CN208181246U - Unmanned chassis and unmanned vehicle - Google Patents
Unmanned chassis and unmanned vehicle Download PDFInfo
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- CN208181246U CN208181246U CN201820053851.6U CN201820053851U CN208181246U CN 208181246 U CN208181246 U CN 208181246U CN 201820053851 U CN201820053851 U CN 201820053851U CN 208181246 U CN208181246 U CN 208181246U
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Abstract
A kind of unmanned chassis of the application and unmanned vehicle, the unmanned vehicle include vehicle body and chassis.The chassis includes chassis overhang, the driving unit mobile with front component, middle wheel assembly and the wheel assembly of chassis overhang cooperation and the driving unmanned chassis, the driving mechanism of the rocker arm and control rocker motion that connect with the chassis overhang, wheel assembly are mounted on rocker arm and are connect by the rocker arm with the chassis overhang；The rotation center of rocker arm and middle wheel assembly are coaxial.Middle wheel assembly on unmanned chassis is connect by rotatable rocker arm with wheel assembly and is made the shaft of rocker arm and middle wheel assembly coaxial by the application, make unmanned vehicle under high motor-driven operational mode, the output torque for only needing Rocker arm-motor to provide very little keeps rocker arm system posture, substantially reduces the power demand of unmanned vehicle kinematic system.
Description
Technical field
This application involves unmanned vehicle technology field more particularly to a kind of unmanned chassis and unmanned vehicle.
Background technique
The wheel of most of minitype wheeled unmanned vehicles is opposite to be arranged with vehicle body horizontal symmetrical, cooperates certain buffering or suspension
Mechanism may be implemented to stablize traveling on uneven road surface.But when encountering barrier, common wheel undercarriage be can not achieve
Obstacle detouring；Since unmanned vehicle is that more wheels land, when realizing pirouette by left and right side wheel differential there is very big dragging in front and back side wheel
Property friction sidesway, power consumption is very high.Even if four-wheel ground mode can be better than six wheel modes, loss and friction are still huge；Furthermore it gets over
The high more wheel joint types chassis of barrier ability also need driving motor persistently provide output keep lift car body problem, electric power is held
Continuous output performance is more demanding.In order to improve the obstacle performance of miniature self-service mobile device, need to carry out the chassis of unmanned vehicle
Improvement, to reduce energy consumption while meeting rotation and obstacle crossing function.
Summary of the invention
According to the embodiment of the present application in a first aspect, providing a kind of unmanned chassis.
A kind of unmanned chassis, including chassis overhang, with the chassis overhang cooperation front component, middle wheel assembly and after
Wheel assembly and the driving unit of the driving unmanned chassis movement, further include the rocker arm connecting with the chassis overhang and control
The driving mechanism of the rocker motion is made, the wheel assembly is mounted on the rocker arm and by the rocker arm and the chassis
Bracket connection；The rotation center of the rocker arm and the middle wheel assembly are coaxial.
Further, the rocker arm includes ontology and the shaft for being set to described ontology one end, and the shaft passes through bearing
It is positioned on the rocker bearing seat of the chassis overhang, the driving mechanism drives the rocker arm around the axis of the middle wheel assembly
Rotation.
Further, the middle wheel assembly includes middle wheel and the middle wheel shaft with the middle wheel assembling, the shaft are
Hollow axle, the middle wheel shaft are nested in the shaft, and transmission chain or synchronous belt are equipped in the rocker arm.
Further, the driving mechanism includes driving motor and the first gear group that is driven by the driving motor, institute
It states and turns the tip of the axis equipped with the second gear group to link with the first gear group；The second gear group drive the rocker arm around
The axis of the middle wheel assembly rotates.
Further, the middle wheel shaft is positioned in the shaft of the rocker arm by duplex bearing.
Further, the wheel assembly includes that rear-wheel and the drive shaft of rear wheel with rear-wheel assembling, the rear-wheel pass
Moving axis is assembled in the other end of the rocker arm ontology, and the rear-wheel and ipsilateral middle wheel are assembled on same rocker arm, the transmission
Chain or the synchronous belt driving middle wheel and rear-wheel rotate synchronously.
Further, the middle wheel includes taking turns in left center and the right side, and the chassis overhang is equipped with and respectively drives the left side
4th motor of wheel shaft in the third motor of middle wheel shaft and the driving right side, in the third motor and the 4th motor
It is equipped with retarder.
Further, the rear-wheel includes left rear wheel and off hind wheel, and the rocker arm includes connecting the left center and left back
Taken turns in first rocker arm of wheel and the connection right side and the second rocker arm of off hind wheel, the driving motor drive first rocker arm and
The movement of second synchronous rocker.
Further, the front component includes front-wheel and the front-wheel propeller shaft with front-wheel assembling, the front-wheel packet
The near front wheel and off-front wheel are included, the driving unit includes the independent first motor for driving described the near front wheel and the driving off-front wheel
The second motor.
Further, the front component is omni-directional wheel.
According to the second aspect of the embodiment of the present application, a kind of unmanned vehicle is provided.
A kind of unmanned vehicle, including vehicle body；It further include unmanned chassis as described above.
The application have the following beneficial effects: compared with prior art the application by unmanned chassis middle wheel assembly with
Wheel assembly connects by rotatable rocker arm and makes the shaft of rocker arm and middle wheel assembly coaxial, makes unmanned vehicle in high motor-driven fortune
Under row mode, it is only necessary to which the output torque that Rocker arm-motor provides very little keeps rocker arm system posture, substantially reduces unmanned vehicle
The power demand of kinematic system.
Detailed description of the invention
Fig. 1 is the simple schematic diagram of the unmanned chassis of one exemplary embodiment of the application.
Fig. 2 is the detailed maps of the unmanned chassis of one exemplary embodiment of the application.
Fig. 3 is one exemplary embodiment unmanned vehicle normally travel schematic diagram of the application.
Fig. 4 is one exemplary embodiment unmanned vehicle obstacle detouring first position schematic diagram of the application.
Fig. 5 is one exemplary embodiment unmanned vehicle obstacle detouring second position schematic diagram of the application.
Fig. 6 is one exemplary embodiment unmanned vehicle obstacle detouring the third place schematic diagram of the application.
Fig. 7 is Fig. 6 motion state lower body centre of gyration position view.
Appended drawing reference
Unmanned chassis 100
Chassis overhang 1
Front component 2
20 front-wheel propeller shaft of front-wheel, 201 the near front wheel 202
Off-front wheel 203
Middle wheel assembly 3
The left wheel shaft 3011 of wheel shaft 301 in middle wheel 30
3012 bearing 302 of wheel shaft in the right side
304 third motors 31 are taken turns in 303 right side of left center
4th motor 32
Wheel assembly 4
40 drive shaft of rear wheel of rear-wheel, 401 left rear wheel, 402 off hind wheel 403
5 first motor of driving unit, 50 second motor 51
Rocker arm 6
60 shaft of ontology, 61 second gear group 62
63 first rocker arm of transmission chain, 64 second rocker arm 65
7 driving motor of driving mechanism, 70 first gear group 71
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.
It should be appreciated that " first " " second " and similar word used in present specification and claims
It is not offered as any sequence, quantity or importance, and is used only to distinguish different component parts.Equally, "one" or
The similar word such as " one " does not indicate that quantity limits yet, but indicates that there are at least one.Unless otherwise noted, " front ", " after
The similar word such as portion ", " lower part " and/or " top " is not limited to a position or a kind of sky only to facilitate explanation
Between orient.The similar word such as " comprising " or "comprising" means to appear in element or object before " comprising " or "comprising"
Cover the element for appearing in " comprising " or "comprising" presented hereinafter or object and its equivalent, it is not excluded that other elements or
Object." multiple " being previously mentioned in the application include two and two or more.
With reference to the accompanying drawing, the application exemplary embodiment is described in detail.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
It please refers to shown in Fig. 1 to Fig. 5, a kind of unmanned vehicle, including vehicle body and unmanned chassis 100.The unmanned chassis
Including described in chassis overhang 1, the front component 2, middle wheel assembly 3 and the wheel assembly 4 that cooperate with the chassis overhang 1 and driving
The mobile driving unit 5 of unmanned chassis 1；It further include that the rocker arm 6 connecting with the chassis overhang 1 and the control rocker arm 6 are transported
Dynamic driving mechanism 7.The wheel assembly 4 is mounted on the rocker arm 6 and is connected by the rocker arm 6 with the chassis overhang 1
It connects；The rotation center of the rocker arm 6 and the middle wheel assembly 3 are coaxial, and the front component 2 is omni-directional wheel.
The front component 2 includes front-wheel 20 and the front-wheel propeller shaft 201 with the front-wheel 20 assembling.The front-wheel 20 wraps
The near front wheel 202 and off-front wheel 203 are included, the driving unit 5 includes the independent first motor 50 for driving described the near front wheel 202 and drives
Move the second motor 51 of the off-front wheel 203.In the embodiment of the present application, omni-directional wheel used by the front component 2 can be with
It is that single omni-directional wheel is also possible to double omni-directional wheel.Double omni-directional wheel is compared to single omni-directional wheel in the unmanned vehicle traveling process
In or obstacle detouring in vibrate can be smaller.The application front-wheel uses omni-directional wheel, can receive lateral translational movement, so that unmanned vehicle turns
To more convenient.
In one embodiment, the rocker arm 6 includes ontology 60 and the shaft 61 for being set to described 60 one end of ontology.Described
The substantially plate structure of body 60, the inside horizontal extension of the shaft 61 from the ontology 60 are formed.Institute in the present embodiment
Stating shaft 61 is hollow cylindrical shaft.The shaft 61 is positioned at the rocker bearing seat 66 of the chassis overhang 1 by bearing
On, the rocker arm 6 is fixedly installed on the mount holder；The driving mechanism drives the rocker arm 6 around the middle wheel
The axis of component 3 rotates.Specifically, the middle wheel assembly 3 includes middle wheel 30 and the middle wheel shaft with middle 30 assembling of wheel
301, the middle wheel shaft 301 is nested in the hollow shaft 61.In the present embodiment, the middle wheel shaft 301
The moved in coaxial that guarantees the rocker arm 6 with the middle wheel 30 is positioned in the shaft 61 of the rocker arm 6 by duplex bearing 302,
Reduce the power demand of unmanned vehicle kinematic system.
The middle wheel 30 includes that 304 are taken turns in left center 303 and the right side, and the chassis overhang 1 is equipped with and respectively drives the left side
4th motor 32 of wheel shaft 3012, the third electricity in the third motor 31 of middle wheel shaft 3011 and the driving right side
Retarder is equipped in machine 31 and the 4th motor 32.
The wheel assembly 4 includes rear-wheel 40 and the drive shaft of rear wheel 401 with the rear-wheel 40 assembling.The rear wheel drive
Axis 401 is assembled in the other end that the rocker arm ontology 60 is arranged distant from shaft 61, and the rear-wheel 40 is assembled with ipsilateral middle wheel 30
In on same rocker arm 6.
The synchronous driving middle transmission chain 63 or synchronous belt for taking turns 30 and the rotation of rear-wheel 40 is equipped in the rocker arm 6.It is described
Transmission chain 63 or the synchronous belt driving middle wheel 30 and rear-wheel 40 rotate synchronously.Setting makes the middle wheel 30 and institute through this structure
It states rear-wheel 40 and driving sharing and synchronization is realized by Synchronous Transmission chain 63 or synchronous belt.I.e. in this application, pass through the middle wheel
30 dead axles, the rocker shaft 61 and the middle wheel 30 are coaxial, and the middle wheel 30 is passed with the rear-wheel 40 by same link
Dynamic, overall structure is simpler.
Specifically, the rear-wheel 40 includes left rear wheel 402 and off hind wheel 403, the rocker arm 6 includes connecting the left center
303 and the left rear wheel 402 the first rocker arm 64 and connection it is described the right side in wheel 304 and the off hind wheel 403 the second rocker arm
65。
The driving mechanism 7 includes driving motor 70 and the first gear group 71 driven by the driving motor 70.It is described
The end of shaft 61 is to be equipped with the second gear to link with the first gear group 71 close to the position of the first gear group 71
Group 62；The second gear group 62 drives the rocker arm 6 to rotate around the axis of the middle wheel assembly 3, by the driving mechanism 7
Power synchronous be transferred to first rocker arm 64 and second rocker arm 65, it is ensured that driving motor driving described first is shaken
Arm 64 and the second rocker arm 65 move synchronously.
In the present embodiment, wheel and the left and right rear-wheel are for conventional tyre in the left and right.
Fig. 3 is the application exemplary embodiment, driving status signal of the unmanned vehicle 100 under normal road condition, 4 in figure
And Fig. 5 is the movement schematic diagram under the 100 obstacle detouring state of unmanned vehicle.⊕ mark on 100 vehicle body of unmanned vehicle as shown in the figure
For the preferred position of centre of gravity of unmanned vehicle.
As shown in FIG. 6 and 7, under high motor-driven operational mode, the driving mechanism 7 drives rocker arm 6 that rear-wheel is driven to tilt
Afterwards, wheel 303,304 lands in the left and right front-wheel 202,203 and left and right, since front-wheel is that omni-directional wheel receives lateral translational movement, at this time
Substantially degenerating is difference wheel configuration, and the body centre of gyration falls on the axis of the middle wheel axis shown in dotted line frame in i.e. figure
Line.Since 6 centre of gyration of rocker arm is coaxial with the middle wheel, the rear-wheel mode that raises up only needs the driving motor of rocker arm 6
70 output torques for providing very little keep 6 posture of rocker arm, substantially reduce the power demand of the unmanned vehicle system.
In addition, the first motor 50 and second motor 51 can also directly use bearing in another kind of embodiment
Substitution is to realize unpowered axis；In this case, this chassis is driven by the third motor 31 and 32 differential of the 4th motor
It is dynamic, it is more succinct in control.
The above is only the preferred embodiment of the application, not does limitation in any form to the application, though
Right the application has been disclosed in a preferred embodiment above, however is not limited to the application, any technology people for being familiar with this profession
Member, in the range of not departing from technical scheme, when the technology contents using the disclosure above are modified or are repaired
Decorations are the equivalent embodiment of equivalent variations, but all contents without departing from technical scheme, the technology according to the application are real
Matter any simple modification, equivalent change and modification to the above embodiments, still fall within the range of technical scheme
It is interior.
Claims (11)
1. a kind of unmanned chassis (100), the front component (2) cooperated including chassis overhang (1) and the chassis overhang (1),
Middle wheel assembly (3) and wheel assembly (4) and the driving unit (5) of the driving unmanned chassis movement, which is characterized in that also
Driving mechanism (7) including the rocker arm (6) being connect with the chassis overhang (1) and control rocker arm (6) movement, the rear-wheel
Component (4) is mounted on the rocker arm (6) and is connect by the rocker arm (6) with the chassis overhang (1)；The rocker arm (6)
Rotation center and the middle wheel assembly (3) it is coaxial.
2. unmanned chassis as described in claim 1, which is characterized in that the rocker arm (6) includes ontology (60) and is set to
The shaft (61) of described ontology (60) one end, the shaft (61) are positioned at the rocker arm shaft of the chassis overhang (1) by bearing
It holds on seat (66), the driving mechanism (7) drives the rocker arm (6) to rotate around the axis of the middle wheel assembly (3).
3. unmanned chassis as claimed in claim 2, which is characterized in that the middle wheel assembly (3) include middle wheel (30) and with
The middle wheel shaft (301) of middle wheel (30) assembling, the shaft (61) is hollow axle, the middle wheel shaft (301)
It is nested in the shaft (61), transmission chain (63) or synchronous belt is equipped in the rocker arm (6).
4. unmanned chassis as claimed in claim 3, which is characterized in that the driving mechanism (7) includes driving motor (70)
And the first gear group (71) driven by the driving motor (70), the end of the shaft (61) are equipped with and the first gear
The second gear group (62) of group (71) linkage；The second gear group (62) drives the rocker arm (6) around the middle wheel assembly (3)
Axis rotation.
5. unmanned chassis as claimed in claim 4, which is characterized in that the middle wheel shaft (301) passes through duplex bearing
(302) it is positioned in the shaft (61) of the rocker arm.
6. unmanned chassis as claimed in claim 5, which is characterized in that the wheel assembly (4) include rear-wheel (40) and with
The drive shaft of rear wheel (401) of the rear-wheel assembling, the drive shaft of rear wheel (401) are assembled in the another of the rocker arm ontology (60)
End, the rear-wheel (40) and ipsilateral middle wheel (30) are assembled on same rocker arm (6), the transmission chain (63) or synchronous belt driving
The middle wheel (30) and rear-wheel (40) rotate synchronously.
7. unmanned chassis as claimed in claim 6, which is characterized in that the middle wheel (30) includes left center (303) and the right side
Middle wheel (304), the chassis overhang (1) be equipped with respectively drive the left wheel shaft (3011) third motor (31) and
The 4th motor (32) of wheel shaft (3012) in the right side is driven, is all provided in the third motor (31) and the 4th motor (32)
There is retarder.
8. unmanned chassis as claimed in claim 7, which is characterized in that the rear-wheel (40) includes left rear wheel (402) and the right side
Rear-wheel (403), the rocker arm (6) include the first rocker arm (64) and the connection for connecting the left center (303) and left rear wheel (402)
The second rocker arm (65) of (304) and off hind wheel (403) is taken turns in the right side, the driving motor (70) drives first rocker arm
(64) and the second rocker arm (65) moves synchronously.
9. such as Claims 1-4,6 to 8 described in any item unmanned chassis, which is characterized in that front component (2) packet
Front-wheel (20) and the front-wheel propeller shaft (201) with front-wheel assembling are included, before the front-wheel (20) includes the near front wheel (202) and the right side
It takes turns (203), the driving unit (5) includes the independent first motor (50) for driving the near front wheel (202) and the driving right side
The second motor (51) of front-wheel (203).
10. such as Claims 1-4,6 to 8 described in any item unmanned chassis, which is characterized in that the front component is complete
To wheel.
11. a kind of unmanned vehicle, including vehicle body；It is characterized in that, further include as described in any one of claims 1 to 10 nobody
Chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820053851.6U CN208181246U (en) | 2018-01-12 | 2018-01-12 | Unmanned chassis and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820053851.6U CN208181246U (en) | 2018-01-12 | 2018-01-12 | Unmanned chassis and unmanned vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN208181246U true CN208181246U (en) | 2018-12-04 |
Family
ID=64443048
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820053851.6U Active CN208181246U (en) | 2018-01-12 | 2018-01-12 | Unmanned chassis and unmanned vehicle |
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| CN (1) | CN208181246U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100076A (en) * | 2018-01-12 | 2018-06-01 | 北京三快在线科技有限公司 | Unmanned chassis and unmanned vehicle |
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
| CN113453930A (en) * | 2019-02-12 | 2021-09-28 | 索尤若驱动有限及两合公司 | Mobile device |
-
2018
- 2018-01-12 CN CN201820053851.6U patent/CN208181246U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100076A (en) * | 2018-01-12 | 2018-06-01 | 北京三快在线科技有限公司 | Unmanned chassis and unmanned vehicle |
| WO2019137140A1 (en) * | 2018-01-12 | 2019-07-18 | 北京三快在线科技有限公司 | Unmanned vehicle chassis and unmanned vehicle |
| US11383776B2 (en) | 2018-01-12 | 2022-07-12 | Beijing Sankuai Online Technology Co., Ltd | Unmanned vehicle chassis and unmanned vehicle |
| CN108100076B (en) * | 2018-01-12 | 2023-07-21 | 北京三快在线科技有限公司 | Unmanned vehicle chassis and unmanned vehicle |
| CN113453930A (en) * | 2019-02-12 | 2021-09-28 | 索尤若驱动有限及两合公司 | Mobile device |
| CN113453930B (en) * | 2019-02-12 | 2024-05-28 | 索尤若驱动有限及两合公司 | Mobile device |
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
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