CN114044072B - Large obstacle-crossing high-speed moving device - Google Patents
Large obstacle-crossing high-speed moving device Download PDFInfo
- Publication number
- CN114044072B CN114044072B CN202111386581.3A CN202111386581A CN114044072B CN 114044072 B CN114044072 B CN 114044072B CN 202111386581 A CN202111386581 A CN 202111386581A CN 114044072 B CN114044072 B CN 114044072B
- Authority
- CN
- China
- Prior art keywords
- driving
- rocker arm
- shaft
- joint
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention belongs to the technical field of space detection, and particularly relates to a large obstacle-surmounting high-speed moving device which comprises a driving support, wherein two-way damping rocker arms are respectively arranged on the left side and the right side of the driving support, wheel assemblies are respectively connected with the other ends of the two-way damping rocker arms on the two sides, the two-way damping rocker arms comprise a shell, a joint middle shaft and a joint inner shaft in a normal state, one end of the joint middle shaft is inserted in an inner cavity of the shell, a clockwise coil spring is connected between the outer end of the joint middle 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 middle shaft and the inner side of the joint middle shaft.
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 patrol detection of the extraterrestrial celestial body, the cost is low, and the unmanned mobile device is safer, so that the unmanned mobile device is used for patrol detection of 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 performances.
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 bidirectional damping rocker arms are mounted on the left side and the right side of the driving support, wheel assemblies are connected to the other ends of the bidirectional 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, each bidirectional damping rocker arm comprises a shell, a joint center shaft and a joint inner shaft, one end of the joint center shaft is inserted into the inner cavity of the shell, a clockwise coil spring is connected between the outer end of the joint center shaft and the inner side of the shell, one end of the joint inner shaft is inserted into the inner cavity of the joint center shaft, a counterclockwise coil spring is connected between the outer side of the joint center shaft and the inner side of the joint center shaft, the other end of the joint center shaft is connected with the damping rocker arm, and the other end of the damping rocker arm is connected with the wheel assemblies;
the driving support comprises a basic frame, the bidirectional damping rocker arm further comprises a driven assembly, the driven assembly comprises a second driving wheel and a second driving belt, the wheel assembly comprises a driving shaft and a rocker shaft, the outer end of the driving shaft is sleeved with a driven assembly, the driven assembly comprises a third driving wheel, the third driving wheel is connected with the second driving wheel through the second driving belt, the driving assembly is mounted on the front side and the rear side of the top of the basic frame, the driving assembly is mounted on the left side and the right side of the top of the basic frame, the driving assembly transmits kinetic energy to the driving shaft through the driving assembly, the driven assembly and the driven assembly in sequence, an outer shaft is further sleeved on the outer side of the driving shaft, and wheels are sleeved on the outer side of the outer shaft.
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, a cover plate is arranged on the outer side of the basic frame, solar panels are mounted on the upper side and the lower side 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.
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 support, 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, 2-17 second driving wheel, 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, 3-3 rocker arm shaft, 3-5 outer shaft, 3-8 wheel and 3-13 third driving wheel.
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, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to 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.
The first forward limiting end cover 2-13a is mounted on the body of the shell 2-8, the second forward limiting end cover 2-12a and the first reverse limiting end cover 2-13b are mounted on the 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 the phenomenon that the elastic potential energy stored in the clockwise coil spring 2-26a is too large, the clockwise coil spring 2-26a is protected, the second reverse limiting end cover 2-12b and the second forward limiting end cover 2-12a can protect the counterclockwise coil spring 2-26b, the second forward limiting end cover 2-12b and the second reverse limiting end cover 2-12b correspond to the first reverse limiting end cover 2-12b and the reverse limiting end cover 13 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, a first dustproof shell 2-19 is connected to the side surfaces of the first rocker arm 2-14 and the third rocker arm 2-15, a closed space is defined by the first dustproof shell 2-19, the first rocker arm 2-14 and the third rocker arm 2-15, and then a dustproof effect can be achieved, a second dustproof shell 2-20 is connected to the side surfaces of the second rocker arm 2-16 and the third rocker arm 2-15, and a closed space is defined by the second dustproof shell 2-20, the second dustproof shell 2-16 and the third rocker arm 2-15, and then a dustproof effect can be achieved.
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 to the body of the basic frame, a cover plate is arranged on the outer side of the basic frame, the cover plate comprises upper and lower flat cover plates 1-6, left and right side cover plates 1-7 and front and rear arc cover plates 1-9, solar panels are respectively arranged on the upper side of the upper flat cover plate 1-6 and the lower side of the lower flat cover plate 1-6, batteries 1-29 and controllers 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 panels are used for converting solar energy and charging the batteries 1-29, the controllers 1-30 are used for controlling the driving assembly 1-0-20 and the vision camera 1-28, the batteries 1-29 are used for providing electric energy for the camera vision camera 1-28, the vision camera for collecting external vision camera information, a transparent camera is arranged on the front side and arranged on the rear side of the transparent camera, and the transparent camera is arranged on the rear side of the transparent camera 1-28.
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 synchronous wheels or chain wheels, when the first transmission wheels 1-24 are synchronous 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 inner baffles 1-20 and outer baffles 1-16, the first transmission belts 1-10 can be prevented from falling off through the inner baffles 1-20 and the outer baffles 1-16, the first transmission belts 1-25 are respectively driven by the first transmission wheels 1-25, the left side and the outer baffles 1-25 are respectively connected with the first transmission wheels 1-17 through the first transmission wheels 1-17, the first transmission wheels 1-25 are driven by the first transmission wheels 1-17 to rotate, a 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 outer shell 2-8, the joint middle shaft 2-6 and the joint inner shaft 2-3, a third sleeve 2-2 is sleeved outside the second synchronous wheel shaft 1-15, a third double bearing 2-22 is sleeved outside the third sleeve 2-2, the outer end of the third double bearing 2-22 is connected with the inner cavity wall of a point 2-3 in the joint inner shaft, the third double bearings 2-22 are axially limited through a third sleeve 2-2, bearing shafts 1-26 are arranged between a first synchronous wheel shaft 1-25 and a first transmission wheel 1-24, the outer ends of the parts, extending out of the first transmission wheel 1-24, of the bearing shafts 1-26 are sleeved with inner bearing retainer rings 1-27, bearings 1-22 are sleeved outside the inner bearing retainer rings 1-27, outer bearing retainer rings 1-23 are sleeved outside the bearings 1-22, a base frame body is welded with bottom plates 1-5, the lower ends of driving assemblies 1-0-20 are provided with motor supports 1-19, the lower ends of driving assemblies 1-0-30 are provided with driving supports 1-21, the lower ends of the driving supports 1-21 are provided with speed reducer supports 1-12, the motor supports 1-19 and the speed reducer supports 1-12 are both fixed on the bottom plates 1-5, the outer bearing retainer rings 1-23 are fixedly connected with the driving supports 1-21, the cross sections of the outer bearing retainer rings 1-23 and the inner bearing retainer rings 1-27 are both in an L shape, the bearings 1-22 can be prevented from moving in the axial direction by the limitation of the bearing outer retainer rings 1-23 and the bearing inner retainer rings 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 driving belt, 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 driving belt 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 and 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, the third driving wheel 3-13 is positioned in a second dustproof shell 2-20, a second rocker arm 2-16 and a third rocker arm 2-15 to enclose a closed space, a first limit end cover 2-21 is respectively arranged on the left side and the right side of the second driving wheel 2-17, a second limit end cover 3-12 is respectively arranged on the left side and the right side of the third driving wheel 3-13, the second limit end cover 2-21 can prevent the second driving belt from falling off, 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, a wheel 3-8 is sleeved on the outer side of the outer shaft 3-3, a fourth sleeve 3-4 is sleeved on the outer side of the rocker shaft 3-3, a fourth bearing 3-10 is respectively sleeved on the inner cavity wall and a fourth bearing 3-10, a fourth bearing 3-10, a fourth bearing is respectively mounted on the inner cavity wall and a fourth bearing 3-10-3-10, a fourth bearing for preventing the inner cavity from jumping, one end of a driving shaft 3-1 is connected with a flange 3-9, the flange 3-9 is fixedly connected with an outer shaft 3-5, a rocker shaft 3-3 is fixedly connected with a second rocker arm 2-16, a fifth sleeve 3-2 is sleeved on the outer side of the driving shaft 3-1, a fifth double bearing 3-13 is sleeved on the outer side of the fifth sleeve 3-2, the outer side of the fifth double bearing 3-13 is attached to the inner cavity wall of the rocker shaft 3-3, one side of the fifth sleeve 3-2 is attached to the flange 3-9, a third end cover 3-6 is installed on the other side of the fifth sleeve 3-2, 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 axial movement.
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 wheels, 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, the third driving wheels 3-13 drive the driving shafts 3-1 to rotate, the driving shafts 3-1 drive the outer shafts 3-5 to rotate through the flanges 3-9, the outer shafts 3-5 drive the wheels 3-8 to rotate, the device can move through the controllers 1-30 to control the rotation speed of the wheels 3-8 to change the left or right rotation speed of the device to rotate;
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 can drive the clockwise coil springs 2-26a to contract clockwise, elastic potential energy can be stored when the clockwise coil springs 2-26a contract, and then the vibration amplitude is reduced.
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 (4)
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 mounted 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 middle shaft (2-6) and a joint inner shaft (2-3), one end of the joint middle shaft (2-6) is inserted into an inner cavity of the shell (2-8), a clockwise coil spring (2-26 a) is connected between the outer end of the joint middle shaft (2-6) and the inner side of the joint middle shaft (2-6), a coil spring (2-26 b) is connected between the outer side of the joint middle shaft (2-6), the other end of the joint inner shaft (2-3) is connected with the damping rocker arm, and the other end of the damping rocker arm is connected with the wheel assembly (3);
the driving support (1) comprises a basic frame, the bidirectional damping rocker arm (2) further comprises a driven assembly, the driven assembly comprises a second driving wheel (2-17) and a second driving belt, the wheel assembly (3) comprises a driving shaft (3-1) and a rocker arm 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 the second driving wheel (2-17) through the second driving belt, driving assemblies (1-0-20) are mounted on the front side and the rear side of the upper portion of the basic frame, driving assemblies (1-0-30) are mounted on the left side and the right side of the upper portion of the basic frame, the driving assemblies (1-0-20) transmit kinetic energy to the driving shaft (3-1) through the driving assemblies (1-0-30), the driven assemblies and the driven assemblies, outer shaft (3-1) is further sleeved with an outer shaft (3-5), and wheels (3-8) are sleeved on the outer side of the outer shaft (3-5).
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 (2-13 a) is installed on a body of the shell (2-8), a second forward limiting end cover (2-12 a) and a first reverse limiting end cover (2-13 b) are installed on a body of the joint middle shaft (2-6), the first forward limiting end cover (2-13 a) corresponds to the second forward limiting end cover (2-12 a), a second reverse limiting end cover (2-12 b) is installed on a body of the joint inner shaft (2-3), and the first reverse limiting end cover (2-13 b) 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), a first dustproof shell (2-19) is connected to the side surfaces of the first rocker arm (2-14) and the third rocker arm (2-15), and a second dustproof shell (2-20) is connected to the side surfaces of the second rocker arm (2-16) and the third rocker arm (2-15).
4. A large obstacle crossing high speed moving apparatus according to claim 1, wherein: the solar camera is characterized in that 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 visual camera (1-28) is mounted on the front side of the basic frame.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021110320415 | 2021-09-03 | ||
| CN202111032041 | 2021-09-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114044072A CN114044072A (en) | 2022-02-15 |
| CN114044072B true CN114044072B (en) | 2023-03-24 |
Family
ID=80210197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111386581.3A Active CN114044072B (en) | 2021-09-03 | 2021-11-22 | Large obstacle-crossing high-speed moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044072B (en) |
Family Cites Families (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 |
| CN106112957B (en) * | 2016-07-25 | 2018-11-13 | 南京理工大学 | A kind of two-sided traveling reconnaissance robot |
| CN106114669B (en) * | 2016-07-29 | 2018-11-20 | 中国科学院合肥物质科学研究院 | A kind of swinging arm wheeled type unmanned ground vehicle |
| JP6909051B2 (en) * | 2016-09-06 | 2021-07-28 | 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 |
-
2021
- 2021-11-22 CN CN202111386581.3A patent/CN114044072B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114044072A (en) | 2022-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203186345U (en) | Electric power tunnel wireless mobile video routing inspection robot structure | |
| CN208746112U (en) | Hang the full landform peddrail mobile robot of tactful adjust automatically | |
| CN201189913Y (en) | Omnidirectional motion simplification mechanism of spherical robot | |
| CN101423074B (en) | Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction | |
| CN202622792U (en) | Novel differential drive composite adsorption type wall-climbing robot | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN102910203A (en) | Wheel-type differential driving-steering device with changeable mounting height | |
| CN101229833A (en) | Structure-simplified omnidirectional moving spherical robot | |
| CN105383582A (en) | Swinging arm type unmanned four-wheel driving platform | |
| CN216508670U (en) | Suspension damping tracked robot chassis | |
| CN202608930U (en) | Composite magnetic adsorption type video detection wall climbing robot | |
| CN108730393B (en) | Double-connecting-rod type energy feedback shock absorber | |
| CN105564499A (en) | Construction of chassis of distribution-type driven electric vehicle | |
| CN210555241U (en) | Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot | |
| CN214823748U (en) | Four-wheel independent drive omnidirectional mobile platform | |
| CN114044072B (en) | Large obstacle-crossing high-speed moving device | |
| CN201677944U (en) | Wheel leg composite type mobile robot platform | |
| CN210680308U (en) | Suspension system and robot comprising same | |
| CN201980012U (en) | Deformable walking mechanism | |
| CN108301664B (en) | Small differential gear train type stereo garage | |
| CN102642572A (en) | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism | |
| CN205203189U (en) | Unmanned 4 wheel driven platform of swing arm formula | |
| CN213676881U (en) | Suspension steering device | |
| CN208760707U (en) | A kind of 4 wheel driven independent steering gear | |
| CN212353598U (en) | Heavy-load omnidirectional driving wheel set with hanging function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |