CN111319439A

CN111319439A - Unmanned vehicle

Info

Publication number: CN111319439A
Application number: CN202010252240.6A
Authority: CN
Inventors: 王海军; 方广忠; 徐天波; 汪小林; 楼彦平
Original assignee: Zhejiang Linix Motor Co Ltd
Current assignee: Zhejiang Linix Motor Co Ltd
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2020-06-23

Abstract

The invention relates to an unmanned vehicle, which comprises two front wheels and a driving module, wherein two output shafts of the driving module are coaxially connected with the front wheels, an electric control cabinet is arranged above the driving module, a suspension is fixedly arranged at the top of the electric control cabinet, two universal wheels positioned behind the front wheels are arranged below the rear end of the suspension, and the diameter of the front wheels is larger than that of the universal wheels.

Description

Unmanned vehicle

Technical Field

The invention relates to an unmanned vehicle, and belongs to the technical field of unmanned vehicles.

Background

In the current society, the use of unmanned vehicles is gradually popularized, the unmanned vehicles are very widely used for convenience in transportation and logistics, various routes are generally required to be set when goods are transported, and the unmanned vehicles detect obstacles through a sensing device so as to automatically turn and avoid the obstacles.

When the unmanned vehicle turns during running, the unmanned vehicle usually adopts a motor to drive the tires to rotate at a differential speed so as to realize the steering of the unmanned vehicle, and a common all-wheel steering vehicle adopts a set of steering actuating mechanism at the front and the rear, and the middle of the steering actuating mechanism is connected by a pull rod, or adopts two sets of independent steering devices, and is operated by a motor-driven rod system. However, the above device can only realize smaller steering radius, the center steering cannot be realized due to the structural limitation, the steering radius is still too large, and the steering efficiency is too low.

Disclosure of Invention

The invention aims to provide an unmanned vehicle, which solves the problems that the center steering cannot be realized, the steering radius is still too large, the steering efficiency is too low and the like in the prior art.

The technical purpose of the invention is mainly solved by the following technical scheme: the unmanned vehicle comprises a frame, wherein the front part of the frame is provided with two driving wheels, the two driving wheels are respectively driven by a left driving motor and a right driving motor which are independent from each other, the rear part of the frame is provided with at least one driven wheel, and the driven wheel is a universal wheel; through the setting of two above-mentioned driving motor and drive wheel, make above-mentioned every drive wheel all can realize the rotation, and can be according to the rotational speed of a drive wheel of steering angle adjustment, thereby realize the turning of unmanned car through the rotational speed difference, simultaneously through the rear wheel for the setting from the driving wheel, can effectually shorten the turning radius of unmanned car, use one even to follow the driving wheel as the mid point, carry out the pivot and turn to, the effectual quality that turns to that has improved, and to the diameter setting of drive wheel, increase the drive power of unmanned car, increase the output, can improve steering efficiency when improving the speed of traveling.

Preferably, a left cantilever fixed with a left driving motor is arranged below the left front side of the frame, one end of the left cantilever is rotatably connected with the frame, the other end of the left cantilever is rotatably connected with one end of a left shock absorber, and the other end of the left shock absorber is rotatably connected with the frame; a right cantilever fixed with a right driving motor is arranged below the right front side of the frame, one end of the right cantilever is rotatably connected with the frame, the other end of the right cantilever is rotatably connected with one end of a right shock absorber, and the other end of the right shock absorber is rotatably connected with the frame; through the setting of above-mentioned left bumper shock absorber and right bumper shock absorber for when the drive wheel meets the barrier at the in-process of traveling, can realize the shock attenuation buffering of unmanned car through left bumper shock absorber and right bumper shock absorber, make and control the drive wheel and can upwards contract automatically when having travelled over the barrier, guarantee the normal travel of unmanned car simultaneously, take place to jolt when avoiding unmanned car to meet the barrier and overturn even, thereby guarantee the stationarity that unmanned car traveled and the fail safe nature during the transportation.

Preferably, the frame is provided with a first cross beam and a second cross beam, one ends of the left shock absorber and the right shock absorber are rotatably connected with the first cross beam, and the left cantilever and the right cantilever are rotatably connected with the second cross beam; through the setting to controlling the cantilever for control the cantilever can be along with the up-and-down fluctuation motion of drive wheel and move, with the steady operation of guaranteeing damper, the while dispersion is to the effort of bumper shock absorber, reduces the load pressure to the bumper shock absorber, reduces the loss of bumper shock absorber, the life of extension part.

Preferably, the rear end of the frame is provided with two driven wheels, a rear swing arm parallel to the axis of the driving wheels is arranged below the rear end of the frame, the middle part of the rear swing arm is rotatably connected with the frame, and the two driven wheels are respectively connected with two ends of the rear swing arm; through the setting of above-mentioned rear swing arm for unmanned vehicle is when driving over the barrier, and the independent one from the upset of going up of driving wheel can be through rear swing arm about, with power conduction to another from the driving wheel, makes another from the driving wheel downwardly acting, increases the adhesive force to ground, strengthens the land fertility of grabbing from the driving wheel, and stability when strengthening unmanned vehicle and traveling.

Preferably, a third cross beam deviating from the position right above the rear swing arm is arranged on the frame, a longitudinal rod is arranged between the frame and the third cross beam, a connecting rod extending downwards is arranged at the bottom of the longitudinal rod, and the rear swing arm is connected with the connecting rod through a pivot so as to realize the rotary connection between the middle part of the rear swing arm and the frame; through the arrangement of the longitudinal rod and the connecting lever, the rear swing arm can be symmetrically left and right turned, so that the symmetry of the driven wheel on the unmanned vehicle is guaranteed, and the unmanned vehicle can run more stably.

Preferably, two ends of the rear swing arm are respectively connected with an inclined part which inclines downwards, and a shaft cylinder for rotatably supporting a wheel carrier of the driven wheel is fixed at the lower end of the inclined part; through the setting of above-mentioned slope, can strengthen the structural strength of back swing arm for back swing arm is more reliable and stable when supporting from the driving wheel, can increase the space of frame below simultaneously, so that install other parts.

Preferably, an obliquely arranged gas spring damper is arranged between each of two ends of the rear swing arm and the frame, an upper lug body is arranged on each of two sides of the longitudinal rod, a lower lug body is arranged on each of two ends of the rear swing arm, and the upper end and the lower end of the gas spring damper are hinged with the upper lug body and the lower lug body respectively; through the setting of above-mentioned air spring, can increase the bradyseism to the rear wheel, reduce the vibrations from the driving wheel, increase the mobility from the driving wheel, can increase the mobility of air spring simultaneously for the air spring can be along with the upset of back swing arm and activity from beginning to end, avoids the mobility of the hard cooperation influence back swing arm of air spring, leads to the part to damage even.

Preferably, at least one reinforcing bar bent downwards is arranged on the lower side of the front end of the frame, and a bumper connected with the reinforcing bar is arranged at the bottom end of the reinforcing bar; through the setting of above-mentioned bumper and reinforcing bar for above-mentioned bumper can be fixed on the frame through the reinforcing bar, thereby can support the bumper through the bulk strength of unmanned car, strengthens the connection structure stability of bumper.

Preferably, a battery group capable of being pulled and moved is fixedly arranged at the bottom of the frame, a circuit integrated cabinet is arranged above the battery group, an electric control cabinet is arranged at the front end below the battery group, and the battery group and the electric control cabinet are respectively positioned at the front side and the rear side below the frame; through the setting of above-mentioned storage battery group for the storage battery can remove through manual control on unmanned car, thereby convenient direct dismantlement and the installation to the storage battery, and more simple and laborsaving, and the setting of storage battery group and automatically controlled cabinet can keep the front and back mass balance of unmanned car, thereby keeps the stability of automobile body, avoids the rollover of unmanned car.

Therefore, the invention has the characteristics of realizing smaller steering radius, realizing center steering, having high steering efficiency, keeping the stability of the unmanned vehicle body when the unmanned vehicle passes through the obstacle, and the like.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of the driving wheel, the driving motor and the damper of FIG. 1 in cooperation with each other;

FIG. 3 is a perspective view of the driven wheel, the rear swing arm and the gas spring of FIG. 1 in cooperation with each other;

fig. 4 is a perspective view of a second embodiment in the present embodiment.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

The first embodiment is as follows:

as shown in fig. 1-4, an unmanned vehicle comprises a vehicle frame 1, two driving wheels 2 are arranged at the front part of the vehicle frame 1, the two driving wheels 2 are respectively driven by a left driving motor 11 and a right driving motor 12 which are independent from each other, at least one driven wheel 31 is arranged at the rear part of the vehicle frame 1, the driven wheel 31 is a universal wheel, each driving wheel can rotate and can adjust the rotating speed of one driving wheel according to a steering angle through the arrangement of the two driving motors and the driving wheels, so that the steering of the unmanned vehicle can be realized through the rotating speed difference, meanwhile, the rotating radius of the unmanned vehicle can be effectively shortened through the arrangement of the rear wheel as the driven wheel, even one driven wheel is used as a middle point to perform pivot steering, the steering quality is effectively improved, and for the arrangement of the driving wheels, the driving force of the unmanned vehicle is increased, the output force is increased, the steering efficiency can be improved while the driving speed is, the driving motor controls the driving wheel to rotate and change the rotating speed.

As shown in fig. 1-2, a left suspension arm 41 fixed to the left driving motor 11 is arranged below the left front side of the frame 1, one end of the left suspension arm 41 is rotatably connected to the frame 1, the other end of the left suspension arm 41 is rotatably connected to one end of a left shock absorber 42, and the other end of the left shock absorber 42 is rotatably connected to the frame 1; a right cantilever 43 fixed with the right driving motor 12 is arranged below the right front side of the frame 1, one end of the right cantilever 43 is rotatably connected with the frame 1, the other end of the right cantilever 43 is rotatably connected with one end of a right shock absorber 44, the other end of the right shock absorber 44 is rotatably connected with the frame 1, and through the arrangement of the left shock absorber and the right shock absorber, when the driving wheel encounters an obstacle in the driving process, the shock absorption and buffering of the unmanned vehicle can be realized through the left shock absorber and the right shock absorber, so that the left driving wheel and the right driving wheel can automatically contract upwards when passing the obstacle, and the normal driving of the unmanned vehicle is ensured, so that the unmanned vehicle is prevented from bumping or even overturning when encountering the obstacle, and the driving stability and the safety and reliability in transportation of the unmanned vehicle are ensured; the frame 1 is provided with a first cross beam 13 and a second cross beam 14, one ends of a left shock absorber 42 and a right shock absorber 44 are rotatably connected with the first cross beam 13, a left cantilever 41 and a right cantilever 43 are rotatably connected with the second cross beam 14, and the left cantilever and the right cantilever can move along with the up-and-down fluctuation movement of a driving wheel through the arrangement of the left cantilever and the right cantilever, so that the stable operation of a shock absorption mechanism is ensured, meanwhile, the acting force on the shock absorbers is dispersed, the load pressure on the shock absorbers is reduced, the loss of the shock absorbers is reduced, and the service lives of components are prolonged; the left shock absorber and the right shock absorber are both products existing in the current market, are the prior art and are not described herein again; when the unmanned vehicle encounters an obstacle in the driving process, the driving wheel drives the driving motor to move upwards, the driving motor moves upwards to drive one end of the left cantilever and the right cantilever to move upwards, one end of the right cantilever moves upwards, and the shock absorber contracts upwards and downwards, so that the shock absorption work of the driving wheel is realized.

As shown in fig. 1 and 3, two driven wheels 31 are arranged at the rear end of the frame 1, a rear swing arm 15 parallel to the axis of the driving wheel 31 is arranged below the rear end of the frame 1, the middle part of the rear swing arm 15 is rotatably connected with the frame 1, the two driven wheels 31 are respectively connected with two ends of the rear swing arm 15, and by the arrangement of the rear swing arm, when the unmanned vehicle passes through an obstacle, the upward movement of a single driven wheel can be turned left and right through the rear swing arm, so that the force is transmitted to the other driven wheel, the other driven wheel acts downwards, the adhesive force to the ground is increased, the ground holding force of the driven wheels is enhanced, and the stability of the unmanned vehicle during running is enhanced; the vehicle frame 1 is provided with a third cross beam 16 deviated from the position right above the rear swing arm 15, a longitudinal rod 17 is arranged between the vehicle frame 1 and the third cross beam 16, the bottom of the longitudinal rod 17 is provided with a connecting rod 171 extending downwards, the rear swing arm 15 is connected with the connecting rod 171 through a pivot 172 so as to realize the rotating connection between the middle part of the rear swing arm 15 and the vehicle frame 1, and through the arrangement of the longitudinal rod and the connecting rod, the rear swing arm can be symmetrically turned left and right, so that the symmetry of a driven wheel on the unmanned vehicle is ensured, and the unmanned vehicle can run more stably; the both ends of back swing arm 15 are connected with the sloping portion 151 of downward sloping respectively, the lower extreme of sloping portion 151 is fixed with and is used for the rotation support from the beam barrel 311 of the wheel carrier of driving wheel 31, through the setting of above-mentioned sloping portion, can strengthen the structural strength of back swing arm for back swing arm is more reliable and more stable when supporting from the driving wheel, can increase the space of frame below simultaneously, so that install other parts.

As shown in fig. 1 and 3, a gas spring damper 18 obliquely disposed is disposed between two ends of the rear swing arm 15 and the frame 1, an upper ear 173 is disposed on each of two sides of the vertical rod 17, a lower ear 152 is disposed on each of two ends of the rear swing arm 15, and an upper end and a lower end of the gas spring damper 18 are hinged to the upper ear 173 and the lower ear 152, respectively.

When the unmanned vehicle runs and meets an obstacle, the driven wheels move upwards when passing through the obstacle, when the two driven wheels move upwards simultaneously, the driven wheels drive the rear swing arm to move upwards, the upwards moving top of the rear swing arm moves the gas spring, so that the gas spring contracts, after the unmanned vehicle drives through the obstacle, the driven wheels move downwards, the rear swing arm moves downwards along with the driven wheels, and the gas spring extends; when a driven wheel moves upwards independently, the driven wheel drives one end of the rear swing arm to move upwards, the gas spring at one end of the rear swing arm, which moves upwards, contracts, and the other end of the rear swing arm moves downwards to drive the gas spring at the position to stretch, so that the driven wheel at the position is pressed downwards to grasp the ground.

As shown in fig. 1-2, at least one reinforcing bar 19 bent downwards is arranged on the lower side of the front end of the vehicle frame 1, a bumper 191 connected with the reinforcing bar 19 is arranged at the bottom end of the reinforcing bar 19, and the bumper can be fixed on the vehicle frame through the reinforcing bar by the arrangement of the bumper and the reinforcing bar, so that the bumper can be supported by the overall strength of the unmanned vehicle, the connecting structure stability of the bumper is enhanced, and the bumper is protected at the two ends of the left and right tires.

As shown in fig. 1, but the bottom of frame 1 sets firmly battery group 5 that the pull removed, the top of battery group 5 is equipped with circuit integrated cabinet 6, the below front end of battery group 5 is equipped with automatically controlled cabinet 7, battery group 5 and automatically controlled cabinet 7 are located the front and back both sides of frame 1 below respectively, through the setting of above-mentioned battery group for the battery can remove through manual control on unmanned car, thereby conveniently directly dismantle and install the battery, and is simpler and laborsaving, and the setting of battery group and automatically controlled cabinet can keep unmanned car's front and back mass balance, thereby keeps the stability of automobile body, avoids the car that overturns of unmanned car, and battery group fixes and carries out the pull removal on current slide rail mechanism, and can the auto-lock.

Example two:

the difference between this embodiment and the first embodiment is:

as shown in fig. 4, a vertically arranged mechanical spring damper 17 is respectively arranged between two ends of the rear swing arm 15 and the frame 1, a connecting rod 18 extending downward is arranged on the frame 1, the rear swing arm 15 and the connecting rod 18 are connected through a pivot 181 to realize the rotational connection between the middle part of the rear swing arm 15 and the frame 1, an upper ear body 161 is arranged on the third beam 16, a lower ear body 151 is arranged on the side surface of the rear swing arm 15, the upper and lower ends of the mechanical spring damper 17 are respectively hinged with the upper ear body 161 and the lower ear body 151, and the rear swing arm and the connecting rod are arranged to realize the left-right turning of the rear swing arm on the connecting rod, so as to realize the up-and-down adaptation of wheels and perform stable and effective damping work on the unmanned vehicle; through the connection arrangement of the mechanical spring shock absorber, the mechanical spring shock absorber can rock back and forth between the third cross beam and the rear swing arm, so that the flexibility of the shock absorber during shock absorption can be improved, the damage of the device caused by rigid acting force during shaking of the unmanned vehicle is avoided, the shock absorber is convenient to disassemble and replace and is convenient to disassemble and replace, when the unmanned vehicle shakes, the shock absorber can move in a telescopic mode along with shaking of a vehicle body, and therefore shock absorption of driving of the unmanned vehicle is achieved; the two ends of the rear swing arm 15 are respectively connected with an inclined part 152 which is inclined downwards, the lower end of the inclined part 152 is fixedly provided with a shaft barrel 311 which is used for rotatably supporting the wheel carrier of the driven wheel 31, and the arrangement of the inclined parts can strengthen the supporting strength of the rear swing arm, reduce the damage frequency of the rear swing arm, improve the chassis height of the unmanned vehicle and increase the space at the bottom of the unmanned vehicle so as to facilitate the installation of other devices; through the arrangement of the universal wheels, the wheels can freely rotate at two ends of the rear swing arm, so that the wheels can be matched with the unmanned vehicle to realize steering movement, and the steering radius of the unmanned vehicle is reduced.

When the unmanned vehicle runs and meets an obstacle, the driven wheels move upwards when passing through the obstacle, when the two driven wheels move upwards simultaneously, the driven wheels drive the rear swing arm to move upwards, the shock absorber is pushed to move upwards by the upper moving of the rear swing arm, so that the shock absorber contracts and moves downwards, after the unmanned vehicle passes through the obstacle, the driven wheels move downwards, the rear swing arm moves downwards along with the shock absorber, and the shock absorber extends; when a driven wheel moves upwards independently, the driven wheel drives one end of the rear swing arm to move upwards, the left shock absorber contracts, the other end of the rear swing arm moves downwards, the right shock absorber is driven to stretch, and therefore the driven wheel at the position is pressed downwards to grasp the ground.

The rest of the structure is the same as the first embodiment.

In the first embodiment, the gas spring is arranged, and in the second embodiment, the shock absorber is arranged, so that compared with the gas spring, the shock absorber is shorter in length and smaller in occupied space, the shock absorber is arranged in the vertical direction, and the gas spring is arranged in an inclined state.

Claims

1. An unmanned vehicle which is characterized in that: the bicycle comprises a bicycle frame (1), wherein two driving wheels (2) are arranged on the front portion of the bicycle frame (1), the two driving wheels (2) are respectively driven by a left driving motor (11) and a right driving motor (12) which are independent of each other, at least one driven wheel (31) is arranged on the rear portion of the bicycle frame (1), and the driven wheel (31) is a universal wheel.

2. The unmanned vehicle of claim 1, wherein: a left cantilever (41) fixed with a left driving motor (11) is arranged below the left front side of the frame (1), one end of the left cantilever (41) is rotatably connected with the frame (1), the other end of the left cantilever (41) is rotatably connected with one end of a left shock absorber (42), and the other end of the left shock absorber (42) is rotatably connected with the frame (1); the front right side below of frame (1) is equipped with right cantilever (43) fixed with right driving motor (12), the one end and the frame (1) of right cantilever (43) are rotated and are connected, the other end of right cantilever (43) is rotated with the one end of right bumper shock absorber (44) and is connected, the other end and the frame (1) of right bumper shock absorber (44) are rotated and are connected.

3. The unmanned vehicle of claim 2, wherein: be equipped with first crossbeam (13) and second crossbeam (14) on frame (1), the one end of left side bumper shock absorber (42) and right bumper shock absorber (44) all rotates with first crossbeam (13) to be connected, left side cantilever (41) and right cantilever (43) all rotate with second crossbeam (14) to be connected.

4. The unmanned vehicle of claim 1, wherein: the rear end of frame (1) is equipped with two and follows driving wheel (31), the rear end below of frame (1) is equipped with back swing arm (15) parallel with the axis of drive wheel (31), form between the middle part of back swing arm (15) and frame (1) and rotate and be connected, two are connected the both ends at back swing arm (15) respectively from driving wheel (31).

5. The unmanned vehicle of claim 4, wherein: be equipped with third crossbeam (16) directly over skew rear swing arm (15) on frame (1), be equipped with between frame (1) and third crossbeam (16) vertical pole (17), the bottom of vertical pole (17) is equipped with downwardly extending's connecting bar (171), rear swing arm (15) are connected through pivot (172) with connecting bar (171) and are connected in order to realize the rotation between the middle part of rear swing arm (15) and frame (1) and be connected.

6. The unmanned vehicle of claim 4, wherein: the two ends of the rear swing arm (15) are respectively connected with an inclined part (151) which inclines downwards, and the lower end of the inclined part (151) is fixed with a shaft barrel (311) which is used for rotatably supporting a wheel carrier of the driven wheel (31).

7. The unmanned vehicle of claim 5, wherein: be equipped with air spring bumper shock absorber (18) that a slant set up between rear swing arm (15) both ends and frame (1) respectively, the both sides of vertical pole (17) are equipped with ear body (173) respectively, the both ends of rear swing arm (15) are equipped with lower ear body (152) respectively, both ends are articulated with upper ear body (173) and lower ear body (152) respectively about air spring bumper shock absorber (18).

8. The unmanned vehicle of claim 1, wherein: the vehicle frame is characterized in that at least one reinforcing bar (19) bent downwards is arranged on the lower side of the front end of the vehicle frame (1), and a bumper (191) connected with the reinforcing bar (19) is arranged at the bottom end of the reinforcing bar (19).

9. The unmanned vehicle of claim 1, wherein: the electric vehicle is characterized in that a battery pack (5) capable of being pulled and moved is fixedly arranged at the bottom of the vehicle frame (1), a circuit integrated cabinet (6) is arranged above the battery pack (5), an electric control cabinet (7) is arranged at the front end below the battery pack (5), and the battery pack (5) and the electric control cabinet (7) are respectively located on the front side and the rear side below the vehicle frame (1).