor of each wheel is configured for each wheel to realize independent driving, so that the rotating speed of each wheel is independently controlled; referring to fig. 8, when the wheel rotates around the wheel rotation shaft 12, the wheel rotation shaft 12 does not rotate and both ends thereof laterally extend, so that both laterally extending ends thereof may be respectively bolted to both vertically extending lower ends of the wheel bracket 5.
The wheels capable of steering within 180 degrees independently can realize independent steering by configuring an independent wheel steering mechanism for each wheel. The wheel steering mechanism, see fig. 7 and 8, includes a wheel support 5, a wheel steering shaft 6, a bearing assembly 7, a driving gear 8, a driven gear 9, a steering driving motor 10, and a wheel steering angle position sensor assembly (note: in fig. 7 and 8, a signal transmitter in the sensor assembly is numbered 11-1, and a signal receiver is numbered 11-2 to 11-6.). Wherein: the wheel bracket 5 is a fork-shaped bracket and is vertically arranged, and two lower ends of the downward fork-shaped bracket are respectively fixed with two transverse extending ends of the wheel rotating shaft 12 in a bolt manner in a loosening-proof manner. The wheel steering shaft 6 is vertically arranged, the lower end of the wheel steering shaft is fixed with the handle end of the wheel bracket 5 in a welding mode or in a bolt mode in a loose-proof mode, and the upper end of the wheel steering shaft is a free end. The inner ring of the bearing assembly 7 is fitted over and fixed to the lower portion of the wheel spindle 6, and the outer ring thereof is fixed to the frame 30 so that the wheel spindle 6 can vertically rotate with respect to the frame 30. Driven gear 9 suit and fix the upper portion at wheel steering spindle 6, driving gear 8 suit and fix on the axle that turns to driving motor 10, the base that turns to driving motor 10 is fixed on the frame, turn to driving motor 10 and adopt two-way motor that can just, the reversal, thereby when turning to driving motor 10 during operation, its axle drives driving gear 8 and rotates, driving gear 8 drives driven gear 9 and rotates, driven gear 9 drives wheel steering spindle 6 and rotates, wheel steering spindle 6 drives the wheel through wheel support 5 and turns to. The wheel steering angle position sensor assembly has 1 signal transmitter and 5 signal receivers, referring to fig. 7 and 8, the signal transmitting end face of the signal transmitter 11-1 is externally and fixedly installed on the upper end face of the driven gear 9 and makes a rotary motion together with the driven gear 9, the signal receiving end faces of the 5 signal receivers are inwards and horizontally arranged on the frame at 45 degrees at equal intervals of a semicircle, the positions of the signal receivers 11-2, 11-3, 11-4, 11-5 and 11-6 correspond to 0 degrees (the wheel is facing the forward direction), positive 45 degrees (the wheel is clockwise rotated 45 degrees, negative 45 degrees (the wheel is counterclockwise 45 degrees, the wheel is clockwise rotated 90 degrees) and negative 90 degrees (the wheel is counterclockwise 90 degrees), and such that the signal-transmitting end face of the signal transmitter 11-1 is exactly opposite to the signal-receiving end face of the signal receiver 11-2 disposed at the wheel turning position of 0 deg. when the wheel is in the forward position. The information transmission between the signal transmitter and the signal receiver can be performed by methods known to those skilled in the art, and can be optionally performed by using visible light signals, infrared signals, magnetic signals, etc., i.e., the signal transmitter transmits signals, and the signal receiver outputs action signals (usually voltage signals, current signals, or relay contact signals) when receiving the signals transmitted by the signal transmitter, so that when the signal transmitter moves to be opposite to the position of the signal receiver, the signal receiver outputs action signals, thereby sensing the steering angle position of the wheel.
The vehicle body capable of being transversely opened and closed, as shown in fig. 9 to 12, comprises a left vehicle body 14, a right vehicle body 15 and an intermediate connecting body 13; the left vehicle body 14 is similar to a left clam shell, the right vehicle body 15 is similar to a right clam shell, the middle connecting body 13 is horizontally arranged between the left vehicle body 14 and the right vehicle body 15, and an apron (not shown in the drawing) for taking off, landing and parking of the unmanned aerial vehicle is arranged on the middle connecting body 13; when the vehicle body is in an opening state, the left vehicle body and the right vehicle body are separated, and the middle connecting body 13 is exposed, so that the unmanned aerial vehicle can ascend and descend; when the vehicle body is in a closed state, the left and right vehicle bodies are closed into a whole, and the intermediate connecting body 13 is closed in the vehicle body. Wherein, left front wheel steering mechanism and left front wheel steering mechanism pass through wheel support and left front wheel rotation axis fixed connection are installed to the front below of left automobile body 14, and left rear wheel steering mechanism pass through wheel support and left rear wheel rotation axis fixed connection to the rear below of left automobile body 14, and left automobile body 14 is connected and can transversely stretch in a flexible way and shrink between left automobile body 14 and the intermediate junction body 13 with the left side of intermediate junction body 13. The front lower part of the right vehicle body 15 is provided with a right front wheel steering mechanism which is fixedly connected with a right front wheel rotating shaft through a wheel bracket, the rear lower part of the right vehicle body 15 is provided with a right rear wheel steering mechanism which is fixedly connected with a right rear wheel rotating shaft through a wheel bracket, the right vehicle body 15 is connected with the right side of the middle connecting body 13, and the right vehicle body 15 and the middle connecting body 13 can be transversely and flexibly stretched and contracted. The intermediate connecting body 13 is an integrated body, on which the unmanned aerial vehicle apron is mounted and corresponding parts mounted on the intermediate connecting body 13 in the vehicle body opening and closing mechanism are mounted (see below).
The car body opening and closing mechanism is shown in figures 9 to 12 and comprises 3 left push-pull rods (numbered as 20-1, 20-2 and 20-3 in the figures) and movable cavities thereof, 3 right push-pull rods (numbered as 21-1, 21-2 and 21-3 in the figures) and movable cavities thereof, a middle connector position retaining mechanism, 3 opening stoppers (numbered as 18-1, 18-2 and 18-3 in the figures) and 3 closing stoppers (numbered as 19-1, 19-2 and 19-3 in the figures), wherein the movable cavities (numbered as 16-1, 16-2 and 16-3 in the figures) are shared by the left and right push-pull rods, the left end of the left push-pull rod is a fixed end and is fixedly connected with the inner wall of the left vehicle body, and the right end of the left push-pull rod is a movable end and is arranged in a movable cavity of the left push-pull rod fixed on the middle connecting body. The right end of the right push-pull rod is a fixed end and is fixedly connected with the inner wall of the right vehicle body, and the left end of the right push-pull rod is a movable end and is arranged in a movable cavity of the right push-pull rod fixed on the middle connecting body. The middle connecting body position maintaining mechanism comprises 3 left push-pull equalizing pull rods (numbered as 22-1, 22-2 and 22-3 in the attached drawing), 3 right push-pull equalizing pull rods (numbered as 23-1, 23-2 and 23-3 in the attached drawing), a middle sliding rod 17 and 3 sliding blocks (numbered as 24-1, 24-2 and 24-3 in the attached drawing). The left end of the left push-pull equalizing pull rod is rotatably connected with the left end of the left push-pull rod, and the right end of the left push-pull equalizing pull rod is rotatably connected with the corresponding sliding block; the right end of the right push-pull equalizing pull rod is rotatably connected with the right end of the right push-pull rod, and the left end of the right push-pull equalizing pull rod is rotatably connected with a corresponding sliding block; the middle sliding rod is fixed on the center line of the middle connecting body along the longitudinal direction of the vehicle body at multiple points; the 3 sliding blocks are respectively sleeved on different sections of the middle sliding rod and can slide in a certain range on the corresponding sections. 3 pull-open limiters and 3 fold-up limiters are fixed on the middle sliding rod and used for limiting the sliding range of 3 sliding blocks. The middle connecting body position maintaining mechanism is used for ensuring that the middle connecting body is always positioned in the middle position of the vehicle body in the process of pulling and folding the vehicle body, so that the unmanned aerial vehicle parking apron is always positioned in the middle position of the vehicle body; the working principle of the intermediate connector position retaining mechanism is as follows: the left push-pull equalizing pull rod (the length of which is equal to that of the right push-pull equalizing pull rod) is a bevel edge, the corresponding section of the middle slide rod is a right-angle edge (shared with the right-angle triangle), the left right-angle triangle formed by the left push-pull rod being the other right-angle edge and the right push-pull equalizing pull rod (the length of which is equal to that of the left push-pull equalizing pull rod) are bevel edges, the corresponding section of the middle slide rod is a right-angle edge (shared with the right-angle triangle), and the right-angle triangle formed by the right push-pull rod being the other right-angle edge are always kept as congruent right-angle triangles in the process of opening and closing the vehicle body, so that the lengths of. Each opening limiter and each closing limiter are provided with a contact sensor which can be of a type well known by a person skilled in the art, such as a travel switch and the like; when the vehicle body is pulled open, when the sliding block slides to touch the pull open limiting stopper, the contact sensor on the pull open limiting stopper acts, and the output signal of the contact sensor is detected by the robot monitoring system; when the vehicle body is folded, when the sliding block slides to touch the folding limiting stopper, the contact sensor on the folding limiting stopper acts, and an output signal of the contact sensor is detected by the robot monitoring system.
In the above embodiment, the driving force for opening and closing the vehicle body can be obtained by two ways:
first, for the opening and closing of the light vehicle body, the method shown in fig. 9 and fig. 10 is adopted, when the four-wheel-drive mobile robot is in a static condition, the two wheels on the left side turn to negative 90 degrees, the two wheels on the right side turn to positive 90 degrees, the four wheels are driven to reversely run to the left and right outer sides at the same speed to form the opening force of the opening vehicle body, and the four wheels are driven to relatively run left and right at the same speed to form the closing force of the closing vehicle body.
Secondly, for the opening and closing of the heavy vehicle body, a special opening and closing driving device can be arranged, the special opening and closing driving device can be a hydraulic system, a pneumatic system or a lead screw push-pull quadrilateral structure and the like which are well known by the technical personnel in the field, for the situation, the embodiment shown in the figures 11 and 12 adopts the hydraulic system, under the static condition of the four-wheel-drive mobile robot, two wheels on the left side are turned to negative 90 degrees, two wheels on the right side are turned to positive 90 degrees, the four wheels are driven to reversely run towards the left and right outer sides at the same speed and form the opening force of the opening vehicle body by matching with the opening action of the special opening and closing driving device, and the four wheels are driven to relatively run towards the left and right at the same speed and form the closing force of the closing vehicle body by matching with the closing action of the special. For the embodiment shown in fig. 11 and 12, the special pulling and folding driving device is a hydraulic system, the hydraulic system is installed on the middle connecting body and comprises an oil tank 25, a number 1 bidirectional oil pump 26, a number 2 bidirectional oil pump 27, a number 1 oil way 28, a number 2 oil way 29 and an oil cavity, the number 1 bidirectional oil pump 26 is installed on the number 1 oil way 28, the number 2 bidirectional oil pump 27 is installed on the number 2 oil way 29, the oil cavity is a movable cavity of the left and right push-pull rods, the oil cavity is divided into three parts by a piston fixed at the tail ends of the left and right push-pull rods, the number 1 oil way is communicated with the middle part of each oil cavity, and the number 2 oil way is communicated with the left and right parts.
According to the four-wheel-drive wheeled mobile robot structure for carrying the unmanned aerial vehicle, the technical measures are adopted, so that the wheeled mobile robot adopting the technical scheme of the invention has various specific functions besides the conventional forward (see figure 1) and conventional backward functions. These specific functions are further illustrated below with reference to examples.
(1) When the four-wheel-drive mobile robot adopting the technical scheme of the invention moves forwards and backwards, the directions of all wheels are shown in figure 1; because the four wheels are independently driven, the flexible turning forward or flexible turning backward can be realized through the differential control of the left wheel and the right wheel.
(2) By adopting the four-wheel-drive mobile robot provided by the technical scheme of the invention, emergency braking can be realized through wheel steering control. Referring to fig. 2, when emergency braking is required, the left front wheel 1 and the right rear wheel 4 are both rotated clockwise by 45 °, and the right front wheel 2 and the left rear wheel 3 are both rotated counterclockwise by 45 °, so that emergency braking effect can be achieved, and emergency braking can be achieved through different steering directions of the four wheels.
(3) The four-wheel-drive mobile robot adopting the technical scheme of the invention can realize parking through wheel steering control. Referring to fig. 3, when parking is needed, the right front wheel 2 and the left rear wheel 3 are rotated clockwise by 90 °, so that the vehicle body can be ensured not to slide on the slope. Obviously, the same effect can be achieved by rotating both the right front wheel 2 and the left rear wheel 3 counterclockwise by 90 °. In the same way, the left front wheel 1 and the right rear wheel 4 are rotated by 90 degrees clockwise or anticlockwise, and the effect is the same.
(4) By adopting the four-wheel-drive mobile robot in the technical scheme, the side parking can be realized through the wheel steering control, when the side parking is needed, the vehicle is driven to the position parallel to the parking space, and then all the wheels are rotated to the parking space side by 90 degrees at the same time, so that the vehicle can be directly driven into the parking space. Fig. 4 is a right side parking schematic view.
(5) By adopting the four-wheel-drive mobile robot in the technical scheme, the emergency obstacle avoidance can be realized through wheel steering control, and when the emergency obstacle avoidance is required, all wheels are simultaneously rotated to one side for a certain angle, so that the purpose of obstacle avoidance can be achieved. Referring to fig. 5, this figure is a schematic view of all wheels rotated 45 ° clockwise to avoid the left front obstacle.
(6) The four-wheel-drive mobile robot adopting the technical scheme of the invention has the function of carrying the unmanned aerial vehicle. Can carry unmanned aerial vehicle when the automobile body is in the state of foldeing, can supply unmanned aerial vehicle take off and land when the automobile body is in the state of pulling open. For the opening and closing of the light vehicle body, when the four-wheel-drive mobile robot is in a static condition, the two wheels on the left side turn to negative 90 degrees, the two wheels on the right side turn to positive 90 degrees, the four wheels are driven to reversely run towards the left and right outer sides at the same speed to form the opening force for opening the vehicle body so as to realize the opening of the vehicle body, and the four wheels are driven to relatively run towards the left and right at the same speed to form the closing force for closing the vehicle body so as to realize the closing of the vehicle body. For the opening and closing of the heavy vehicle body, in combination with the embodiment of the special opening and closing driving device adopting a hydraulic system, referring to fig. 11 and 12, when the vehicle body needs to be opened: under the static condition of the four-wheel-drive mobile robot, the left two wheels turn to a negative 90-degree position, the right two wheels turn to a positive 90-degree position, the four wheels are driven to reversely run towards the left and right outer sides at the same speed, and the pulling action of a special pulling and folding driving device is matched to form the force of pulling the vehicle body to pull the vehicle body, at the moment, the No. 1 bidirectional oil pump 26 pumps oil in the oil tank 25 into the No. 1 oil way 28 and the middle part of each oil cavity, and the No. 2 bidirectional oil pump 27 pumps oil in the No. 2 oil way 29 and the left and right parts of each oil cavity into the oil tank 25, so that hydraulic pressure generated on each oil cavity pushes each push-pull rod to push; when the vehicle body needs to be folded: when the four-wheel-drive mobile robot is in a static condition, the two wheels on the left side turn to negative 90 degrees, the two wheels on the right side turn to positive 90 degrees, the four wheels are driven to relatively run left and right at the same speed, and the folding force of the folded vehicle body is formed by matching the folding action of a special folding device, so that the vehicle body is folded, at the moment, the No. 2 bidirectional oil pump 27 pumps oil in the oil tank 25 into the No. 2 oil way 29 and the left and right parts of each oil cavity, the No. 1 bidirectional oil pump 26 pumps oil in the No. 1 oil way 28 and the middle part of each oil cavity into the oil tank 25, and the hydraulic pressure generated on each oil cavity pulls each push-pull rod so as to pull the left.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
The main implementation of the present invention has been described above. The present invention is not limited to the above-described embodiments, and the above-described embodiments and the description in the specification are only illustrative of the principle of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications fall within the scope of the present invention as claimed.
Claims (3)
1. The utility model provides a four wheel drive wheeled mobile robot structure for carrying on unmanned aerial vehicle, characterized by: comprises four wheels which are independently driven and can independently steer within 180 degrees, a wheel steering mechanism, a vehicle body which can be transversely pulled and folded, and a vehicle body pulling and folding mechanism;
each wheel is provided with an independent wheel steering mechanism to realize independent steering within 180 degrees; the wheel is an electrically driven wheel, a driving motor is arranged in the wheel, a wheel rotating shaft transversely penetrates through the center of the wheel, two ends of the wheel rotating shaft extend out, and the wheel rotates around the wheel rotating shaft;
the wheel steering mechanism comprises a wheel support, a wheel steering shaft, a bearing assembly, a driving gear, a driven gear and a steering driving motor, wherein the wheel support is a fork-shaped support and is vertically arranged, two lower ends of the wheel support, which are forked downwards, are respectively fixed with two transversely extending ends of a wheel rotating shaft in a locking manner by bolts, the wheel steering shaft is vertically arranged, the lower end of the wheel steering shaft is fixedly connected with a handle end of the wheel support, the upper end of the wheel steering shaft is a free end, an inner ring of the bearing assembly is sleeved and fixed on the lower part of the wheel steering shaft, an outer ring of the bearing assembly is fixed with a frame, the driven gear is sleeved and fixed on the upper part of the wheel steering shaft, the driving gear is sleeved and fixed on a shaft of the steering driving motor, a base of;
the vehicle body capable of being transversely pulled and folded comprises a left vehicle body, a right vehicle body and a middle connecting body; when the vehicle body is in an opening state, the left vehicle body and the right vehicle body are separated, the middle connecting body is exposed, when the vehicle body is in a closing state, the left vehicle body and the right vehicle body are closed into a whole, the middle connecting body is closed in the vehicle body, a left front wheel steering mechanism is installed at the front lower part of the left vehicle body, a left rear wheel steering mechanism is installed at the rear lower part of the left vehicle body, the left vehicle body is connected with the left side of the middle connecting body through the vehicle body opening and closing mechanism, a right front wheel steering mechanism is installed at the front lower part of the right vehicle body, a right rear wheel steering mechanism is installed at the rear lower part of the right vehicle body, the right vehicle body is connected with the right side of the middle connecting body through;
the vehicle body pulling and folding mechanism comprises a plurality of left push-pull rods and movable cavities thereof, a plurality of right push-pull rods and movable cavities thereof, a middle connector position maintaining mechanism, a plurality of pulling and limiting devices and a plurality of folding and limiting devices, wherein the left end of each left push-pull rod is a fixed end and is fixedly connected with the inner wall of the left vehicle body, the right end of each left push-pull rod is a movable end and is arranged in the movable cavity of the left push-pull rod fixed on the middle connector, the right end of each right push-pull rod is a fixed end and is fixedly connected with the inner wall of the right vehicle body, the left end of each right push-pull rod is a movable end and is arranged in the movable cavity of the right push-pull rod fixed on the middle connector, the middle connector position maintaining mechanism comprises a plurality of left push-pull equalizing pull rods, a plurality of right push-pull equalizing pull rods, 1 middle sliding rod and a plurality of sliding blocks, the left end, the right end of the right push-pull equalizing pull rod is rotatably connected with the right end of the right push-pull rod, the left end of the right push-pull equalizing pull rod is rotatably connected with corresponding sliding blocks, a middle sliding rod is fixed on the central line of a middle connecting body along multiple points of the longitudinal direction of a vehicle body, a plurality of sliding blocks are respectively sleeved on different sections of the middle sliding rod, a plurality of pull-open limiters and a plurality of folding limiters are fixed on the middle sliding rod and used for limiting the sliding range of the sliding blocks, each pull-open limiter and each folding limiter are provided with a contact sensor, when the vehicle body is pulled open, when the sliding blocks slide to touch the pull-open limiters, the contact sensors on the pull-open limiters act, and when the sliding blocks slide to touch the folding limiters, the contact sensors on the folding limiters act.
2. The structure of the four-wheel-drive mobile robot for carrying unmanned aerial vehicles according to claim 1, wherein: the wheel steering mechanism is internally provided with a wheel steering angular position sensor assembly, the wheel steering angular position sensor assembly is provided with 1 signal transmitter and 5 signal receivers, the signal transmitting end surfaces of the 1 signal transmitter are outwards fixedly installed on the upper end surface of the driven gear to rotate together with the driven gear, the signal receiving end surfaces of the 5 signal receivers are inwards horizontally arranged on the frame at 45-degree angles at equal intervals according to a semicircle, and the positions of the 5 signal receivers respectively correspond to 0 degree, positive 45 degree, negative 45 degree, positive 90 degree and negative 90 degree of a wheel steering position, and when the wheel is in a positive position, the signal transmitting end surface of the signal transmitter is just opposite to the signal receiving end surface of the signal receiver arranged at the wheel steering position of 0 degree.
3. The structure of the four-wheel-drive mobile robot for carrying unmanned aerial vehicles according to claim 1, wherein the driving force for opening and closing the vehicle body is obtained by the following two methods:
(1) for the opening and closing of the light vehicle body, when the four-wheel-driven mobile robot is in a static condition, two wheels on the left side turn to negative 90 degrees, two wheels on the right side turn to positive 90 degrees, the four wheels are driven to reversely run towards the left and right outer sides at the same speed to form an opening force for opening the vehicle body, and the four wheels are driven to relatively run towards the left and right at the same speed to form a closing force for closing the vehicle body;
(2) for the opening and closing of the heavy vehicle body, a special opening and closing driving device is arranged, when the four-wheel-drive mobile robot is in a static condition, the two wheels on the left side are turned to negative 90 degrees, the two wheels on the right side are turned to positive 90 degrees, the four wheels are driven to reversely run towards the left and right outer sides at the same speed and matched with the opening action of the special opening and closing driving device to form the opening force for opening the vehicle body, and the four wheels are driven to relatively run towards the left and right at the same speed and matched with the closing action of the special closing and opening driving device to form the closing force for closing the vehicle body.
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| CN213057206U (en) * | 2020-09-08 | 2021-04-27 | 杭州海康机器人技术有限公司 | Steering wheel mechanism and transport vehicle |
| CN118062103A (en) * | 2024-04-17 | 2024-05-24 | 福建(泉州)先进制造技术研究院 | Control method for multiple independent driving steering wheels of robot moving chassis |
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| WO2015196127A1 (en) * | 2014-06-20 | 2015-12-23 | Colorado Seminary, Which Owns And Operates The University Of Denver | Mobile self-leveling landing platform for uavs |
| IL237130A0 (en) * | 2015-02-05 | 2015-11-30 | Ran Krauss | Landing and charging system for drones |
| CN205168167U (en) * | 2015-10-30 | 2016-04-20 | 亿嘉和科技股份有限公司 | Turn to wheel system of robot entirely |
| CN106476672B (en) * | 2016-11-11 | 2019-02-12 | 成都创奇汽车制造有限公司 | A kind of semitrailer with hoistable platform |
| RU180861U1 (en) * | 2017-08-01 | 2018-06-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ) | Land vehicle equipped with a module for storing and automatically launching a UAV |
| CN108674292A (en) * | 2018-06-11 | 2018-10-19 | 江苏东翼通用航空科技有限公司 | A kind of RPV transporter |
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