CN111055935A - Omnidirectional-running distributed driving displacement track unmanned platform - Google Patents
Omnidirectional-running distributed driving displacement track unmanned platform Download PDFInfo
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- CN111055935A CN111055935A CN201911117672.XA CN201911117672A CN111055935A CN 111055935 A CN111055935 A CN 111055935A CN 201911117672 A CN201911117672 A CN 201911117672A CN 111055935 A CN111055935 A CN 111055935A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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Abstract
The invention discloses a distributed driving displacement crawler unmanned platform capable of running in all directions, which comprises a frame, wherein the bottom of the frame is provided with at least two displacement walking components, and each displacement walking component comprises a transmission unit fixedly connected with the frame and a walking unit in driving connection with the transmission unit. The multifunctional walking stick has the dual functions of displacement and walking, is high in flexibility, and has high trafficability, high off-road property and omnidirectional walking capability.
Description
Technical Field
The invention relates to the technical field of unmanned platforms, in particular to a distributed driving shifting crawler unmanned platform capable of running in all directions.
Background
With the rapid development of science and technology, the automatic driving industry and the unmanned platform industry are different military projects. For the design of the unmanned platform, factors such as mobility, trafficability, light weight and the like are comprehensively considered. According to the walking mode classification, unmanned platform can divide into wheeled walking platform and track walking platform, though the traveling system simple structure of two kinds of forms, the technology is mature, but its limitation is strong, can't adapt to multiple operating mode. The wheeled platform has the advantages of strong maneuverability, good trafficability and strong off-road capability. In order to make the platform have good maneuverability and trafficability simultaneously, it is particularly important to make innovative structural design on the platform, especially on the walking system. At present, a plurality of scholars carry out related researches on innovative structural designs of a walking system of a platform, but the problems of poor platform trafficability, incapability of realizing omnidirectional driving, incapability of adapting to various publicities, lack of good off-road performance and the like exist.
Disclosure of Invention
The invention aims to provide a distributed driving displacement crawler unmanned platform capable of running in all directions, which well solves the problems, has dual functions of displacement and walking, is high in flexibility, and has high trafficability, high off-road performance and all-direction walking capability.
The distributed driving displacement crawler unmanned platform capable of running in all directions comprises a frame, wherein at least two displacement walking assemblies are arranged at the bottom of the frame, and each displacement walking assembly comprises a transmission unit fixedly connected with the frame and a walking unit in driving connection with the transmission unit.
Further, the walking unit comprises a driving wheel, an inducer, a connecting plate and a crawler belt, wherein the driving wheel and the inducer are fixedly connected with the connecting plate through bearings, and the crawler belt is meshed with the outer edges of the driving wheel and the inducer; the walking unit further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring, one end of the track tensioning spring is fixedly connected with the connecting plate, the other end of the track tensioning spring is fixedly connected with a tensioning wheel bearing plate, a tensioning wheel is arranged on the tensioning wheel bearing plate through a bearing, and the tensioning wheel is meshed with the track.
Furthermore, the transmission unit comprises a displacement transmission unit and a walking transmission unit, the displacement transmission unit is used for changing the walking direction of the walking unit, and the walking transmission unit is used for driving the walking unit to walk; the transmission unit that shifts is including the driving motor that shifts, the transmission shaft that shifts, the transmission planetary reducer that shifts, the transmission master gear that shifts, the output shaft that shifts driving motor is connected with the transmission planetary reducer input that shifts, the transmission planetary reducer output that shifts is connected with the transmission master gear rotation that shifts through the transmission shaft that shifts, the fixed cover of transmission master gear that shifts is established on the transmission shaft that shifts.
Furthermore, the walking transmission unit comprises a driving wheel driving motor, a driving wheel transmission planetary reducer, a driving wheel driving gear shaft and a bevel gear transmission assembly, wherein an output shaft of the driving wheel driving motor is rotatably connected with the driving wheel transmission planetary reducer, the driving wheel transmission planetary reducer is fixedly connected with an input end of the bevel gear transmission assembly through the driving wheel driving gear shaft, and an output end of the bevel gear transmission assembly is fixedly connected with the driving wheel.
Furthermore, the walking transmission unit also comprises a comprehensive transmission box, the comprehensive transmission box is sleeved on the bevel gear transmission assembly, the input end and the output end of the comprehensive transmission box and the bevel gear transmission assembly are respectively connected through a bearing, the upper part of the comprehensive transmission box is fixedly connected with a deflection transmission pinion, the deflection transmission pinion is sleeved on a driving wheel driving gear shaft, and the deflection transmission pinion is meshed with the deflection transmission main gear; the upper ends of the deflection driving motor and the driving wheel driving motor are fixedly connected with the frame; the comprehensive transmission case is rotationally connected with the frame through a tapered roller bearing.
Further, the unmanned platform comprises a sensing unit, wherein the sensing unit comprises an external sensing unit and an internal sensing unit, the external sensing unit is used for sensing external environment information, and the internal sensing unit is used for monitoring the vehicle position, the vehicle speed and the posture of the unmanned platform.
Further, the outside perception unit is including installing single line lidar, binocular camera, thirty-two line lidar and the millimeter wave radar on the frame, inside perception unit is including installing the combination navigation on the frame, installing the GPS compass on the roof and installing the angle displacement sensor on the driving motor unit that shifts, outside perception unit and inside perception unit all with central processing unit signal connection.
Further, still include electric unit, electric unit includes group battery and the block terminal of being connected with the group battery electricity, the group battery still electricity is connected with warning light, scram switch, light, the pilot lamp that shifts.
The control unit comprises a driving wheel driving motor controller for controlling the driving wheel driving motor, a deflection driving motor controller for controlling the deflection driving motor, and a vehicle control unit for controlling the electric unit and collecting information of the sensing unit.
Further, still include the cooling unit, the cooling unit includes cooling pipe, backflow pipeline, radiator and water pump motor, cooling pipe one end goes out water piping connection with the radiator, the cooling pipe other end advances water piping connection with water pump motor, the cooling pipe flows to action wheel drive motor controller and action wheel drive motor in proper order, for action wheel drive motor controller and action wheel drive motor cooling heat dissipation, water pump motor outlet pipe advances water piping connection through backflow pipeline and radiator.
The invention has the beneficial effects that:
1) the shifting walking system is mainly used for the unmanned platform, and is provided with a walking transmission unit for driving the walking unit to walk and a shifting transmission unit for driving the walking unit to integrally rotate, namely the walking unit can change the walking angle and direction, so that the whole system has the dual functions of shifting and walking, has strong flexibility, and can give consideration to high trafficability, high off-road property and omnidirectional walking ability; meanwhile, the deflection transmission unit and the walking transmission unit are in simple gear driving connection, so that the structure is simple, the reliability is high, the damage is not easy to damage, and the service life is long; the walking unit adopts the crawler belt, the application range is wide, and the trafficability and the cross-country ability are greatly improved;
2) the unmanned platform has good sensing units, namely an external sensing unit for sensing external environment information and an internal sensing unit for monitoring the position, the speed and the posture of the unmanned platform, is convenient to use, can quickly and comprehensively collect data, and provides good data support for the subsequent driving of the unmanned platform.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal perspective structure of the present invention;
FIG. 3 is a front view of the structure of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a side view of the structure of the present invention;
FIG. 6 is an enlarged partial view of FIG. 5 at B;
FIG. 7 is a partial schematic view of the cross-sectional structure of FIG. 5 at C-C;
FIG. 8 is a schematic perspective view of the shift walking assembly of the present invention;
FIG. 9 is a schematic view of the internal structure of the variable displacement traveling assembly of the present invention;
FIG. 10 is a schematic view of the present invention;
FIG. 11 is a flow diagram of the cooling unit of the present invention;
FIG. 12 is a flow chart of the operation of the sensing unit of the present invention;
in the figure: 1. a traveling unit; 11. a driving wheel; 12. an inducer; 13. a connecting plate; 14. a crawler belt; 15. a track tensioning spring; 16. a tension pulley bearing plate; 17. a tension wheel; 2. a displacement transmission unit; 21. a deflection driving motor; 22. a deflection transmission shaft; 23. a shift transmission planetary reducer; 24. a deflection transmission main gear; 3. a walking transmission unit; 31. the driving wheel drives the motor; 32. the driving wheel drives the planetary reducer; 33. the driving wheel drives the gear shaft; 34. a bevel gear transmission assembly; 35. a comprehensive transmission case; 36. a modified transmission pinion; 37. a tapered roller bearing; 38. an electromagnetic brake; 41. a single line laser radar; 42. a binocular camera; 43. thirty-two line laser radars; 44. a millimeter wave radar; 45. a GPS compass; 46. integrated navigation; 51. a warning light; 52. a scram switch; 53. an illuminating lamp; 54. a position-changing indicator light; 6. a vehicle frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", etc. indicate orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 12, the invention provides a distributed driving displacement caterpillar track unmanned platform capable of running in all directions, which comprises a frame 6, wherein the bottom of the frame 6 is provided with at least two displacement walking components, and each displacement walking component comprises a transmission unit 1 fixedly connected with the frame 6 and a walking unit in driving connection with the transmission unit 1. The frame is coated with a shell. The shell is welded on the frame. Preferably, four shifting walking components are arranged at the bottom of the frame 6.
The frame 6 is a truss type vehicle body, the structure of the frame 6 is a bearing type vehicle body, a square aluminum pipe is adopted for welding, and supporting plates corresponding to the positions of threaded holes of the parts are welded at the corresponding mounting positions of the parts so as to bear and connect other systems of the unmanned platform. In particular, support plates having a width equivalent to that of the unmanned platform are fixed to the front and rear sides of the bottom of the frame 6 of the truss-type vehicle body to carry drive control elements such as motors, controllers, and the like.
The walking unit 1 comprises a driving wheel 11, an inducer 12, a connecting plate 13 and a crawler 14, wherein the driving wheel 11 and the inducer 12 are fixedly connected with the connecting plate 13 through bearings, and the crawler 14 is meshed with the outer edges of the driving wheel 11 and the inducer 12; the walking unit 1 further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring 15, one end of the track tensioning spring is fixedly connected with the connecting plate 13, the other end of the track tensioning spring 15 is fixedly connected with a tensioning wheel bearing plate 16, a tensioning wheel 17 is arranged on the tensioning wheel bearing plate 16 through a bearing, and the tensioning wheel 17 is meshed with the track 14. The crawler 14 is a rubber crawler, and has a wide application range and strong cross-country ability.
The whole crawler 14 is formed by connecting rubber crawler 14 plates in pairs through connecting pins at hinge parts of the crawler 14, the rubber crawler 14 plates are meshed with the gear teeth of the driving wheel 11, the outer edge of the tension wheel 17 and the gear teeth of the inducer 12, the pretightening force of a tension spring of the crawler 14 needs to be adjusted before installation so as to ensure the normal work of the crawler 14, and the connecting quantity of the rubber crawler 14 plates can be calculated by calculating the total length of the crawler 14.
The transmission unit comprises a displacement transmission unit 2 and a walking transmission unit 3, the displacement transmission unit 2 is used for changing the walking direction of the walking unit 1, and the walking transmission unit 3 is used for driving the walking unit 1 to walk; the deflection transmission unit 2 comprises a deflection driving motor 21, a deflection transmission shaft 22, a deflection transmission planetary reducer 23 and a deflection transmission main gear 24, wherein an output shaft of the deflection driving motor 21 is rotatably connected with an input end of the deflection transmission planetary reducer 23, an output end of the deflection transmission planetary reducer 23 is rotatably connected with the deflection transmission main gear 24 through the deflection transmission shaft 22, and the deflection transmission main gear 24 is fixedly sleeved on the deflection transmission shaft 22.
The walking transmission unit 3 comprises a driving wheel driving motor 31, a driving wheel transmission planetary reducer 32, a driving wheel driving gear shaft 33 and a bevel gear transmission assembly 34, an output shaft of the driving wheel driving motor 31 is rotatably connected with the driving wheel transmission planetary reducer 32, the driving wheel transmission planetary reducer 32 is fixedly connected with an input end of the bevel gear transmission assembly 34 through the driving wheel driving gear shaft 33, and an output end of the bevel gear transmission assembly 34 is fixedly connected with the driving wheel 11.
The walking transmission unit 3 further comprises a comprehensive transmission case 35, the comprehensive transmission case 35 is sleeved on the bevel gear transmission assembly 34, the comprehensive transmission case 35 and the input end and the output end of the bevel gear transmission assembly 34 are respectively connected and fixed through a bearing, a deflection transmission pinion 36 is fixedly connected to the upper portion of the comprehensive transmission case 35, the deflection transmission pinion 36 is sleeved on the driving wheel driving gear shaft 33, and the deflection transmission pinion 36 is meshed with the deflection transmission main gear 24; the upper ends of the position-changing driving motor 21 and the driving wheel driving motor 31 are fixedly connected with the frame 6; the integrated transmission case 35 is rotatably connected with the frame 6 through a tapered roller bearing 37.
An electromagnetic brake 38 is disposed between the displacement driving motor 21 and the displacement transmission planetary reducer 23 for performing rotation and braking of the traveling unit 1. An electromagnetic brake 38 is disposed between the driving wheel driving motor 31 and the driving wheel transmission planetary reducer 32 for driving and braking the traveling unit 1.
That is, the integrated transmission case 35 is sleeved on the bevel gear transmission assembly 34, the integrated transmission case 35 is connected with the input end and the output end of the bevel gear transmission assembly 34 through bearings, the deflection transmission pinion 36 fixedly connected with the integrated transmission case 35 does not affect the power transmission between the driving wheel driving gear shaft 33 and the bevel gear transmission assembly 34, the bevel gear transmission assembly 34 can carry out the power transmission in the integrated transmission case 35 without causing the movement of the integrated transmission case 35, the integrated transmission case 35 is fixedly connected with the deflection transmission pinion 36, the deflection transmission pinion 36 is engaged with the deflection transmission main gear 24, the deflection driving motor 21 drives the deflection transmission main gear 24 to rotate, and then drives the deflection transmission pinion 36 to rotate, the integrated transmission case 35 rotates along with the deflection transmission pinion 36, and the integrated transmission case 35 drives the output shaft of the bevel gear transmission assembly 34 to rotate, the whole walking unit 1 is further driven to rotate, the walking unit 1 can change the walking angle and direction, and the walking unit 1 can rotate 360 degrees around the driving wheel 11 to drive the gear shaft. The structure is characterized in that the integrated transmission case 35 and the frame 6 are fixedly connected through an oil seal ring, a bearing seat, a tapered roller bearing 37, a retainer ring and a fastening screw, and the rotational motion freedom degree of the integrated transmission case 35 is ensured. The integrated transmission case 35 is fixed by two tapered roller bearings 37 and a bearing retainer ring, and is sealed at both ends by bearing blocks, an oil seal ring is plugged in to prevent leakage of lubricating oil, and simultaneously, the bearing blocks are fixed on the frame 6 by the cooperation of fastening screws and threaded holes on the frame 6.
The specific transmission process is as follows: the transmission route of the deflection traveling system is divided into a driving wheel driving transmission route and a track deflection transmission route, namely a traveling transmission route and a deflection transmission route. The driving wheel driving transmission route is that the driving wheel driving motor 31 inputs power to a sun wheel of the driving wheel driving planetary reducer 32, the power is output through a gear ring and then transmitted to the driving wheel 11 through the bevel gear transmission assembly 34, so that the driving wheel 11 is driven to rotate, and the unmanned platform is driven to move forward. The track displacement transmission route is that the displacement driving motor 21 inputs power to a sun gear of the displacement transmission planetary reducer 23, the power is output through a gear ring, and then the power is transmitted to the comprehensive transmission case 35 through the displacement transmission main gear 24 and the displacement transmission pinion 36, so that the whole track 14 is driven to perform displacement motion.
The unmanned platform comprises an unmanned platform body and is characterized by further comprising a sensing unit, wherein the sensing unit comprises an external sensing unit and an internal sensing unit, the external sensing unit is used for sensing external environment information, and the internal sensing unit is used for monitoring the position, the speed and the posture of the unmanned platform body.
The external sensing unit comprises a single-line laser radar 41, a binocular camera 42, a thirty-two-line laser radar 43 and a millimeter-wave radar 44 which are installed on the frame 6, the internal sensing unit comprises a combined navigation 46 which is installed on the frame 6 and an angular displacement sensor which is installed on the displacement transmission unit 2 of the displacement driving motor 21, and the external sensing unit and the internal sensing unit are both in signal connection with the central processing unit.
The single-line laser radar is used for acquiring close-range sensing and obstacle position identification information of the unmanned platform, and four single-line laser radars 41 are respectively installed on the periphery of the unmanned platform and fixedly connected with the unmanned platform through bolts. The binocular cameras 42 are used for obtaining barrier semantic segmentation and road environment identification information, four binocular cameras 42 are provided, and two cameras in each group are symmetrically arranged on the front side and the rear side of the top of the unmanned platform. Thirty-two line laser radar 43 is used for obtaining synchronous positioning and building a picture to and barrier shape, quantity information, still includes GPS compass 45, GPS compass has two to install respectively in the front and back both sides at unmanned platform top, thirty-two line laser radar 43 is provided with one, thirty-two line laser radar 43 is installed in the GPS compass rear of unmanned platform top front side, thirty-two line laser radar 43 is connected with thirty-two line laser radar 43 control box, thirty-two line laser radar 43 control box installs in unmanned platform middle part. The millimeter wave radar 44 is used for sensing severe weather conditions, identifying remote obstacles, and acquiring obstacle positions and speed information, and four millimeter wave radars 44 are respectively installed at four corners of the unmanned platform.
The combined navigation device 46 is used for collecting the position, the speed and the posture information of the unmanned platform, and the combined navigation device 46 is arranged in the middle of the unmanned platform. The angular displacement sensor is used for collecting the angle information of the displacement of the unmanned platform crawler 14. The information transmission unit is used for transmitting the information collected by the external sensing unit and the internal sensing unit to the control system. The angular displacement sensors are arranged corresponding to the number of the crawler belts 14 of the unmanned platform, the driving wheel 11 of one crawler belt 14 corresponds to one angular displacement sensor, and the angles of the driving wheel 11 corresponding to the crawler belt 14 are collected.
The emergency stop device is characterized by further comprising an electric unit, wherein the electric unit comprises a battery pack and a distribution box electrically connected with the battery pack, and the battery pack is further electrically connected with a warning lamp 51, an emergency stop switch 52, an illuminating lamp 53 and a deflection indicating lamp 54. The warning lamp 51 is arranged on the rear side of the top of the frame 6 and is fixed on the frame 6 by means of bolt and nut matching, and the warning lamp 51 is turned on in an emergency situation to warn accompanying people; the emergency stop switch 52 is arranged on the rear side of the top of the frame 6; the four illuminating lamps 53 are symmetrically arranged on the front side and the rear side of the frame 6 respectively and are connected with the frame 6 through the matching of bolts and nuts; the displacement indicator lamps 54 are 4, are respectively arranged at the front part and the rear part of the side surface of the platform, are used for indicating the displacement movement of the crawler 14 and are connected with the frame 6 through screw matching; the battery pack comprises a high-voltage power battery pack and a low-voltage power battery pack, and the high-voltage power battery pack is arranged at the midpoint position inside the frame 6 and is fixedly connected with the bearing plate through the matching of bolts and nuts; the low-voltage power battery pack and the distribution box are arranged on the rear side of the high-voltage power battery pack, are symmetrically arranged relative to the longitudinal axis of the platform and are connected with the bearing plate through the matching of bolts and nuts. The battery pack of the electric unit is electrically connected with the sensing unit, the transmission unit and the walking unit 1 and provides power for the sensing unit, the transmission unit and the walking unit.
The device also comprises a control unit, wherein the control unit comprises a driving wheel driving motor controller for controlling the driving wheel driving motor 31, a deflection driving motor controller for controlling the deflection driving motor 21, and a vehicle control unit for controlling the electric unit and collecting information of the sensing unit. The control unit is in control communication connection with the sensing unit, the transmission unit, the walking unit 1 and the electric unit, and the control unit is also electrically connected with the electric unit.
Still include the cooling unit, the cooling unit includes cooling tube, backflow pipeline, radiator and water pump motor, cooling tube one end goes out water piping connection with the radiator, the cooling tube other end advances water piping connection with water pump motor, the cooling tube flows to action wheel driving motor controller and action wheel driving motor 31 in proper order, for action wheel driving motor controller and 31 cooling heat dissipation of action wheel driving motor, water pump motor outlet pipe advances water piping connection through backflow pipeline and radiator. That is, the cooling unit mainly cools the driving wheel driving motor controller and the driving wheel driving motor 31 to perform heat dissipation and cooling operations.
The bottom of the frame 6 can be provided with four deflection walking components, namely, an unmanned platform is provided with four mutually independent and mutually cooperated crawler belts 14, and each crawler belt 14 is provided with an independent deflection driving motor 21 and a driving wheel driving motor 31. And omnidirectional running is realized.
The invention discloses a displacement traveling system which is mainly used for an unmanned platform, and is provided with a traveling transmission unit 3 for driving a traveling unit 1 to travel and a displacement transmission unit 2 for driving the traveling unit 1 to integrally rotate, namely, the traveling unit 1 can change the traveling angle and direction, so that the whole system has dual functions of displacement and traveling, has strong flexibility, and can give consideration to high trafficability, high off-road property and omnidirectional traveling capacity; meanwhile, the deflection transmission unit 2 and the walking transmission unit 3 are in simple gear driving connection, and the device has the advantages of simple structure, high reliability, difficult damage and long service life; the walking unit 1 adopts the crawler belt 14, so that the application range is wide, and the trafficability and the off-road capacity are greatly improved; the unmanned platform has good sensing units, namely an external sensing unit for sensing external environment information and an internal sensing unit for monitoring the position, the speed and the posture of the unmanned platform, is convenient to use, can quickly and comprehensively collect data, and provides good data support for the subsequent driving of the unmanned platform. The multifunctional walking stick has the dual functions of displacement and walking, is high in flexibility, and has high trafficability, high off-road property and omnidirectional walking capability.
By utilizing the technical scheme, the invention has the following technical effects:
(1) the invention has the advantages that the overall scheme design of the omni-directional driving type shifting crawler unmanned platform is completed, compared with an all-wheel steering vehicle, the omni-directional driving type shifting crawler unmanned platform adopts the shifting crawler design, the omni-directional driving of the whole vehicle is realized, the stronger cross-country performance and trafficability are met, and the omni-directional driving type shifting crawler unmanned platform can work well on various terrains. Compared with the traditional crawler belt or wheel type vehicle, the invention can realize omnidirectional running by adjusting the deflection transmission angle of the crawler belt, can change the length of the vehicle, has variable structure and strong flexibility;
(2) the bottom of the preferred frame 6 of the invention is provided with four deflection walking components. The structure of a whole vehicle driving system and a transmission system is simplified by adopting a 4x4 distributed pure electric drive line control technology, and the light weight and better power performance of a platform are realized;
(3) the comprehensive transmission case is designed, and a structural scheme of a sleeve shaft is combined, so that the platform can run at a high speed, the moment input of displacement control can be provided for a crawler traveling system, the omnidirectional running function is met, and the transmission system is light in weight and small in occupied space;
(4) the invention designs a flow chart of a perception control scheme of the whole vehicle, defines the work to be finished by each vehicle-mounted sensor and the data to be transmitted among the sensors, and provides a reference scheme for the unmanned and intelligent operation of the unmanned platform.
The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a but unmanned platform of distributing type drive track that shifts that omnidirectionality was traveled which characterized in that: the bicycle comprises a bicycle frame, wherein at least two displacement walking components are arranged at the bottom of the bicycle frame, and each displacement walking component comprises a transmission unit fixedly connected with the bicycle frame and a walking unit in driving connection with the transmission unit.
2. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 1, wherein: the walking unit comprises a driving wheel, an inducer, a connecting plate and a crawler belt, wherein the driving wheel and the inducer are fixedly connected with the connecting plate through bearings, and the crawler belt is meshed with the outer edges of the driving wheel and the inducer; the walking unit further comprises a track tensioning assembly, the track tensioning assembly comprises a track tensioning spring, one end of the track tensioning spring is fixedly connected with the connecting plate, the other end of the track tensioning spring is fixedly connected with a tensioning wheel bearing plate, a tensioning wheel is arranged on the tensioning wheel bearing plate through a bearing, and the tensioning wheel is meshed with the track.
3. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 2, wherein: the transmission unit comprises a displacement transmission unit and a walking transmission unit, the displacement transmission unit is used for changing the walking direction of the walking unit, and the walking transmission unit is used for driving the walking unit to walk; the transmission unit that shifts is including the driving motor that shifts, the transmission shaft that shifts, the transmission planetary reducer that shifts, the transmission master gear that shifts, the output shaft that shifts driving motor is connected with the input that shifts transmission planetary reducer, the output that shifts transmission planetary reducer is connected through the transmission shaft that shifts and the transmission master gear rotation that shifts, the fixed cover of transmission master gear that shifts is established on the transmission shaft that shifts.
4. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 3, wherein: the walking transmission unit comprises a driving wheel driving motor, a driving wheel transmission planetary reducer, a driving wheel driving gear shaft and a bevel gear transmission assembly, wherein an output shaft of the driving wheel driving motor is rotatably connected with the driving wheel transmission planetary reducer, the driving wheel transmission planetary reducer is fixedly connected with an input end of the bevel gear transmission assembly through the driving wheel driving gear shaft, and an output end of the bevel gear transmission assembly is fixedly connected with a driving wheel.
5. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 4, wherein: the walking transmission unit also comprises a comprehensive transmission box, the comprehensive transmission box is sleeved on the bevel gear transmission assembly, the comprehensive transmission box and the input end and the output end of the bevel gear transmission assembly are respectively connected and fixed through a bearing, the upper part of the comprehensive transmission box is fixedly connected with a deflection transmission pinion, the deflection transmission pinion is sleeved on a driving wheel driving gear shaft, and the deflection transmission pinion is meshed with the deflection transmission main gear; the upper ends of the deflection driving motor and the driving wheel driving motor are fixedly connected with the frame; the comprehensive transmission case is rotationally connected with the frame through a tapered roller bearing.
6. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 4, wherein: the unmanned platform comprises an unmanned platform body and is characterized by further comprising a sensing unit, wherein the sensing unit comprises an external sensing unit and an internal sensing unit, the external sensing unit is used for sensing external environment information, and the internal sensing unit is used for monitoring the position, the speed and the posture of the unmanned platform body.
7. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 6, wherein: the external sensing unit comprises a single-line laser radar, a binocular camera, a thirty-two-line laser radar and a millimeter-wave radar which are installed on a frame, the internal sensing unit comprises a combined navigation device installed on the frame, a GPS compass installed on a car roof and an angular displacement sensor installed on a displacement transmission unit of a displacement driving motor, and the external sensing unit and the internal sensing unit are both in signal connection with the central processing unit.
8. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 7, wherein: still include electric unit, electric unit includes group battery and the block terminal of being connected with the group battery electricity, the group battery still electricity is connected with warning light, scram switch, light, the pilot lamp that shifts.
9. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 8, wherein: the vehicle-mounted intelligent control system further comprises a control unit, wherein the control unit comprises a driving wheel driving motor controller for controlling the driving wheel driving motor, a displacement driving motor controller for controlling the displacement driving motor, and a vehicle control unit for controlling the electric unit and collecting information of the sensing unit.
10. The omni-directionally drivable distributed drive track-shifted unmanned platform of claim 9, wherein: still include the cooling unit, the cooling unit includes cooling tube, backflow pipeline, radiator and water pump motor, cooling tube one end goes out water piping connection with the radiator, the cooling tube other end advances water piping connection with water pump motor, the cooling tube flows to action wheel driving motor controller and action wheel driving motor in proper order, for action wheel driving motor controller and action wheel driving motor cooling heat dissipation, water pump motor outlet pipe advances water piping connection through backflow pipeline and radiator.
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| CN201911117672.XA CN111055935A (en) | 2019-11-15 | 2019-11-15 | Omnidirectional-running distributed driving displacement track unmanned platform |
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| CN201911117672.XA CN111055935A (en) | 2019-11-15 | 2019-11-15 | Omnidirectional-running distributed driving displacement track unmanned platform |
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