CN211087722U - Bottom platform of unmanned vehicle - Google Patents

Abstract

The utility model discloses a bottom platform of an unmanned vehicle, which comprises a bottom plate, a left rear wheel shaft, a right rear wheel shaft, a bearing seat, a left driving mechanism, a right driving mechanism, a left front wheel shaft, a right front wheel shaft, a steering engine controller, a steering engine oscillating bar, an oscillating bar, a steering adjusting rod, a left steering oscillating bar, a right steering oscillating bar, a steering sleeve, a second rotating shaft, four inflatable wheels, a singlechip and a control handle; the left rear wheel shaft and the right rear wheel shaft are fixed at the rear side of the bottom plate; the left and right driving mechanisms are connected with left and right rear wheel shafts; an output shaft of the steering engine is fixedly connected with one end of a swing rod of the steering engine; the other end of the oscillating bar of the steering engine is hinged with the oscillating bar; the other end of the swing rod is hinged with one end of a left steering swing rod and one end of a steering adjusting rod; the other end of the left steering swing rod is fixedly connected with the steering sleeve; the second rotating shaft is fixed on the bottom plate; the left front wheel shaft is fixedly connected with the steering sleeve; the steering adjusting rod is hinged with the right steering oscillating bar; the right steering swing rod is connected with the right front wheel shaft; the steering engine controller controls a steering engine; the single chip microcomputer controls the steering engine and the left and right driving mechanisms; the control handle controls the steering engine and the left and right driving mechanisms. This platform is convenient for the repacking.

Description

Bottom platform of unmanned vehicle

Technical Field

The utility model belongs to unmanned vehicle field, especially a bottom platform of unmanned vehicle.

Background

Existing unmanned vehicles are mainly classified into two types: one is to add an unmanned operation system directly on the basis of the existing vehicle and carry out necessary mechanical modification, and the unmanned vehicle is closer to the mainstream vehicle in structure, but the modification difficulty with high cost is a big defect; the second type is a model unmanned vehicle with small volume, small power and simple structure, which has a great difference from the traditional vehicle in structure although the vehicle is cheap. Therefore, the cost of the current research on the real unmanned vehicle is very high, and an unmanned vehicle bottom platform which is closer to a real vehicle in mechanisms such as steering and the like, low in cost and convenient to modify is urgently needed and is used for early-stage experimental work of unmanned vehicle research.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bottom platform of unmanned vehicle, the main mechanism of this platform is gone up and is close actual vehicle more, and the cost is lower, simple structure simultaneously, install and remove the convenience, the repacking of the later stage experiment of being convenient for.

Realize the utility model discloses the technical solution of purpose does:

a bottom platform of an unmanned vehicle comprises a bottom plate, a left rear wheel shaft, a right rear wheel shaft, a bearing seat, a left driving mechanism, a right driving mechanism, a left front wheel shaft, a right front wheel shaft, a steering engine controller, a steering engine oscillating bar, an oscillating bar, a steering adjusting rod, a left steering oscillating bar, a right steering oscillating bar, a steering sleeve, a first rotating shaft, a second rotating shaft, four inflatable wheels, a single chip microcomputer and a control handle;

the left rear wheel shaft and the right rear wheel shaft are symmetrically fixed on the rear side of the bottom plate through bearing seats respectively; the left driving mechanism and the right driving mechanism are fixed on the bottom plate, are respectively connected with the left rear wheel shaft and the right rear wheel shaft and are used for realizing rear wheel double-drive driving; the steering engine is fixed on the bottom plate, and an output shaft of the steering engine is fixedly connected with one end of a swing rod of the steering engine; the other end of the oscillating rod of the steering engine is hinged with the oscillating rod; the other end of the swing rod is simultaneously hinged with one end of a left steering swing rod and one end of a steering adjusting rod through a first rotating shaft; the other end of the left steering oscillating bar is fixedly connected with the steering sleeve; the steering sleeve is supported on the second rotating shaft through a bearing; the second rotating shaft is fixed on the bottom plate, and the second rotating shaft is vertical to the bottom plate; the left front wheel shaft is fixedly connected with the steering sleeve; the other end of the steering adjusting rod is hinged with a right steering oscillating bar; the right steering swing rod is connected with the right front wheel shaft through another steering sleeve and a steering bearing seat; the four wheels are respectively connected with the left rear wheel axle, the right rear wheel axle, the left front wheel axle and the right front wheel axle; the steering engine controller and the single chip microcomputer are fixed on the bottom plate, and the steering engine controller is used for controlling the steering engine to rotate and stop; the single chip microcomputer is electrically connected with the controller, the left driving mechanism and the right driving mechanism and is respectively used for controlling the steering engine and the left and right driving mechanisms to rotate; the control handle is used for communicating with the single chip microcomputer to control the steering engine and the left and right driving mechanisms.

Compared with the prior art, the utility model, it is showing the advantage and is:

(1) compared with the common unmanned vehicle model, the structure of the unmanned vehicle model is closer to that of a real vehicle, such as a steering part and a driving part, and important mechanisms utilize the existing mature technology, so that the unmanned vehicle model has good reliability and is convenient to maintain.

(2) Compared with the traditional unmanned vehicle, the unmanned vehicle has the advantages that the cost is lower, the structure is simpler, some mechanisms which are unnecessary for the early-stage research of the unmanned system are omitted, such as a suspension system, a frame and the like, meanwhile, a large modification space is reserved on the structural design, and an interface is reserved on an STM32 single chip microcomputer, so that the visual sensing system is convenient to install in the later stage.

Drawings

FIG. 1 is a top view of an underlying platform of an unmanned vehicle

FIG. 2 is a left side view of the bottom deck of the unmanned vehicle

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

With reference to fig. 1, the utility model discloses a bottom platform of unmanned vehicle, including bottom plate 4, left rear axle 21, right rear axle 1, bearing frame 2, left actuating mechanism, right actuating mechanism, left front axle 13, right front axle 7, steering wheel 9, steering wheel controller, steering wheel pendulum rod 10, pendulum rod 16, steering adjustment pole 18, left steering pendulum rod 15, right steering pendulum rod 8, steering sleeve 14, first pivot 17, second pivot 12, four inflatable wheels 6, singlechip, control handle;

the left rear wheel shaft 21 and the right rear wheel shaft 1 are symmetrically fixed on the rear side of the bottom plate 4 through bearing seats 2 respectively; the left driving mechanism and the right driving mechanism are fixed on the bottom plate 4, are respectively connected with the left rear wheel shaft 21 and the right rear wheel shaft 1 and are used for realizing rear wheel double-drive driving; the steering engine 9 is fixed on the bottom plate 4, and an output shaft of the steering engine is fixedly connected with one end of a steering engine oscillating bar 10; the other end of the steering engine oscillating bar 10 is hinged with an oscillating bar 16; the other end of the swing rod 16 is simultaneously hinged with one end of a left steering swing rod 15 and one end of a steering adjusting rod 18 through a first rotating shaft 17; the other end of the left steering swing rod 15 is fixedly connected with a steering sleeve 14; the steering sleeve 14 is supported on the second rotating shaft 12 through a bearing; the second rotating shaft 12 is fixed on the bottom plate 4, and the second rotating shaft 12 is axially vertical to the bottom plate 4; the left front wheel shaft 13 is fixedly connected with a steering sleeve 14; the other end of the steering adjusting rod 18 is hinged with the right steering oscillating bar 8; the right steering swing rod 8 is connected with the right front wheel shaft 7 through another steering sleeve 14 and a steering bearing seat 11 in the same way as the left front wheel, and the description is omitted; the four wheels 6 are respectively connected with a left rear wheel shaft 21, a right rear wheel shaft 1, a left front wheel shaft 13 and a right front wheel shaft 7; the steering engine controller and the single chip microcomputer are fixed on the bottom plate 4, and the steering engine controller is used for controlling the steering engine to rotate and stop; the single chip microcomputer is electrically connected with the controller, the left driving mechanism and the right driving mechanism and is respectively used for controlling the steering engine and the left and right driving mechanisms to rotate; the control handle is used for communicating with the single chip microcomputer in a Bluetooth mode, and the steering engine and the left and right driving mechanisms are controlled.

Further, the left driving mechanism and the right driving mechanism have the same structure and respectively comprise a driving motor 3, a driving gear 19 and a driven gear 20; the driving motor 3 is fixed on the bottom plate 4, and an output shaft of the driving motor 3 is connected with the driving gear 19; the driving gear 19 is meshed with the driven gear 20; the driven gear 20 is fixedly connected with a rear wheel shaft 21.

Further, a first support rod 5 is fixed on the bottom plate 4, and anti-collision rods are fixed at the front end and the rear end of the first support rod 5; two crash bars are respectively arranged at the front end and the rear end of the bottom plate 4 and are used for carrying out anti-collision protection on the front end and the rear end of the bottom platform.

Further, a plurality of second support rods 22 are fixed at the upper end of the bottom plate 4, and an object stage 23 is fixed at the upper end of each second support rod 22, so that loads of a laser radar, a binocular camera and a computer (one or more combinations of the laser radar, the binocular camera and the computer) can be realized.

The utility model discloses a bottom platform of unmanned vehicle's control logic does:

an upper computer sends expected movement or steering signals to an STM32 single chip microcomputer, an STM32 sends received expected signals to a motor controller or a steering engine controller to send driving signals, and the motor controller receives the driving signals and then drives a servo motor to rotate or a steering engine driver to drive a steering engine to rotate for a certain angle, so that the vehicle can move or steer.

Claims (6)

1. The bottom platform of the unmanned vehicle is characterized by comprising a bottom plate (4), a left rear wheel shaft (21), a right rear wheel shaft (1), a bearing seat (2), a left driving mechanism, a right driving mechanism, a left front wheel shaft (13), a right front wheel shaft (7), a steering engine (9), a steering engine controller, a steering engine oscillating bar (10), an oscillating bar (16), a steering adjusting rod (18), a left steering oscillating bar (15), a right steering oscillating bar (8), a steering sleeve (14), a first rotating shaft (17), a second rotating shaft (12), four inflatable wheels (6), a single chip microcomputer and a control handle;

the left rear wheel shaft (21) and the right rear wheel shaft (1) are symmetrically fixed on the rear side of the bottom plate (4) through bearing seats (2) respectively; the left driving mechanism and the right driving mechanism are fixed on the bottom plate (4), are respectively connected with the left rear wheel shaft (21) and the right rear wheel shaft (1) and are used for realizing rear wheel double-drive driving; the steering engine (9) is fixed on the bottom plate (4), and an output shaft of the steering engine is fixedly connected with one end of a steering engine swing rod (10); the other end of the steering engine swing rod (10) is hinged with a swing rod (16); the other end of the swing rod (16) is simultaneously hinged with one end of a left steering swing rod (15) and one end of a steering adjusting rod (18) through a first rotating shaft (17); the other end of the left steering swing rod (15) is fixedly connected with a steering sleeve (14); the steering sleeve (14) is supported on the second rotating shaft (12) through a bearing; the second rotating shaft (12) is fixed on the bottom plate (4), and the second rotating shaft (12) is axially vertical to the bottom plate (4); the left front wheel shaft (13) is fixedly connected with a steering sleeve (14); the other end of the steering adjusting rod (18) is hinged with the right steering swing rod (8); the right steering swing rod (8) is connected with the right front wheel shaft (7) through another steering sleeve (14) and a steering bearing seat (11); the four wheels (6) are respectively connected with a left rear wheel shaft (21), a right rear wheel shaft (1), a left front wheel shaft (13) and a right front wheel shaft (7); the steering engine controller and the single chip microcomputer are fixed on the bottom plate (4), and the steering engine controller is used for controlling the steering engine to rotate and stop; the single chip microcomputer is electrically connected with the controller, the left driving mechanism and the right driving mechanism and is respectively used for controlling the steering engine and the left and right driving mechanisms to rotate; the control handle is used for communicating with the single chip microcomputer to control the steering engine and the left and right driving mechanisms.

2. The base platform as claimed in claim 1, wherein the left and right driving mechanisms are identical in structure and each comprise a driving motor (3), a driving gear (19) and a driven gear (20); the driving motor (3) is fixed on the bottom plate (4), and an output shaft of the driving motor (3) is connected with the driving gear (19); the driving gear (19) is meshed with the driven gear (20); the driven gear (20) is fixedly connected with a rear wheel shaft (21).

3. The underlying platform according to claim 1, wherein the bottom plate (4) is further fixed with a first support rod (5), and the front end and the rear end of the first support rod (5) are both fixed with anti-collision rods; the two anti-collision rods are respectively arranged at the front end and the rear end of the bottom plate (4).

4. The sub-platform as claimed in claim 1, wherein a plurality of second support bars (22) are fixed to the upper end of the base plate (4), and a stage (23) is fixed to the upper end of the second support bars (22).

5. The sub-platform as claimed in claim 4, wherein the stage (23) is provided with one or more of a combination of laser radar, binocular camera, computer.

6. The base platform as recited in claim 1 wherein the control handle is configured to communicate with a single chip Bluetooth.

Images