CN211918858U - Small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability - Google Patents
Small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability Download PDFInfo
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- CN211918858U CN211918858U CN202020197458.1U CN202020197458U CN211918858U CN 211918858 U CN211918858 U CN 211918858U CN 202020197458 U CN202020197458 U CN 202020197458U CN 211918858 U CN211918858 U CN 211918858U
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Abstract
The utility model discloses a high small-size unmanned car of obstacle ability more of high mobility, include: a frame; one end of the rear arm is hinged with the front end of the frame; a first support shaft rotatably penetrating the other end of the rear arm in a radial direction of the rear arm; a pair of first driven wheels respectively fixedly penetrating through two axial ends of the first support shaft; the pair of first driving wheels are symmetrically and rotatably arranged on two radial sides of the rear arm and are in meshing transmission with the corresponding first driven wheels; the pair of first power mechanisms are symmetrically arranged at two radial sides of the rear arm, and output ends of the first power mechanisms are connected with the corresponding first driving wheels and used for driving the first driving wheels to rotate; one end of the front arm is fixedly connected with the two axial ends of the first supporting shaft; the pair of forearm driving wheels are symmetrically and rotatably supported and arranged on two sides of the radial direction of the other end of the forearm; and the driving mechanism is fixedly arranged on the frame, is connected with the rear arm and is used for driving the rear arm to rotate transversely around the frame.
Description
Technical Field
The utility model relates to a barrier car technical field more specifically, the utility model relates to a high mobility is high hinders small-size unmanned car of ability more.
Background
With the continuous progress of the technology, the requirements on the life and health safety of people are higher and higher, the requirements on the maneuverability and obstacle-crossing capability of the obstacle-crossing vehicle are higher and higher under many special environments, such as counterterrorism and riot control, military reconnaissance, rescue, transportation and the like in toxic, flammable and explosive occasions, the main structure of the currently used obstacle-crossing vehicle is wheeled, legged, crawler-type and combined, wherein the wheeled efficiency is high, the smooth road has good high-speed operation and flexible turning capability, but the adaptability to complex terrains is poor. Especially when vertical obstacles are encountered, the obstacle crossing height is limited by the radius of the front wheel, and the obstacle crossing capability is poor.
In the existing vehicle design, in order to improve the obstacle crossing capability of the vehicle, the structure of the obstacle crossing vehicle is designed in a targeted manner according to different use environments, for example, a wheel type vehicle also adopts a deformed wheel structure, when a steep obstacle needs to be crossed, the wheel diameter is increased, and the deformed wheel structure is complex. The leg type walking structure has strong adaptability, but low efficiency and complex control. The crawler-type vehicle has good climbing performance and good obstacle crossing capability, and the crawler-type vehicle is mostly researched and applied at present and is crawler-type. In order to improve the obstacle crossing capability of the crawler vehicle, people also carry out various deformed crawler belt structural designs on the basis of a full crawler belt form similar to the traditional tank, the varied structures still utilize the larger friction force of the toothed crawler belt and the integrity of the longer crawler belt to adapt to various varied road conditions, and the problems of lower efficiency, lower high speed and poorer maneuverability still exist on the whole.
In order to overcome the defects of the three vehicles, the vehicles also have composite structures, such as a wheel-track composite structure, a wheel-leg composite structure and a wheel-track-leg variable structure, the composite structures can integrate the advantages of two or three structural structures in the composite structures to a certain extent, the structure compounded with the wheels can improve the maneuvering flexibility of the vehicles, but the capability of turning over steep obstacles is improved slightly, the structures are complex, the control modes need to be switched according to road conditions, the operation and control are complex, and the like.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a developed a small-size unmanned car of high mobility height ability of crossing obstacles, be provided with folding arm, through the two arm angles of the folding arm of adjustment for the forearm upwards props up preceding automobile body, goes up the barrier more, and realizes crossing obstacles under the effect of drive wheel.
The utility model provides a technical scheme does:
a high mobility, high obstacle surmounting capability compact unmanned vehicle comprising:
the frame is symmetrically arranged at two transverse sides of the frame and is rotatably supported with wheels;
one end of the rear arm is hinged with the front end of the frame and can rotate transversely around the frame;
a first support shaft rotatably penetrating the other end of the rear arm in a radial direction of the rear arm;
a pair of first driven wheels respectively fixedly penetrating through two axial ends of the first support shaft;
the pair of first driving wheels are symmetrically and rotatably arranged on two radial sides of the rear arm and are in meshing transmission with the corresponding first driven wheels;
the pair of first power mechanisms are symmetrically arranged at two radial sides of the rear arm, and output ends of the first power mechanisms are connected with the corresponding first driving wheels and used for driving the first driving wheels to rotate;
one end of the front arm is fixedly connected with the two axial ends of the first supporting shaft;
the pair of forearm driving wheels are symmetrically and rotatably supported and arranged on two sides of the radial direction of the other end of the forearm;
and the driving mechanism is fixedly arranged on the frame, is connected with the rear arm and is used for driving the rear arm to rotate transversely around the frame.
Preferably, the driving mechanism includes:
the support frame is fixedly arranged at the front end of the frame;
the second support shaft penetrates through one end of the rear arm along the radial direction of the rear arm, and two axial ends of the second support shaft are rotatably supported and arranged on the support frame;
the two axial ends of the third support shaft are rotatably supported on the support frame and are arranged in parallel with the second support shaft at intervals;
the pair of second driven wheels respectively fixedly penetrate through two axial ends of the third supporting shaft;
the pair of third driven wheels respectively fixedly penetrate through two axial ends of the second support shaft and are in meshed transmission with the corresponding second driven wheels;
the pair of second driving wheels are respectively and rotatably arranged on two radial sides of the supporting frame and are in meshing transmission with the corresponding second driven wheels;
and the pair of second power mechanisms are respectively arranged at two radial sides of the support frame, and the output ends of the pair of second power mechanisms are connected with the second driving wheels correspondingly and are used for driving the second driving wheels to rotate.
Preferably, the drive mechanism further includes:
and the pair of fourth driven wheels respectively fixedly penetrate through the two axial ends of the third support shaft positioned on the outer side of the second driven wheel and are in meshing transmission with the corresponding third driven wheels.
Preferably, the vehicle frame includes:
a front frame;
and the rear frame is hinged with the front frame.
Preferably, the wheel includes:
the pair of front frame driving wheels are symmetrically and rotatably supported and arranged on the radial two sides of the front end of the front frame;
the pair of rear frame driving wheels are symmetrically and rotatably supported and arranged on two radial sides of the rear end of the rear frame;
and the supporting wheels are symmetrically and rotatably supported and arranged on the radial two sides of the front frame and the rear frame between the driving wheel of the front frame and the driving wheel of the rear frame.
Preferably, the method further comprises the following steps:
the image acquisition device is fixedly arranged at the front end of the forearm and is used for acquiring images;
the third power mechanisms are respectively connected with the front arm driving wheel, the front frame driving wheel and the rear frame driving wheel and are used for driving the front arm driving wheel, the front frame driving wheel and the rear frame driving wheel to rotate;
and the control box is arranged on the rear frame, is electrically connected with the first power mechanism, the second power mechanism and the third power mechanism, and is used for controlling the first power mechanism, the second power mechanism and the third power mechanism to work.
Preferably, the front frame and the rear frame are hinged through a connecting shaft.
Preferably, the rear arm is of an H-shaped structure, a second support shaft is fixedly arranged at one axial end in a penetrating mode, and a first support shaft is rotatably arranged at the other axial end in a penetrating mode.
Preferably, the front arm is of a U-shaped structure, and two sides of the opening end of the front arm are fixedly connected with two axial sides of the first supporting shaft.
Preferably, the first power mechanism, the second power mechanism and the third power mechanism are all driving motors.
Beneficial effect:
(1) the utility model relates to a high mobility of development is high hinders small-size unmanned car of ability more, and folding arm is installed to frame front end in the front, and folding arm comprises forearm and postbrachium, and the drive wheel is installed to the front end of forearm, and through the two arm angles of the folding arm of adjustment, the forearm upwards props up preceding automobile body, makes preceding automobile body front wheel go up the barrier more to under the combined action of the drive wheel on the drive wheel of forearm front end and the front and back automobile body, realize the action of the strideing across obstacle of dolly.
(2) The utility model discloses a frame all is equipped with the drive wheel for the articulated front and back frame of level on preceding frame and the back frame, installs two sets of wheels around at least on preceding frame and the back frame respectively for the frame can adapt to the change of road conditions and present certain contained angle around the front and back, is convenient for hinder more.
Drawings
Fig. 1 is a schematic structural view of a small unmanned vehicle with high maneuverability and high obstacle crossing capability.
Fig. 2 is a schematic view of the high mobility and high obstacle crossing ability of the small unmanned vehicle according to the present invention.
Fig. 3 is a schematic obstacle-crossing diagram of a small unmanned vehicle with high maneuverability and high obstacle-crossing capability according to the present invention.
Fig. 4 is a schematic obstacle-crossing diagram of a small unmanned vehicle with high maneuverability and high obstacle-crossing capability according to the present invention.
Fig. 5 is a schematic obstacle-crossing diagram of a small unmanned vehicle with high maneuverability and high obstacle-crossing capability according to the present invention.
Fig. 6 is a schematic diagram of the continuous obstacle crossing of the small unmanned vehicle with high maneuverability and high obstacle crossing capability of the present invention.
Fig. 7 is a continuous obstacle-crossing schematic diagram of a small unmanned vehicle with high maneuverability and high obstacle-crossing capability.
Fig. 8 is a schematic diagram of the continuous obstacle crossing of the small unmanned vehicle with high maneuverability and high obstacle crossing capability of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
As shown in fig. 1-2, the utility model provides a small-size unmanned vehicle of high mobility high obstacle-surmounting ability, including frame 100, its horizontal bilateral symmetry and rotatable support are provided with the wheel, articulate with frame 100 front end and are provided with trailing arm 110, and it can be around frame 100 lateral rotation. And a driving mechanism 140 is provided at the front end of the frame and connected to the rear arm 110 for driving the rear arm 110 to rotate transversely about the frame 100.
A first support shaft 120 is rotatably provided through the other end of the rear arm 110 in the radial direction thereof. First driven wheels 121 are fixedly inserted into both axial ends of the first support shaft 120. The first driving wheel 122 is symmetrically and rotatably disposed at two radial sides of the rear arm 110, and is in meshing transmission with the corresponding first driven wheel 121. First power mechanisms 123 are symmetrically arranged on two radial sides of the rear arm 110, and output ends of the first power mechanisms are connected with the corresponding first driving wheels 122 and used for driving the first driving wheels 122 to rotate.
A front arm 130 is fixedly connected with two axial ends of the first supporting shaft 120, one end of the front arm 130 is fixedly connected with two axial ends of the first supporting shaft, a pair of front arm driving wheels 131 are symmetrically and rotatably supported on two radial sides of the other end of the front arm 130, and the front arm driving wheels 131 are connected with a third power mechanism (driving motor) 107 to drive the front arm driving wheels 131 to rotate.
The first driving wheel 122 is driven to rotate by the first power mechanism 123, and further the first driven wheel 121 is driven to rotate, so as to drive the front arm 130 to rotate around the first supporting shaft 120, so as to adjust the included angle between the front arm 130 and the rear arm 110.
The driving mechanism 140 includes a supporting frame 141, which is fixedly disposed at the front end of the frame 100. A second support shaft 142 is fixedly disposed at one end of the rear arm 110 in the radial direction of the rear arm 110, and both ends in the axial direction thereof are rotatably supported by the support frame 141. A third support shaft 143 is provided in parallel with the second support shaft 142 at an interval, and both ends in the axial direction thereof are rotatably supported on the support frame 141. Second driven wheels 144 are fixedly penetrated through both axial ends of the third support shaft 143, respectively, and fixedly penetrated through both axial ends of the third support shaft, and fourth driven wheels 145 are fixedly penetrated through both axial ends of the third support shaft 143 located outside the second driven wheels 144, respectively. Third driven wheels 146 are fixedly disposed at both axial ends of the second support shaft 142, respectively, and are engaged with the corresponding fourth driven wheels 145. The supporting frame 141 is symmetrically provided with a second driving wheel 147 at two radial sides and is rotatably engaged with the corresponding second driven wheel 144 for transmission. The radial two sides of the supporting frame 141 are provided with second power mechanisms 148, and the output ends of the second power mechanisms are connected with the corresponding second driving wheels 147 and used for driving the second driving wheels 147 to rotate.
The frame 100 comprises a front frame 101, and a rear frame 103 is hinged with the front frame 101 through a connecting shaft 102. A pair of front frame driving wheels 104 are provided to be radially bilaterally symmetrical and rotatably supported at the front end of the front frame 101, a pair of rear frame driving wheels 105 are provided to be radially bilaterally symmetrical and rotatably supported at the rear end of the rear frame 103, and a plurality of supporting wheels 106 are provided to be radially bilaterally symmetrical and rotatably supported at the front frame 101 and the rear frame 103 between the front frame driving wheels 104 and the rear frame driving wheels 105. The front frame 101 and the rear frame 103 are both provided with driving wheels, at least two groups of front and rear wheels are respectively arranged on the front frame 101 and the rear frame 103, at least one wheel on the front frame is a wheel with independent driving, the wheels on the rear frame are provided with at least two rows of front and rear wheels, wherein the rear wheels are driving wheels, the driving power can be driven by two independent driving motors connected with the rear wheels, or the driving power can be transmitted to the rear wheels by the motors through a differential device.
In this embodiment, the device further includes an image capturing device 150, which is fixedly disposed at the front end of the forearm 130, may be at the middle portion, or may be disposed at one side, and is used for capturing images, and observing the environment of the cart and transmitting the images to the control end in real time. And a plurality of third power mechanisms 107 respectively connected to the front arm driving wheel 131, the front frame driving wheel 104 and the rear frame driving wheel 105 for driving the front arm driving wheel 131, the front frame driving wheel 104 and the rear frame driving wheel to rotate 105. The control box 160 is disposed on the rear frame 103, electrically connected to the first power mechanism 123, the second power mechanism 148 and the third power mechanism 107, and configured to control the first power mechanism 123, the second power mechanism 148 and the third power mechanism 107 to operate. The first power mechanism 123, the second power mechanism 148 and the third power mechanism 107 are all driving motors.
As another embodiment of the present invention, the rear arm 110 is an H-shaped structure, and a second supporting shaft 142 is fixedly disposed through one end of the rear arm in the axial direction, and a first supporting shaft 120 is rotatably disposed through the other end of the rear arm. The front arm 130 is of a U-shaped structure, and two sides of the opening end are fixedly connected with two axial sides of the first support shaft 120.
The working principle is as follows:
as shown in fig. 3-8, the utility model provides a folding arm is installed to small-size unmanned front vehicle frame front end, and folding arm comprises forearm and postbrachium, and the forearm drive wheel is installed to the front end of forearm. The connection part of the folding arm and the front frame are connected with the motor through the speed reducer, the folding arm can be extended forwards by the structure when crossing a gully, so that the front arm driving wheel of the front folding arm falls to the ground and serves as the forward driving power of the vehicle body to complete the forward movement of the vehicle body together with the rest power wheels on the frame, and the forward extension of the folding arm prolongs the support between the vehicle body and the ground, so that the capability of the trolley crossing the gully is improved. When the trolley needs to climb a steep obstacle, the folding arm is lifted upwards to the position above the obstacle and then falls down, the front arm driving wheel on the folding arm is contacted with the obstacle, and meanwhile, the lifting folding arm is continuously adjusted and lifted, so that the front frame of the trolley is lifted upwards, and the trolley is enabled to jump over the obstacle under the combined action of the folding arm driving wheel, the front frame driving wheel and the rear frame driving wheel. The folding arm has the function of lifting the front frame, so that the obstacle crossing capability of the trolley is greatly improved.
The utility model relates to a high mobility of development is high hinders small-size unmanned car of ability more, and folding arm is installed to frame front end in the front, and folding arm comprises forearm and postbrachium, and the drive wheel is installed to the front end of forearm, and through the two arm angles of the folding arm of adjustment, the forearm upwards props up preceding automobile body, makes preceding automobile body front wheel go up the barrier more to under the combined action of the drive wheel on the drive wheel of forearm front end and the front and back automobile body, realize the action of the strideing across obstacle of dolly. And the frame is the articulated front and back frame of level, all is equipped with the drive wheel on front frame and the back frame, installs two sets of wheels around at least on front frame and the back frame respectively for the front and back frame can adapt to the change of road conditions and present certain contained angle, is convenient for hinder more.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (10)
1. A small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability is characterized by comprising:
the frame is symmetrically arranged at two transverse sides of the frame and is rotatably supported with wheels;
one end of the rear arm is hinged with the front end of the frame and can rotate transversely around the frame;
a first support shaft rotatably penetrating the other end of the rear arm in a radial direction of the rear arm;
a pair of first driven wheels respectively fixedly penetrating through two axial ends of the first support shaft;
the pair of first driving wheels are symmetrically and rotatably arranged on two radial sides of the rear arm and are in meshing transmission with the corresponding first driven wheels;
the pair of first power mechanisms are symmetrically arranged at two radial sides of the rear arm, and output ends of the first power mechanisms are connected with the corresponding first driving wheels and used for driving the first driving wheels to rotate;
one end of the front arm is fixedly connected with the two axial ends of the first supporting shaft;
the pair of forearm driving wheels are symmetrically and rotatably supported and arranged on two sides of the radial direction of the other end of the forearm;
and the driving mechanism is fixedly arranged on the frame, is connected with the rear arm and is used for driving the rear arm to rotate transversely around the frame.
2. The compact unmanned, high mobility, high obstacle crossing capability vehicle of claim 1 wherein said drive mechanism comprises:
the support frame is fixedly arranged at the front end of the frame;
the second support shaft penetrates through one end of the rear arm along the radial direction of the rear arm, and two axial ends of the second support shaft are rotatably supported and arranged on the support frame;
the two axial ends of the third support shaft are rotatably supported on the support frame and are arranged in parallel with the second support shaft at intervals;
the pair of second driven wheels respectively fixedly penetrate through two axial ends of the third supporting shaft;
the pair of third driven wheels respectively fixedly penetrate through two axial ends of the second support shaft and are in meshed transmission with the corresponding second driven wheels;
the pair of second driving wheels are respectively and rotatably arranged on two radial sides of the supporting frame and are in meshing transmission with the corresponding second driven wheels;
and the pair of second power mechanisms are respectively arranged at two radial sides of the support frame, and the output ends of the pair of second power mechanisms are connected with the second driving wheels correspondingly and are used for driving the second driving wheels to rotate.
3. The compact unmanned, high mobility, high obstacle crossing capability vehicle of claim 2, wherein said drive mechanism further comprises:
and the pair of fourth driven wheels respectively fixedly penetrate through the two axial ends of the third support shaft positioned on the outer side of the second driven wheel and are in meshing transmission with the corresponding third driven wheels.
4. The small unmanned vehicle with high maneuverability and high obstacle detouring capability as claimed in claim 2 or 3, wherein said vehicle frame comprises:
a front frame;
and the rear frame is hinged with the front frame.
5. The high mobility, high obstacle surmounting capability small unmanned vehicle of claim 4, wherein said wheels comprise:
the pair of front frame driving wheels are symmetrically and rotatably supported and arranged on the radial two sides of the front end of the front frame;
the pair of rear frame driving wheels are symmetrically and rotatably supported and arranged on two radial sides of the rear end of the rear frame;
and the supporting wheels are symmetrically and rotatably supported and arranged on the radial two sides of the front frame and the rear frame between the driving wheel of the front frame and the driving wheel of the rear frame.
6. The compact unmanned, high mobility, high obstacle crossing capability vehicle of claim 5 further comprising:
the image acquisition device is fixedly arranged at the front end of the forearm and is used for acquiring images;
the third power mechanisms are respectively connected with the front arm driving wheel, the front frame driving wheel and the rear frame driving wheel and are used for driving the front arm driving wheel, the front frame driving wheel and the rear frame driving wheel to rotate;
and the control box is arranged on the rear frame, is electrically connected with the first power mechanism, the second power mechanism and the third power mechanism, and is used for controlling the first power mechanism, the second power mechanism and the third power mechanism to work.
7. The small unmanned vehicle with high maneuverability and high obstacle detouring capability as claimed in claim 4, wherein said front frame is hinged with said rear frame by a connecting shaft.
8. The small unmanned vehicle with high maneuverability and high obstacle crossing capability as claimed in claim 2 or 3, wherein the rear arm has an H-shaped structure, and a second supporting shaft is fixedly arranged at one axial end in a penetrating way, and a first supporting shaft is rotatably arranged at the other axial end in a penetrating way.
9. The small unmanned vehicle with high maneuverability and high obstacle detouring capability as claimed in claim 8, wherein said front arm has a U-shaped structure, and both sides of the opening end thereof are fixedly connected with both axial sides of said first supporting shaft.
10. The compact unmanned vehicle having enhanced mobility and high obstacle detouring capability as claimed in claim 6, wherein the first power mechanism, the second power mechanism and the third power mechanism are all driving motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020197458.1U CN211918858U (en) | 2020-02-24 | 2020-02-24 | Small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020197458.1U CN211918858U (en) | 2020-02-24 | 2020-02-24 | Small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211918858U true CN211918858U (en) | 2020-11-13 |
Family
ID=73350646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020197458.1U Expired - Fee Related CN211918858U (en) | 2020-02-24 | 2020-02-24 | Small-sized unmanned vehicle with high maneuverability and high obstacle crossing capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211918858U (en) |
-
2020
- 2020-02-24 CN CN202020197458.1U patent/CN211918858U/en not_active Expired - Fee Related
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201113 |