CN213228588U - Obstacle avoidance device for unmanned vehicle - Google Patents

Abstract

The utility model discloses an unmanned automobile-used obstacle-avoiding device relates to the automation equipment field, and the unmanned automobile to current wheel structure of traveling keeps away the inflexible problem of barrier action, now proposes following scheme, and it includes the support ring, the support ring is the level form, just hydraulic pressure vaulting pole, connecting rod and switching ring are installed in the support ring to the matching, hydraulic pressure vaulting pole and support ring are articulated form, the connecting rod all is fixed connection with the support ring, just the connecting rod all is the perpendicular form of each other with the inner wall of support ring, the switching ring is coaxial form with the support ring, just the circumference outer wall and the connecting rod of switching ring all are fixed connection, the circumference outer wall and the connecting rod of switching ring all are perpendicular form of each other, just the mount pad is installed in the top matching of support ring. The utility model discloses novel structure, and the device stable in structure, occupation space are little and use in a flexible way, and the effectual unmanned car that has solved current wheel structure of traveling keeps away the inflexible problem of barrier action.

Description

Obstacle avoidance device for unmanned vehicle

Technical Field

The utility model relates to an automation equipment field especially relates to an unmanned automobile-used obstacle-avoiding device.

Background

The unmanned technology is the embodiment of a modern scientific and technological progress, in social life and production activities, more and more unmanned technologies are integrated into the unmanned technology, so that life is more convenient, production is safer and more efficient, for example, the unmanned equipment is relatively representative, the unmanned transport vehicle can be used for conveying express delivery or workshop transfer products on streets, and after a series of manual operation equipment such as a cockpit is omitted, the transport vehicle is simplified in structure, reduced in failure rate, capable of bearing more goods, simple and efficient.

Most of existing unmanned vehicles adopt a four-wheel driving structure, wheels are flexible in starting and stopping reaction relative to a track, the driving speed is allowed to be higher, the road surface cannot be damaged, the wheels are small in contact area with the ground and prone to being trapped when the unmanned vehicles encounter potholes, the defect can be remedied by increasing the number of wheel sets, the in-situ steering capacity of the track driving structure is difficult to achieve due to the fact that the wheel structures are difficult to achieve, when obstacles are monitored by obstacle avoidance radars (such as goods are scattered) in the front and at the back of the unmanned vehicles, the obstacle avoidance system prevents the unmanned vehicles from moving forwards or backwards, the unmanned vehicles are clamped in situ, and therefore the obstacle avoidance device for the unmanned vehicles is provided for solving the problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pair of unmanned automobile-used obstacle-avoiding device has solved the unmanned automobile of current wheel structure of traveling and has kept away the inflexible problem of barrier action.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an unmanned vehicle keeps away barrier device, includes the support ring, the support ring is the level form, just the supporting ring is interior to match to install hydraulic pressure vaulting pole, connecting rod and switching ring, hydraulic pressure vaulting pole and support ring are articulated form, the connecting rod all is fixed connection with the support ring, just the connecting rod all is mutually perpendicular form with the inner wall of support ring, the switching ring is coaxial form with the support ring, just the circumference outer wall of switching ring all is fixed connection with the connecting rod, the circumference outer wall of switching ring all is mutually perpendicular form with the connecting rod, and the top of support ring matches and installs the mount pad, the one end that the support ring was kept away from to hydraulic pressure vaulting pole all is articulated with the circumference outer wall of mount pad, just the circular recess has been seted up along its axial in the top of mount pad, the circular recess has cup jointed the plectane, just the plectane is the level form, the circumference outer wall of, just the fixed cover in top of plectane has connect step motor, step motor's output shaft is vertical downward form, just step motor's bottom runs through in the plectane, step motor's output shaft is fixed to have cup jointed drive gear, just the circumference inner wall of mount pad is located the bottom of plectane and has seted up driven tooth's socket along its week, driven tooth's socket matches with drive gear each other, just driven tooth's socket is the meshing with drive gear.

Preferably, a circular groove is formed in the top end of the adapter ring along the axial direction of the adapter ring, and the circular groove penetrates through the adapter ring.

Preferably, the bottom fixedly connected with extension spring of mount pad, just the extension spring is vertical downward form, the bottom of extension spring is fixed connection with the top of adapter ring, just the extension spring is symmetric distribution about the mount pad.

Preferably, the top end of the circular plate penetrates through the mounting seat, and the mounting plate is fixedly connected to the top end of the circular plate.

Preferably, the mounting panel is located step motor and has seted up the round hole, just the round hole runs through in the mounting panel, step motor is cup jointed with the round hole.

Preferably, the hydraulic support rods are symmetrically distributed about the connecting rod, and the hydraulic support rods and the connecting rod are distributed in an annular array about the support ring.

The utility model has the advantages that:

1. the support ring of the device is connected with the tension spring through the connecting rod and the adapter ring, and meanwhile, the connecting rod and the adapter ring have the effect of improving the mechanical strength of the support ring, so that the support ring is prevented from deforming.

2. The device supports the unmanned vehicle away from the ground through the hydraulic support rod, and the unmanned vehicle rotates relative to the support ring through the stepping motor, the driving gear and the driven tooth grooves, so that the unmanned vehicle rotates to a position where the unmanned vehicle can safely drive away, and the purpose of avoiding obstacles is achieved.

3. The device wholly adopts foldable structure, has practiced thrift installation space, and drive gear and driven tooth's socket are built-in, have avoided external dust to pollute, have effectively improved the reliability of action.

In conclusion, the device has the advantages of stable structure, small occupied space and flexible use, and effectively solves the problem that the unmanned vehicle obstacle avoidance action of the existing wheel driving structure is inflexible.

Drawings

Fig. 1 is a structural sectional view of the present invention in a folded state.

Fig. 2 is a structural sectional view of the present invention in the unfolded state.

Fig. 3 is a cross-sectional view of a-a in fig. 2 according to the present invention.

Reference numbers in the figures: 1. a support ring; 2. a hydraulic stay bar; 3. a connecting rod; 4. a transfer ring; 5. a circular groove; 6. a mounting seat; 7. a tension spring; 8. a circular plate; 9. a stepping motor; 10. a drive gear; 11. a driven tooth groove; 12. mounting a plate; 13. a circular hole.

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. 1-3, an obstacle avoidance device for an unmanned vehicle comprises a support ring 1, wherein the support ring 1 is horizontal, a hydraulic stay bar 2, a connecting rod 3 and an adapter ring 4 are installed in the support ring 1 in a matching manner, the hydraulic stay bar 2 and the support ring 1 are hinged, the connecting rod 3 is fixedly connected with the support ring 1, the connecting rod 3 is mutually perpendicular to the inner wall of the support ring 1, the adapter ring 4 and the support ring 1 are coaxial, the circumferential outer wall of the adapter ring 4 is fixedly connected with the connecting rod 3, the circumferential outer wall of the adapter ring 4 is mutually perpendicular to the connecting rod 3, a mounting seat 6 is installed at the top end of the support ring 1 in a matching manner, one end of the hydraulic stay bar 2, which is far away from the support ring 1, is hinged to the circumferential outer wall of the mounting seat 6, and a circular groove is formed in the top end of the mounting seat 6 along the axial direction, the circular groove is internally sleeved with a circular plate 8, the circular plate 8 is in a horizontal shape, the circumferential outer wall of the circular plate 8 is hinged to the mounting seat 6, a stepping motor 9 is fixedly sleeved at the top end of the circular plate 8, an output shaft of the stepping motor 9 is in a vertical downward shape, the bottom end of the stepping motor 9 penetrates through the circular plate 8, a driving gear 10 is fixedly sleeved on the output shaft of the stepping motor 9, a driven tooth groove 11 is formed in the bottom end, located at the circular plate 8, of the circumferential inner wall of the mounting seat 6 and is matched with the driving gear 10 along one circumference of the circular plate, the driven tooth groove 11 is meshed with the driving gear 10, a circular groove 5 is formed in the top end of the adapter ring 4 along the axial direction of the adapter ring 4, the circular groove 5 penetrates through the adapter ring 4, the bottom end of the mounting seat 6 is fixedly connected with a tension spring 7, the tension spring 7 is in a vertical downward shape, and the bottom end, just extension spring 7 is the symmetric distribution about mount pad 6, the top of plectane 8 runs through in mount pad 6, just the top fixedly connected with mounting panel 12 of plectane 8, mounting panel 12 is located step motor 9 and has seted up round hole 13, just round hole 13 runs through in mounting panel 12, step motor 9 is cup jointed with round hole 13, hydraulic pressure vaulting pole 2 is the symmetric distribution about connecting rod 3, just hydraulic pressure vaulting pole 2 and connecting rod 3 all are annular array distribution about support ring 1.

The working principle is as follows: the device has the basic working principle that the device is installed at the bottom of the unmanned vehicle in a semi-embedded mode, and hydraulic energy is directly or indirectly acquired through a power system of the unmanned vehicle, so that the device can support the unmanned vehicle and rotate in place, and the purpose of avoiding obstacles is achieved;

the specific working process of the device is that the hydraulic support rod 2 of the device is in a downward inclined shape, when a piston rod of the hydraulic support rod 2 extends out, a certain amount of component force is applied to the support ring 1 in a vertical downward direction, so that the support ring 1 moves downwards against the tension of the tension spring 7, the support ring 1 is contacted with the ground and jacks up the unmanned vehicle through continuous extension of the piston rod of the hydraulic support rod 2, wheels of the unmanned vehicle leave the ground, then the stepping motor 9 is started, the rotation angle of the driving gear 10 is accurately controlled through the stepping motor 9, the driving gear 10 drives the mounting seat 6, the hydraulic support rod 2 and the support ring 1 to have a rotating trend through the driven tooth grooves 11, the unmanned vehicle rotates around the mounting seat 6 as a center relative to the support ring 1 due to the fact that the support ring 1 jacks the ground, when the obstacle avoidance radar on the vehicle detects that a space which is enough to safely pass through, step motor 9 stops the rotation (step motor 9 not only can the accurate control rotation angle, still has good static holding torque to prevent unmanned car swing), with hydraulic pressure vaulting pole 2 pressure release for support ring 1 leaves ground under the reset action of extension spring 7 and gets back to the zero-bit, unmanned car can drive away from the barrier this moment, and the device's connecting rod 3 and adapter ring 4 not only are responsible for support ring 1 and are connected with extension spring 7, still have the effect that improves support ring 1 mechanical strength simultaneously.

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 utility model provides an unmanned vehicle keeps away barrier device, includes support ring (1), its characterized in that, support ring (1) is the level form, just match in support ring (1) and install hydraulic pressure vaulting pole (2), connecting rod (3) and adapter ring (4), hydraulic pressure vaulting pole (2) and support ring (1) are articulated form, connecting rod (3) all are fixed connection with support ring (1), just connecting rod (3) all are mutually perpendicular form with the inner wall of support ring (1), adapter ring (4) are coaxial form with support ring (1), just the circumference outer wall of adapter ring (4) all is fixed connection with connecting rod (3), the circumference outer wall of adapter ring (4) all is mutually perpendicular form with connecting rod (3), just mount pad (6) are installed in the top match of support ring (1), the one end that support ring (1) was kept away from to hydraulic pressure vaulting pole (2) all is articulated with the circumference outer wall of mount pad (6), just circular recess has been seted up along its axial in the top of mount pad (6), circular recess endotheca has connect plectane (8), just plectane (8) are the level form, the circumference outer wall of plectane (8) is articulated with mount pad (6), just the fixed cover in top of plectane (8) has connect step motor (9), the output shaft of step motor (9) is vertical downward form, just the bottom of step motor (9) runs through in plectane (8), the output shaft of step motor (9) is fixed to be cup jointed drive gear (10), just driven tooth's socket (11) have been seted up along its week in the bottom that the circumference inner wall of mount pad (6) is located plectane (8), driven tooth's socket (11) and drive gear (10) match each other, just driven tooth's socket (11) are the meshing with drive gear (10).

2. The obstacle avoidance device for the unmanned vehicle according to claim 1, wherein a circular groove (5) is formed in the top end of the adapter ring (4) along the axial direction of the adapter ring, and the circular groove (5) penetrates through the adapter ring (4).

3. The obstacle avoidance device for the unmanned aerial vehicle as claimed in claim 1, wherein the bottom end of the mounting seat (6) is fixedly connected with a tension spring (7), the tension spring (7) is vertically downward, the bottom end of the tension spring (7) is fixedly connected with the top end of the adapter ring (4), and the tension spring (7) is symmetrically distributed about the mounting seat (6).

4. The obstacle avoidance device for the unmanned vehicle according to claim 1, wherein the top end of the circular plate (8) penetrates through the mounting seat (6), and the top end of the circular plate (8) is fixedly connected with a mounting plate (12).

5. The obstacle avoidance device for the unmanned vehicle, according to claim 4, wherein the mounting plate (12) is provided with a circular hole (13) at the position of the stepping motor (9), the circular hole (13) penetrates through the mounting plate (12), and the stepping motor (9) is sleeved with the circular hole (13).

6. An obstacle avoidance device for unmanned vehicles according to claim 1, wherein the hydraulic struts (2) are symmetrically distributed about the connecting rod (3), and the hydraulic struts (2) and the connecting rod (3) are distributed in an annular array about the support ring (1).

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