CN111591373B - All-terrain detection trolley - Google Patents
All-terrain detection trolley Download PDFInfo
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- CN111591373B CN111591373B CN202010502034.6A CN202010502034A CN111591373B CN 111591373 B CN111591373 B CN 111591373B CN 202010502034 A CN202010502034 A CN 202010502034A CN 111591373 B CN111591373 B CN 111591373B
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- trolley
- steering
- potential energy
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- 238000001514 detection method Methods 0.000 title claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000005381 potential energy Methods 0.000 claims description 99
- 238000005192 partition Methods 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses an all-terrain detection trolley, which comprises a trolley body, wherein the all-terrain detection trolley comprises a trolley body, a main working space is arranged in the trolley body, a bounce space is arranged at the lower side of the main working space, a power device for providing power for the trolley is arranged in the main working space, only two wheels are used for providing power required by movement, the problem of overlarge volume is solved, the bounce device can easily cross a road block with higher height, and can bounce to escape when the wheels cannot effectively output power, and two steering modes are designed to enable the steering of the trolley to be more flexible.
Description
Technical Field
The invention relates to the field of robots, in particular to an all-terrain detection trolley.
Background
Unmanned aerial vehicle has long been amazing speed and has been popularized in civilian field, but most unmanned dolly still restricts in planar motion, can't be in the efficient removal in complicated topography, the main difficulty embodies a few, when facing complicated road conditions, the automobile body is built on stilts by anomalous road surface easily, lead to the wheel can't effectively contact with ground, even direct and ground contactless, lead to the dolly to lose power, can't cross fast when facing higher roadblock, too big can't hand-carry on in the volume, also the scope of also consequently using is also not extensive.
Disclosure of Invention
The invention aims to provide an all-terrain detection trolley to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the all-terrain detection trolley comprises a trolley body, wherein a main working space is arranged in the trolley body, a power device for providing power for the trolley is arranged in the main working space, the power device comprises a main power motor fixedly connected to the inner wall of the front side of the trolley body, the rear side of the main power motor is in power connection with a main power shaft, the rear side of the main power shaft is fixedly connected with a main power bevel gear, the lower side of the inner wall of the trolley body is fixedly connected with a fixed power shaft wall, a main shaft of the trolley is rotatably connected with the fixed power shaft wall, two differential devices symmetrically distributed about the central line of the main shaft of the trolley in the vertical direction are arranged in the trolley body, a power transmission bevel gear is fixedly connected to the main shaft of the trolley, the right side of the power transmission bevel gear is meshed with the main power bevel gear, and two, the wheels are in direct contact with the ground to provide output power, a bouncing device used when the wheels cannot efficiently output power due to terrain is arranged on the lower side wall of the trolley body, the bouncing device comprises two bouncing spaces which are arranged on the lower side of the main working space and symmetrically distributed about the vertical center line of the trolley body, bouncing blocks are rotatably arranged in the bouncing spaces, the bouncing blocks can push the trolley body to bounce upwards to cross obstacles by rotating, a quick steering device used for controlling the trolley to quickly steer is arranged on the upper side of the differential device, the quick steering device comprises a steering motor, the steering motor serves as the differential device to provide power, so that the rotating speeds of the wheels on the left side and the right side are different to realize the steering of the trolley, and a gentle steering device used for steering at a gentle high-speed traveling stage of the trolley is arranged on the rear side of, the gentle turning device comprises a lead screw horizontally arranged in the working space, a balancing weight is connected to the lead screw in a threaded manner, when the balancing weight moves horizontally on the lead screw, the gravity center of the trolley deviates to enable the two wheels to have different friction with the ground, so that the trolley slowly turns, and a potential energy providing device used for providing potential energy of the bouncing device is arranged between the inner wall of the lower side of the trolley body and the power device.
Preferably, the differential device comprises two differential input gears which are respectively and fixedly connected with the left side and the right side of the main shaft of the trolley, the lower side of the inner wall of the trolley body is fixedly connected with a fixed power shaft wall, the main shaft of the trolley is rotatably connected with the fixed power shaft wall, the right side of the main shaft of the trolley is fixedly connected with a differential output gear, three differential auxiliary gears are meshed in the differential output gear and the differential input gear, the vehicle body is rotatably connected with a wheel axle, the left side of the wheel axle is fixedly connected with a differential output gear, the right side of the wheel shaft is fixedly connected with a wheel, the three differential auxiliary gears are simultaneously and fixedly connected with a gear carrier, when the steering is required due to external environmental factors or self steering, resulting in the two wheels turning at different angular velocities, which will be consumed by the three differential auxiliary gears.
Preferably, the fast steering device comprises two steering shafts symmetrically distributed about a vertical center line of the vehicle body, a steering output gear is arranged on each steering shaft, one end of each steering shaft, far away from the vertical center line of the vehicle body, is rotatably connected with the inner side wall of the vehicle body, one side of each steering shaft, close to the vertical center line of the vehicle body, is fixedly connected with a right steering bevel gear, the steering motor is fixedly installed on the inner wall of the rear side of the main working space, the front side of the steering motor is in power connection with a steering main power shaft, the front side of the steering main power shaft is fixedly connected with a steering main power bevel gear, the steering main power bevel gear is meshed with the right steering bevel gear, and when the trolley runs forwards and needs to be steered fast leftwards, the steering motor outputs power to enable the steering main power bevel gear to, the steering bevel gear on the right side rotates, so that the steering output gear rotates, the gear carrier rotates due to the fact that the steering output gear is meshed with the gear carrier, the differential output gear rotates to enable the differential output gear to rotate in an accelerated mode, the differential output gear rotates to enable the wheel shaft to rotate in an accelerated mode, the rotating speed of the wheels on the right side is larger than that of the wheels on the left side, and therefore the trolley rotates on the left side.
Preferably, the gentle device that turns to includes, automobile body right side inner wall fixedly connected with vice motor that turns to, lead screw right-hand member power connect in vice motor that turns to, the lead screw left end with main working space left side inner wall rotates and is connected, the balancing weight with main working space sliding fit, when the dolly need steadily turn to, open vice motor that turns to makes the lead screw rotates, makes the balancing weight left and right sides translation to make the dolly focus skew, thereby make two the wheel is different with the frictional force on ground, thereby makes the dolly slowly turn to.
Preferably, the bouncing device comprises bouncing main shafts rotatably installed between two bouncing spaces, the left and right sides of each bouncing main shaft are fixedly connected with ratchets positioned in the bouncing spaces, torsional springs are fixedly connected between the ratchets and the inner end walls of the bouncing spaces, the bouncing block is fixedly connected to the lower sides of the ratchets, bouncing potential energy input gears are fixedly connected to the middle positions of the bouncing main shafts, control bouncing steering engines are fixedly connected to the right side walls of the trolley body, control shafts are rotatably connected with the control shafts, locking claws are fixedly connected to the lower sides of the control shafts and can be abutted against the ratchets, when the wheels of the trolley cannot efficiently output power due to terrain, the control bouncing steering engines are opened to enable the control shafts to rotate for a certain angle, so that the locking claws rotate and are not abutted against the ratchets, the torsion spring releases potential energy, so that the bouncing block rotates clockwise to knock the ground to bounce the trolley.
Preferably, the potential energy providing device comprises a bottom supporting partition fixedly connected to the lower side surface of the vehicle body, the bouncing spindle penetrates through the bottom supporting partition and is rotatably installed with the bottom supporting partition through a bearing, the bouncing potential energy input gear is located in the bottom supporting partition, the upper side surface of the bottom supporting partition is rotatably connected with a bouncing potential energy input shaft through a bearing, the lower side of the bouncing potential energy input shaft is fixedly connected with a sliding gear, the sliding gear is meshed with the bouncing potential energy input gear, a bouncing potential energy connecting block is fixedly connected to the upper side of the bouncing potential energy input shaft, an annular rack is fixedly connected to the inner side wall of the bouncing potential energy connecting block, a fixed bouncing potential energy input shaft is slidably connected to the upper side wall of the bouncing potential energy connecting block, a movable gear is arranged on the fixed bouncing potential energy input shaft, and a bouncing, the upper side surface of the bouncing potential energy connecting block is fixedly connected with two sliding springs which are symmetrical to the vertical central line of the bouncing potential energy connecting block, the fixed bouncing potential energy input shaft is fixedly connected with a fixed baffle plate, the fixed baffle plate is fixedly connected with the sliding springs, the lower side of each sliding spring is connected with the bouncing potential energy connecting block in a sliding way, when a trolley jumps up at the bouncing device, the bouncing potential energy connecting block still keeps the original motion state due to inertia, the bouncing potential energy connecting block moves downwards relative to the trolley body, so that the movable gear is meshed with the annular rack, as the main shaft of the trolley rotates, the bouncing bevel gear rotates, so that the fixed bouncing potential energy input shaft rotates, the movable gear rotates, and the movable gear is meshed with the annular rack, so that the bouncing potential energy connecting block rotates, the bouncing potential energy connecting block rotates to enable the bouncing potential energy input shaft to rotate, the bouncing potential energy input shaft rotates to enable the sliding gear to rotate, the sliding gear rotates to drive the bouncing potential energy input gear to rotate, the bouncing potential energy input gear rotates to enable the bouncing main shaft to rotate, and therefore the torsion spring rotates to increase potential energy.
Preferably, the center of the rear side of the trolley body is fixedly connected with a supporting strip, the supporting strip can be in contact with the ground, when the trolley normally runs and is in a static state, the center of gravity of the trolley is located at the rear end, and the supporting strip plays a supporting role.
In conclusion, the beneficial effects of the invention are as follows: the invention designs a car body with compact structure, only uses two wheels to provide power required by movement, solves the problem of overlarge volume, is provided with a bouncing device which can easily pass when facing a high roadblock, and can bounce to escape when the wheels can not effectively output power, and designs two steering modes to ensure that the car can steer more flexibly.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall full-section structure of an all-terrain detection trolley according to the present invention;
FIG. 2 is a cross-sectional view taken along section A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is an enlarged view of a portion of the present invention at B of FIG. 1;
FIG. 4 is an enlarged view of a portion of the invention at C of FIG. 1;
fig. 5 is a partial enlarged view of the invention at D in fig. 2.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, front and rear directions described below correspond to the front, back, left, right, top and bottom directions of the view direction of fig. 1, fig. 1 is a front view of the apparatus of the present invention, and the directions shown in fig. 1 correspond to the front, back, left, right, top and bottom directions of the apparatus of the present invention.
Referring to fig. 1-5, an embodiment of the present invention is shown: the all-terrain detection trolley comprises a trolley body 11, wherein a main working space 12 is arranged in the trolley body 11, a power device for providing power for the trolley is arranged in the main working space 12, the power device comprises a main power motor 30 fixedly connected to the inner wall of the front side of the trolley body 11, a main power shaft 29 is dynamically connected to the rear side of the main power motor 30, a main power bevel gear 28 is fixedly connected to the rear side of the main power shaft 29, a fixed power shaft wall 63 is fixedly connected to the lower side of the inner wall of the trolley body 11, a trolley main shaft 26 is rotatably connected with the fixed power shaft wall 63, two differential devices 101 symmetrically distributed about the vertical direction central line of the trolley main shaft 26 are arranged in the trolley body 11, a power transmission bevel gear 48 is fixedly connected to the trolley main shaft 26, and the right side of the power transmission bevel gear 48 is meshed with the main power bevel gear 28, two wheels 50 are fixedly connected to two sides of the differential device 101, the wheels 50 are in direct contact with the ground to provide output power, a bouncing device 102 used when the wheels cannot efficiently output power due to terrain is arranged on the lower side wall of the vehicle body 11, the bouncing device 102 comprises two bouncing spaces 13 which are arranged on the lower side of the main working space 12 and are symmetrically distributed about the vertical center line of the vehicle body 11, bouncing blocks 36 are rotatably arranged in the bouncing spaces 13, the bouncing blocks 36 can rotate to push the vehicle body 11 to bounce upwards so as to span obstacles, a fast steering device 103 used for controlling the vehicle to steer fast is arranged on the upper side of the differential device 101, the fast steering device 103 comprises a steering motor 32, the steering motor 32 works to provide power for the differential device 101, so that the wheels 50 on the left side and the right side have different rotating speeds to realize steering of the vehicle, the rear side of the power device is provided with a gentle steering device 104 for gently steering the trolley in a high-speed running stage, the gentle steering device 104 comprises a lead screw 46 horizontally arranged in the working space 12, the lead screw 46 is connected with a balancing weight 47 in a threaded manner, when the balancing weight 47 horizontally moves on the lead screw 46, the gravity center of the trolley deviates to two, the friction force between the wheels 50 and the ground is different, the slow steering of the trolley is realized, and a potential energy providing device 105 for providing potential energy of the bouncing device 102 is arranged between the inner wall of the lower side of the trolley body 11 and the power device.
In addition, in one embodiment, the differential device 101 includes two differential input gears 21 respectively fixedly connected to the left and right sides of the trolley main shaft 26, a fixed power shaft wall 63 is fixedly connected to the lower side of the inner wall of the trolley body 11, the trolley main shaft 26 is rotatably connected to the fixed power shaft wall 63, a differential output gear 22 is fixedly connected to the right side of the trolley main shaft 26, three differential auxiliary gears 23 are engaged with the differential output gear 22 and the differential input gear 21, an axle 25 is rotatably connected to the trolley body 11, a differential output gear 22 is fixedly connected to the left side of the axle 25, a wheel 50 is fixedly connected to the right side of the axle 25, and a carrier 19 is fixedly connected to the three differential auxiliary gears 23 simultaneously, when the two wheels 50 rotate at different angular speeds due to external environmental factors or self-steering requirements, the angular velocity of the two wheels that differ will be consumed by the three differential auxiliary gears 23.
In addition, in one embodiment, the fast steering device 103 includes two steering shafts 14 symmetrically distributed about a vertical center line of the vehicle body 11, a steering output gear 18 is disposed on the steering shaft 14, one end of each of the two steering shafts 14 away from the vertical center line of the vehicle body 11 is rotatably connected to an inner side wall of the vehicle body 11, a right steering bevel gear 16 is fixedly connected to one side of the steering shaft 14 close to the vertical center line of the vehicle body 11, the steering motor 32 is fixedly mounted on an inner wall of the rear side of the main working space 12, a steering main power shaft 31 is dynamically connected to a front side of the steering motor 32, a steering main power bevel gear 15 is fixedly connected to a front side of the steering main power shaft 31, the steering main power bevel gear 15 is engaged with the right steering bevel gear 16, and when the vehicle needs to fast steer to the left when the vehicle travels forwards, the steering motor 32 outputs power to enable the steering main power bevel And the right steering bevel gear 16 is rotated, so that the steering output gear 18 is rotated, the carrier 19 is rotated due to the fact that the steering output gear 18 is meshed with the carrier 19, the carrier 19 is rotated, the differential output gear 22 is accelerated and rotated due to the rotation of the carrier 19, the differential output gear 22 is rotated, so that the axle 25 is accelerated and rotated, the rotating speed of the wheels 50 on the right side is larger than that of the wheels 50 on the left side, and therefore the trolley is rotated on the left side.
In addition, in one embodiment, the gentle steering device 104 includes a sub-steering motor 17 fixedly connected to the right inner wall of the vehicle body 11, the right end of the lead screw 46 is connected to the sub-steering motor 17, the left end of the lead screw 46 is connected to the left inner wall of the main working space 12 in a rotating manner, the counterweight block 47 is in sliding fit with the main working space 12, and when the trolley needs to steer smoothly, the sub-steering motor 17 is turned on to rotate the lead screw 46, so that the counterweight block 47 translates left and right, the gravity center of the trolley shifts, and the friction between the two wheels 50 and the ground is different, so that the trolley steers slowly.
In addition, in one embodiment, the bouncing device 102 includes a bouncing spindle 37 rotatably installed between two bouncing spaces 13, a ratchet 27 located in each of the bouncing spaces 13 is fixedly connected to both the left and right sides of the bouncing spindle 37, a torsion spring 38 is fixedly connected between the ratchet 27 and the inner end wall of each of the bouncing spaces 13, the bouncing block 36 is fixedly connected to the lower side of the ratchet 27, a bouncing potential energy input gear 39 is fixedly connected to the middle position of the bouncing spindle 37, a control bouncing steering gear 56 is fixedly connected to the right side wall of the vehicle body 11, the control bouncing steering gear 56 is rotatably connected to a control shaft 53, a stop pawl 51 is fixedly connected to the lower side of the control shaft 53, the stop pawl 51 can collide with the ratchet 27, and when the wheels cannot efficiently output power due to terrain, the control bouncing steering gear 56 is turned on to enable the control shaft 53 to rotate by a certain angle, the stop pawl 51 is rotated so that the stop pawl 51 does not interfere with the ratchet wheel 27, so that the torsion spring 38 releases potential energy, and the bouncing block 36 rotates clockwise to knock the ground so that the trolley jumps.
In addition, in one embodiment, the potential energy providing device 105 includes a bottom supporting partition plate 54 fixedly connected to the lower side surface of the vehicle body 11, the bouncing spindle 37 penetrates through the bottom supporting partition plate 54 and is rotatably installed with the bottom supporting partition plate 54 through a bearing, the bouncing potential energy input gear 39 is located in the bottom supporting partition plate 54, a bouncing potential energy input shaft 40 is rotatably connected to the upper side surface of the bottom supporting partition plate 54 through a bearing, a sliding gear 52 is fixedly connected to the lower side of the bouncing potential energy input shaft 40, the sliding gear 52 is meshed with the bouncing potential energy input gear 39, a bouncing potential energy connecting block 61 is fixedly connected to the upper side of the bouncing potential energy input shaft 40, an annular rack 42 is fixedly connected to the inner side wall of the bouncing potential energy connecting block 61, a fixed potential energy bouncing input shaft 62 is slidably connected to the upper side, the fixed bouncing potential energy input shaft 62 is provided with a movable gear 41, the fixed bouncing potential energy input shaft 62 is provided with a bouncing bevel gear 49, the upper side surface of the bouncing potential energy connecting block 61 is fixedly connected with two sliding springs 43 which are symmetrical to the vertical central line of the bouncing potential energy connecting block 61, the fixed bouncing potential energy input shaft 62 is fixedly connected with a fixed baffle 44, the fixed baffle 44 is fixedly connected with the sliding springs 43, the lower side of the sliding springs 43 is slidably connected with the bouncing potential energy connecting block 61, when a trolley jumps up at the bouncing device 102, the bouncing potential energy bouncing connecting block 61 still keeps the original motion state due to inertia, the bouncing potential energy connecting block 61 moves downwards relative to the trolley body 11, so that the movable gear 41 is meshed with the annular rack 42, and the bouncing bevel gear 49 rotates due to the rotation of the trolley main shaft 26, the bounce bevel gear 49 rotates to enable the fixed bounce potential energy input shaft 62 to rotate, the fixed bounce potential energy input shaft 62 rotates to enable the movable gear 41 to rotate, the movable gear 41 is meshed with the annular rack 42 to enable the bounce potential energy connecting block 61 to rotate, the bounce potential energy connecting block 61 rotates to enable the bounce potential energy input shaft 40 to rotate, the bounce potential energy input shaft 40 rotates to enable the sliding gear 52 to rotate, the sliding gear 52 rotates to drive the bounce potential energy input gear 39 to rotate, and the bounce potential energy input gear 39 rotates to enable the bounce main shaft 37 to rotate, so that the torsion spring 38 rotates to increase potential energy.
In addition, in one embodiment, a supporting bar 99 is fixedly connected to the center of the rear side of the vehicle body 11, the supporting bar 99 can contact with the ground, when the vehicle is in a normal operation and in a static state, the center of gravity of the vehicle is at the rear end, and the supporting bar 99 plays a supporting role.
In the initial state, the wheel 50 is in contact with the ground, the counterweight 47 is at the midpoint of the screw 46, and the bounce block 36 is in the bounce space 13.
When the trolley needs to advance power, the main power motor 30 is turned on, so that the main power shaft 29 rotates, and the trolley main shaft 26 is driven to rotate, when the trolley main shaft 26 rotates, the differential device 101 on two sides of the trolley main shaft 26 can be driven to rotate, so that the wheels 50 on two sides of the trolley body 11 rotate, when the rotating angular speeds of the two wheels 50 are different due to external environmental factors or self steering needs, the angular speed of the difference between the two wheels is consumed by the three differential auxiliary gears 23, when the trolley needs to fast turn to the left when running forwards, the steering motor 32 outputs power to enable the steering main power bevel gear 15 to rotate clockwise through the control unit, so that the right steering bevel gear 16 rotates upwards, and the steering output gear 18 rotates upwards, and because the steering output gear 18 is meshed with the gear carrier 19, the gear carrier 19 rotates downwards, the gear carrier 19 rotates to enable the differential output gear 22 to accelerate to rotate, when the trolley needs to turn stably, the auxiliary steering motor 17 is started to rotate the screw rod 46, the counterweight block 47 translates left and right, the gravity center of the trolley shifts, the friction force between the two wheels 50 and the ground is different, the trolley turns slowly, when the trolley cannot output power efficiently due to terrain, the control bounce steering engine 56 is opened to rotate the control shaft 53 by a certain angle, the stop pawl 51 rotates, the stop pawl 51 does not collide with the bounce main shaft 37, the torsion spring 38 releases potential energy, the bounce block 36 rotates clockwise to knock the ground, the trolley jumps, when the trolley jumps at the jump moment of the bounce device 102, the bounce potential energy connecting block 61 still keeps the original motion state due to inertia, and the bounce potential energy connecting block 61 moves downwards relative to the trolley body 11, the movable gear 41 is meshed with the annular rack 42, the bouncing bevel gear 49 rotates due to the rotation of the trolley main shaft 26, the fixed bouncing potential energy input shaft 62 rotates due to the rotation of the bouncing bevel gear 49, the fixed bouncing potential energy input shaft 62 rotates due to the rotation of the fixed bouncing potential energy input shaft 62, the movable gear 41 rotates due to the rotation of the movable gear 41, the bouncing potential energy connecting block 61 rotates due to the meshing of the movable gear 41 and the annular rack 42, the bouncing potential energy connecting block 61 rotates due to the rotation of the bouncing potential energy input shaft 40, the bouncing potential energy input shaft 40 rotates due to the rotation of the sliding gear 52, the sliding gear 52 rotates to drive the bouncing potential energy input gear 39 to rotate, the bouncing potential energy input gear 39 rotates due to the rotation of the.
The invention has the beneficial effects that: the invention designs a car body with compact structure, only uses two wheels to provide power required by the movement of the car body, solves the problem of overlarge volume of the detected car body, is provided with a bouncing device, and can push the car body to bounce to enable the car body to smoothly pass when facing a pit behind a raised roadblock which cannot directly pass or when the wheels cannot effectively output power, and simultaneously, designs two steering modes of fast steering and gentle steering to enable the steering of the car to be more flexible.
The above description is only an embodiment of the invention, but the scope of the invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.
Claims (7)
1. The utility model provides a dolly is surveyed to all topography, includes the automobile body, its characterized in that: the all-terrain detection trolley comprises a trolley body, wherein a main working space is arranged in the trolley body, a power device for providing power for the trolley is arranged in the main working space, the power device comprises a main power motor fixedly connected to the inner wall of the front side of the trolley body, the rear side of the main power motor is in power connection with a main power shaft, the rear side of the main power shaft is fixedly connected with a main power bevel gear, the lower side of the inner wall of the trolley body is fixedly connected with a fixed power shaft wall, a main shaft of the trolley is rotatably connected with the fixed power shaft wall, two differential devices symmetrically distributed about the central line of the main shaft of the trolley in the vertical direction are arranged in the trolley body, a power transmission bevel gear is fixedly connected to the main shaft of the trolley, the right side of the power transmission bevel gear is meshed with the main power bevel gear, and two, the wheels are in direct contact with the ground to provide output power, a bouncing device used when the wheels cannot efficiently output power due to terrain is arranged on the lower side wall of the trolley body, the bouncing device comprises two bouncing spaces which are arranged on the lower side of the main working space and symmetrically distributed about the vertical center line of the trolley body, bouncing blocks are rotatably arranged in the bouncing spaces, the bouncing blocks can push the trolley body to bounce upwards to cross obstacles by rotating, a quick steering device used for controlling the trolley to quickly steer is arranged on the upper side of the differential device, the quick steering device comprises a steering motor, the steering motor serves as the differential device to provide power, so that the rotating speeds of the wheels on the left side and the right side are different to realize the steering of the trolley, and a gentle steering device used for steering at a gentle high-speed traveling stage of the trolley is arranged on the rear side of, the gentle turning device comprises a lead screw horizontally arranged in the working space, a balancing weight is connected to the lead screw in a threaded manner, when the balancing weight moves horizontally on the lead screw, the gravity center of the trolley deviates to enable the two wheels to have different friction with the ground, so that the trolley slowly turns, and a potential energy providing device used for providing potential energy of the bouncing device is arranged between the inner wall of the lower side of the trolley body and the power device.
2. The all-terrain survey vehicle of claim 1, wherein: the differential device comprises two differential input gears which are respectively and fixedly connected with the left side and the right side of the trolley main shaft, the lower side of the inner wall of the trolley body is fixedly connected with a fixed power shaft wall, the main shaft of the trolley is rotatably connected with the fixed power shaft wall, the right side of the main shaft of the trolley is fixedly connected with a differential output gear, three differential auxiliary gears are meshed in the differential output gear and the differential input gear, the vehicle body is rotatably connected with a wheel axle, the left side of the wheel axle is fixedly connected with a differential output gear, the right side of the wheel shaft is fixedly connected with a wheel, the three differential auxiliary gears are simultaneously and fixedly connected with a gear carrier, when the steering is required due to external environmental factors or self steering, resulting in the two wheels turning at different angular velocities, which will be consumed by the three differential auxiliary gears.
3. The all-terrain survey vehicle of claim 2, wherein: the rapid steering device comprises two steering shafts which are symmetrically distributed about a vertical central line of the vehicle body, a steering output gear is arranged on each steering shaft, one ends of the two steering shafts, far away from the vertical central line of the vehicle body, are rotatably connected with the inner side wall of the vehicle body, one sides of the steering shafts, close to the vertical central line of the vehicle body, are fixedly connected with a right steering bevel gear, the steering motor is fixedly installed on the inner wall of the rear side of the main working space, the front side of the steering motor is in power connection with a steering main power shaft, the front side of the steering main power shaft is fixedly connected with a steering main power bevel gear, the steering main power bevel gear is meshed with the right steering bevel gear, and when the trolley runs forwards and needs to be rapidly steered leftwards, the steering motor outputs power to enable the steering main, the steering bevel gear on the right side rotates, so that the steering output gear rotates, the gear carrier rotates due to the fact that the steering output gear is meshed with the gear carrier, the differential output gear rotates to enable the differential output gear to rotate in an accelerated mode, the differential output gear rotates to enable the wheel shaft to rotate in an accelerated mode, the rotating speed of the wheels on the right side is larger than that of the wheels on the left side, and therefore the trolley rotates on the left side.
4. The all-terrain survey vehicle of claim 1, wherein: the gentle turning device comprises an auxiliary turning motor fixedly connected with the inner wall of the right side of the trolley body, the right end of the screw rod is in power connection with the auxiliary turning motor, the left end of the screw rod is in rotating connection with the inner wall of the left side of the main working space, the balancing weight is in sliding fit with the main working space, when the trolley needs to be stably turned, the auxiliary turning motor is started to enable the screw rod to rotate, the balancing weight is enabled to horizontally move left and right, the gravity center of the trolley is enabled to shift, two wheels are enabled to be different from the friction force of the ground, and therefore the trolley slowly turns.
5. The all-terrain survey vehicle of claim 1, wherein: the bouncing device comprises a bouncing main shaft which is rotatably arranged between two bouncing spaces, the left side and the right side of the bouncing main shaft are fixedly connected with a ratchet wheel positioned in the bouncing spaces, a torsion spring is fixedly connected between the ratchet wheel and the inner end wall of the bouncing spaces, a bouncing block is fixedly connected to the lower side of the ratchet wheel, a bouncing potential energy input gear is fixedly connected to the middle position of the bouncing main shaft, a control bouncing steering engine is fixedly connected to the right side wall of the trolley body, the control bouncing steering engine is rotatably connected with a control shaft, a locking claw is fixedly connected to the lower side of the control shaft and can be abutted against the ratchet wheel, when the wheel of the trolley cannot efficiently output power due to terrain, the control bouncing steering engine is opened to rotate the control shaft for a certain angle, so that the locking claw rotates and cannot be abutted against the ratchet wheel, the torsion spring releases potential energy, so that the bouncing block rotates clockwise to knock the ground to bounce the trolley.
6. The all-terrain survey vehicle of claim 5, wherein: the potential energy providing device comprises a bottom supporting partition plate fixedly connected with the lower side surface of the vehicle body, the bouncing spindle penetrates through the bottom supporting partition plate and is rotatably installed with the bottom supporting partition plate through a bearing, the bouncing potential energy input gear is positioned in the bottom supporting partition plate, the upper side surface of the bottom supporting partition plate is rotatably connected with a bouncing potential energy input shaft through a bearing, the lower side of the bouncing potential energy input shaft is fixedly connected with a sliding gear, the sliding gear is meshed with the bouncing potential energy input gear, a bouncing potential energy connecting block is fixedly connected to the upper side of the bouncing potential energy input shaft, an annular rack is fixedly connected to the inner side wall of the bouncing potential energy connecting block, a fixed bouncing potential energy input shaft is slidably connected to the upper side wall of the bouncing potential energy connecting block, a movable gear is arranged on the fixed bouncing potential, the upper side surface of the bouncing potential energy connecting block is fixedly connected with two sliding springs which are symmetrical to the vertical central line of the bouncing potential energy connecting block, the fixed bouncing potential energy input shaft is fixedly connected with a fixed baffle plate, the fixed baffle plate is fixedly connected with the sliding springs, the lower side of each sliding spring is connected with the bouncing potential energy connecting block in a sliding way, when a trolley jumps up at the bouncing device, the bouncing potential energy connecting block still keeps the original motion state due to inertia, the bouncing potential energy connecting block moves downwards relative to the trolley body, so that the movable gear is meshed with the annular rack, as the main shaft of the trolley rotates, the bouncing bevel gear rotates, so that the fixed bouncing potential energy input shaft rotates, the movable gear rotates, and the movable gear is meshed with the annular rack, so that the bouncing potential energy connecting block rotates, the bouncing potential energy connecting block rotates to enable the bouncing potential energy input shaft to rotate, the bouncing potential energy input shaft rotates to enable the sliding gear to rotate, the sliding gear rotates to drive the bouncing potential energy input gear to rotate, the bouncing potential energy input gear rotates to enable the bouncing main shaft to rotate, and therefore the torsion spring rotates to increase potential energy.
7. The all-terrain survey vehicle of claim 1, wherein: the trolley is characterized in that a supporting strip is fixedly connected to the center of the rear side of the trolley body and can be in contact with the ground, when the trolley normally runs and is in a static state, the center of gravity of the trolley is located at the rear end, and the supporting strip plays a supporting role.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2935310B1 (en) * | 2008-09-02 | 2012-10-05 | Cyrille Vincent | RATCHET MECHANICAL TRANSMISSION FOR AN ALL-TERRAIN SLOW VEHICLE |
| CN110435784A (en) * | 2019-07-04 | 2019-11-12 | 湖北商贸学院 | A kind of robot of full landform mobile platform and its composition |
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| US7934725B2 (en) * | 2005-08-29 | 2011-05-03 | Mobile Intelligence Corporation | Vehicle system and method for accessing denied terrain |
| DE202012011102U1 (en) * | 2012-11-19 | 2013-02-14 | Sergey Ventsel | Device for providing a jump to a vehicle |
| FR3031044A1 (en) * | 2014-12-29 | 2016-07-01 | Parrot | ROLLER ROBOT AND HEARER WITH INCREASED OBSTACLE BREAK CAPABILITY |
| CN204801919U (en) * | 2015-06-29 | 2015-11-25 | 宫兆涛 | High equilibrium double round differential moving platform |
| US10058999B2 (en) * | 2016-10-12 | 2018-08-28 | Lunghwa University Of Science And Technology | Wheeled jumping robot |
| US10829171B2 (en) * | 2018-02-06 | 2020-11-10 | Saudi Arabian Oil Company | Spring-based magnetic attachment method for crawling vehicle |
| CN109436128B (en) * | 2018-11-08 | 2021-03-09 | 贵州大学 | Back wheel with speed limiting function for self-obstacle-avoiding trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2935310B1 (en) * | 2008-09-02 | 2012-10-05 | Cyrille Vincent | RATCHET MECHANICAL TRANSMISSION FOR AN ALL-TERRAIN SLOW VEHICLE |
| CN110435784A (en) * | 2019-07-04 | 2019-11-12 | 湖北商贸学院 | A kind of robot of full landform mobile platform and its composition |
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