SK362014U1 - Integrated wheel drive in swinging arm of chassis of unmanned ground vehicle (UGV) - Google Patents

Abstract

The solution of the integrated electric wheel drive in the swinging arms of the bogie is the structural connection of the swing arm of the UGV vehicle chassis with the electric motor / generator (1) attached by the rear cover (13) to the support part of the swing arm (11) which is connected by a grooved connection to the shaft (4) a central wheel coupled by a grooved connection to the disc brake disc (12). The crown wheel (2) is part of the planetary gear carrier that is securely fastened to the rear planetary gear housing (14) with hexagon socket screws. The planetary gearbox is mounted in the mounting hole of the swing arm support portion (11). The hub (9) of the wheel disc (10) is fixedly coupled by means of a grooved joint to the drive shaft (8) of the hub (9) of the wheel disc (10) and secured against axial movement by the lock nut (15).

Description

INTEGRATED ELECTRICAL WHEEL DRIVE IN THE SWING ARM OF UNDERWATER GROUND UNDERGROUND (UGV)

Technical field

The solution of the integrated electric wheel drive in the swinging arms of the UGV unmanned land vehicle chassis is part of the conceptual design of new, progressive systems for the electric drive of mobile technology.

The integrated electric wheel drive in the swinging arms of the chassis is particularly useful for unmanned robotic vehicles that are deployed in difficult terrain, upset urban areas, to deal with crisis situations (tunnel and large-area garage fires, infested areas, rescue missions in inaccessible areas, etc.) ) and so on.

The proposed integrated electric propulsion system is applicable to unmanned robotic vehicles and to electric-powered off-road trucks in wheels with a 4x4, 6x6 and 8x8 swingarm design.

Implementation of the integrated electric drive system is possible not only for electric drives of platforms of robotic vehicles type UGV, but also for electric drives of handling and logistic - transport (vehicle) technology intended for driving on paved roads and also for difficult and difficult terrain.

The application of the integrated drive system requires wheels with tires designed for rough terrain. Such a proposed use of an integrated electric propulsion system is required for cornering two-axle and multi-axle unmanned robotic vehicles in any terrain by controlling the speed and driving torques applied to individual vehicle wheels from the electric motor through a planetary gearbox.

The integrated electric wheel drive system is powered by electrical energy obtained from the battery system, a hybrid power system consisting of an energy accumulator system and supercapacitors, a hybrid power system serial configuration, or a battery fuel cell electrical system with accumulators.

BACKGROUND OF THE INVENTION

The proposed solution has not been in the past and is not widespread at present, as it is preferable to use conventional drive systems and conventional chassis systems of motor vehicles.

Conventional bogie systems are suitable for less complicated types of unmanned vehicles, for example robotic vehicles for transporting material on paved roads, including dirt roads. The application of conventional undercarriage systems is not suitable for the operation of unmanned vehicles in difficult terrain (unbearable terrain, terrain with obstacles, etc.).

The first published information on the electric propulsion system in the swinging arms was already in 1963 when describing the chassis of the mobile device intended for movement after a monthly breakdown called LUNOCHOD. The drive of the wheels of the monthly vehicle was solved by the connection of a direct-current electric motor and several stages of transmission. íhttp: //en.wikipedia.org/wiki/Lunokhod programmel.

Another reference to the electric propulsion system of a self-propelled swing arm vehicle is from January 2003, when DARPA unmanned ground combat vehicle (UGCV Retiarius) was introduced, rhttp: //archive.darpa.mil/grandchallenge04/conference/programs .pdfl. This successful concept was followed by another DARPA R & D product of April 2006, when the UGV (Unmanned Ground Vehicle) - UGV CRUSHER was introduced to the public, see: //www.nrec.ri.cmu.edu/proiects/crusher/ first These hitherto known design solutions for unmanned robotic vehicles intended for off-road operation are characterized by the use of electric wheel drive and combined chassis elements with the use of swinging arms.

Said unmanned robotic land vehicles use an electric wheel drive which is structurally different from the present design by arranging and storing the individual elements of the electric wheel drive and attaching it to the swingarm system.

The proposed design of the present utility model is original. In contrast to the above-mentioned foreign unmanned vehicles in the present proposal, the original proposal is the solution of torque transmission by a planetary gear carrier to a driven shaft, which at the same time fulfills the function of a wheel bearing support pin.

The essence of the technical solution

Deficiencies and outdated design solutions for currently used unmanned robotic vehicle drive systems are eliminated by the integrated electric wheel drive device in the swinging arms of the unmanned land vehicle undercarriage (UGV) consisting of swing arms for integrated electric wheel drive, electric motor / generators, planetary gears with encapsulation and transmission shafts with bearings, brake systems and wheel hubs. The electric motor / generator is attached by the electric motor back cover to the supporting part of the swing arm. The electric motor / generator shaft is connected by fine splines to the input shaft with the sun gear of the planetary gearbox. The driving torque and the braking torque of the electric motor / generator are multiplied by a planetary gear bearing mounted on the bearings transmitting torque through free-rotating planetary gear bearing satellites bearing the torque transmitted to the planetary gear carrier via the pivot pins and the crown wheel component planetary gear housing cover. The planetary gearbox is attached to the support portion of the rocker arm from one side and at the same time is attached to the front cover of the support portion of the planetary gearbox from the other side. The driven shaft - the wheel hub pin is connected to the carrier by means of fine grooving on the output part of the planetary gearbox. The wheel disc hub is rigidly connected to the driven wheel shaft by means of a fine grooving and secured against axial movement by a lock nut and fixed by bolted connections to the wheel disc. From the conceptual point of view, the proposed system represents a robust, reliable and demountable drive solution for unmanned UGV robotic systems that also have tasks to operate in difficult terrain. This integrated electric swivel wheel drive can be implemented for UGV undercarriage platforms, with different geometrical dimensions and different axle configurations. The integrated electric wheel drive in the swinging arms of the UGV chassis allows the UGV systems to skid, which is advantageous in difficult terrain and on complicated surfaces. The system assumes operation of the integrated electric wheel drive in difficult terrain with water obstacles, where all components of the proposed system are protected from the effects of water.

Overview of the figures in the drawing

The attached drawings (Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5) show schematically the design of the integrated electric wheel drive in the swinging arms of the unmanned land vehicle chassis ( UGV). Fig. no. 1. is a cross-sectional view of the integrated electric wheel drive in the UGV chassis swing arm with the designation Section A-A. In FIG. 2 shows a front view of a swinging arm with an electric motor mounting by means of screws, a brake system mounting and an electrical supply system by means of wiring. Fig. 3 represents an overall view of the wheel hub, the planetary transmission support system, the planetary transmission, the electric motor / generator and the swingarm. Fig. No. 4 shows a planetary gear carrier with planetary planetary satellites, drive, support shafts with integrated drive bearings and a central nut with a wheel hub washer. Fig. 5 is an overall perspective view of the integrated electric tire-free wheel drive in each rocker arm of the unmanned land vehicle chassis platform (UGV).

Examples of technical solution

The shortcomings of the outdated technical solutions are overcome by the integrated electric wheel drive in the swinging arms 11 of the UGV chassis, which consists of an electric motor / generator 1 secured by the rear cover 13 of the electric motor / generator I against the support part of the swing arm 11. The electric motor / generator I is connected by a splined connection to the central wheel shaft 4 and at the same time to the disc brake disk 12. The disc brake is used to prevent the vehicle from rolling away. The braking effect of the electric motor / generator i is multiplied by a planetary gear mounted on the bearings 16 transmitting torque through the free-rotating planetary gear planets 3 to the planetary gear carrier 5 by means of pins 6 of the planetary gear 3 satellites, and by means of a crown gear. the wheel 2 is part of the planetary gear housing support part, which is fixedly fixed to the planetary gear housing rear cover 14 with the pivot arm 11 on one side and the planetary gear carrier front cover 7 from the other side, The hub shaft 8 of the wheel hub 9 is coupled to the front cover 7 of the planetary gearbox by means of bearings and is connected to the planetary gear carrier 5 by means of a splined connection on the output portion of the planetary gearbox. The wheel hub 9 is rigidly connected to the drive shaft 8 of the wheel hub 9 and secured against axial movement by a lock nut 15 via a splined connection. The wheel hub 9 is firmly connected by bolted connections to the wheel disc 10. The electric motor / generator 1 is supplied via the electrical wiring connector 17.

Industrial usability

The integrated electric wheel drive of the unmanned land vehicle chassis (UGV) will be used in the design of unmanned robotic vehicles with 4x4, 6x6 and 8x8 swing arm arrangements that can also be applied to other mobile technology platforms deployed on difficult terrain, disrupted urban areas and Similarly. The design of the integrated, electric, propulsion system structurally attached to the UGV chassis swing arm is based on the connection of the UGV swing arm to the electric motor / generator, the planetary gearbox as the hub hub and the UGV wheel. In the operational use of UGV vehicles with integrated electric drive system in wheels, it is possible to deploy these robotic systems on difficult terrain where it is necessary to utilize and regulate the maximum wheel drive power generated by the driving torque of electric motors / generators. Deployment of the integrated electric drive system is possible not only for robotic vehicles of the UGV type, but also for handling and logistic - transport (vehicle) technology intended for difficult and complicated terrain such as. movement in quarries, mines, muddy areas and areas with other types of flexible surfaces. This system, thanks to its robustness and the design of the drive elements, allows the vehicle to move in difficult terrain while maintaining vehicle maneuverability and reliable vehicle operation. The system assumes operation of the integrated electric wheel drive in difficult terrain with water obstacles, where all components of the proposed system are protected from the effects of water. The proposed conceptual solution of the integrated electric drive system in the swing arm allows easy access to the brake system by the electric motor / generator and easy access to the wheel hub.

The proposed solution of the integrated electric propulsion system in the swinging arms allows maintaining the high value of the clear height of the vehicle chassis platform. The design of the proposed integrated electric propulsion system can be used with other (proportional) elements of the proposed system in a defined scale also for structurally smaller unmanned, unmanned vehicles with smaller wheel disc diameters and the like.

Claims (1)

PROTECTION REQUIREMENTS Integrated electric wheel drive in unmanned land vehicle (UGV) swivel arms consisting of swinging arms for suspension of integrated electric wheel drive, electric motors / generators, encapsulated planetary gears, bearing drive and transmission shafts, brake mechanism systems and wheel hubs that a planetary gearbox, consisting of a rear cover (14), a double-row bearing (16), a spline shaft (4) of the sunwheel (4), 3), a single row bearing, a crown wheel (2), a satellite carrier (5) with pins (6), a front cover (7) of a planetary gearbox supporting a bearing-driven shaft (8) of the disc hub (9) ( 10) the wheels secured against axial movement by the nut (15) and connected by a splined joint (5) of satellites, wherein an internal electric motor / generator (1) is slid onto the splined shaft (4) of the central wheel from the inside of the swing arm, in which the disc brake disc (12) is slid onto the splined shaft (4) The electric motor / generator (1) is attached by means of a rear cover (13) of the electric motor / generator (1) to the support part of the swing arm (11).