CN109515550A - Unmanned operation platform chassis and unmanned operation platform - Google Patents
Unmanned operation platform chassis and unmanned operation platform Download PDFInfo
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- CN109515550A CN109515550A CN201811599741.0A CN201811599741A CN109515550A CN 109515550 A CN109515550 A CN 109515550A CN 201811599741 A CN201811599741 A CN 201811599741A CN 109515550 A CN109515550 A CN 109515550A
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- wheel
- operation platform
- unmanned operation
- swing arm
- hole section
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- 239000000725 suspension Substances 0.000 claims abstract description 26
- 230000005611 electricity Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The present invention relates to a kind of unmanned operation platform chassis and unmanned operation platforms, and wherein unmanned operation platform chassis includes: vehicle frame (1)；At least three wheels (2) are rotatably coupled with vehicle frame (1)；Driving mechanism (3), for driving wheel (2) to rotate around its central axes, and its quantity is identical as the quantity of wheel (2), separately to drive each wheel (2)；With suspension (4), quantity is identical as the quantity of wheel (2), is telescopically connected between each wheel (2) and vehicle frame (1) respectively.Unmanned operation platform includes above-mentioned unmanned operation platform chassis.Each wheel is configured with a set of driving mechanism and a suspension in the present invention, realize the independent driving and independent suspension control to wheel, cross-country and obstacle climbing ability is stronger, also stronger to the adaptability of landform, and the function that posture is directed across earth bulging of not slowing down, do not adjust may be implemented.
Description
Technical field
The present invention relates to unmanned operation technical field more particularly to a kind of unmanned operation platform chassis and unmanned operation are flat
Platform.
Background technique
Unmanned ground vehicle is integrated with the multiple functions such as environment sensing, active path planning, behaviour control and execution, in city
Under the environment such as city surrounding area, high-risk and complicated battlefield, unmanned ground vehicle can carry different load and task module,
The tasks such as scouting and observation, the rugged mountainous region road surface transport goods and materials in non line of sight are completed, in the armies such as civil field and future war
Increasingly important role is just being played with field.
In recent years, there is significant progress to the research of unmanned platform, but researcher's majority has laid stress on image
The technical fields such as identification, communication, positioning, environment sensing and system control, the research in terms of chassis and walking mechanism is than relatively thin
It is weak.Although the unmanned platform developed at present can be realized unmanned on a highway, it is to terrain and its features such as field jungles
Recognition capability it is still extremely limited.
Existing various types of unmanned platforms need to adjust wheel leg state in cross-country obstacle detouring mostly, it is not only cumbersome and
And it is time-consuming and laborious, and do not have the high-adaptability to various landform, the steering in narrow region is also inflexible, seriously
The raising of unmanned platform integral level is affected, and limits the practical application of unmanned platform to a certain extent.
It should be noted that the information for being disclosed in background of invention part is merely intended to increase to totality of the invention
The understanding of background, and be not construed as recognizing or imply in any form the information constitute by those skilled in the art public affairs
The prior art known.
Summary of the invention
The purpose of the present invention is to propose to a kind of unmanned operation platform chassis and unmanned operation platforms, improve unmanned operation platform
Cross-country and obstacle climbing ability.
To achieve the above object, the present invention provides a kind of unmanned operation platform chassis, comprising:
Vehicle frame；
At least three wheels, are rotatably coupled with vehicle frame；
Driving mechanism, for driving wheel to rotate around its central axes, and its quantity is identical as the quantity of wheel, with only respectively
On the spot drive each wheel；With
Suspension, quantity is identical as the quantity of wheel, is telescopically connected between each wheel and vehicle frame respectively.
Optionally, the quantity of the quantity of wheel, the quantity of driving mechanism and suspension is six.
Optionally, six wheels are symmetrically arranged at the two sides of vehicle frame.
Optionally, vehicle frame includes the first vertical arm and the second vertical arm, and unmanned operation platform chassis includes being located at ipsilateral three
Wheel, two of them wheel are both connected in the first vertical arm, and another wheel is connected in the second vertical arm.
Optionally, unmanned operation platform chassis further includes swing arm, and one end and the vehicle frame of swing arm are rotatably coupled, swing arm
The other end is connect with wheel.
Optionally, driving mechanism includes external rotor electric machine, and external rotor electric machine includes motor body and output shaft, output shaft with
Swing arm connection, motor body are mounted on wheel, and motor body is rotated relative to output shaft to drive vehicle wheel rotation.
Optionally, swing arm is equipped with bellmouth, and the end of output shaft is equipped with cone connection, and cone connection is inserted into bellmouth
It is interior, to realize the connection of swing arm and output shaft.
Optionally, unmanned operation platform chassis further includes arrestment mechanism, for braking to driving mechanism, and then is realized
Braking to wheel.
Optionally, arrestment mechanism includes brake disc, brake and mounting base, and brake disc is connect with motor body, and with electricity
Machine body rotation, brake is for braking brake disc, and mounting base is connect with swing arm, and brake is mounted in mounting base.
Optionally, vehicle frame is equipped with swing arm interconnecting piece, and swing arm interconnecting piece includes the first linkage section and connect with the first linkage section
The second linkage section, the diameter of the first linkage section is greater than the diameter of the second linkage section, and swing arm is equipped with connecting hole, is equipped in connecting hole
First hole section and the second hole section connecting with the first hole section, the diameter of the first hole section is greater than the diameter of the second hole section, and swing arm connects
Socket part is inserted into connecting hole, and the first hole section and the first linkage section cooperate, and the second hole section and the second linkage section cooperate.
Optionally, bushing is equipped between the inner wall of the first hole section and the outer wall of the first linkage section.
Optionally, unmanned operation platform chassis further includes end cap, and end cap is fixed on the end of swing arm interconnecting piece, and for limiting
Axial relative movement occurs between swing arm and swing arm interconnecting piece processed.
Optionally, connecting hole includes third hole section, and third hole section is connected to the side far from the first hole section of the second hole section,
And the diameter of third hole section is greater than the diameter of the second hole section, end cap is arranged in third hole section.
Optionally, end cap between the end of the second hole section and the end far from the first linkage section of swing arm is equipped with the
One gasket.
Optionally, the end of close second hole section of the end and the first hole section close to the second linkage section of the first linkage section
Between be equipped with the second gasket.
To achieve the above object, the present invention also provides a kind of unmanned operation platforms, including above-mentioned unmanned operation platform
Chassis.
Based on the above-mentioned technical proposal, the unmanned operation platform chassis in the embodiment of the present invention includes at least three wheels, and
And it is configured with a set of driving mechanism and a suspension for each wheel, realize independent driving and independent suspension control to wheel
System, thus each wheel liftoff and landing be it is relatively independent, do not limited by other wheels, thus chassis it is whole more
Wild and obstacle climbing ability is stronger, also stronger to the adaptability of landform, does not need adjustment wheel leg state, easy to operate and time saving province
The function that posture is directed across earth bulging of not slowing down, do not adjust may be implemented in power.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the partial structure diagram of unmanned operation platform chassis one embodiment of the present invention.
Fig. 2 is the structural schematic diagram of wheel in unmanned operation platform chassis one embodiment of the present invention.
Fig. 3 is the connection knot of swing arm and driving mechanism and brake in unmanned operation platform chassis one embodiment of the present invention
Structure schematic diagram.
Fig. 4 is the enlarged drawing of part shown in label P in Fig. 3.
In figure:
1, vehicle frame；11, the first vertical arm；12, the second vertical arm；13, swing arm interconnecting piece；2, wheel；21, tire；22, wheel rim；
3, driving mechanism；31, cone connection；32, snap ring；4, suspension；5, swing arm；6, arrestment mechanism；61, brake disc；62, it brakes
Device；63, mounting base；7, end cap；8, bushing；9, the first gasket；10, the second gasket.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in embodiment
It states.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Bright embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
The limitation of the scope of the present invention.
With reference to shown in FIG. 1 to FIG. 3, in one embodiment of unmanned operation platform chassis provided by the invention, the chassis
Including vehicle frame 1, wheel 2, driving mechanism 3 and suspension 4, wherein the quantity of wheel 2 is at least three, and wheel 2 can turn with vehicle frame 1
It connects dynamicly；Driving mechanism 3 is for driving wheel 2 to rotate around its central axes, and the quantity of the quantity of driving mechanism 3 and wheel 2
It is identical, separately to drive each wheel 2；The quantity of suspension 4 is identical as the quantity of wheel 2, telescopically connects respectively
Between each wheel 2 and vehicle frame 1.
In in the above-described embodiments, unmanned operation platform chassis includes at least three wheels 2, and matches for each wheel 2
A set of driving mechanism 3 and a suspension 4 have been set, independent driving and independent suspension control to wheel 2, therefore each vehicle are realized
2 liftoff of wheel and landing be all it is relatively independent, do not limited by other wheels 2, therefore the cross-country and obstacle detouring energy that chassis is whole
Power is stronger, also stronger to the adaptability of landform, does not need adjustment wheel leg state, easy to operate and time saving and energy saving, may be implemented
Do not slow down, adjust the function that posture is directed across earth bulging.
Suspension 4 can use Active suspension, can be hydro pneumatic suspension, be also possible to air suspension, the stroke of suspension 4 can
It adjusts, for connecting rod or rocker structure, structure is simpler, and more preferable to the adaptability of complex road surface, meets whole
The performance requirement that vehicle is run at high speed.By controlling suspension 4, entire wheel group can be made to rotate around with the hinge of vehicle frame 1, realize vehicle
Body pose adjustment completes the functions such as vehicle body pitching, roll posture active accommodation, car body road clearance active accommodation.
Optionally, the quantity of the quantity, driving mechanism 3 of wheel 2 and the quantity of suspension 4 are six.Setting can be in this way
Keep the power of vehicle stronger, road holding is more preferable, and cross-country ability is more preferably.
Optionally, six wheels 2 are symmetrically arranged at the two sides of vehicle frame 1.That is, the left and right side of vehicle frame 1 is respectively equipped with
Three wheels 2, and three wheels 2 in left side and three wheels 2 on right side are arranged symmetrically about the middle line of vehicle frame 1.
As shown in Fig. 2, vehicle frame 1 includes the first vertical arm 11 and the second vertical arm 12, unmanned operation platform chassis includes being located at together
Three wheels 2 of side, two of them wheel 2 are both connected in the first vertical arm 11, and another wheel 2 is connected in the second vertical arm 12.
Six wheel arrangements can be realized under the premise of not changing the structure of vehicle frame 1 in this way.
Unmanned operation platform chassis further includes swing arm 5, and one end and the vehicle frame 1 of swing arm 5 are rotatably coupled, swing arm 5 it is another
One end is connect with wheel 2.
As shown in Figure 1, the front of the first vertical arm 11 on vehicle frame 1, swing arm 5 are arranged in by swing arm 5 for the wheel 2 for being located at front
Angle between the first vertical arm 11 is greater than 90 degree, and suspension 4 and the first vertical arm 11 and swing arm 5 form triangular structure；In being located at
Between wheel 2 rear of first vertical arm 11 is arranged in by swing arm 5, the angle between swing arm 5 and the first vertical arm 11 is greater than 90 degree,
Suspension 4 and the first vertical arm 11 and swing arm 5 form triangular structure；The wheel 2 being located behind is arranged by swing arm 5 in the second vertical arm
12 rear, the angle between swing arm 5 and the second vertical arm 12 are greater than 90 degree, and suspension 4 and the second vertical arm 12 and swing arm 5 form triangle
Shape structure.
Optionally, driving mechanism 3 includes external rotor electric machine, and external rotor electric machine includes motor body and output shaft, motor master
Body includes stator, stator winding, bearing, rotor, rotor windings and motor casing etc., and output shaft is connect with rotor, dynamic for exporting
Power.
Output shaft is connect with swing arm 5, and motor body is mounted on wheel 2, and opposite turn occurs in motor body and output shaft
When dynamic, since output shaft is connect with swing arm 5, swing arm 5 is connect with vehicle frame 1, and the quality of vehicle frame 1 can not rotate greatly very much, therefore electricity
Owner knows from experience band motor car wheel 2 and rotates.The benefit being arranged in this way is that motor body is mounted on wheel 2, not only can be omitted wheel
Complicated machinery transmission device between 2 and motor, can also save the arrangement space on vehicle frame 1, keep complete machine arrangement more reasonable.
Wheel 2 includes tire 21 and wheel rim 22, and motor body may be mounted on wheel rim 22.
In order to realize being reliably connected for swing arm 5 and output shaft, bellmouth, the end of output shaft can be set in swing arm 5
Equipped with cone connection 31, cone connection 31 is inserted into bellmouth, to realize the connection of swing arm 5 Yu output shaft.This connection
Mode structure is simple, is easily assembled, and connection reliability is good.
The end of cone connection 31 is equipped with snap ring 32, by the fixed cone connection 31 of snap ring 32, can further lock
Fixed pendulum arm 5 and output shaft, prevent axial float.
Unmanned operation platform chassis further includes arrestment mechanism 6, and arrestment mechanism 6 is for braking driving mechanism 3, in turn
Realize the braking to wheel 2.
As shown in figure 3, arrestment mechanism 6 includes brake disc 61, brake 62 and mounting base 63, brake disc 61 and motor body
Connection, and rotated with motor body, for braking to brake disc 61, mounting base 63 is connect brake 62 with swing arm 5, braking
Device 62 is mounted in mounting base 63.
When needing to brake wheel 2, brake 62 starts, and controls brake disc 61, stops 61 locking of brake disc
Rotation, brake disc 61 is fixedly connected with motor body, therefore the rotation of motor body also stops, and then is controlled wheel 2 and also stopped
Rotation, to realize that vehicle is braked.
Swing arm 5 is rotatably coupled with vehicle frame 1, and for the reliability for improving connection, vehicle frame 1 is equipped with swing arm interconnecting piece 13,
Swing arm interconnecting piece 13 is stepped design, and swing arm interconnecting piece 13 includes the first linkage section and the second connection connecting with the first linkage section
Section, the diameter of the first linkage section are greater than the diameter of the second linkage section, and swing arm 5 is equipped with connecting hole, and connecting hole is also stepped design,
Equipped with the first hole section and the second hole section connecting with the first hole section in connecting hole, the diameter of the first hole section is greater than the straight of the second hole section
Diameter, and swing arm interconnecting piece 13 is inserted into connecting hole, the first hole section and the first linkage section cooperate, and the second hole section is matched with the second linkage section
It closes.By the way that swing arm interconnecting piece 13 and connecting hole are designed as hierarchic structure, it can improve and turn with effect in assembly convenient for positioning
Fruit, while can also realize axially position, improve assembly precision.
Bushing 8 is equipped between the inner wall of first hole section and the outer wall of the first linkage section.By the way that bushing 8 is arranged, can be improved
Swing arm interconnecting piece 13 and connecting hole resist the ability of abrasion, improve the service life of swing arm 5 and vehicle frame 1.
As shown in figure 4, unmanned operation platform chassis further includes end cap 7, end cap 7 is fixed on the end of swing arm interconnecting piece 13,
And axial relative movement occurs between swing arm 5 and swing arm interconnecting piece 13 for limiting.By be arranged end cap 7, can make swing arm 5 with
Vehicle frame 1 realizes axial restraint.End cap 7 can be fixedly connected by bolt with swing arm interconnecting piece 13.
Optionally, connecting hole includes third hole section, and third hole section is connected to the side far from the first hole section of the second hole section,
And the diameter of third hole section is greater than the diameter of the second hole section, end cap 7 is arranged in third hole section.It, can by the way that third hole section is arranged
With effective protection end cap 7, prevent from colliding and wearing between end cap 7 and other component.
Further, the thickness of end cap 7 is less than or equal to the length of third hole section, so that end cap 7 is located in third hole section,
Effective protection end cap 7.
End cap 7 is equipped with the first pad between the end of the second hole section and the end far from the first linkage section of swing arm 5
Piece 9 is conducive to the reliability for improving connection, prevents end cap 7 and swing arm 5 from opposite shake occurring in 2 rotation process of wheel.
First linkage section is set between the end of close second hole section of the end and the first hole section of the second linkage section
There is the second gasket 10, improve connection reliability, prevents from shaking when rotation.
Pass through the explanation of multiple embodiments to unmanned operation platform chassis of the present invention, it can be seen that unmanned operation of the present invention
Platform chassis embodiment at least has the advantages that one or more of:
1, each wheel configures a set of driving mechanism and a suspension, and cross-country and obstacle climbing ability is stronger, and landform adaptive faculty is strong,
The cross-country and obstacle detouring not slowed down can be achieved, promote the mobility of unmanned operation platform；
2, using 6 × 6 independent drive arrangement modes, vehicle power is stronger, and road holding is more preferable, and cross-country ability is more preferably；
3, wheel and vehicle frame are connected by swing arm, reasonable Arrangement wheel, pendulum under the premise of not changing general body frame structure for automotive
Arm and suspension, optimization structure arrangement, complete vehicle structure intensity are high；
4, driving mechanism uses external rotor electric machine, and motor body is mounted on the wheel rim of wheel, eliminates complicated machinery
Transmission device saves the arrangement space of vehicle body；
5, arrestment mechanism is arranged between swing arm and wheel, and control for brake is more quick and efficient；
6, the connection structure between swing arm and vehicle frame is simple, good reliability, and abrasion can be effectively prevented by the way that bushing is arranged,
By the way that hierarchic structure is arranged, effective position can be realized to assembly, improve assembly efficiency.
Based on above-mentioned unmanned operation platform chassis, the present invention also proposes that a kind of unmanned operation platform, the unmanned operation are flat
Platform includes above-mentioned unmanned operation platform chassis.
The type of unmanned operation platform can there are many, for example, can be in military affairs for high-altitude detect or fight nothing
People's job platform was also possible to the unmanned operation platform of civilian upper the purpose of being used for high-altitude shooting, weather forecasting.
Positive technical effect possessed by unmanned operation platform chassis is equally applicable to unmanned work in above-mentioned each embodiment
Industry platform, which is not described herein again.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (16)
1. a kind of unmanned operation platform chassis characterized by comprising
Vehicle frame (1)；
At least three wheels (2) are rotatably coupled with the vehicle frame (1)；
Driving mechanism (3), for driving the wheel (2) to rotate around its central axes, and the quantity of its quantity and the wheel (2)
It is identical, separately to drive each wheel (2)；With
Suspension (4), quantity is identical as the quantity of the wheel (2), be telescopically connected to respectively each wheel (2) with
Between the vehicle frame (1).
2. unmanned operation platform chassis according to claim 1, which is characterized in that the quantity of the wheel (2), the drive
The quantity of motivation structure (3) and the quantity of the suspension (4) are six.
3. unmanned operation platform chassis according to claim 2, which is characterized in that six wheels (2) symmetrically cloth
Set the two sides in the vehicle frame (1).
4. unmanned operation platform chassis according to claim 3, which is characterized in that the vehicle frame (1) includes the first vertical arm
(11) and the second vertical arm (12), the unmanned operation platform chassis includes being located at three ipsilateral wheels (2), described in two of them
Wheel (2) is both connected on first vertical arm (11), and another wheel (2) is connected on second vertical arm (12).
5. unmanned operation platform chassis according to claim 1, which is characterized in that further include swing arm (5), the swing arm
(5) one end is rotatably coupled with the vehicle frame (1), and the other end of the swing arm (5) is connect with the wheel (2).
6. unmanned operation platform chassis according to claim 5, which is characterized in that the driving mechanism (3) includes outer turns
Sub-motor, the external rotor electric machine include motor body and output shaft, and the output shaft is connect with the swing arm (5), the electricity
Owner's body is mounted on the wheel (2), and the motor body is rotated relative to the output shaft to drive the wheel (2) to turn
It is dynamic.
7. unmanned operation platform chassis according to claim 6, which is characterized in that the swing arm (5) is equipped with bellmouth, institute
The end for stating output shaft is equipped with cone connection (31), and the cone connection (31) is inserted into the bellmouth, to realize
State the connection of swing arm (5) and the output shaft.
8. unmanned operation platform chassis according to claim 6, which is characterized in that further include arrestment mechanism (6), for pair
The driving mechanism (3) is braked, and then realizes the braking to the wheel (2).
9. unmanned operation platform chassis according to claim 8, which is characterized in that the arrestment mechanism (6) includes braking
Disk (61), brake (62) and mounting base (63), the brake disc (61) connect with the motor body, and with the motor master
Body rotation, the brake (62) is for braking the brake disc (61), the mounting base (63) and the swing arm (5)
Connection, the brake (62) are mounted on the mounting base (63).
10. unmanned operation platform chassis according to claim 5, which is characterized in that the vehicle frame (1) connects equipped with swing arm
Portion (13), the swing arm interconnecting piece (13) include the first linkage section and the second linkage section for connecting with first linkage section, institute
The diameter for stating the first linkage section is greater than the diameter of second linkage section, and the swing arm (5) is equipped with connecting hole, in the connecting hole
Equipped with the first hole section and the second hole section connecting with first hole section, the diameter of first hole section is greater than second hole section
Diameter, and the swing arm interconnecting piece (13) is inserted into the connecting hole, and first hole section and first linkage section cooperate,
Second hole section and second linkage section cooperate.
11. unmanned operation platform chassis according to claim 10, which is characterized in that the inner wall of first hole section and institute
It states and is equipped with bushing (8) between the outer wall of the first linkage section.
12. unmanned operation platform chassis according to claim 10, which is characterized in that further include end cap (7), the end cap
(7) be fixed on the end of the swing arm interconnecting piece (13), and for limit the swing arm (5) and the swing arm interconnecting piece (13) it
Between axial relative movement occurs.
13. unmanned operation platform chassis according to claim 12, which is characterized in that the connecting hole includes third hole
Section, the third hole section is connected to the side far from first hole section of second hole section, and the third hole section is straight
Diameter is greater than the diameter of second hole section, and the end cap (7) is arranged in the third hole section.
14. unmanned operation platform chassis according to claim 12, which is characterized in that the end cap (7) close to described
The first gasket (9) are equipped between the end of second hole section and the end far from first linkage section of the swing arm (5).
15. unmanned operation platform chassis according to claim 10, which is characterized in that the close institute of first linkage section
It states and is equipped with the second gasket (10) between the end of the second linkage section and the end of close second hole section of first hole section.
16. a kind of unmanned operation platform, which is characterized in that flat including the described in any item unmanned operations of such as claim 1~15
Platform chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811599741.0A CN109515550A (en) | 2018-12-26 | 2018-12-26 | Unmanned operation platform chassis and unmanned operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811599741.0A CN109515550A (en) | 2018-12-26 | 2018-12-26 | Unmanned operation platform chassis and unmanned operation platform |
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|---|---|
| CN109515550A true CN109515550A (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811599741.0A Pending CN109515550A (en) | 2018-12-26 | 2018-12-26 | Unmanned operation platform chassis and unmanned operation platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239299A (en) * | 2019-07-03 | 2019-09-17 | 三一汽车制造有限公司 | Unmanned platform |
| CN111660724A (en) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | Front axle damping device for unmanned sweeping vehicle |
| CN112319652A (en) * | 2020-11-19 | 2021-02-05 | 中国人民解放军国防科技大学 | Wheel lifting device, vehicle and active obstacle crossing method |
| CN113238547A (en) * | 2021-04-26 | 2021-08-10 | 福建新诺机器人自动化有限公司 | Unmanned combat transportation platform applied in multiple scenes and use method thereof |
| WO2023090602A1 (en) * | 2021-11-18 | 2023-05-25 | 네이버랩스 주식회사 | Transport robot |
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| CN112319652A (en) * | 2020-11-19 | 2021-02-05 | 中国人民解放军国防科技大学 | Wheel lifting device, vehicle and active obstacle crossing method |
| CN113238547A (en) * | 2021-04-26 | 2021-08-10 | 福建新诺机器人自动化有限公司 | Unmanned combat transportation platform applied in multiple scenes and use method thereof |
| WO2023090602A1 (en) * | 2021-11-18 | 2023-05-25 | 네이버랩스 주식회사 | Transport robot |
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