CN114889722A - Mobile system device running on spliced curved surface - Google Patents
Mobile system device running on spliced curved surface Download PDFInfo
- Publication number
- CN114889722A CN114889722A CN202210657081.7A CN202210657081A CN114889722A CN 114889722 A CN114889722 A CN 114889722A CN 202210657081 A CN202210657081 A CN 202210657081A CN 114889722 A CN114889722 A CN 114889722A
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- CN
- China
- Prior art keywords
- swing arm
- frame
- wheel
- curved surface
- steering
- 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.)
- Pending
Links
- 239000000725 suspension Substances 0.000 claims abstract description 42
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 7
- 238000001125 extrusion Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Abstract
The invention discloses a mobile system device running on a spliced curved surface, which comprises: a frame; the number of the swing arm suspensions is three, and the three swing arm suspensions are respectively arranged on the front end of the frame and two side surfaces of the rear end of the frame; the middle part of the swing arm suspension is fixedly connected with the frame; the wheels are provided with a plurality of wheels and are respectively arranged at two end parts of the swing arm suspension; the wheel includes: the wheel hub motor is fixed at the center of the wheel skeleton and drives the wheel skeleton to rotate; the hub motor is connected with the swing arm suspension; a plurality of steering arms are arranged and are respectively fixed at two end parts of the swing arm suspension; the steering arm includes: a steering motor and a connecting arm; the fixed end of the steering motor is fixedly connected with the end part of the swing arm suspension; the linking arm is C type form, and the one end and the rotation axis fixed connection who turns to the motor of linking arm, the other end and in-wheel motor fixed connection. The mobile system device has high positioning precision and small load, and can be moved under various special conditions.
Description
Technical Field
The invention relates to the technical field of conveying devices, in particular to a moving system device running on a splicing curved surface.
Background
The diameter of a reflecting surface of a Chinese celestial-eye (FAST) Spherical radio TelescoPe is 500m, and tracking and focusing of a celestial body can be realized by adjusting the paraboloid structure of the reflecting surface. The shape of a reflecting surface of a sky eye (FAST) is determined by feedback information of 2225 targets on connecting nodes of each plate, and daily maintenance of the targets is the basis for ensuring the normal work of a sky eye system. However, 2225 targets are distributed on the reflecting surface, and the reflecting surface is formed by splicing 4450 thin aluminum alloy hole units, so that the surface bearing capacity is limited, and a great slope exists at the edge of the reflecting surface (pot edge), which brings great construction difficulty to the maintenance of the targets and the reflecting surface.
At present, a target and a reflecting surface adopted by a sky eye (FAST) are maintained mainly by a manual operation method, the treading pressure of an operator on the reflecting surface is reduced by a hydrogen balloon rope, and the extrusion deformation and the damage of the reflecting surface are avoided. There are also literature publications that use full span rope-suspended baskets or unmanned aerial vehicles to maintain their surfaces and targets, but there are no real-time reports. According to the investigation and analysis of the field investigation and maintenance operation specification of the sky eye (FAST), the maintenance operation of each time takes a long time (one target maintenance operation is not less than 6 h); the requirement on the positioning precision of the working position on the reflecting surface is high; the reflective surface has limited bearing capacity; there are special cases of splice gaps, large tilt angles (maximum 46 °), etc. In addition, with the massive construction of various glass curtain top buildings, the maintenance work of various surfaces such as low bearing capacity, uneven surfaces, splicing surfaces and the like also provides the requirements of a moving and advancing system under special environments for the research of engineering robots.
Therefore, there is a need for a mobile system device that has high positioning accuracy and can travel on a curved surface of a splice for mobile operation in a variety of special situations.
Disclosure of Invention
In view of the above, the present invention provides a moving system device which has high positioning accuracy and can travel on a spliced curved surface for moving operation under various special conditions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mobile system apparatus for traveling over a spliced curved surface, comprising:
the frame is provided with a front wheel and a rear wheel,
three swing arm suspensions are arranged and are respectively arranged on the front end of the frame and two side surfaces of the rear end of the frame; the middle part of the swing arm suspension is fixedly connected with the frame;
a plurality of wheels are arranged and are respectively arranged at two end parts of the swing arm suspension; the wheel includes: the wheel hub motor is fixed at the center of the wheel skeleton and drives the wheel skeleton to rotate; the hub motor is connected with the swing arm suspension;
a plurality of steering arms are arranged and are respectively fixed at two end parts of the swing arm suspension; the steering arm includes: a steering motor and a connecting arm; the fixed end of the steering motor is fixedly connected with the end part of the swing arm suspension; the linking arm is C type form, the one end of linking arm with turn to the rotation axis fixed connection of motor, the other end with in-wheel motor fixed connection.
The wheel hub motor drives the wheel framework to move forward and backward, and each wheel is rotationally controlled by the independent steering arm, so that the device can realize multiple functions of straight movement, turning, parallel movement, in-situ rotation and the like, and can better move on the spliced curved surface.
Preferably, a swing arm central shaft is arranged in the middle of the swing arm suspension, one end of the swing arm central shaft is rotatably connected with the swing arm suspension, and the other end of the swing arm central shaft is fixedly connected with the frame.
Preferably, the outer side of the wheel frame is sleeved with an elastic tire tread. The arrangement of the elastic tire tread can protect the splicing curved surface from being damaged due to extrusion of the wheel.
Preferably, the width of the elastic tire tread is more than or equal to 1.5 times of the gap of the splicing curved surface; the diameter of the wheel skeleton is more than or equal to 2 times of the dislocation height of the splicing curved surfaces. The wheel can be better adapted to the splicing gap and the splicing fall on the splicing curved surface, so that the device can move on the splicing curved surface more stably.
Preferably, the elastic tire tread is made of silica gel or rubber, so that the friction force between the wheel and the splicing curved surface can be increased.
Preferably, the two swing arm suspensions positioned on two sides of the rear end of the frame are symmetrically distributed, and three swing arm central shafts connecting the swing arm suspensions and the frame are distributed in a regular triangle. The device can obtain stable bearing capacity, and can move stably on the splicing curved surface.
Preferably, the center of the wheel frame is concentric with the steering center of the wheel.
According to the technical scheme, compared with the prior art, the invention discloses a mobile system device running on a spliced curved surface, which has the beneficial effects that:
(1) the steering of each wheel is controlled by a corresponding steering motor, the rotating speed of the wheel is controlled by a hub motor, and the functions of straight movement, turning, parallel movement, in-situ rotation and the like of the mobile system device can be realized; by adjusting the driving state of the elastic wheel, the functions of advancing, parking locking and fixing, autonomous sliding, passive dragging and the like can be realized; the device can move on the splicing curved surface more accurately;
(2) the arrangement of the elastic tire tread can improve the friction force between the wheel and the splicing curved surface and can protect the splicing curved surface from being damaged by extrusion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a mobile system apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of a wheel of the mobile system apparatus provided in the present invention;
FIG. 3 is a schematic diagram of a swing arm suspension and a wheel connection structure of the mobile system apparatus according to the present invention;
FIG. 4 is a schematic structural diagram of a mobile system device in a forward mode according to the present invention;
FIG. 5 is a schematic view of a mobile system apparatus according to the present invention in a steering mode;
FIG. 6 is a schematic structural diagram of a mobile system apparatus in a pivot rotation mode according to the present invention;
FIG. 7 is a schematic view of a translation mode of the mobile system apparatus according to the present invention;
FIG. 8 is a schematic structural diagram of a mobile system apparatus according to the present invention on a curved surface;
fig. 9 is a schematic structural diagram illustrating the influence of the gap or fall of the splicing curved surface on the moving system device provided by the invention.
Wherein, in the figure,
1-a vehicle frame; 2-swing arm suspension;
3-vehicle wheels;
31-a wheel skeleton; 32-a hub motor; 33-elastomeric tire tread;
4-a steering arm;
41-a steering motor; 42-a connecting arm;
5-swing arm central shaft;
6-splicing the curved surfaces;
61-splice curved surface gap.
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.
The embodiment of the invention discloses a mobile system device running on a spliced curved surface, which comprises:
the frame of the bicycle comprises a frame 1,
three swing arm suspensions 2 are arranged and are respectively arranged at the front end of the frame 1 and two side surfaces of the rear end of the frame 1; the middle part of the swing arm suspension 2 is fixedly connected with the frame 1;
a plurality of wheels 3 are arranged and are respectively arranged at two end parts of the swing arm suspension 2; the wheel 3 includes: the wheel hub motor 32 is fixed at the center of the wheel frame 31 and drives the wheel frame 31 to rotate; the hub motor 32 is connected with the swing arm suspension 2;
a plurality of steering arms 4, wherein the steering arms 4 are respectively fixed at two ends of the swing arm suspension 2; the steering arm 4 includes: a steering motor 41 and a connecting arm 42; the fixed end of the steering motor 41 is fixedly connected with the end part of the swing arm suspension 2; the connecting arm 42 is C-shaped, and one end of the connecting arm 42 is fixedly connected to the rotating shaft of the steering motor 41, and the other end is fixedly connected to the in-wheel motor 32. The wheel framework 31 of the wheel 3 is a rigid structure, so that the structural strength of the wheel 3 is provided, and the support and transmission of the transmission torque are realized; the hub motor 32 in the wheel 3 directly drives the wheel 3 to run on the splicing curved surface 6. Various tools or scientific research instruments can be arranged on the frame 1 to perform target maintenance, reflecting surface cleaning, reflecting surface repairing and other operations of the reflecting surface of the Chinese sky eye (FAST) radio telescope. And the gravity center of the mobile system device is moved downwards to enhance the stability of the whole structure of the mobile system device.
In order to further optimize the technical scheme, the middle part of the swing arm suspension 2 is provided with a swing arm central shaft 5, one end of the swing arm central shaft 5 is rotatably connected with the swing arm suspension 2, and the other end of the swing arm central shaft is fixedly connected with the frame 1. The swing arm suspension 2 is rotationally connected with the frame 1 through a swing arm central shaft 5; when the mobile system device is ensured to run on the splicing curved surface 6, all the wheels 3 are in self-adaptive contact with the splicing curved surface 6, and the dangerous hidden dangers that the frame 1 is rocked, the contact ground specific pressure of the wheels 3 to the splicing curved surface 6 is too high and the like caused by the lifting of the local wheels 3 are avoided.
In order to further optimize the technical scheme, the outer side of the wheel frame 31 is sleeved with an elastic tire tread 33.
In order to further optimize the technical scheme, the width of the elastic tire tread 33 is more than or equal to 1.5 times of the splicing curved surface gap 61; the diameter of the wheel frame 31 is more than or equal to 2 times of the dislocation height of the splicing curved surface 6.
In order to further optimize the above technical solution, the elastic tire tread 33 is made of silica gel or rubber.
In order to further optimize the technical scheme, the two swing arm suspensions 2 positioned at two sides of the rear end of the frame 1 are symmetrically distributed, and three swing arm central shafts 5 connecting the swing arm suspensions 2 and the frame 1 are distributed in a regular triangle. The moving system device is provided with 3 swing arm suspensions 2, is bilaterally symmetrical by taking the center as a reference and is distributed in an equilateral triangle supporting point manner, and the stability of the structure of the frame 1 of the moving system device under the three-point support is ensured.
To further optimize the solution described above, the center of the wheel frame 31 is concentric with the steering center of the wheel 3.
Aiming at the driving and moving requirements of the moving system device under the condition of extreme inclination (more than 30 degrees) on the splicing curved surface 3, the hub motor 32 of the wheel 3 is switched among active driving, locking parking and energy releasing follow-up modes so as to meet the requirements of different working conditions during operation on the splicing curved surface 6. For example, when the device is released on a large inclined plane, the energy is released to the hub motor 32 of the wheel 3, so that the mobile system device automatically slides down by means of self weight, and the mobile purpose is realized by steering control; meanwhile, when the movable system grabbing device is rapidly recovered, the movable system device is pulled and dragged through a rope connected with the frame 1; when the vehicle works on the splicing curved surface 6, in order to ensure the working precision, the hub motor 32 is locked and parked, and the positioning stability and reliability of the whole structure are kept through the static friction force of 6 wheels 3; for another example, when the mobile system device is traveling normally or needs to be positioned accurately, the hub motor 32 is driven to operate in a speed mode or a displacement mode, so as to ensure the purpose of accurate traveling positioning.
The steering motor 41 drives the connecting arm 42 to rotate circumferentially to drive the hub motor 32 connected with the connecting arm 42 to rotate, so that the in-situ circumferential rotation of the wheel is realized. Through the cooperation of the steering motor 41 and the wheel 3 hub motor 32, the functions of straight line driving, driving steering, pivot rotation, parallel movement and the like can be realized, and accurate positioning and reasonable movement on the spliced curved surface 6 are realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A mobile system apparatus for traveling over a tiled curved surface, comprising:
a frame (1) of the bicycle,
three swing arm suspensions (2) are arranged, and the three swing arm suspensions (2) are respectively arranged on two side surfaces of the front end of the frame (1) and the rear end of the frame (1); the middle part of the swing arm suspension (2) is fixedly connected with the frame (1);
a plurality of wheels (3), wherein the wheels (3) are respectively arranged at two ends of the swing arm suspension (2); the wheel (3) comprises: the wheel hub motor (32) is fixed at the center of the wheel frame (31) and drives the wheel frame (31) to rotate; the hub motor (32) is connected with the swing arm suspension (2);
a plurality of steering arms (4), wherein the steering arms (4) are respectively fixed at two ends of the swing arm suspension (2); the steering arm (4) comprises: a steering motor (41) and a connecting arm (42); the fixed end of the steering motor (41) is fixedly connected with the end part of the swing arm suspension (2); the connecting arm (42) is C type form, the one end of connecting arm (42) with the rotation axis fixed connection who turns to motor (41), the other end with in-wheel motor (32) fixed connection.
2. The moving system device for traveling on a spliced curved surface as claimed in claim 1, wherein the swing arm suspension (2) is provided with a swing arm central shaft (5) at the middle part, one end of the swing arm central shaft (5) is rotatably connected with the swing arm suspension (2), and the other end is fixedly connected with the frame (1).
3. A running gear system on a spliced curved surface according to claim 1 or 2, characterized in that the outside of the wheel frame (31) is sleeved with a resilient tyre tread (33).
4. A running movement system device on a curved splice surface according to claim 3 wherein the width of the elastomeric tread (33) is equal to or greater than 1.5 times the splice surface gap (61); the diameter of the wheel frame (31) is more than or equal to 2 times of the dislocation height of the splicing curved surface (6).
5. The moving system device for running on a spliced curved surface as claimed in claim 4, wherein the elastic tire tread (33) is made of silica gel or rubber.
6. The moving system device for traveling on a spliced curved surface as claimed in claim 1, wherein two swing arm suspensions (2) located at both sides of the rear end of the vehicle frame (1) are symmetrically distributed, and three swing arm central shafts (5) connecting the swing arm suspensions (2) and the vehicle frame (1) are distributed in a regular triangle.
7. A moving system device for running on a spliced curved surface according to claim 1, characterized in that the center of the wheel frame (31) is concentric with the steering center of the wheel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210657081.7A CN114889722A (en) | 2022-06-10 | 2022-06-10 | Mobile system device running on spliced curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210657081.7A CN114889722A (en) | 2022-06-10 | 2022-06-10 | Mobile system device running on spliced curved surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114889722A true CN114889722A (en) | 2022-08-12 |
Family
ID=82728538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210657081.7A Pending CN114889722A (en) | 2022-06-10 | 2022-06-10 | Mobile system device running on spliced curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114889722A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486382A (en) * | 2008-01-18 | 2009-07-22 | 中国北方车辆研究所 | Expandable and actively adjusting balanced suspension system |
| CN105523101A (en) * | 2016-01-05 | 2016-04-27 | 山东省科学院自动化研究所 | Vehicle frame chassis for radiation source detecting and processing robot, robot and application |
| CN206606257U (en) * | 2016-12-09 | 2017-11-03 | 深圳大学 | A kind of independent steering system of electric automobile |
| US20190163183A1 (en) * | 2017-11-30 | 2019-05-30 | Facebook, Inc. | Differential drive robotic platform and assembly |
| CN209112323U (en) * | 2018-11-02 | 2019-07-16 | 西南科技大学 | A kind of suspension-type robot chassis of six wheels |
| CN111873782A (en) * | 2019-10-24 | 2020-11-03 | 中国北方车辆研究所 | Unmanned vehicle in-wheel motor modularization driving system that traveles |
| CN112158065A (en) * | 2019-10-24 | 2021-01-01 | 中国北方车辆研究所 | Unmanned vehicle in-wheel motor driving control system that traveles |
| CN112319652A (en) * | 2020-11-19 | 2021-02-05 | 中国人民解放军国防科技大学 | Wheel lifting device, vehicle and active obstacle crossing method |
| CN216034761U (en) * | 2021-08-18 | 2022-03-15 | 浙江智莱科技有限公司 | Six-wheel cross-country unmanned line control vehicle |
| CN114537513A (en) * | 2022-02-28 | 2022-05-27 | 优跑汽车技术(上海)有限公司 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
-
2022
- 2022-06-10 CN CN202210657081.7A patent/CN114889722A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486382A (en) * | 2008-01-18 | 2009-07-22 | 中国北方车辆研究所 | Expandable and actively adjusting balanced suspension system |
| CN105523101A (en) * | 2016-01-05 | 2016-04-27 | 山东省科学院自动化研究所 | Vehicle frame chassis for radiation source detecting and processing robot, robot and application |
| CN206606257U (en) * | 2016-12-09 | 2017-11-03 | 深圳大学 | A kind of independent steering system of electric automobile |
| US20190163183A1 (en) * | 2017-11-30 | 2019-05-30 | Facebook, Inc. | Differential drive robotic platform and assembly |
| CN209112323U (en) * | 2018-11-02 | 2019-07-16 | 西南科技大学 | A kind of suspension-type robot chassis of six wheels |
| CN111873782A (en) * | 2019-10-24 | 2020-11-03 | 中国北方车辆研究所 | Unmanned vehicle in-wheel motor modularization driving system that traveles |
| CN112158065A (en) * | 2019-10-24 | 2021-01-01 | 中国北方车辆研究所 | Unmanned vehicle in-wheel motor driving control system that traveles |
| CN112319652A (en) * | 2020-11-19 | 2021-02-05 | 中国人民解放军国防科技大学 | Wheel lifting device, vehicle and active obstacle crossing method |
| CN216034761U (en) * | 2021-08-18 | 2022-03-15 | 浙江智莱科技有限公司 | Six-wheel cross-country unmanned line control vehicle |
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Application publication date: 20220812 |