CN114044072A - Large obstacle-crossing high-speed moving device - Google Patents
Large obstacle-crossing high-speed moving device Download PDFInfo
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- CN114044072A CN114044072A CN202111386581.3A CN202111386581A CN114044072A CN 114044072 A CN114044072 A CN 114044072A CN 202111386581 A CN202111386581 A CN 202111386581A CN 114044072 A CN114044072 A CN 114044072A
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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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
The invention belongs to the technical field of space detection, in particular to a large obstacle-surmounting high-speed moving device which comprises a driving bracket, the left side and the right side of the driving bracket are both provided with bidirectional damping rocker arms, the other ends of the bidirectional damping rocker arms on the two sides are both connected with wheel assemblies, under a normal state, the bidirectional damping rocker arm comprises a shell, a joint middle shaft and a joint inner shaft, one end of the joint middle shaft is inserted in an inner cavity of the shell, and a clockwise coil spring is connected between the outer end of the joint inner shaft and the inner side of the shell, one end of the joint inner shaft is inserted in the inner cavity of the joint middle shaft, and a counterclockwise coil spring is connected between the outer side of the device and the inner side of the joint center shaft, the device adopts a symmetrical vehicle body design, so that the double sides of the vehicle body of the device can normally run, and the device has super-strong overturning adaptability, even the body overturns, the walking device can still continue to walk, so that the walking device can reliably run on any complex unknown road surface.
Description
Technical Field
The invention relates to the technical field of space detection, in particular to a large obstacle-crossing high-speed moving device.
Background
The environment with severe space and the complex and unknown terrain of the extraterrestrial celestial body are the biggest difficulties faced by the extraterrestrial celestial body detection. Compared with the manned space detection, the unmanned mobile device is used for patrolling and detecting the extraterrestrial celestial body, the cost is low, the unmanned mobile device is safer, and therefore the unmanned mobile device is used for patrolling and detecting the extraterrestrial celestial body, and the unmanned mobile device is one of the main modes of space detection.
The moving speed of the traditional planet moving detection device is limited, and in order to guarantee the safety and the stability of driving, the moving speed is lower. For example, the American Mars vehicle, the Chinese rabbit and the like are all six-wheel rocker arm suspensions, and the moving speed is low in order to ensure the driving safety. With the continuous development of the planet detection, the facing task is more complex and diversified. High speed movement is one of the necessary properties.
However, in the existing planet movement detection device, when the planet movement detection device moves at a high speed on an unknown road surface and passes through a high obstacle under the environment of uneven road surface and low gravity of an extraterrestrial celestial body, the planet movement detection device is easy to overturn, so that a high-speed movement device capable of passing through the high obstacle is required.
Disclosure of Invention
The invention aims to provide a large obstacle-crossing high-speed moving device to solve the problem that the existing planet moving detection device in the background technology cannot move at high speed.
In order to achieve the purpose, the invention provides the following technical scheme: a large obstacle crossing high-speed moving device comprises a driving support, wherein two-way damping rocker arms are arranged on the left side and the right side of the driving support, wheel assemblies are connected with the other ends of the two-way damping rocker arms on the two sides, the vertical distance from the highest point of the wheel assemblies on the two sides to the upper surface of the driving support is equal to the vertical distance from the lowest point of the wheel assemblies on the two sides to the lower surface of the driving support in a normal state, the bidirectional damping rocker arm comprises a shell, a joint middle shaft and a joint inner shaft, one end of the joint middle shaft is inserted in an inner cavity of the shell, and a clockwise coil spring is connected between the outer end of the joint inner shaft and the inner side of the shell, one end of the joint inner shaft is inserted in the inner cavity of the joint middle shaft, and a counterclockwise coil spring is connected between the outer side of the joint inner shaft and the inner side of the joint middle shaft, the other end of the joint inner shaft is connected with a damping rocker arm, and the other end of the damping rocker arm is connected with a wheel assembly.
Preferably, a first forward limiting end cover is installed on the body of the shell, a second forward limiting end cover and a first reverse limiting end cover are installed on the body of the joint center shaft, the first forward limiting end cover corresponds to the second forward limiting end cover, a second reverse limiting end cover is installed on the body of the joint inner shaft, and the first reverse limiting end cover corresponds to the second reverse limiting end cover.
Preferably, the shock attenuation rocking arm includes rocking arm and No. two rocking arms, be connected with No. three rocking arms between rocking arm and the No. two rocking arms, the side of rocking arm and No. three rocking arms is connected with dust cover No. one, the side of No. two rocking arms and No. three rocking arms is connected with dust cover No. two.
Preferably, the driving support comprises a basic frame, a cover plate is arranged on the outer side of the basic frame, solar panels are mounted on the upper and lower sides of the outer side of the cover plate, a battery and a controller are mounted on the body of the basic frame, and a vision camera is mounted on the front side of the basic frame.
Preferably, drive assembly is all installed to the side around the top of basic frame, drive assembly is all installed to the top left and right sides of basic frame, two-way shock attenuation rocking arm still includes driven subassembly, the wheel subassembly includes the drive shaft, passive subassembly is established to the outer pot head of drive shaft, drive assembly loops through drive assembly, driven subassembly and passive subassembly and gives the drive shaft with kinetic energy transmission, the outside of drive shaft still is equipped with the outer axle, the outside cover of outer axle is equipped with the wheel.
Compared with the prior art, the invention has the beneficial effects that:
1) the device adopts a symmetrical vehicle body design, so that two sides of a vehicle body of the device can normally run, the device has super-strong overturning adaptability, and the device can continue to run even if the body is overturned, so that the device can reliably run on any complex unknown road surface;
2) the two-way shock attenuation rocking arm of this device passes through elasticity, the friction damping of coil spring for this device has good damping performance, and through utilizing two sets of coil springs, and then makes this device positive and negative upwards all can possess good damping performance, and then makes this device have very strong topography adaptability and the equilibrium of traveling.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a driving bracket according to the present invention;
FIG. 3 is a schematic view of the internal structure of the driving bracket of the present invention;
FIG. 4 is a schematic view of a driving assembly according to the present invention;
FIG. 5 is a schematic view of the transmission assembly of the present invention;
FIG. 6 is a schematic top view cross-sectional structural view of a bi-directional shock absorbing rocker arm of the present invention;
FIG. 7 is a schematic view of a clockwise coil spring configuration of the present invention;
fig. 8 is a schematic cross-sectional view of the wheel assembly of the present invention.
In the figure: 1 driving bracket, 1-28 vision camera, 1-29 battery, 1-30 controller, 1-0-20 driving component, 1-0-30 transmission component, 2 bidirectional damping rocker arm, 2-3 joint inner shaft, 2-6 joint middle shaft, 2-8 outer shell, 2-12a second forward limit end cover, 2-12b second reverse limit end cover, 2-13b first reverse limit end cover, 2-13a first forward limit end cover, 2-14 first rocker arm, 2-15 third rocker arm, 2-16 second rocker arm, 2-19 first dustproof outer shell, 2-20 second dustproof outer shell, 2-26a clockwise coil spring, 2-26b anticlockwise coil spring, 3 wheel component, 3-1 driving shaft, 3-5 outer shaft, 3-8 wheels.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example (b):
referring to fig. 1-8, the present invention provides a technical solution: a big obstacle-crossing high-speed moving device comprises a driving support 1, wherein two-way damping rocker arms 2 are arranged on the left side and the right side of the driving support 1, wheel assemblies 3 are connected to the other ends of the two-way damping rocker arms 2 on the two sides, the two-way damping rocker arms 2 are parallel to the driving support 1 in a normal state, the vertical distance from the highest points of the two-way damping rocker arms 3 to the upper surface of the driving support 1 is equal to the vertical distance from the lowest points of the two-way damping rocker arms 3 to the lower surface of the driving support 1, each two-way damping rocker arm 2 comprises a shell 2-8, a joint center shaft 2-6 and a joint inner shaft 2-3, one end of the joint center shaft 2-6 is inserted into an inner cavity of the shell 2-8, a clockwise coil spring 2-26a is connected between the outer end of the shell 2-8, and a first sleeve 2-9 is sleeved on the outer side of the joint center shaft 2-6, the first double bearings 2-24 are sleeved on the outer sides of the first sleeves 2-9, the outer sides of the first double bearings 2-24 are attached to the cavity wall of an inner cavity of the shell 2-8, the left side and the right side of the first sleeves 2-9 are respectively provided with a first bearing cover 2-11 and a second bearing cover 2-10, the first double bearings 2-24 can be prevented from moving in the axial direction through the limitation of the first bearing covers 2-11, the second bearing covers 2-10 and the first sleeves 2-9, one end, close to the driving support 1, of the shell 2-8 is fixedly connected with the driving support 1, when the joint center shaft 2-6 rotates clockwise, the joint center shaft 2-6 rotates clockwise to contract clockwise coil springs 2-26a, at the moment, the clockwise coil springs 2-26a can store elastic potential energy, and because the clockwise coil springs 2-26a can only contract under normal state, therefore, a set of one-way elastic mechanism can be formed among the joint middle shaft 2-6, the clockwise coil spring 2-26a and the shell 2-8, one end of the joint inner shaft 2-3 is inserted in the inner cavity of the joint middle shaft 2-6, the outer side of the joint inner shaft 2-3 is connected with the anticlockwise coil spring 2-26b with the inner side of the joint middle shaft 2-6, the outer side of the joint inner shaft 2-3 is sleeved with a second sleeve 2-5, the outer side of the second sleeve 2-5 is sleeved with a second double bearing 2-23, the outer side of the second double bearing 2-23 is attached to the inner cavity wall of the joint middle shaft 2-6, the left side and the right side of the second sleeve 2-5 are respectively provided with a third bearing cover 2-4 and a fourth bearing cover 2-7, and limited by the second sleeve 2-5, the third bearing cover 2-4 and the fourth bearing cover 2-7, the situation that the second-number double bearings 2-23 move in the axial direction can be avoided, when the joint inner shaft 2-3 rotates anticlockwise, the joint inner shaft 2-3 rotates anticlockwise to contract the anticlockwise coil springs 2-26b, at the moment, the anticlockwise coil springs 2-26b can store elastic potential energy, and because the anticlockwise coil springs 2-26b can only contract in a normal state, the joint middle shaft 2-6, the anticlockwise coil springs 2-26b and the joint inner shaft 2-3 can form a second set of one-way elastic mechanism, the other end of the joint inner shaft 2-3 is connected with a damping rocker arm, the other end of the damping rocker arm is connected with the wheel assembly 3, when the wheel assembly 3 of the device generates vibration amplitude, the wheel assembly 3 drives the joint inner shaft 2-3 to rotate through the damping rocker arm, when the joint inner shaft 2-3 rotates anticlockwise, when the joint inner shaft 2-3 rotates clockwise, the joint inner shaft 2-3 drives the joint middle shaft 2-6 to rotate clockwise through the anticlockwise coil springs 2-26b, at the moment, the joint middle shaft 2-6 drives the clockwise coil springs 2-26a to contract, and the clockwise coil springs 2-26a contract to reduce the vibration amplitude.
A first forward limiting end cover 2-13a is arranged on a body of the shell 2-8, a second forward limiting end cover 2-12a and a first reverse limiting end cover 2-13b are arranged on a body of the joint middle shaft 2-6, the first forward limiting end cover 2-13a corresponds to the second forward limiting end cover 2-12a, the joint middle shaft 2-6 can drive the second forward limiting end cover 2-12a to rotate, when the second forward limiting end cover 2-12a touches the first forward limiting end cover 2-13a, the first forward limiting end cover 2-13a can prevent the second forward limiting end cover 2-12a from rotating and further limit the joint middle shaft 2-6 from rotating, so that overlarge elastic potential energy stored in the clockwise coil spring 2-26a can be avoided, and the function of protecting the clockwise coil spring 2-26a is further achieved, similarly, the second reverse limiting end cover 2-12b and the second forward limiting end cover 2-12a can protect the anticlockwise coil spring 2-26b, the second reverse limiting end cover 2-12b is installed on the body of the joint inner shaft 2-3, and the first reverse limiting end cover 2-13b corresponds to the second reverse limiting end cover 2-12 b.
The damping rocker arm comprises a first rocker arm 2-14 and a second rocker arm 2-16, a third rocker arm 2-15 is connected between the first rocker arm 2-14 and the second rocker arm 2-16, the first rocker arm 2-14 and the second rocker arm 2-16 are parallel to each other, the third rocker arm 2-15 and the first rocker arm 2-14 are perpendicular to each other, the side surfaces of the first rocker arm 2-14 and the third rocker arm 2-15 are connected with a first dustproof shell 2-19, the first rocker arm 2-14 and the third rocker arm 2-15 enclose a closed space, and further play a dustproof role, the side surfaces of the second rocker arm 2-16 and the third rocker arm 2-15 are connected with a second dustproof shell 2-20, the second rocker arm 2-16 and the third rocker arm 2-15 enclose a closed space, thereby playing a role of dust prevention.
The driving support 1 comprises a basic frame, the basic frame comprises a long square tube 1-1, a middle square tube 1-2, a short square tube 1-3 and an arc tube 1-8, the long square tube 1-1, the middle square tube 1-2, the short square tube 1-3 and the arc tube 1-8 are welded to form the basic frame, a suspension seat is welded on the body of the basic frame, a cover plate is arranged on the outer side of the basic frame, the cover plate comprises a flat cover plate 1-6 on the upper side and the lower side, a side cover plate 1-7 on the left side and the right side and an arc cover plate 1-9 on the front side and the rear side, a solar cell panel is arranged on the upper side of the flat cover plate 1-6 on the upper side and on the lower side, a battery 1-29 and a controller 1-30 are arranged on the body of the basic frame, a vision camera 1-28 is arranged on the front side of the basic frame, the solar cell panel is used for converting solar energy and charging the battery 1-29, the controller 1-30 is used for controlling the driving assembly 1-0-20 and the vision camera 1-28, the battery 1-29 is used for providing electric energy for the driving assembly 1-0-20 and the vision camera 1-28, the vision camera 1-28 is used for collecting image information from the outside, a transparent observation window is arranged on the front side arc cover plate 1-9 body, and the vision camera 1-28 is located on the rear side of the transparent observation window.
The front side and the rear side above the basic frame are respectively provided with a driving component 1-0-20, the left side and the right side above the basic frame are respectively provided with a transmission component 1-0-30, the driving components 1-0-20 comprise driving motors 1-18 and gear reducers 1-17, the transmission components 1-0-30 comprise a first transmission belt 1-10 and two first transmission wheels 1-24, the two first transmission wheels 1-24 are transmitted through the first transmission belt 1-10, the first transmission wheels 1-24 are synchronizing wheels or chain wheels, when the first transmission wheels 1-24 are synchronizing wheels, the first transmission belt 1-10 is a synchronous belt, when the first transmission wheels 1-24 are chain wheels, the first transmission belt 1-10 is a chain, the left side and the right side of the first transmission wheels 1-24 are respectively provided with an inner baffle 1-20 and an outer baffle 1-16, the first transmission belt 1-10 can be prevented from falling off through the inner baffle plate 1-20 and the outer baffle plate 1-16, the first transmission wheel 1-24 is provided with a first synchronous wheel shaft 1-25 on the inner side, the left side and the right side are respectively provided with a first synchronous wheel shaft 1-25 which is respectively connected with different gear reducers 1-17, the driving motor 1-18 drives the first synchronous wheel shaft 1-25 to rotate through the gear reducers 1-17, the first synchronous wheel shaft 1-25 drives the first transmission wheel 1-24 to rotate, the first transmission wheel 1-24 drives the other first transmission wheel 1-24 to rotate through the first transmission belt 1-10, the first transmission wheel 1-24 drives the first synchronous wheel shaft 1-25 connected with the first transmission wheel to rotate, the second synchronous wheel shaft 1-15 is inserted in the inner cavity of the first synchronous wheel shaft 1-25, the second synchronous wheel shaft 1-15 penetrates through the shell 2-8, the joint middle shaft 2-6 and the joint inner shaft 2-3, the third sleeve 2-2 is sleeved on the outer side of the second synchronous wheel shaft 1-15, the third double bearing 2-22 is sleeved on the outer side of the third sleeve 2-2, the outer end of the third double bearing 2-22 is connected with the cavity wall of an inner cavity at the point 2-3 of the joint inner shaft, the third double bearing 2-22 is axially limited through the third sleeve 2-2, a bearing shaft 1-26 is arranged between the first synchronous wheel shaft 1-25 and the first transmission wheel 1-24, the outer end of the part of the bearing shaft 1-26 extending out of the first transmission wheel 1-24 is sleeved with a bearing inner retainer ring 1-27, the outer side of the bearing inner retainer ring 1-27 is sleeved with a bearing 1-22, the outer side of the bearing 1-22 is sleeved with a bearing outer retainer ring 1-23, the basic framework is characterized in that a base plate 1-5 is welded on a body of the basic framework, a motor support 1-19 is arranged at the lower end of a driving assembly 1-0-20, a transmission support 1-21 is arranged at the lower end of a transmission assembly 1-0-30, a speed reducer support 1-12 is arranged at the lower end of the transmission support 1-21, the motor support 1-19 and the speed reducer support 1-12 are both fixed on the base plate 1-5, an outer bearing retainer ring 1-23 is fixedly connected with the transmission support 1-21, the cross sections of the outer bearing retainer ring 1-23 and an inner bearing retainer ring 1-27 are both L-shaped, and the bearing 1-22 can be prevented from moving in the axial direction by the limitation of the outer bearing retainer ring 1-23 and the inner bearing retainer ring 1-27;
the bidirectional damping rocker arm 2 further comprises a driven assembly, the driven assembly comprises a second driving wheel 2-17 and a second transmission belt 2-25, the second driving wheel 2-17 is positioned in a closed space defined by a first dustproof shell 2-19, a first rocker arm 2-14 and a third rocker arm 2-15, the second driving wheel 2-17 is a synchronous wheel, the second transmission belt 2-25 is a synchronous belt, a fourth sleeve 2-1 is arranged on the inner side of the second driving wheel 2-17, the outer side of the fourth sleeve 2-1 is fixedly connected with the outer side of a second synchronous wheel shaft 1-15, and the second driving wheel 2-17 is axially limited through the fourth sleeve 2-1;
the wheel assembly 3 comprises a driving shaft 3-1 and a rocker shaft 3-3, a driven assembly is sleeved at the outer end of the driving shaft 3-1, the driven assembly comprises a third driving wheel 3-13, the third driving wheel 3-13 is connected with a second driving wheel 2-17 through a second driving belt 2-25, the third driving wheel 3-13 is positioned in a closed space defined by a second dustproof shell 2-20, a second rocker arm 2-16 and a third rocker arm 2-15, a first limiting end cover 2-21 is arranged on the left side and the right side of the second driving wheel 2-17, a second limiting end cover 3-12 is arranged on the left side and the right side of the third driving wheel 3-13, the second driving belt 2-25 can be prevented from falling through the first limiting end cover 2-21, and the driving assembly 1-0-20 sequentially passes through the driving assemblies 1-0-30, Kinetic energy is transmitted to a driving shaft 3-1 by a driven assembly and a driven assembly, an outer shaft 3-5 is further sleeved on the outer side of the driving shaft 3-1, wheels 3-8 are sleeved on the outer side of the outer shaft 3-5, a fourth sleeve 3-4 is sleeved on the outer side of a rocker shaft 3-3, a fourth double bearing 3-10 is sleeved on the outer side of the fourth sleeve 3-4, the outer end of the fourth double bearing 3-10 is attached to the inner cavity wall of the outer shaft 3-5, a first end cover 3-6 and a second end cover 3-7 are respectively mounted on the left side and the right side of the fourth double bearing 3-10, the fourth double bearing 3-10 is limited through the fourth sleeve 3-4, the first end cover 3-6 and the second end cover 3-7, therefore the fourth double bearing 3-10 is prevented from jumping in the axial direction, a flange 3-9 is connected to one end of the driving shaft 3-1, the flange 3-9 is fixedly connected with the outer shaft 3-5, the rocker shaft 3-3 is fixedly connected with the second rocker arm 2-16, the outer side of the driving shaft 3-1 is sleeved with the fifth sleeve 3-2, the outer side of the fifth sleeve 3-2 is sleeved with the fifth double bearing 3-13, the outer side of the fifth double bearing 3-13 is attached to the cavity wall of the inner cavity of the rocker shaft 3-3, one side of the fifth sleeve 3-2 is attached to the flange 3-9, the other side of the fifth sleeve 3-2 is provided with the third end cover 3-6, and the fifth double bearing 3-13 is limited through the fifth sleeve, the third end cover 3-6 and the flange 3-9, so that the fifth double bearing 3-13 is prevented from axially moving.
The working principle is as follows: when the device works, the driving motors 1-18 are started, the driving motors 1-18 drive the first synchronous wheel shafts 1-25 connected with the driving motors to rotate through the gear reducers 1-17, the first synchronous wheel shafts 1-25 drive the first driving wheels 1-24 connected with the driving motors to rotate, the first driving wheels 1-24 drive the second driving wheels 1-24 to rotate through the first driving belts 1-10, the first driving wheels 1-24 drive the first synchronous wheel shafts 1-25 connected with the driving motors, the first synchronous wheel shafts 1-25 can drive the second synchronous wheel shafts 1-15 to rotate, the second synchronous wheel shafts 1-15 drive the second driving wheels 2-17 to rotate, the second driving wheels 2-17 drive the third driving wheels 3-13 to rotate through the second driving belts 2-25, and the third driving wheels 3-13 drive the driving shafts 3-1 to rotate, the driving shaft 3-1 drives the outer shaft 3-5 to rotate through the flange 3-9, the outer shaft 3-5 drives the wheels 3-8 to rotate, the wheels 3-8 rotate to enable the device to move, the rotating speed of the wheels 3-8 on two sides can be controlled through the controller 1-30, and then the rotating speed of the wheels 3-8 on two sides is changed to control the device to perform straight movement, left rotation or right rotation;
when the device runs in a normal state, when the wheel assembly 3 generates vibration amplitude, the wheel assembly 3 drives the joint inner shafts 2-3 to rotate clockwise through the damping rocker arms, the joint inner shafts 2-3 drive the joint middle shafts 2-6 to rotate clockwise through the anticlockwise coil springs 2-26b, the joint middle shafts 2-6 drive the clockwise coil springs 2-26a to contract clockwise, elastic potential energy is stored when the clockwise coil springs 2-26a contract, and further the vibration amplitude is reduced, when the device turns on one side, when the wheel assembly 3 generates vibration amplitude, the wheel assembly 3 drives the joint inner shafts 2-3 to rotate anticlockwise through the damping rocker arms, the anticlockwise coil springs 2-26b are driven to contract by the anticlockwise rotation of the joint inner shafts 2-3, and the elastic potential energy is stored when the anticlockwise coil springs 2-26b contract, thereby reducing the vibration amplitude.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a big high-speed mobile device that hinders more, includes drive support (1), its characterized in that: the bidirectional damping rocker arm comprises a driving support (1), wherein bidirectional damping rocker arms (2) are arranged on the left side and the right side of the driving support (1), the other ends of the bidirectional damping rocker arms (2) on the two sides are connected with wheel assemblies (3), the vertical distance from the highest point of the wheel assemblies (3) on the two sides to the upper surface of the driving support (1) is equal to the vertical distance from the lowest point of the wheel assemblies (3) on the two sides to the lower surface of the driving support (1) in a normal state, each bidirectional damping rocker arm (2) comprises a shell (2-8), a joint center shaft (2-6) and a joint inner shaft (2-3), one end of the joint center shaft (2-6) is inserted into an inner cavity of the shell (2-8), a clockwise coil spring (2-26a) is connected between the outer end of the joint center shaft and the inner side of the shell (2-8), one end of the joint inner shaft (2-3) is inserted into the inner cavity of the joint center shaft (2-6), and a counterclockwise coil spring (2-26b) is connected between the outer side of the middle shaft and the inner side of the joint middle shaft (2-6), the other end of the joint inner shaft (2-3) is connected with a damping rocker arm, and the other end of the damping rocker arm is connected with the wheel assembly (3).
2. A large obstacle crossing high speed moving apparatus according to claim 1, wherein: the joint middle shaft structure is characterized in that a first forward limiting end cover (2-13a) is installed on a body of the shell (2-8), a second forward limiting end cover (2-12a) and a first reverse limiting end cover (2-13b) are installed on a body of the joint middle shaft (2-6), the first forward limiting end cover (2-13a) corresponds to the second forward limiting end cover (2-12a), the second reverse limiting end cover (2-12b) is installed on a body of the joint inner shaft (2-3), and the first reverse limiting end cover (2-13b) corresponds to the second reverse limiting end cover (2-12 b).
3. A large obstacle crossing high speed moving apparatus according to claim 1, wherein: the damping rocker arm comprises a first rocker arm (2-14) and a second rocker arm (2-16), a third rocker arm (2-15) is connected between the first rocker arm (2-14) and the second rocker arm (2-16), the side faces of the first rocker arm (2-14) and the third rocker arm (2-15) are connected with a first dustproof shell (2-19), and the side faces of the second rocker arm (2-16) and the third rocker arm (2-15) are connected with a second dustproof shell (2-20).
4. A large obstacle crossing high speed moving apparatus according to claim 1, wherein: the driving support (1) comprises a basic frame, a cover plate is arranged on the outer side of the basic frame, solar panels are mounted on the upper portion and the lower portion of the outer side of the cover plate, a battery (1-29) and a controller (1-30) are mounted on a body of the basic frame, and a vision camera (1-28) is mounted on the front side of the basic frame.
5. The large obstacle crossing high speed moving apparatus according to claim 4, wherein: the bidirectional damping rocker arm (2) comprises a driven assembly, a wheel assembly (3) comprises a driving shaft (3-1), a driven assembly is sleeved at the outer end of the driving shaft (3-1), the driving assembly (1-0-20) sequentially passes through the driving assembly (1-0-30), the driven assembly and the driven assembly to transmit kinetic energy to the driving shaft (3-1), an outer shaft (3-5) is further sleeved on the outer side of the driving shaft (3-1), and wheels (3-8) are sleeved on the outer side of the outer shaft (3-5).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021110320415 | 2021-09-03 | ||
| CN202111032041 | 2021-09-03 |
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| CN114044072A true CN114044072A (en) | 2022-02-15 |
| CN114044072B CN114044072B (en) | 2023-03-24 |
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| CN202111386581.3A Active CN114044072B (en) | 2021-09-03 | 2021-11-22 | Large obstacle-crossing high-speed moving device |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857001A (en) * | 2016-05-13 | 2016-08-17 | 北京理工大学 | Rocker arm wheeler |
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| CN106112957A (en) * | 2016-07-25 | 2016-11-16 | 南京理工大学 | A kind of two-sided traveling reconnaissance robot |
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| CN108459340A (en) * | 2018-01-31 | 2018-08-28 | 绵阳市维博电子有限责任公司 | Radiation detection robot |
| CN111240323A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Double-sided running mobile robot and control method thereof |
| CN211993003U (en) * | 2020-01-13 | 2020-11-24 | 北京理工大学 | Wheeled robot |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105857001A (en) * | 2016-05-13 | 2016-08-17 | 北京理工大学 | Rocker arm wheeler |
| CN106112957A (en) * | 2016-07-25 | 2016-11-16 | 南京理工大学 | A kind of two-sided traveling reconnaissance robot |
| CN106114669A (en) * | 2016-07-29 | 2016-11-16 | 中国科学院合肥物质科学研究院 | A kind of swinging arm wheeled type unmanned ground vehicle |
| JP2018042447A (en) * | 2016-09-06 | 2018-03-15 | シャープ株式会社 | Mobile vehicle |
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN207466821U (en) * | 2017-11-10 | 2018-06-08 | 北京三快在线科技有限公司 | Unmanned chassis and unmanned vehicle |
| CN108459340A (en) * | 2018-01-31 | 2018-08-28 | 绵阳市维博电子有限责任公司 | Radiation detection robot |
| CN111240323A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Double-sided running mobile robot and control method thereof |
| CN211993003U (en) * | 2020-01-13 | 2020-11-24 | 北京理工大学 | Wheeled robot |
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| CN114044072B (en) | 2023-03-24 |
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