CN216301294U

CN216301294U - Distributed driving vehicle capable of adjusting putting position and posture

Info

Publication number: CN216301294U
Application number: CN202122451722.7U
Authority: CN
Inventors: 殷德军; 王克鸿; 王良模; 张明; 王陶
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2022-04-15
Anticipated expiration: 2031-10-12

Abstract

The utility model discloses a distributed driving vehicle capable of adjusting putting pose, which comprises a vehicle body, wheels arranged on the vehicle body, a controller and a sensor, wherein the rims of the wheels are provided with blades; the wheel rims are driven by the motors, each wheel is provided with one driving motor for independent driving, and the wheel rims support the vehicle body through the suspension; the sensor is used for sensing the motion state information of the vehicle and sending the motion state information to the controller, and the controller is used for controlling the torque and the rotating speed of the driving motors at different positions to enable the wheel rim with the blades to rotate and push airflow or water flow so as to realize position adjustment or steering of the thrown vehicle; the vehicle can change direction, move forward or move backward in the process of parachute landing or swimming across, and the use scenes of the vehicle are greatly widened.

Description

Distributed driving vehicle capable of adjusting putting position and posture

Technical Field

The utility model belongs to the field of combat readiness putting, and particularly relates to a distributed driving vehicle capable of adjusting putting poses.

Background

For severe environments such as disaster relief or battlefields which are not convenient for people to be directly thrown in, materials are usually required to be thrown in corresponding areas for material supply, if the materials are directly thrown in, the people are required to go to a throwing place to take the materials, the accuracy of the material throwing is difficult to guarantee due to the influence of the environment, and the taking of the people is also limited, so that the materials can be placed on an unmanned vehicle at present, the unmanned vehicle can automatically run to a designated place after being thrown in, but the unmanned vehicle still can be influenced by environmental factors in the throwing process, and the problem of deviating from the throwing place is caused, and therefore the throwing vehicle is usually provided with power to correct the position.

In the process of parachute landing or swimming across the river of the existing throwing vehicle, power devices such as rockets and propellers are needed to propel and change the direction, the weight, the size, the complexity and the cost of the system are additionally increased, and the load capacity of the vehicle and the loading space of a vehicle carrying device are reduced. The prior art also discloses an aircraft rim with wind blades, such as CN2350313Y, wherein the function is to pre-rotate the aircraft wheel before touchdown by means of wind force, so as to reduce the starting rotation wear of the tire of the aircraft during touchdown of the aircraft, and prolong the service life. The rest of the rims provided with blades (such as patents CN210454318U and CN204955909U) are mostly used for heat dissipation.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a distributed driving vehicle capable of adjusting the putting pose so as to realize position adjustment in the vehicle putting process and widen the use scene of the vehicle.

The technical solution for realizing the purpose of the utility model is as follows:

a distributed driving vehicle capable of adjusting putting postures comprises a vehicle body, a wheel, a controller and a sensor, wherein the wheel, the controller and the sensor are arranged on the vehicle body; the wheel rims are driven by the motors, each wheel is provided with one driving motor for independent driving, and the wheel rims support the vehicle body through the suspension;

the sensor is used for sensing the motion state information of the vehicle and sending the motion state information to the controller, and the controller is used for controlling the torque and the rotating speed of the driving motors at different positions, so that the wheel rim with the blades rotates to push airflow or water flow, and the position adjustment or the steering of the thrown vehicle is realized.

Compared with the prior art, the utility model has the following remarkable advantages:

according to the utility model, on the basis of distributed driving of the vehicle, the wheel rim with the blades is arranged, and the flow of the wheel rim is controlled under the vector control technology, so that the vehicle can change direction, move forward or backward in the process of parachuting or swimming, and the use scene of the vehicle is greatly widened.

Drawings

Fig. 1 is a schematic overall structure diagram of a distributed drive vehicle capable of adjusting a release posture.

Fig. 2 is a schematic view of a rim structure provided with blades.

Fig. 3 is a schematic view of the principle of unidirectional motion of the launched vehicle.

Fig. 4 is a schematic view of the steering motion principle of the launch vehicle.

Fig. 5 is a schematic diagram of the principle of the compound motion of the launch vehicle.

Detailed Description

The utility model is further described with reference to the following figures and embodiments.

With reference to fig. 1, the distributed drive vehicle capable of adjusting the putting posture of the utility model comprises a vehicle body 5, wheels 1 arranged on the vehicle body 5, a controller 3 and a sensor 4, wherein a rim of the wheel 1 is provided with blades, a tire is arranged on the rim, the rim is driven by a motor 2, each wheel 1 is respectively provided with a drive motor 2 for driving, and the rim supports the vehicle body 5 through a suspension. The vehicle is provided with a sensor 4 and a controller 3, the sensor 4 senses the motion state information of the vehicle and sends the motion state information to the controller 3, the controller 3 controls the torque and/or the rotating speed of the driving motor 2, and the driving motor 2 at different positions is controlled to drive the rim with the blades to rotate so as to push airflow or water flow and realize the position adjustment or steering of the thrown vehicle. The sensor can adopt triaxial angular velocity, triaxial acceleration sensor, combines positional information sensor (like GPS, big dipper), detects direction, speed, positional information of vehicle, driving motor is equipped with the encoder for detect slew velocity.

Referring to fig. 2, at least some or all of the spokes 11 of the rim 10 are formed in a fan shape to facilitate forced blowing of air or liquid into or out of the inner cylinder of the rim when the rim is rotated. The hub is provided with bolt holes 6 assembled with the driving motor 2, and the inner side of the rim is provided with reinforcing ribs 7 at equal intervals.

The vehicle is provided with an auxiliary propeller 8 as a propulsion device. When the vehicle is used for a shoal landing, a propeller arranged at the tail or the head of the vehicle is used for providing thrust, the head of the vehicle faces to the beach head after the direction is adjusted through a rim with blades, and then the propeller at the tail of the vehicle starts to select and rushes to the beach head.

Referring to fig. 3, the rim on one side of the vehicle is driven by the driving motor to propel air or water in the same direction, so that the vehicle moves in the opposite direction. Referring to fig. 4, the rim of the vehicle in the diagonal direction pushes the air flow or the water flow in the direction opposite to the rotation direction under the driving of the driving motor, so that the vehicle turns. Referring to fig. 5, when the vehicle moves forward and turns in a combined manner, the rotation speed and direction of the driving motor of the rim on one side of the vehicle and one of the rims in the opposite directions are adjusted, and each wheel pushes the vehicle to move in a combined manner of linear movement and rotation under the reaction force of air flow or water flow.

Claims

1. A distributed driving vehicle capable of adjusting putting postures comprises a vehicle body (5), and a wheel (1), a controller (3) and a sensor (4) which are arranged on the vehicle body (5), and is characterized in that a rim of the wheel (1) is provided with blades; the wheel rims are driven by the motors (2), each wheel (1) is provided with one motor (2) for independent driving, and the wheel rims support the vehicle body (5) through the suspension;

the sensor (4) is used for sensing the motion state information of the vehicle and sending the motion state information to the controller (3), and the controller (3) is used for controlling the torque and the rotating speed of the driving motor (2) at different positions, so that the wheel rim with the blades rotates, air flow or water flow is pushed, and the position adjustment or the steering of the thrown vehicle is realized.

2. The attitude adjustable distributed drive vehicle according to claim 1, wherein the blade is provided at a certain section or all of spokes (11) of the rim (10).

3. The position and orientation adjustable distributed drive vehicle according to claim 1 or 2, wherein reinforcing ribs are provided on the inner side of the rim at equal intervals.

4. The position and posture adjustable distributed drive vehicle according to claim 1, characterized in that an auxiliary propeller (8) is provided on the vehicle body (5) as a propulsion device for shoal landing.

5. The pose adjustable distributed drive vehicle according to claim 1, wherein the sensors (4) include three-axis angular velocity sensors, three-axis acceleration sensors, and position information sensors.

6. The pose-adjustable distributed drive vehicle according to claim 1, wherein the motor (2) is provided with an encoder.