CN110962953A - Unmanned operation vehicle - Google Patents
Unmanned operation vehicle Download PDFInfo
- Publication number
- CN110962953A CN110962953A CN201911342392.9A CN201911342392A CN110962953A CN 110962953 A CN110962953 A CN 110962953A CN 201911342392 A CN201911342392 A CN 201911342392A CN 110962953 A CN110962953 A CN 110962953A
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- CN
- China
- Prior art keywords
- wheel
- sleeve
- fixed
- vehicle frame
- vehicle
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention discloses an unmanned operation vehicle which comprises a wheel rim, a middle shaft and handles fixed at two ends of the middle shaft, wherein a worm rod part is fixedly arranged on the middle shaft, a disc is also fixedly arranged on the middle shaft, a round rod is vertically arranged on the disc, a blocking piece is arranged at the outer end part of the round rod, a first rotating shaft seat is also fixedly arranged on the disc, a first rotating shaft is rotatably arranged on the first rotating shaft seat, the first rotating shaft is fixedly connected with a worm wheel, the worm wheel is vertically meshed with the worm part for transmission, a cam is also fixedly connected on the first rotating shaft, the wheel rim is slidably sleeved at the outer edge of the disc, a connecting rod is radially arranged in the wheel rim, and the end part of the connecting rod is slidably sleeved on the middle shaft through. The invention can increase the training difficulty of the core strength of the user, help to improve the core strength of the user, improve the integral balance force and coordination capability of the body of the user, and has more interest, novel structural design and practicability.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned operation vehicle.
Background
The unmanned operation vehicle in the prior art has the advantages of simple driving mode, weak difficulty removing capability and poor environment adaptability.
Disclosure of Invention
The invention aims to solve the technical problems of simple driving mode, low difficulty removing capability and poor environment adaptability of the unmanned operation vehicle in the prior art.
In order to solve the technical problem, an embodiment of the invention provides an unmanned aerial vehicle, which comprises a vehicle frame and wheel sets arranged on two sides of the vehicle frame, wherein each wheel set comprises a wheel frame, the front end and the rear end of each wheel frame are respectively and rotatably provided with a follow-up wheel, the middle part of each wheel frame is rotatably provided with a rotating shaft, a driving wheel is fixed on each rotating shaft, belt-shaped wheel rims are arranged on the outer rings of the driving wheel and the two follow-up wheels, a sleeve is rotatably arranged on the vehicle frame through a bearing, one end, located on the inner side of the vehicle frame, of each sleeve is provided with a first gear, the vehicle frame is fixedly provided with a first motor, an output shaft of the first motor is transmitted to the first gear, one end, located on the outer side of the vehicle frame, of each sleeve is fixed on the outer side wall of the wheel frame, a.
The belt-shaped wheel rim is a crawler belt, the driving wheel and the driven wheel are chain wheels, and the chain wheels are matched with the crawler belt for transmission.
The wheel carrier comprises two fixed sheet bodies which are arranged at intervals in parallel, the two fixed sheet bodies are fixed through fixing columns, an accommodating space is formed in the wheel carrier and used for accommodating the driving wheel and the driven wheel, and the sleeve is fixed on the outer side wall of each fixed sheet body.
The wheel carrier is in a strip shape.
The technical scheme of the invention has the following beneficial effects:
the unmanned operation vehicle has the advantages of flexible running, strong escaping capability, good environmental capability and practicability.
Drawings
Fig. 1 is a front view of the present invention.
FIG. 2 is a block diagram of the wheelset of the present invention.
FIG. 3 is a partial block diagram of the wheelset of the present invention.
FIG. 4 is a second partial block diagram of the wheelset of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, an embodiment of the present invention provides an unmanned working vehicle, including a vehicle frame 1 and wheel sets disposed on two sides of the vehicle frame 1, the wheel sets are provided with 4 sets, two sets of the wheel sets are symmetrically disposed on two sides of the vehicle frame 1, the wheel sets are similar to wheel layout of an existing four-wheeled car, the wheel sets include a wheel frame 2, front and rear ends of the wheel frame 2 are respectively provided with a follower wheel 3 in a rotating manner, a rotating shaft 4 is rotatably disposed in a middle portion of the wheel frame 2, a driving wheel 5 is fixed on the rotating shaft 4, belt-shaped wheel rims 6 are disposed on outer rings of the driving wheel 5 and the two follower wheels 3, a sleeve 7 is rotatably disposed on the vehicle frame 1 through a bearing, one end of the sleeve 7 located on an inner side of the vehicle frame 1 is provided with a first gear 8, a first motor 9 is fixed on the vehicle frame 1, an output shaft of the first motor 9, first gear and second gear meshing transmission, the one end that sleeve 7 is located the frame 1 outside is fixed in on the lateral wall of wheel carrier 2, sleeve 7 internal fixation has second motor 10, 4 one ends of pivot stretch into in sleeve 7, pivot 4 and the coaxial setting of sleeve 7, second motor 10 through output shaft transmission connect in pivot 4. The wheel carrier 2 is in a strip shape.
The belt-shaped rim 6 is a crawler belt, and the driving wheel 5 and the driven wheel 3 are chain wheels which are matched with the crawler belt for transmission. The band-shaped rim may also be an elastic wheel made of rubber, provided with an annular rack on the inside, while the driving wheel and the follower wheel are provided as hubs with an outer toothed ring.
The wheel carrier 2 comprises two fixed sheet bodies 21 which are arranged at intervals and in parallel, the two fixed sheet bodies 21 are fixed through fixing columns 22, an accommodating space is formed in the wheel carrier 2 and used for accommodating the driving wheel 5 and the driven wheel 3, and the sleeve 7 is fixed on the outer side wall of the fixed sheet body 21.
When the vehicle normally runs, only four second motors 10 arranged in the sleeve 7 need to be started to drive the driving wheels to rotate, and the running of the vehicle can be completed. When the vehicle body is sunk into the pit and can not normally run out, the first motors of the two front wheels can be started to drive the whole wheel carrier to rotate by an angle, so that the front end of the wheel carrier is inclined upwards by 30 degrees to climb out of the pit hole, if the vehicle body can not smoothly run out of the pit, the first motors of the two front wheels can be started to enable the wheel carrier of the front wheels to always do overturning motion, and the second motors of the two rear wheels are also started simultaneously to help the vehicle body to run out of the pit. When the vehicle body is about to wade, the four first motors can be started at the same time to enable the wheel carrier to rotate 90 degrees, so that the height of the vehicle body is increased, and then the four second motors are started to drive, so that water enters the vehicle frame. The aforementioned front and rear wheels are distinguished in the traveling direction of the vehicle, and the vehicle of the present invention has a symmetrical structure without distinguishing the front and rear.
The unmanned operation vehicle can be realized in a remote control mode, the host is arranged in the vehicle frame to control each motor, then the operation is carried out through a remote controller, and various mechanical arms or detection instruments can be carried on the vehicle frame to correspondingly complete various operation tasks.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. An unmanned working vehicle is characterized by comprising a vehicle frame (1) and wheel sets arranged on two sides of the vehicle frame (1), wherein the wheel sets are provided with 4 groups, the wheel sets are symmetrically arranged on two sides of the vehicle frame (1) in pairs and are similar to the wheel layout of the existing four-wheel car, the wheel sets comprise wheel carriers (2), the front ends and the rear ends of the wheel carriers (2) are respectively provided with follow-up wheels (3) in a rotating manner, the middle parts of the wheel carriers (2) are provided with rotating shafts (4) in a rotating manner, driving wheels (5) are fixed on the rotating shafts (4), belt-shaped wheel rims (6) are arranged on the outer rings of the driving wheels (5) and the two follow-up wheels (3), the vehicle frame (1) is provided with a sleeve (7) in a rotating manner through bearings, one end of the sleeve (7) positioned on the inner side of the vehicle frame (1) is, the output shaft transmission of first motor (9) in first gear (8), (the output shaft fixed connection second gear of first motor, first gear and second gear meshing transmission,) sleeve (7) are located the one end in frame (1) outside and are fixed in on the lateral wall of wheel carrier (2), sleeve (7) internal fixation has second motor (10), pivot (4) one end stretches into in sleeve (7), (pivot 4 and the coaxial setting of sleeve 7,) second motor (10) (through output shaft) transmission connect in pivot (4).
2. An unmanned aerial vehicle according to claim 1, wherein the belt-like rim (6) is a track, and the driving wheel (5) and the driven wheel (3) are chain wheels which are driven in cooperation with the track.
3. The unmanned aerial vehicle of claim 1, wherein the wheel carrier (2) comprises two spaced and parallel fixed sheets (21), the two fixed sheets (21) are fixed by fixing posts (22), the wheel carrier (2) has a receiving space for receiving the driving wheel (5) and the driven wheel (3), and the sleeve (7) is fixed on the outer side wall of the fixed sheets (21).
4. The unmanned aerial vehicle of claim 1, wherein the wheel carrier (2) is of a strip type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342392.9A CN110962953A (en) | 2019-12-23 | 2019-12-23 | Unmanned operation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342392.9A CN110962953A (en) | 2019-12-23 | 2019-12-23 | Unmanned operation vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110962953A true CN110962953A (en) | 2020-04-07 |
Family
ID=70036062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911342392.9A Withdrawn CN110962953A (en) | 2019-12-23 | 2019-12-23 | Unmanned operation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110962953A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476663A (en) * | 2010-11-29 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Crawler leg compound movable robot based on differential mechanisms |
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| US20160347364A1 (en) * | 2015-05-29 | 2016-12-01 | Mtd Products Inc | Utility vehicle |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN107776692A (en) * | 2016-08-26 | 2018-03-09 | 深圳市安泽智能工程有限公司 | Mobile robot and its mode of progression |
-
2019
- 2019-12-23 CN CN201911342392.9A patent/CN110962953A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476663A (en) * | 2010-11-29 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Crawler leg compound movable robot based on differential mechanisms |
| US20160347364A1 (en) * | 2015-05-29 | 2016-12-01 | Mtd Products Inc | Utility vehicle |
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| CN105857423A (en) * | 2016-04-15 | 2016-08-17 | 中国科学院合肥物质科学研究院 | High-maneuverability and high-adaptability ground unmanned platform |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN107776692A (en) * | 2016-08-26 | 2018-03-09 | 深圳市安泽智能工程有限公司 | Mobile robot and its mode of progression |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200407 |