CN205203189U - Unmanned 4 wheel driven platform of swing arm formula - Google Patents

Unmanned 4 wheel driven platform of swing arm formula Download PDF

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Publication number
CN205203189U
CN205203189U CN201521036334.0U CN201521036334U CN205203189U CN 205203189 U CN205203189 U CN 205203189U CN 201521036334 U CN201521036334 U CN 201521036334U CN 205203189 U CN205203189 U CN 205203189U
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CN
China
Prior art keywords
swing arm
connecting panel
wheel
unmanned
postbrachium
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Withdrawn - After Issue
Application number
CN201521036334.0U
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Chinese (zh)
Inventor
张传清
王若天
韩寿松
刘西侠
樊新海
宋仲康
王飞
景琦
孙毅
陆皖麟
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Academy of Armored Forces Engineering of PLA
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Academy of Armored Forces Engineering of PLA
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Priority to CN201521036334.0U priority Critical patent/CN205203189U/en
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Publication of CN205203189U publication Critical patent/CN205203189U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model provides an unmanned 4 wheel driven platform of swing arm formula, including automobile body, pendulum arm drive means, pendulum -arm mechanism, wheel mechanism and controller, install pendulum arm drive means on the automobile body respectively, the pendulum arm drive means be connected with pendulum -arm mechanism, and wheel mechanism and pendulum -arm mechanism are connected, and pendulum arm drive means and wheel mechanism's operation is controlled respectively to the controller, and pendulum -arm mechanism includes forearm, postbrachium and swing arm coupling mechanism, and forearm and postbrachium articulate through swing arm coupling mechanism. The high -speed operational effect of light -duty wheeled 4 wheel driven platform has been realized to this product to to traveling under the complex environment, if climbing stair task has realized better optimization, overcome the poor shortcoming of wheeled mobile robot platform topography adaptability, have stronger trafficability characteristic can, adopt wheeled driving method, simple structure has, control is convenient, it is lower to consume energy, reliability height, practicality advantage such as strong.

Description

The unmanned 4 wheel driven platform of swing arm type
Technical field
The utility model relates to unmanned vehicle technical field, particularly relates to the unmanned 4 wheel driven platform of a kind of swing arm type.
Background technology
Current era, the application of Robotics widely, extensive application is all had in civilian, the field such as military project and law enforcement agency, the application of mobile robot is also in continuous expansion, comprise patrol and examine, rescue, explosive, fire-fighting etc., the basis of excellent mobile platform mobile robot's normal operation especially.
Mobile robot platform is as the most elementary cell of mobile robot, and arrive at operation field perform concrete job task for carrying the parts such as control system, checking system and manipulator, its performance quality directly affects the overall performance of robot.
Wheel type mobile robot platform has the advantage of high-speed and high-efficiency, but because of its landform comformability poor, application receive certain limitation.In order to improve mobile platform on complex-terrain by performance, developed at present multiple take turns shoe, leg carry out, wheel-leg combined type mobile platform.
Current small-sized movable platform mainly launches around crawler type and pure wheeled construction; Crawler-type unmanned platform crossing ability is strong, and pure crawler-type unmanned platform running velocity is limited, and energy ezpenditure is larger; The feature that wheeled construction has fast, capacity usage ratio is high, pure wheeled platform due to car body too low, it is single to travel attitude, and complex environment crossing ability is very poor, does not have the function of speeling stairway, cannot adapt to for complex road surface, stair, the environment that is uneven.
In addition, it is excessive that current miniature self-service platform generally has volume, the shortcoming of preponderance, is inconvenient to carry out individual portable, is also not easy to storage.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides the unmanned 4 wheel driven platform of a kind of swing arm type, comprises car body, swing arm driving mechanism, oscillating arm mechanisms, wheel mechanism and controller;
Swing arm driving mechanism is installed at the corner place of described car body respectively, described swing arm driving mechanism is connected with oscillating arm mechanisms respectively, described wheel mechanism is connected with bottom oscillating arm mechanisms, described controller is arranged on car body, controller controls the running of swing arm driving mechanism and wheel mechanism respectively, described swing arm driving mechanism drives the rotation of oscillating arm mechanisms, reaches the adjustment of vehicle body attitude;
Described oscillating arm mechanisms comprises forearm, postbrachium and swing arm bindiny mechanism, the first connecting panel and first that one end of described forearm is provided with for connecting postbrachium hangs ear, one end of described postbrachium is provided with the second connecting panel for connecting forearm, and described first connecting panel and the second connecting panel are undertaken hinged by swing arm bindiny mechanism.
Described wheel mechanism comprises wheel, drives the wheel hub motor of described rotation of wheel and controls the wheel driver of wheel hub motor rotation, and described wheel driver is connected with controller.
Further, described first connecting panel and the second connecting panel are all set to discoid, are equipped with the connecting bore for installing swing arm bindiny mechanism in the middle part of the first connecting panel and the second connecting panel.
Further, described swing arm bindiny mechanism comprises bolt, nut, bearing and spring shim, described bearing is arranged in the connecting bore in the middle part of the first connecting panel, bolt is installed on bearing, the nut of bolt is used for being connected with bearing fit, and nut is screwed onto the bolt tail end stretching out in the second connecting panel by spring shim.
Further, the end that described forearm is positioned at the first connecting panel is provided with the first positioning plate of arc-shaped, the end that described postbrachium is positioned at the second connecting panel is provided with the second positioning plate of arc-shaped, and described first positioning plate and the second positioning plate are used for carrying out spacing to the pendulum angle between the first hinged connecting panel and the second connecting panel.
Further, the pendulum angle between the first hinged connecting panel and the second connecting panel is restricted within 30 degree by described first positioning plate and the second positioning plate.
Further, described forearm is provided with through hole and position-limited trough away from one end of the second connecting panel, and install the axle sleeve being used for being connected with wheel hub motor output shaft in described through hole, described axle sleeve is provided with the arc for being connected with position-limited trough.
Further, described swing arm driving mechanism comprises drive motor, casing and transmission device; Described drive motor drive transmission device running, described transmission device is arranged in casing, and mouth and the postbrachium of transmission device are hinged.
Further, described transmission device comprises turbine and worm screw, and described turbine and worm screw adopt horizontal 90-degree angle to be connected with a joggle, and described worm screw is connected with drive motor, and the output shaft of turbine is connected with postbrachium.
Further, described postbrachium is provided with the output shaft holding turbine groove and second away from one end of the second connecting panel hangs ear, the groove bottom of described groove is provided with through wires hole and connects the connecting bore of turbine output shaft for installing pin rod, the cell wall of groove is provided with the spacing hole for installing limited bolt fixed turbine output shaft, and described second suspension ear and first hangs between ear installs suspended shock damper.
Further, described casing comprises main box and is arranged on input end cap on main box respectively and exports end cap, described main box and car body are bolted, turbine and worm screw is accommodated in main box, described turbine and worm screw are connected by bearing with between main box respectively, for driving the swing arm motor of worm screw to be connected with input end cap, described input end cap is used for spacing to moving axially of worm screw, and described output end cap is used for spacing to moving axially of turbine.
Adopt technique scheme, the technique effect that the utility model produces has:
Compared with prior art, the utility model adopts worm and gear to drive swing arm structure running, combine the characteristic of running at high speed of wheeled construction, achieve the pose adjustment under stable motoring condition, compensate for the problems such as the action environment of Conventional drum platform is limited, and travel for complex environment, as speeling stairway task achieves good optimization, overcome the shortcoming of wheel type mobile robot platform landform bad adaptability, have and stronger pass through performance, the multiple demand worked under meeting field complex environment, climbing can be realized, obstacle detouring, steadily advance under non-smooth landform.Adopt in-wheel driving mode, have structure simple, it is convenient to control, and consumes energy lower, the advantages such as reliability is high, practical.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model detailed description of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in detailed description of the invention or description of the prior art below, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of wheel mechanism;
Fig. 3 is the structural representation of forearm;
Fig. 4 is the structural representation of postbrachium;
The structural representation of Tu5Shi swing arm bindiny mechanism;
The structural representation of Tu6Shi swing arm driving mechanism;
Reference numeral:
1-car body, 2-swing arm driving mechanism, 3-oscillating arm mechanisms, 4-wheel mechanism, 5-controller, 6-suspended shock damper, 7-axle sleeve, 21-drive motor, 22-casing, 23-transmission device, 31-forearm, 32-postbrachium, 33-swing arm bindiny mechanism, 41-wheel, 42-wheel hub motor, 221-main box, 222-input end cap, 223-export end cap, 231-turbine, 232-worm screw, 311-the first connecting panel, 312-the first hangs ear, 313-position-limited trough, 315-the first positioning plate, 321-the second connecting panel, 322-the second hangs ear, 323-groove, 324-through wires hole, 325-connecting bore, 326-spacing hole, 327-the second positioning plate, 331-bolt, 332-nut, 333-bearing, 334-spring shim, 71-arc.
Detailed description of the invention
Be clearly and completely described the technical solution of the utility model below in conjunction with accompanying drawing, obviously, described embodiment is the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
Embodiment one
Please refer to Fig. 1, the structural representation of the unmanned 4 wheel driven platform of a kind of electronlmobil swing arm type disclosed in the utility model;
The unmanned 4 wheel driven platform of a kind of swing arm type, comprises car body 1, swing arm driving mechanism 2, oscillating arm mechanisms 3, wheel mechanism 4 and controller 5;
The shape of described car body 1 can be set to rectangle, other shapes such as trapezoidal, circular, and the car body 1 for rectangle in the present embodiment is described.
At the corner place of car body 1, swing arm driving mechanism 2 is installed respectively, swing arm driving mechanism 2 is connected with oscillating arm mechanisms 3 respectively, described wheel mechanism 4 is connected with bottom oscillating arm mechanisms 3, described controller 5 is arranged on car body 1, controller 5 controls the running of swing arm driving mechanism 2 and wheel mechanism 4 respectively, described swing arm driving mechanism 2 drives the rotation of oscillating arm mechanisms 3, reaches the adjustment of car body 1 attitude;
Wheel mechanism 4 comprises wheel 41, drives the wheel hub motor 42 of described rotation of wheel and controls the wheel driver of wheel hub motor rotation, described wheel driver is connected with controller, by controller output command and wheel driver, wheel driver is made to control the start and stop function of wheel hub motor.
Concrete,
Refer to Fig. 1, described oscillating arm mechanisms 3 comprises forearm 31, postbrachium 32 and swing arm bindiny mechanism 33;
Please refer to Fig. 3, one end of described forearm 31 is provided with the first connecting panel 311 and first and hangs ear 312, described first connecting panel 311 is for connecting postbrachium 32, and the first connecting panel 311 is set to discoid, and described first hangs ear 312 for installing suspended shock damper 6 between postbrachium 32;
Please refer to Fig. 4, one end of described postbrachium 32 is provided with the second connecting panel 321, described second connecting panel 321 is set to the disc-shaped structure onesize with the first connecting panel 311, connecting bore 325, first connecting panel 311 and the second connecting panel 321 be equipped with in the middle part of the first connecting panel 311 and the second connecting panel 321 for installing swing arm bindiny mechanism 33 is undertaken hinged by swing arm bindiny mechanism 33.Be provided with the second suspension ear 322 at postbrachium 32 away from one end of the second connecting panel 321, described second hangs ear 322 and first is hung ear 312 and is connected by suspended shock damper 6.
The suspended shock damper that this product adopts adopts through hole pipe link in prior art to install the form of damping spring, also can adopt other versions, not repeat here.
Please refer to Fig. 5, swing arm bindiny mechanism 33 comprises bolt 331, nut 332, bearing 333 and spring shim 334;
Described bearing 333 is arranged in the connecting bore 325 in the middle part of the first connecting panel 311, bolt 331 is installed on bearing 333, the nut of bolt 331 is used for and bearing 333 is connected, nut 332 is screwed onto bolt 331 tail end stretching out in the second connecting panel 321 by spring shim 334, spring shim 334 is for providing precompressed compression for forearm 31, postbrachium 32.
By swing arm bindiny mechanism 33, first connecting panel 311 is connected with the second connecting panel 321, and then makes forearm 31 and postbrachium 32 can the linking together of opposing oscillatory.
Please refer to Fig. 3, described forearm 31 is provided with through hole and position-limited trough 313 away from one end of the second connecting panel 321, and install the axle sleeve 7 being used for being connected with wheel hub motor output shaft in described through hole, described axle sleeve 7 is provided with the arc 71 for being connected with position-limited trough 313.Adopt through hole and position-limited trough 313 form of matching can improve wheel hub motor 42 and forearm 31 connective stability.
Please refer to Fig. 6, described swing arm driving mechanism 2 comprises drive motor 21, casing 22 and transmission device 23; Described drive motor 21 drive transmission device 23 operates, and described transmission device 23 is arranged in casing 22, and mouth and the postbrachium 32 of transmission device are hinged.
Transmission device 23 comprises turbine 21 and worm screw 22, and turbine 21 and worm screw 22 adopt horizontal 90-degree angle to be connected with a joggle, and described worm screw 22 is connected with drive motor 21, and the output shaft of turbine 21 is connected with postbrachium 32.
Turbine 21 worm screw 22 structure that this product adopts has the following advantages:
1. turbine and worm has auto-lock function, and the state before making oscillating arm mechanisms 3 still can keep power-off after motor power-off, can reduce the consumption of current of battery, greatly strengthen flying power when smooth-ride.
2. power 90 degree turns to output, because the compact structure of car body, and the length of swing arm motor is larger, if directly exported, the width of robot will be caused greatly to increase, by 90 degree of output characteristics of turbine and worm, the length allocation of swing arm motor is arrived the length direction of car body, solve the problem because swing arm motor length causes greatly width over sides of car body to increase.
Please refer to Fig. 4, postbrachium 32 is provided with the groove 323 of the output shaft holding turbine 21 away from one end of the second connecting panel 321, the groove bottom of described groove 323 is provided with through wires hole 324 and connects the connecting bore 325 of turbine 21 output shaft for installing pin rod, and the cell wall of groove 323 is provided with the spacing hole 326 for installing limited bolt fixed turbine 21 output shaft; Through wires hole 324 is provided with conducting slip ring, and described conducting slip ring is used for the installation of circuit, ensures that oscillating arm mechanisms carries out the rotation of 360 degree of omnidirectionals simultaneously.
Please refer to Fig. 6, casing 22 comprises main box 221 and is arranged on input end cap on main box 221 222 respectively and exports end cap 223;
Described main box 221 is fixed by bolt 331 with car body 1, turbine 21 and worm screw 22 is accommodated in main box 221, turbine 21 and worm screw 22 are connected by bearing respectively with between main box 221, be connected with input end cap 222 for driving the swing arm motor of worm screw 22, described input end cap 222 is for spacing to moving axially of worm screw 22, and described output end cap 223 is for carrying out axial limiting to the output shaft of turbine 21.
Embodiment two
Please refer to Fig. 1, the schematic diagram of the unmanned 4 wheel driven platform of a kind of electronlmobil swing arm type disclosed in the utility model;
The unmanned 4 wheel driven platform of a kind of swing arm type, comprises car body 1, swing arm driving mechanism 2, oscillating arm mechanisms 3, wheel mechanism 4 and controller 5;
The shape of described car body 1 can be set to rectangle, other shapes such as trapezoidal, circular, and the car body 1 for rectangle in the present embodiment is described.
At the corner place of car body 1, swing arm driving mechanism 2 is installed respectively, swing arm driving mechanism 2 is connected with oscillating arm mechanisms 3 respectively, described wheel mechanism 4 is connected with bottom oscillating arm mechanisms 3, described controller 5 is arranged on car body 1, controller 5 controls the running of swing arm driving mechanism 2 and wheel mechanism 4 respectively, described swing arm driving mechanism 2 drives the rotation of oscillating arm mechanisms 3, reaches the adjustment of car body 1 attitude;
Wheel mechanism 4 comprises wheel 41, drives the wheel hub motor 42 of described rotation of wheel and controls the wheel driver of wheel hub motor rotation, and described wheel driver is connected with controller.
Concrete,
Refer to Fig. 1, described oscillating arm mechanisms 3 comprises forearm 31, postbrachium 32 and swing arm bindiny mechanism 33;
With reference to Fig. 3, one end of described forearm 31 is provided with the first connecting panel 311 and first and hangs ear 312, described first connecting panel 311 is for connecting postbrachium 32, and the first connecting panel 311 is set to discoid, and described first hangs ear 312 for installing suspended shock damper 6 between postbrachium 32;
With reference to Fig. 4, one end of described postbrachium 32 is provided with the second connecting panel 321, described second connecting panel 321 is set to the disc-shaped structure onesize with the first connecting panel 311, connecting bore 325, first connecting panel 311 and the second connecting panel 321 be equipped with in the middle part of the first connecting panel 311 and the second connecting panel 321 for installing swing arm bindiny mechanism 33 is undertaken hinged by swing arm bindiny mechanism 33.Be provided with the second suspension ear 322 at postbrachium 32 away from one end of the second connecting panel 321, described second hangs ear 322 and first is hung ear 312 and is connected by suspended shock damper.
The suspended shock damper that this product adopts adopts through hole pipe link in prior art to install the form of damping spring, also can adopt other versions, not repeat here.
In this enforcement, the first positioning plate 315 of arc-shaped is provided with in the end that forearm 31 is positioned at the first connecting panel 311, the end that postbrachium 32 is positioned at the second connecting panel 321 is provided with the second positioning plate 327 of arc-shaped, and described first positioning plate 315 and the second positioning plate 327 are for carrying out spacing to the pendulum angle between the first hinged connecting panel 311 and the second connecting panel 321.
Preferably, the pendulum angle between the first hinged connecting panel 311 and the second connecting panel 321 is restricted within 30 degree by the first positioning plate 315 and the second positioning plate 327.
Please refer to Fig. 5, swing arm bindiny mechanism 33 comprises bolt 331, nut 332, bearing 333 and spring shim 334;
Described bearing 333 is arranged in the connecting bore 325 in the middle part of the first connecting panel 311, bolt 331 is installed on bearing 333, the nut of bolt 331 is used for and bearing 333 is connected, nut 332 is screwed onto bolt 331 tail end stretching out in the second connecting panel 321 by spring shim 334, spring shim 334 is for providing precompressed compression for forearm 31, postbrachium 32.
By swing arm bindiny mechanism 33, first connecting panel 311 is connected with the second connecting panel 321, and then makes forearm 31 and postbrachium 32 can the linking together of opposing oscillatory.
Please refer to Fig. 3, described forearm 31 is provided with through hole and position-limited trough 313 away from one end of the second connecting panel 321, and install the axle sleeve 7 being used for being connected with wheel hub motor output shaft in described through hole, described axle sleeve 7 is provided with the arc 71 for being connected with position-limited trough 313.Adopt through hole and position-limited trough 313 form of matching can improve wheel hub motor and forearm 31 connective stability.
Please refer to Fig. 6, described swing arm driving mechanism 2 comprises drive motor 21, casing and transmission device; Described drive motor 21 drive transmission device running, described transmission device is arranged in casing, and mouth and the postbrachium 32 of transmission device are hinged.
Transmission device comprises turbine 21 and worm screw 22, and turbine 21 and worm screw 22 adopt horizontal 90-degree angle to be connected with a joggle, and described worm screw 22 is connected with drive motor 21, and the output shaft of turbine 21 is connected with postbrachium 32.
Postbrachium 32 is provided with the groove 323 of the output shaft holding turbine 21 away from one end of the second connecting panel 321, the groove bottom of described groove 323 is provided with through wires hole 324 and connects the connecting bore 325 of turbine 21 output shaft for installing pin rod, and the cell wall of groove 323 is provided with the spacing hole 326 for installing limited bolt fixed turbine 21 output shaft; Through wires hole 324 is provided with conducting slip ring, and described conducting slip ring is used for the installation of circuit, ensures that oscillating arm mechanisms carries out the rotation of 360 degree of omnidirectionals simultaneously.
Casing comprises main box 221 and is arranged on input end cap on main box 221 222 respectively and exports end cap 223;
Described main box 221 is fixed by bolt 331 with car body 1, turbine 21 and worm screw 22 is accommodated in main box 221, turbine 21 and worm screw 22 are connected by bearing 333 with between main box 221 respectively, be connected with input end cap 222 for driving the swing arm motor of worm screw 22, described input end cap 222 is for spacing to moving axially of worm screw 22, and described output end cap 223 is for carrying out axial limiting to the output shaft of turbine 21.
The distinctive swing arm structure of this unmanned platform, achieves the high-speed cruising effect of wheeled construction, can also make up the problems such as the action environment of Conventional drum platform is limited, and travel for complex environment, as speeling stairway task achieves good optimization.
Under portable state, swing arm rotates 180 °, concordant with vehicle body, and volume is reduced to minimum.Start, run, brake and realized by hub motor control device.In operational process, wheel hub motor rotating band moving platform travels, and period swing arm driven by motor worm-and-wheel gear, realizes the rotation of oscillating arm mechanisms, reach the adjustment of vehicle body attitude, realize good crossing ability.Realize turning to by left and right sides differential in motion process.During speeling stairway, rear wheel power makes itself and ground friction keep stable, and front-wheel realizes by rotary movement climbing of rising.
In description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case the concrete meaning of above-mentioned term in the utility model can be understood.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.

Claims (10)

1. the unmanned 4 wheel driven platform of swing arm type, is characterized in that: comprise car body, swing arm driving mechanism, oscillating arm mechanisms, wheel mechanism and controller;
Swing arm driving mechanism is installed at the corner place of described car body respectively, described swing arm driving mechanism is connected with oscillating arm mechanisms respectively, described wheel mechanism is connected with bottom oscillating arm mechanisms, described controller is arranged on car body, controller controls the running of swing arm driving mechanism and wheel mechanism respectively, described swing arm driving mechanism drives the rotation of oscillating arm mechanisms, reaches the adjustment of vehicle body attitude;
Described oscillating arm mechanisms comprises forearm, postbrachium and swing arm bindiny mechanism, the first connecting panel and first that one end of described forearm is provided with for connecting postbrachium hangs ear, one end of described postbrachium is provided with the second connecting panel for connecting forearm, described first connecting panel and the second connecting panel are undertaken hinged by swing arm bindiny mechanism
Described wheel mechanism comprises wheel, drives the wheel hub motor of described rotation of wheel and controls the wheel driver of wheel hub motor rotation, and described wheel driver is connected with controller.
2. the unmanned 4 wheel driven platform of swing arm type according to claim 1, is characterized in that: described first connecting panel and the second connecting panel are all set to discoid, is equipped with the connecting bore for installing swing arm bindiny mechanism in the middle part of the first connecting panel and the second connecting panel.
3. the unmanned 4 wheel driven platform of swing arm type according to claim 2, it is characterized in that: described swing arm bindiny mechanism comprises bolt, nut, bearing and spring shim, described bearing is arranged in the connecting bore in the middle part of the first connecting panel, bolt is installed on bearing, the nut of bolt is used for being connected with bearing fit, and nut is screwed onto the bolt tail end stretching out in the second connecting panel by spring shim.
4. the unmanned 4 wheel driven platform of swing arm type according to claim 3, it is characterized in that: the end that described forearm is positioned at the first connecting panel is provided with the first positioning plate of arc-shaped, the end that described postbrachium is positioned at the second connecting panel is provided with the second positioning plate of arc-shaped, and described first positioning plate and the second positioning plate are used for carrying out spacing to the pendulum angle between the first hinged connecting panel and the second connecting panel.
5. the unmanned 4 wheel driven platform of swing arm type according to claim 4, is characterized in that: the pendulum angle between the first hinged connecting panel and the second connecting panel is restricted within 30 degree by described first positioning plate and the second positioning plate.
6. the unmanned 4 wheel driven platform of swing arm type according to claim 3, it is characterized in that: described forearm is provided with through hole and position-limited trough away from one end of the second connecting panel, install the axle sleeve being used for being connected with wheel hub motor output shaft in described through hole, described axle sleeve is provided with the arc for being connected with position-limited trough.
7. the unmanned 4 wheel driven platform of swing arm type according to claim 1, is characterized in that: described swing arm driving mechanism comprises drive motor, casing and transmission device; Described drive motor drive transmission device running, described transmission device is arranged in casing, and mouth and the postbrachium of transmission device are hinged.
8. the unmanned 4 wheel driven platform of swing arm type according to claim 7, it is characterized in that: described transmission device comprises worm gear and worm screw, described worm gear and worm screw adopt horizontal 90-degree angle to be connected with a joggle, and described worm screw is connected with drive motor, and the output shaft of worm gear is connected with postbrachium.
9. the unmanned 4 wheel driven platform of swing arm type according to claim 8, it is characterized in that: described postbrachium is provided with the output shaft holding worm gear groove and second away from one end of the second connecting panel hangs ear, the groove bottom of described groove is provided with through wires hole and connects the connecting bore of worm-gear output shaft for installing pin rod, the cell wall of groove is provided with the spacing hole fixing worm-gear output shaft for installing limited bolt, and described second suspension ear and first hangs between ear installs suspended shock damper.
10. the unmanned 4 wheel driven platform of swing arm type according to claim 9, it is characterized in that: described casing comprises main box and is arranged on input end cap on main box respectively and exports end cap, described main box and car body are bolted, worm gear and worm screw is accommodated in main box, described worm gear and worm screw are connected by bearing with between main box respectively, be connected with input end cap for driving the swing arm motor of worm screw, described input end cap is used for spacing to moving axially of worm screw, and described output end cap is used for spacing to moving axially of worm gear.
CN201521036334.0U 2015-12-14 2015-12-14 Unmanned 4 wheel driven platform of swing arm formula Withdrawn - After Issue CN205203189U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105383582A (en) * 2015-12-14 2016-03-09 中国人民解放军装甲兵工程学院 Swinging arm type unmanned four-wheel driving platform
CN106005095A (en) * 2016-05-21 2016-10-12 徐洪军 Military robot with obstacle crossing function

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105383582A (en) * 2015-12-14 2016-03-09 中国人民解放军装甲兵工程学院 Swinging arm type unmanned four-wheel driving platform
CN105383582B (en) * 2015-12-14 2018-06-01 中国人民解放军装甲兵工程学院 The unmanned 4 wheel driven platform of swing arm
CN106005095A (en) * 2016-05-21 2016-10-12 徐洪军 Military robot with obstacle crossing function
CN106005095B (en) * 2016-05-21 2018-07-24 烟台军星特种装备有限公司 A kind of military robot with obstacle crossing function

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