CN203472451U - Travelling mechanism of unmanned vehicle with high trafficability - Google Patents
Travelling mechanism of unmanned vehicle with high trafficability Download PDFInfo
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- CN203472451U CN203472451U CN201320452656.8U CN201320452656U CN203472451U CN 203472451 U CN203472451 U CN 203472451U CN 201320452656 U CN201320452656 U CN 201320452656U CN 203472451 U CN203472451 U CN 203472451U
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- electric cylinder
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Abstract
The utility model discloses a travelling mechanism of an unmanned vehicle with high trafficability. The travelling mechanism is located between a vehicle body and drive wheels, and comprises an electric cylinder, a transmission bar, a control arm, a shock transfer bar and spring and a swing arm, wherein the electric cylinder is fixed on the inner side of the vehicle body, a push rod of the electric cylinder is hinged with the lower end of the transmission bar, and the middle of the transmission bar is hinged and connected with the vehicle body through a support; and two ends of the shock transfer bar and spring are hinged with the upper ends of the transmission bar and the control arm respectively, the lower end of the control arm is connected with the upper end of the swing arm through a transmission shaft which is supported in the support of the vehicle through a bearing, and the lower end of the swing arm is fixedly connected with an axle. According to the travelling mechanism of the unmanned vehicle with high trafficability, initial position of the swing arm is adjusted while requirements for buffering and shock absorption performance are met, the height and posture of the vehicle body are adjustable, and the cross-country trafficability of the vehicle is improved greatly.
Description
Technical field
The utility model relates to wheeled car suspension system, particularly a kind of cross-country traveling ability wheeled car suspension system that can large angle pendulum.
Background technology
Unmanned ground vehicle (Unmanned Ground Vehicle---UGV) be a kind of intelligentized ground moving platform that can automatically control; This platform can, under specific ground and environment, help the mankind to complete predetermined job task.Because unmanned ground vehicle has, automatically control and highly intelligentized feature, therefore, often can arrive people's steering vehicle and be difficult to arrive or the region very dangerous to the mankind, and complete the work that the mankind are difficult to directly complete.Such as: military unmanned steering vehicle can arrive some dangerous regions, bear such as assault, patrol, scouting, transportation, search and rescue and the dangerous task such as explosive, thereby reduce the possibility of personal casualty.Can have complementary advantages with combatant afield, assist to finish the work.Arduous, repetitive work that unmanned ground vehicle has also been good at, thereby the consumption of saving manpower.Therefore, unmanned ground vehicle is military or civilianly all have important value.
Cross-country traveling ability automatic driving vehicle is the important member who has in the automatic driving vehicle ，Shi unmanned ground vehicle family of higher land locomotion ability.Owing to needing vehicle to there is the adaptive capacity of very high land locomotion ability and complicated ground, on structure design, have higher requirement.Wherein, the traveling gear of particular design is exactly important assembly parts, and its performance quality plays critical effect to vehicle land locomotion performance.To be this traveling gear relax the impact on ground except will meet vehicle land locomotion time and reduce the vibration that ground excitation causes from conventional truck different, also require each wheel to there is the significantly relative motion of separately controllable relative vehicle body, thereby have " function of walking " to a certain degree, it is very necessary that this crosses large obstacle (as high step, trench etc.) to vehicle.The relative vehicle body of wheel significantly relative motion not only can be realized the height adjusting on the relative ground of vehicle body, can also be when vehicle side slope travel, and by regulating wheel movement make vehicle body maintenance level, the realization of these functions all depends on the design of traveling gear.Because automatic driving vehicle is very harsh to the requirement of weight, volume and design space, also to take into account the arrangement requirement of driving system simultaneously, therefore, traveling gear is how under the prerequisite meeting the demands, and making compact to design is exactly a difficult problem.The scheme of many routines is difficult to realize above-mentioned target.
Utility model content
The purpose of this utility model is to provide a kind of advanced in performance, simple in structure, compact automatic driving vehicle traveling gear.The utility model traveling gear is suitable for the transmission system of wheel drive (electronic or hydraulic-driven).
For achieving the above object, the technical solution of the utility model is: described traveling gear is between vehicle body and driving wheel, and described traveling gear comprises electric cylinder, drive link, Control arm, shock absorber and spring, swing arm; Electric cylinder is fixed on the inner side of vehicle body, and electric cylinder push rod and drive link lower end are hinged, and drive link middle part is hinged and connected by bearing and vehicle body; The two ends of shock absorber and spring are hinged with drive link upper end and Control arm upper end respectively, and Control arm lower end is connected with swing arm upper end by transmission shaft, and transmission shaft is by bearings in vehicle body bearing, and swing arm lower end is fixedly connected with wheel shaft.
Transmission shaft backup bearing is graphite oilless sintered-metal bearing.Control arm connects as one by transmission shaft and swing arm, and by bearings in vehicle body, it is around the axis swing of transmission shaft.
The beneficial effects of the utility model are: this mechanism is when realizing the performance requriements of buffer shock-absorbing, realizing swing arm initial position regulates, accomplished that bodywork height is adjustable, body gesture is adjustable, greatly improved the cross-country performance of passing through of vehicle, especially obstacle performance and by the ability of various complicated grounds, the vehicle body stationarity while having guaranteed to greatest extent vehicle land locomotion.This structure design is compact, and performance is better, and reliability and maintainability are good, and manufacturability is better, simple and practical, is the comparatively ideal design plan of cross-country traveling ability automatic driving vehicle traveling gear.
accompanying drawing explanation:
Fig. 1 is the utility model integral structure front view;
Fig. 2 is the utility model integral structure birds-eye view;
Fig. 3 is the schematic diagram removing after vehicle body;
In figure: 1-drive link bearing, 2-drive link, 3-shock absorber and spring, 4-Control arm, 5-railway carriage, 6-electric cylinder bearing, 7-bearing, 8-wheel, 9-swing arm, 10-vehicle body bearing, 11-electric cylinder, 12-stepping motor, 13-controller.
the specific embodiment:
Below in conjunction with accompanying drawing and the better example of executing, to the specific embodiment providing according to the utility model, structure, feature, details are as follows:
The example completing on 6 * 6 cross-country traveling ability automatic driving vehicles for this utility model as shown in Figure 1-Figure 3; Whole system is comprised of vehicle body 5, wheel 8 and the traveling gear that is positioned between the two; Traveling gear adopts longitudinal control arm structure, and owing to turning to the slippage that adopts left and right wheels to drive separately to turn to, therefore, each vehicle is without steering hardware is set specially.Described traveling gear is between vehicle body and driving wheel, and described traveling gear comprises electric cylinder 11, drive link 2, Control arm 4, shock absorber and spring 3 and swing arm 9; Electric cylinder is installed on the inner side (electric cylinder is hinged by electric cylinder bearing 6 and vehicle body, and stepping motor 12 and controller 13 are housed on electric cylinder) of vehicle body, and electric cylinder push rod and drive link lower end are hinged, and drive link middle part is hinged and connected by bearing 1 and vehicle body; The two ends of shock absorber and spring are hinged with drive link upper end and Control arm upper end respectively, Control arm lower end is connected with swing arm upper end by transmission shaft, Control arm and swing arm are connected as one, and transmission shaft is by bearings in vehicle body bearing, and swing arm lower end is fixedly connected with wheel shaft.
Regulate the initial position process of swing arm to be: to controller 13 input control signals, stepping motor 12 rotations, electric cylinder 11 extends (or shortening), drive link 2 rotates around drive link bearing 1 conter clockwise (or cw), drive link 2 promotes (or pulling) Control arm 4 by shock absorber and spring 3, Control arm swings around the transmission shafts hour hands (or conter clockwise) of being in a good mood together with swing arm, realizes the adjusting of swing arm initial position.
Realize the process of buffer shock-absorbing: the impact effect of road surface to wheel 8, by swing arm 9 and Control arm 4, act on shock absorber and spring 3, spring is realized buffer action, and shock absorber is realized damping of vibrations.
Claims (2)
1. a cross-country traveling ability automatic driving vehicle traveling gear, is characterized in that, described traveling gear is between vehicle body and driving wheel, and described traveling gear comprises electric cylinder, drive link, Control arm, shock absorber and spring and swing arm; Electric cylinder is fixed on the inner side of vehicle body, and electric cylinder push rod and drive link lower end are hinged, and drive link middle part is hinged and connected by bearing and vehicle body; The two ends of shock absorber and spring are hinged with drive link upper end and Control arm upper end respectively, and Control arm lower end is flexibly connected with transmission shaft one end, and the other end of transmission shaft is connected with the bearing that is fixed on vehicle body, and swing arm two ends are fixed with transmission shaft and wheel respectively.
2. cross-country traveling ability automatic driving vehicle traveling gear according to claim 1, is characterized in that, Control arm and swing arm connect as one by transmission shaft, and by bearings in vehicle body, described bearing is graphite oilless sintered-metal bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452656.8U CN203472451U (en) | 2013-07-29 | 2013-07-29 | Travelling mechanism of unmanned vehicle with high trafficability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320452656.8U CN203472451U (en) | 2013-07-29 | 2013-07-29 | Travelling mechanism of unmanned vehicle with high trafficability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203472451U true CN203472451U (en) | 2014-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320452656.8U Expired - Fee Related CN203472451U (en) | 2013-07-29 | 2013-07-29 | Travelling mechanism of unmanned vehicle with high trafficability |
Country Status (1)
| Country | Link |
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| CN (1) | CN203472451U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896010A (en) * | 2019-02-22 | 2019-06-18 | 广西南宁一键智农科技有限公司 | Swing arm location means that the buffer protection of the unmanned motor servo-controlled system of single rotor is adjustable |
-
2013
- 2013-07-29 CN CN201320452656.8U patent/CN203472451U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896010A (en) * | 2019-02-22 | 2019-06-18 | 广西南宁一键智农科技有限公司 | Swing arm location means that the buffer protection of the unmanned motor servo-controlled system of single rotor is adjustable |
| CN109896010B (en) * | 2019-02-22 | 2024-08-30 | 广西南宁一键智农科技有限公司 | Buffering protection adjustable swing arm position device of single rotor unmanned aerial vehicle servo control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20160729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |