CN212290082U - Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure - Google Patents
Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure Download PDFInfo
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- CN212290082U CN212290082U CN202020591094.5U CN202020591094U CN212290082U CN 212290082 U CN212290082 U CN 212290082U CN 202020591094 U CN202020591094 U CN 202020591094U CN 212290082 U CN212290082 U CN 212290082U
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Abstract
The utility model discloses a nimble drive rhombus unmanned vehicle that turns to that does not have mechanical differential structure, including the robot, set up in the left side and the right side of robot and be used for driving the drive arrangement of robot motion, still include the leading wheel of setting in the front side and the rear side of robot, the robot is the rhombus structure, drive arrangement and leading wheel set up respectively in the four corners position of robot, drive arrangement includes two motor wheels, the motor wheel sets up respectively the left side and the right side of robot, the motor wheel with the robot is connected; the guide wheel is connected with the robot body through a wheel carrier; and the upper end of the robot body is also provided with a mounting bracket. The flexibly steering double-drive rhombic unmanned vehicle without the mechanical differential structure has the advantages of small work loss, flexible steering, low manufacturing cost, small resistance and strong obstacle crossing capability, and can realize in-situ 360-degree steering without a mechanical differential mechanism.
Description
Technical Field
The utility model relates to an unmanned vehicle technical field especially relates to a nimble double drive rhombus unmanned vehicle that turns to of no mechanical differential structure.
Background
An unmanned vehicle, also called a wheel type mobile robot, mainly depends on an intelligent driving instrument which is mainly a computer system in the vehicle to realize the purpose of unmanned driving.
The existing unmanned vehicle has complex mechanism and poor obstacle crossing capability, and utilizes a mechanical differential structure to steer when steering, so that the structure is complex, the cost is high, the steering flexibility is poor, the work loss is high, and the normal use is seriously influenced.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the technical problem to be solved by the present patent application is: how to provide a flexible steering double-drive diamond unmanned vehicle without a mechanical differential structure, which has the advantages of low work loss, flexible steering, low manufacturing cost, small resistance and strong obstacle crossing capability.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a flexibly-steering dual-drive rhombic unmanned vehicle without a mechanical differential structure comprises a robot body, driving devices and guide wheels, wherein the driving devices are arranged on the left side and the right side of the robot body and used for driving the robot body to move; the guide wheel is connected with the robot body through a wheel carrier; and the upper end of the robot body is also provided with a mounting bracket.
Therefore, the double-drive rhombic unmanned vehicle without the mechanical differential structure can flexibly steer, has double drives, namely two motor wheels are independently controlled to walk, is flexible to steer, is low in manufacturing cost, does not need the mechanical differential structure, can better reduce acting loss, and reduces resistance. When steering is needed, one motor wheel acts to rotate, the other motor wheel does not move, or the rotating speed between the two motor wheels is different, so that the steering effect can be realized. The leading wheel can better lead. The installation support is arranged, so that the objects to be carried, such as cables, cameras and the like, can be conveniently installed. The robot body is the rhombus structure, and the flexibility improves, and further the volume that has reduced unmanned car has reduced the holistic weight of unmanned car, alleviates the resistance, reduces the loss, can be better satisfy the operation requirement.
Specifically, the motor wheel is of an existing structure, namely, the combination of the hub motor, the hub, the electric control brake and the like is already used on the unmanned vehicle, so the specific structural principle is not described.
Furthermore, an auxiliary wheel support is fixedly mounted on the wheel frame, an auxiliary wheel is rotatably mounted on the auxiliary wheel support and arranged on one side of the guide wheel, and the axis of the auxiliary wheel is located above the axis of the guide wheel in the vertical direction.
Like this, be provided with the auxiliary wheel, the auxiliary wheel can hinder more, compares in only leading wheel, can improve and hinder more the height, improves stability and the flexibility of hindering more.
Further, the auxiliary wheel and the guide wheel are consistent in diameter. The manufacturing and the assembly of the whole unmanned vehicle are convenient.
Further, the robot body includes the robot housing and sets up bottom plate and roof in the robot housing, pass through the leg joint between bottom plate and the roof, the robot shell with support fixed connection. Like this, the support can be better support and connect whole unmanned car, is provided with bottom plate and roof, conveniently bears the weight of the object, carries on battery and control module etc..
Furthermore, a first flange plate is fixedly connected to the support outwards corresponding to the motor wheel, the motor wheel is hinged to a connecting rod outwards, a second flange plate is hinged to the end portion of the connecting rod, and the first flange plate and the second flange plate are fixedly connected through bolts; the second flange plate is fixedly connected with a support lug, and the support lug is hinged with the motor wheel through a damping spring. The realization motor wheel that can be better is provided with damping spring with being connected of unmanned aerial vehicle body, can be better support and the shock attenuation.
Furthermore, reinforcing ribs are fixedly connected between the supports. The connection strength is increased, and the bearing capacity is increased.
Specifically, an inner cavity is formed in a shell of the robot body, a storage battery and a control module are placed in the inner cavity, and the control module is connected with the storage battery and an electric control brake of the motor wheel and is used for controlling the rotation or stop of the motor wheel. Furthermore, the control module is an existing control module and can adopt a PLC (programmable logic controller), a singlechip and the like.
In conclusion, the flexibly-steering dual-drive rhombic unmanned vehicle without the mechanical differential structure has the advantages of low work loss, flexibility in steering, low manufacturing cost, low resistance and strong obstacle crossing capability, solves the problem that the small wheel diameter crosses the obstacle exceeding the height of the wheel radius, has better universality, and can realize in-situ 360-degree steering without the mechanical differential mechanism.
Drawings
Fig. 1 is the utility model discloses a structure sketch map of the nimble dual drive rhombus unmanned car that turns to of no mechanical differential structure.
Fig. 2 is a bottom view of fig. 1.
Fig. 3 is a front view of fig. 1.
Fig. 4 is a side view of fig. 1.
Fig. 5 is an enlarged schematic view of the robot housing of fig. 1 with the robot housing removed.
Fig. 6 is a bottom view of fig. 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1-6, a dual-drive diamond-shaped unmanned vehicle with no mechanical differential structure and capable of flexibly steering comprises a robot body 1, driving devices arranged on the left side and the right side of the robot body 1 and used for driving the robot body 1 to move, and guide wheels 2 arranged on the front side and the rear side of the robot body 1, wherein the robot body 1 is of a diamond-shaped structure, the driving devices and the guide wheels 2 are respectively arranged at four corners of the robot body 1, each driving device comprises two motor wheels 3, the motor wheels 3 are respectively arranged on the left side and the right side of the robot body 1, and the motor wheels 3 are connected with the robot body 1; the guide wheel 2 is connected with the robot body 1 through a wheel carrier 4; and the upper end of the robot body 1 is also provided with a mounting bracket 5.
Therefore, the double-drive rhombic unmanned vehicle without the mechanical differential structure can flexibly steer, has double drives, namely two motor wheels are independently controlled to walk, is flexible to steer, is low in manufacturing cost, does not need the mechanical differential structure, can better reduce acting loss, and reduces resistance. When steering is needed, one motor wheel acts to rotate, the other motor wheel does not move, or the rotating speed between the two motor wheels is different, so that the steering effect can be realized. The leading wheel can better lead. The installation support is arranged, so that the objects to be carried, such as cables, cameras and the like, can be conveniently installed. The robot body is the rhombus structure, and the flexibility improves, and further the volume that has reduced unmanned car has reduced the holistic weight of unmanned car, alleviates the resistance, reduces the loss, can be better satisfy the operation requirement.
Specifically, the motor wheel is of an existing structure, namely, the combination of the hub motor, the hub, the electric control brake and the like is already used on the unmanned vehicle, so the specific structural principle is not described.
In this embodiment, an auxiliary wheel bracket 6 is further fixedly mounted on the wheel carrier 4, an auxiliary wheel 7 is rotatably mounted on the auxiliary wheel bracket 6, the auxiliary wheel 7 is disposed on one side of the guide wheel 2, and an axis of the auxiliary wheel 7 is vertically located above an axis of the guide wheel 2.
Like this, be provided with the auxiliary wheel, the auxiliary wheel can hinder more, compares in only leading wheel, can improve and hinder more the height, improves stability and the flexibility of hindering more.
In this embodiment, the auxiliary wheel 7 and the guide wheel 2 have the same diameter. The manufacturing and the assembly of the whole unmanned vehicle are convenient.
In this embodiment, the robot body 1 includes a robot housing, and a bottom plate 8 and a top plate 9 disposed in the robot housing, the bottom plate 8 and the top plate 9 are connected by a support 10, and the robot housing is fixedly connected to the support 10. Like this, the support can be better support and connect whole unmanned car, is provided with bottom plate and roof, conveniently bears the weight of the object, carries on battery and control module etc..
In this embodiment, the support 10 is fixedly connected with a first flange 11 outwards corresponding to the motor wheel 3, the motor wheel 3 is hinged with a connecting rod 12 outwards, the end of the connecting rod 12 is hinged with a second flange 13, and the first flange 11 and the second flange 13 are fixedly connected through bolts; the second flange 13 is fixedly connected with a support lug 14, and the support lug 14 is hinged with the motor wheel 3 through a damping spring 15. The realization motor wheel that can be better is provided with damping spring with being connected of unmanned aerial vehicle body, can be better support and the shock attenuation. The connecting rod, the damping spring and the motor wheel form a triangular supporting structure, and the stability is higher.
In this embodiment, a reinforcing rib 16 is fixedly connected between the brackets 10. The connection strength is increased, and the bearing capacity is increased.
Specifically, an inner cavity is formed in a shell of the robot body, a storage battery and a control module are placed in the inner cavity, and the control module is connected with the storage battery and an electric control brake of the motor wheel and is used for controlling the rotation or stop of the motor wheel. Furthermore, the control module is an existing control module and can adopt a PLC (programmable logic controller), a singlechip and the like.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The flexibly-steering dual-drive rhombic unmanned vehicle without the mechanical differential structure is characterized by comprising a robot body, driving devices and guide wheels, wherein the driving devices are arranged on the left side and the right side of the robot body and used for driving the robot body to move, the guide wheels are arranged on the front side and the rear side of the robot body, the robot body is of a rhombic structure, the driving devices and the guide wheels are respectively arranged at the four corners of the robot body, each driving device comprises two motor wheels, the motor wheels are respectively arranged on the left side and the right side of the robot body, and the motor wheels are connected with the robot body; the guide wheel is connected with the robot body through a wheel carrier; and the upper end of the robot body is also provided with a mounting bracket.
2. The flexible steering dual-drive diamond unmanned vehicle without the mechanical differential structure as claimed in claim 1, wherein the wheel carrier is further fixedly provided with an auxiliary wheel support, the auxiliary wheel support is rotatably provided with an auxiliary wheel, the auxiliary wheel is arranged on one side of the guide wheel, and the axis of the auxiliary wheel is vertically above the axis of the guide wheel.
3. The flexibly-steered dual-drive diamond-shaped unmanned vehicle without a mechanical differential structure according to claim 2, wherein the auxiliary wheels and the guide wheels are uniform in diameter.
4. The flexible steering dual-drive diamond-shaped unmanned vehicle without the mechanical differential structure according to claim 1, wherein the robot body comprises a robot shell, and a bottom plate and a top plate which are arranged in the robot shell, the bottom plate and the top plate are connected through a bracket, and the robot shell is fixedly connected with the bracket.
5. The flexible steering dual-drive diamond unmanned vehicle without the mechanical differential structure as claimed in claim 1, wherein the bracket is fixedly connected with a first flange outward corresponding to the motor wheel, the motor wheel is hinged with a connecting rod outward, the end of the connecting rod is hinged with a second flange, and the first flange and the second flange are fixedly connected through bolts; the second flange plate is fixedly connected with a support lug, and the support lug is hinged with the motor wheel through a damping spring.
6. The flexible steering dual-drive diamond-shaped unmanned vehicle without the mechanical differential structure as claimed in claim 1, wherein reinforcing ribs are fixedly connected between the brackets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020591094.5U CN212290082U (en) | 2020-04-20 | 2020-04-20 | Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020591094.5U CN212290082U (en) | 2020-04-20 | 2020-04-20 | Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212290082U true CN212290082U (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020591094.5U Active CN212290082U (en) | 2020-04-20 | 2020-04-20 | Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212290082U (en) |
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2020
- 2020-04-20 CN CN202020591094.5U patent/CN212290082U/en active Active
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