CN112092944A

CN112092944A - Obstacle-crossing trolley

Info

Publication number: CN112092944A
Application number: CN202010974145.7A
Authority: CN
Inventors: 彭广盼; 荚政; 迟圣威
Original assignee: Wuxi Institute of Technology
Current assignee: Wuxi Institute of Technology
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2020-12-18

Abstract

The invention relates to the technical field of obstacle-surmounting trolleys, in particular to an obstacle-surmounting trolley which comprises a front wheel system, wherein the front wheel system comprises a driving wheel and a front support, the driving wheel is arranged in pairs from left to right, the driving wheel is rotatably connected to the bottom of the front support, the front support is a two-rod support, the front support is in a fork shape, the structure in the front support is integrally formed to ensure that the two-rod support can move simultaneously, a driving motor is installed on the inner side of the driving wheel, a lifting motor is fixedly installed at the junction of the top of the front support, the lifting motor and the driving motor on the driving wheel form a triangular structure, a trolley box main body is arranged at the top of the front wheel system, and a rear wheel system is arranged on one side, far away.

Description

Obstacle-crossing trolley

Technical Field

The invention relates to the technical field of obstacle crossing trolleys, in particular to an obstacle crossing trolley.

Background

The intelligent trolley is an important development direction in the future as a modern new invention, can automatically operate in an environment according to a preset mode, does not need artificial management, can be applied to the purposes of scientific exploration and the like, can display time, speed and mileage in real time according to different requirements, has the functions of automatically finding tracks, finding light and avoiding obstacles, can control the running speed in a program-controlled mode, accurately position and park, remotely transmit images and the like, and is an important application branch in the intelligent trolley.

At present, Chinese patent with publication number CN211123759U discloses an intelligent obstacle crossing trolley based on Arduino control, which comprises a trolley bottom plate, four crawler-type wheels, four direct current motors, two gray level sensors for tracking and identifying obstacles, auxiliary wheels for assisting obstacle crossing, a control system and a power supply module, wherein the four direct current motors are respectively arranged on four corners of the trolley bottom plate through motor brackets and respectively drive one crawler-type wheel; the auxiliary wheel is positioned between the two front wheels and comprises two small wheels and two rubber tires, each rubber tire is sleeved on one small wheel, the two small wheels are fixedly connected through a stud, one small wheel is connected with an auxiliary wheel driving motor through a motor output head, and the auxiliary wheel driving motor is installed on the connecting support through a motor support.

Although this kind of intelligence hinders dolly more based on Arduino control can realize the step and stride across, nevertheless: the obstacle crossing trolley has limited obstacle crossing capability, limited height for crossing steps during obstacle crossing, and is lack of practicability and not suitable for complex outdoor terrains.

Disclosure of Invention

In view of the above situation, an object of the present invention is to provide an obstacle-surmounting trolley, which has the advantages of excellent obstacle-surmounting capability, sufficient power and suitability for more complicated outdoor terrain.

The technical purpose of the invention is realized by the following technical scheme:

the utility model provides a barrier dolly more, includes the front wheel system, the front wheel system includes drive wheel and fore-stock, set up in pairs about the drive wheel, and the drive wheel rotates the bottom of connecting in the fore-stock, the fore-stock is two pole supports, and its shape is forked form, structure integrated into one piece in the fore-stock guarantees that two pole supports move about simultaneously, driving motor is installed to the inboard of drive wheel, the juncture fixed mounting at fore-stock top has lifting motor, lifting motor constitutes three horn shape structures with the driving motor on the drive wheel, the top of front wheel system is equipped with the railway carriage main part, one side that the front wheel system was kept away from to the railway carriage main part is equipped with the rear wheel system.

Further, the railway carriage main part is two casees structures, the railway carriage main part includes control box, storage box, the control box is located the one side that is close to the front wheel system, the storage box is located the one side that is close to the rear wheel system, control box, storage box all imbed to the inboard at railway carriage main part top, the outside fixedly connected with bellied frame at railway carriage main part top.

Further, the rear wheel system includes after-poppet, rear wheel, the back train system passes through after-poppet fixed connection in one side of railway carriage main part, the top fixed connection of after-poppet is in the periphery at the top of railway carriage main part, the rear wheel sets up in pairs, and is in same level with the initial position of drive wheel, the rear wheel is unanimous with drive wheel size shape.

Furthermore, the bottom of the carriage body is provided with a lifting bottom plate, one end of the lifting bottom plate is hinged to the inner side of the bottom of the carriage body, and a module space is arranged in the lifting bottom plate, which is positioned at the top of the lifting bottom plate, in the carriage body.

Further, the internally mounted of railway carriage main part has bluetooth module, the last PLC controller that is connected with of bluetooth module, PLC controller, bluetooth module are all installed inside the railway carriage main part, high accuracy angle sensor is installed to the junction at fore-stock top, high accuracy angle sensor connects in the PLC controller.

Further, the top of the carriage body is fixedly connected with an infrared height sensor at the position of the frame, and the infrared height sensor is connected to the PLC.

Further, the side wall between the front wheel system on the railway carriage main part is fixedly provided with a high-definition camera, the bottom fixedly connected with gravity balance ball of the high-definition camera, and the two ends of the high-definition camera are rotatably connected in the railway carriage main part.

In conclusion, the invention has the following beneficial effects: the overall design is six-wheel drive, obstacle crossing movement is realized through a front wheel system, the overall structure of the front wheel system is a triangular structure and is driven by three motors, two of the motors are driving motors, one motor is a lifting motor, a redundant movement mode is realized, and more complex terrain environments are coped with, so that the obstacle crossing capability of the obstacle crossing trolley is more excellent, and the obstacle crossing trolley can adapt to more complex and harsh obstacle crossing environments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, and are not to be considered limiting of the invention, in which:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic illustration of the invention in a pre-obstacle position;

FIG. 3 is a schematic view of the position of the present invention in obstacle crossing;

FIG. 4 is a schematic illustration of the invention in a post-obstacle-detouring position;

FIG. 5 is a system connection diagram of the present invention;

FIG. 6 is a schematic view of the gravity balance ball according to the present invention;

fig. 7 is a structural relationship diagram of the obstacle crossing trolley in the invention.

In the figure, 1, a carriage body; 2. a high-definition camera; 3. an infrared height sensor; 4. a frame; 5. a control box; 6. a storage box; 7. a rear bracket; 8. a lifting bottom plate; 9. a drive motor; 10. a drive wheel; 11. a front bracket; 12. lifting a motor; 13. a PLC controller; 14. a high-precision angle sensor; 15. a Bluetooth module; 16. a gravity balancing ball.

Detailed Description

The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings of fig. 1 to 7. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Example 1: a barrier-crossing trolley comprises a front wheel system, a trolley body 1 and a rear wheel system, wherein the trolley body 1 is arranged on the top of the front wheel system, the rear wheel system is arranged on one side, away from the front wheel system, of the trolley body 1, and the trolley body 1 is fixedly arranged on the top between the front wheel system and the rear wheel system and is supported by the front wheel system and the rear wheel system to be at a certain height.

As shown in fig. 1, the front wheel system includes a driving wheel 10 and a front bracket 11, the driving wheel 10 is arranged in pairs from left to right, and the driving wheel 10 is rotatably connected to the bottom of the front bracket 11, the front bracket 11 is a two-rod bracket, and the shape of the front bracket is bifurcated, the structure in the front bracket 11 is integrally formed, so that the two-rod bracket can move simultaneously, and the angle between the two-rod bracket can be kept consistent and is always smaller than 90 degrees.

As shown in fig. 2 and 7, the height h2 of the connection point between the front wheel system and the frame should be determined according to the maximum climbing height and the height of the vehicle box, and considering that the vehicle box body 1 should not impact the slope body when the obstacle is to be overcome, the height h2 is in the range of: h1< H2< H.

As shown in fig. 2 and 7, the included angle a between the two connecting rods of the front wheel system should fall within the angle range: 2 arctmann R/L < a is less than or equal to 90 degrees, a cannot be less than or equal to 2 arctmann R/L, a cannot be greater than 90 degrees because two wheels need to have a certain distance, otherwise, when the front wheel system is crossed over an obstacle, a broken angle can be generated to impact a connecting rod of the front wheel system, and the clamping stagnation phenomenon is caused.

As shown in fig. 1, a driving motor 9 is installed inside the driving wheel 10, a lifting motor 12 is fixedly installed at the junction of the top of the front bracket 11, and the lifting motor 12 and the driving motor 9 on the driving wheel 10 form a triangular structure.

As shown in fig. 1, the vehicle box body 1 has a two-box structure, the vehicle box body 1 includes a control box 5 and a storage box 6, the control box 5 is located at one side close to the front wheel system, the storage box 6 is located at one side close to the rear wheel system, the control box 5 and the storage box 6 are both embedded into the inner side of the top of the vehicle box body 1, and the outer side of the top of the vehicle box body 1 is fixedly connected with a raised frame 4.

As shown in fig. 1, the rear wheel system includes a rear bracket 7 and rear wheels, the rear wheel system is fixedly connected to one side of the car body 1 through the rear bracket 7, the top of the rear bracket 7 is fixedly connected to the periphery of the top of the car body 1, the rear wheels are arranged in pairs and are at the same level with the initial position of the driving wheel 10, the rear wheels and the driving wheel 10 are in the same size and shape, the rear wheels are also driven by the driving motor 9, and the whole obstacle crossing car is driven by six wheels.

As shown in fig. 2, in order to make the vehicle travel stably, it should be ensured that the vehicle keeps at least four wheels in contact with the ground or the slope in any state, and therefore the overall length M of the vehicle should be equal to or less than the minimum length of the slope, the overall length of the rear bracket 7, and the angle of intersection with the frame are determined by the state shown in fig. 2.

As shown in fig. 1 and 6, the side wall between the front wheel systems on the carriage body 1 is fixedly provided with the high-definition camera 2, the high-definition camera 2 can capture the video image in front of the obstacle-crossing trolley, the bottom of the high-definition camera 2 is fixedly connected with the gravity balance ball 16, the two ends of the high-definition camera 2 are rotatably connected in the carriage body 1, the gravity balance ball 16 is arranged so that the high-definition camera 2 can be always in a forward-looking state, and the video image of the forward travelling route can be captured constantly.

As shown in fig. 1, a lifting bottom plate 8 is arranged at the bottom of the car body 1, one end of the lifting bottom plate 8 is hinged to the inner side of the bottom of the car body 1, and a module space is arranged at the top of the lifting bottom plate 8 and located inside the car body 1.

As shown in fig. 1 and 5, the inside mounting of the carriage body 1 has a bluetooth module 15, the bluetooth module 15 is connected with a PLC controller 13, the PLC controller 13 and the bluetooth module 15 are both mounted inside the carriage body 1, a high-precision angle sensor 14 is mounted at the joint of the top of the front support 11, and the high-precision angle sensor 14 is connected to the PLC controller 13.

As shown in fig. 1, the top of the carriage body 1 is located at the frame 4 and is fixedly connected with the infrared height sensor 3, the infrared height sensor 3 is connected with the PLC controller 13, and the infrared height sensor 3 can detect the height position of the obstacle crossing trolley at the moment to obtain height data.

The working principle is as follows: when the obstacle-surmounting trolley is in obstacle-surmounting, the whole process comprises three steps of climbing, ascending and descending,

as shown in fig. 2, in the climbing process, the lifting motor 12 drives the front wheel system to lift, and when the lifting angle reaches a set limit angle and stops, the front wheel system is lifted, and the driving wheel 10 is in contact with the height of the obstacle to prepare for climbing;

as shown in fig. 3, during the uphill, the front driving wheel 10 gradually climbs to the upper plane of the slope body through the driving of the six driving motors 9, and simultaneously drags the rear wheel to climb to the upper plane of the slope body;

as shown in fig. 4, during the downhill process, the front driving wheel 10 gradually disengages from the slope body and descends to the ground, and the whole vehicle continues to travel until the rear wheel is completely disengaged from the slope body, i.e. the downhill motion is completed.

During operation, high definition digtal camera 2 implements to catch the video picture that hinders the straight ahead on the dolly path of travel more, and when the dolly hinders more, railway carriage main part 1 can take place the slope, because the effect of balanced gravity ball 16, guarantees that high definition digtal camera 2 looks at the place ahead target directly at all times, can catch the picture in the place ahead all the time.

High accuracy angle sensor 14 is mutually independent with infrared height sensor 3 during operation, plays the effect of mutually supporting again, when surmounting the obstacle, with the data information storage that detects local to can send to the terminal of controlling through bluetooth module 15 on, be convenient for record and contrast data relation between the two, be convenient for optimize and adjust the structure of the dolly of surmounting the obstacle.

While the invention has been described in further detail with reference to specific embodiments thereof, it is not intended that the invention be limited to the specific embodiments thereof; for those skilled in the art to which the present invention pertains and related technologies, the extension, operation method and data replacement should fall within the protection scope of the present invention based on the technical solution of the present invention.

Claims

1. The utility model provides an obstacle crossing dolly which characterized in that: including the front wheel system, the front wheel system includes drive wheel (10) and fore-stock (11), set up in pairs about drive wheel (10), and drive wheel (10) rotate to be connected in the bottom of fore-stock (11), fore-stock (11) are two pole supports, and its shape is for branching the form, structure integrated into one piece in fore-stock (11) guarantees that two pole supports move about simultaneously, driving motor (9) are installed to the inboard of drive wheel (10), the juncture fixed mounting at fore-stock (11) top has lifting motor (12), lifting motor (12) constitute three horn-shaped structure with driving motor (9) on drive wheel (10), the top of front wheel system is equipped with railway carriage main part (1), one side that the front wheel system was kept away from in railway carriage main part (1) is equipped with the rear wheel system.

2. An obstacle-surmounting trolley as claimed in claim 1, wherein: the automobile body is characterized in that the automobile body (1) is of a two-box structure, the automobile body (1) comprises a control box (5) and a storage box (6), the control box (5) is located on one side close to a front wheel system, the storage box (6) is located on one side close to a rear wheel system, the control box (5) and the storage box (6) are both embedded into the inner side of the top of the automobile body (1), and the outer side of the top of the automobile body (1) is fixedly connected with a raised frame (4).

3. An obstacle-surmounting trolley according to claim 2, characterized in that: rear wheel system includes after-poppet (7), rear wheel, the rear wheel system passes through after-poppet (7) fixed connection in one side of railway carriage main part (1), the top fixed connection of after-poppet (7) is in the periphery at the top of railway carriage main part (1), the rear wheel sets up in pairs, and is in same level with the initial position of drive wheel (10), the rear wheel is unanimous with drive wheel (10) size shape.

4. An obstacle-surmounting trolley according to claim 3, characterized in that: the bottom of the wagon box body (1) is provided with a lifting bottom plate (8), one end of the lifting bottom plate (8) is hinged to the inner side of the bottom of the wagon box body (1), and a module space is arranged in the interior, located on the wagon box body (1), of the top of the lifting bottom plate (8).

5. An obstacle crossing trolley as claimed in claim 4, wherein: the internally mounted of railway carriage main part (1) has bluetooth module (15), be connected with PLC controller (13) on bluetooth module (15), PLC controller (13), bluetooth module (15) are all installed inside railway carriage main part (1), high accuracy angle sensor (14) are installed to the junction at fore-stock (11) top, high accuracy angle sensor (14) are connected in PLC controller (13).

6. An obstacle crossing trolley according to claim 5, wherein: the top of the wagon box body (1) is located at the frame (4) and is fixedly connected with the infrared height sensor (3), and the infrared height sensor (3) is connected to the PLC (13).

7. An obstacle crossing trolley according to claim 6, wherein: the automobile rear wheel driving device is characterized in that a high-definition camera (2) is fixedly mounted on a side wall between front wheel systems on the automobile box body (1), the bottom of the high-definition camera (2) is fixedly connected with a gravity balance ball (16), and two ends of the high-definition camera (2) are rotatably connected inside the automobile box body (1).