阅读说明：本技术 一种无机械差速结构的灵活转向双驱动菱形无人车 (Flexible steering double-drive rhombic unmanned vehicle without mechanical differential structure ) 是由 柴伟 彭书礼 易金涛 陈文仲 沈斌 潘铮铮 潘大伟 于 2020-04-20 设计创作，主要内容包括：本发明公开了一种无机械差速结构的灵活转向双驱动菱形无人车,包括机器人本体、设置在机器人本体的左侧和右侧且用于驱动机器人本体运动的驱动装置,还包括设置在机器人本体的前侧和后侧的导向轮,所述机器人本体呈菱形结构,所述驱动装置和导向轮分别设置在所述机器人本体的四角位置,所述驱动装置包括两个电机轮,所述电机轮分别设置在所述机器人本体的左侧和右侧,所述电机轮与所述机器人本体连接；所述导向轮通过轮架与机器人本体连接；所述机器人本体上端还安装有安装支架。本无机械差速结构的灵活转向双驱动菱形无人车,具有做功损耗小,转向灵活且造价低,阻力小,越障能力强的优点,无需机械差速机构即可实现原地360°转向。(The invention discloses a flexible steering dual-drive diamond-shaped unmanned vehicle without a mechanical differential structure, which 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 are 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. 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.)

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 1, 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.

Technical Field

The invention relates to the technical field of unmanned vehicles, in particular to a flexibly steering double-drive rhombic unmanned vehicle without a 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.

Disclosure of Invention

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 purpose, the invention 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, the robot body is provided with an inner cavity in a shell, 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 motor wheel to rotate or stop.

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 a schematic structural diagram of a flexibly steering dual-drive diamond unmanned vehicle without a 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 clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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, the robot body is provided with an inner cavity in a shell, 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 motor wheel to rotate or stop.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.