CN212290083U - Double-wheel walking mechanism for assisting in improving obstacle crossing height - Google Patents
Double-wheel walking mechanism for assisting in improving obstacle crossing height Download PDFInfo
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- CN212290083U CN212290083U CN202020591106.4U CN202020591106U CN212290083U CN 212290083 U CN212290083 U CN 212290083U CN 202020591106 U CN202020591106 U CN 202020591106U CN 212290083 U CN212290083 U CN 212290083U
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Abstract
The utility model discloses a double-wheel auxiliary walking mechanism for improving obstacle crossing height, which comprises a robot body, motor wheels arranged on the left side and the right side of the robot body, and guide wheels arranged on the front side and the rear side of the robot body, wherein the motor wheels are connected with the robot body; the guide wheel is connected with the robot body through a wheel carrier; still fixed mounting has the auxiliary wheel support on the wheel carrier, the last auxiliary wheel of rotating of auxiliary wheel support is installed, the auxiliary wheel sets up leading wheel one side, the axis of auxiliary wheel is located in vertical direction the top of the axis of leading wheel. The double-wheel walking mechanism for assisting in improving the obstacle crossing height has the advantages of small acting loss, flexible steering, low manufacturing cost, small resistance and strong obstacle crossing capability, solves the problem that the small wheel diameter crosses obstacles exceeding the height of the wheel radius, has better universality, 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 running gear that supplementary improvement of double round hinders height more.
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 structure and poor obstacle crossing capability, and utilizes a mechanical differential mechanism 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 running gear which has small work loss, flexible steering, low cost, small resistance and strong obstacle-crossing capability and can realize 360-degree steering in situ by two wheels to assist in improving the obstacle-crossing height without a mechanical differential mechanism.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a walking mechanism with double wheels for assisting in improving obstacle crossing height comprises a robot body, motor wheels arranged on the left side and the right side of the robot body, and guide wheels arranged on the front side and the rear side of the robot body, wherein the motor wheels are connected with the robot body; the guide wheel is connected with the robot body through a wheel carrier; still fixed mounting has the auxiliary wheel support on the wheel carrier, the last auxiliary wheel of rotating of auxiliary wheel support is installed, the auxiliary wheel sets up leading wheel one side, the axis of auxiliary wheel is located in vertical direction the top of the axis of leading wheel.
Therefore, the double-wheel walking mechanism for assisting in improving the obstacle crossing height has double drives, namely two motor wheels are used for independently controlling walking, the steering is flexible, the manufacturing cost is low, the in-situ 360-degree steering can be realized without a mechanical differential mechanism, the acting loss can be better reduced, and the resistance is reduced. 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 auxiliary wheel is arranged, the auxiliary wheel can cross the obstacle, the problem that the small wheel diameter crosses the obstacle exceeding the height of the wheel radius is solved, the universality is better, the in-situ 360-degree steering can be realized without a mechanical differential mechanism, the obstacle crossing height is improved, and the stability and the flexibility of the obstacle crossing are improved.
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.
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 comprises a robot shell, a bottom plate and a top plate, wherein the bottom plate and the top plate are arranged in the robot shell, the bottom plate and the top plate are connected through a support, and the robot shell is fixedly connected with the support; the support is fixedly connected with a first flange outwards corresponding to the motor wheel, the motor wheel is hinged with a connecting rod outwards, the end part 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.
Like this, realization motor wheel that can be better is provided with damping spring with being connected of unmanned aerial vehicle body, support and the shock attenuation that can be better.
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 double-wheel walking mechanism for assisting in improving the obstacle crossing height has the advantages of small work loss, flexible steering, low manufacturing cost, small 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 a mechanical differential mechanism.
Drawings
Fig. 1 is a schematic structural view of a double-drive diamond-shaped unmanned vehicle with differential-free flexible steering, which adopts the travelling mechanism with double wheels for assisting in improving obstacle crossing height.
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 following description will be made in conjunction with an accompanying drawing of a dual-drive rhombus unmanned vehicle with a non-differential flexible steering structure, which is a specific structure 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 non-differential flexible steering dual-drive diamond-shaped unmanned vehicle 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-wheel walking mechanism for assisting in improving the obstacle crossing height has double drives, namely two motor wheels are used for independently controlling walking, the steering is flexible, the manufacturing cost is low, the in-situ 360-degree steering can be realized without a mechanical differential mechanism, the acting loss can be better reduced, and the resistance is reduced. 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 auxiliary wheel is arranged, the auxiliary wheel can cross the obstacle, the problem that the small wheel diameter crosses the obstacle exceeding the height of the wheel radius is solved, the universality is better, the in-situ 360-degree steering can be realized without a mechanical differential mechanism, the obstacle crossing height is improved, and the stability and the flexibility of the obstacle crossing are improved.
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 (3)
1. A walking mechanism with double wheels for assisting in improving obstacle crossing height is characterized by comprising a robot body, motor wheels arranged on the left side and the right side of the robot body and guide wheels arranged on the front side and the rear side of the robot body, wherein the motor wheels are connected with the robot body; the guide wheel is connected with the robot body through a wheel carrier; still fixed mounting has the auxiliary wheel support on the wheel carrier, the last auxiliary wheel of rotating of auxiliary wheel support is installed, the auxiliary wheel sets up leading wheel one side, the axis of auxiliary wheel is located in vertical direction the top of the axis of leading wheel.
2. A two-wheeled vehicle for assisting in increasing the height of an obstacle according to claim 1, wherein said auxiliary wheels and said guide wheels are of the same diameter.
3. The walking mechanism with double wheels for assisting in improving the obstacle crossing height as claimed in claim 1, wherein the robot body comprises a robot housing, and a bottom plate and a top plate which are arranged in the robot housing, the bottom plate and the top plate are connected through a bracket, and the robot housing is fixedly connected with the bracket; the support is fixedly connected with a first flange outwards corresponding to the motor wheel, the motor wheel is hinged with a connecting rod outwards, the end part 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020591106.4U CN212290083U (en) | 2020-04-20 | 2020-04-20 | Double-wheel walking mechanism for assisting in improving obstacle crossing height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020591106.4U CN212290083U (en) | 2020-04-20 | 2020-04-20 | Double-wheel walking mechanism for assisting in improving obstacle crossing height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212290083U true CN212290083U (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020591106.4U Active CN212290083U (en) | 2020-04-20 | 2020-04-20 | Double-wheel walking mechanism for assisting in improving obstacle crossing height |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212290083U (en) |
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2020
- 2020-04-20 CN CN202020591106.4U patent/CN212290083U/en active Active
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