CN111776107A - Unmanned vehicle chassis and unmanned vehicle - Google Patents
Unmanned vehicle chassis and unmanned vehicle Download PDFInfo
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- CN111776107A CN111776107A CN202010640076.6A CN202010640076A CN111776107A CN 111776107 A CN111776107 A CN 111776107A CN 202010640076 A CN202010640076 A CN 202010640076A CN 111776107 A CN111776107 A CN 111776107A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
An unmanned vehicle chassis and unmanned vehicle, this unmanned vehicle chassis includes: a frame having a regular tetrahedral shape as a whole; the four wheel assemblies are arranged on the four tops of the frame respectively; wherein, the wheel subassembly includes: the driving wheel is connected with the top point of the frame through a first rotating shaft, the first rotating shaft is consistent with the third symmetrical shaft corresponding to the top part, and a recess is formed in the outer surface of the driving wheel; the driven wheel is arranged in the recess in a matched mode and is connected with the driving wheel through a second rotating shaft, and the second rotating shaft and the first rotating shaft are perpendicular to each other; the driven wheels are arranged in a plurality of numbers and are sequentially arranged in a surrounding and continuous mode along the surface of a loop line, which is in contact with the ground, of the driving wheel, and the continuous arrangement direction of the driven wheels is consistent with the rotation direction of the driving wheel.
Description
Technical Field
The application belongs to the technical field of unmanned vehicles, and particularly relates to an unmanned vehicle chassis and an unmanned vehicle.
Background
Unmanned vehicles are concerned in multiple fields at present, can perform tasks in various complex and hard environments and are paid attention to, and development and application fields of the unmanned vehicles are expanded increasingly.
In the field of the existing unmanned vehicles, the unmanned vehicles usually execute operation tasks in complex environments, for example, unexpected situations such as overturning and the like are likely to occur in the process of driving on rugged and uneven roads, so that the execution tasks are failed, and the safety of the unmanned vehicles can be injured.
Disclosure of Invention
In order to solve at least one of the above-mentioned technical problems of the prior art, embodiments of the present application disclose an unmanned vehicle chassis, including:
a frame having a regular tetrahedral shape as a whole; and
the four wheel assemblies are arranged in four groups and are respectively arranged at the four tops of the frame;
wherein, the wheel subassembly includes:
the driving wheel is connected with the top point of the frame through a first rotating shaft, the first rotating shaft is consistent with the third symmetrical shaft corresponding to the top part, and a recess is formed in the outer surface of the driving wheel;
the driven wheel is arranged in the recess in a matched mode and is connected with the driving wheel through a second rotating shaft, and the second rotating shaft and the first rotating shaft are perpendicular to each other;
the driven wheels are arranged in a plurality of numbers and are sequentially arranged in a surrounding and continuous mode along the surface of a loop line, which is in contact with the ground, of the driving wheel, and the continuous arrangement direction of the driven wheels is consistent with the rotation direction of the driving wheel.
Further, some embodiments disclose the unmanned vehicle chassis, the drive wheel comprises a spherical outer surface.
Some embodiments disclose a drone vehicle chassis, the drive wheel including an ellipsoidal outer surface.
In some embodiments of the disclosed unmanned vehicle chassis, the number of the depressions on the outer surface of the driving wheel is multiple, and the depressions are arranged at intervals and equal to the number of the driven wheels.
Some embodiments disclose unmanned vehicle chassis, the sunken of initiative wheel surface is the continuous recess that sets up along the action wheel direction of rotation, and second rotation axis passes through installing support fixed connection in this continuous recess.
Some embodiments disclose unmanned vehicle chassis, first rotation axis is length-adjustable structure.
Some embodiments disclose unmanned vehicle chassis, the first rotation axis and the side adjacent to the vertex that is connected with it between the contained angle is adjustable.
Some embodiments disclose unmanned vehicle chassis, set up four action wheels at four summits respectively independent drive.
Some embodiments disclose unmanned vehicle chassis, be provided with elastic buffer part between first rotation axis and the action wheel.
In another aspect, some embodiments disclose an unmanned vehicle comprising:
the unmanned vehicle chassis disclosed by the embodiment of the application;
and the power components are connected with the driving wheels in a one-to-one correspondence manner and are used for driving the driving wheels.
The unmanned vehicle chassis disclosed in the embodiment of the application, the whole frame that is regular tetrahedron shape has, respectively be provided with a wheel subassembly on its four summits, the wheel subassembly comprises the action wheel and rather than the driven wheel that cooperates the setting, the direction of rotation of action wheel is perpendicular with the direction of rotation from the driving wheel, wheel subassembly independent drive, the bottom surface can all be regarded as to any one side of this unmanned vehicle chassis, the wheel subassembly of the three summit position that this bottom surface corresponds can drive this chassis motion, even the unmanned vehicle based on this unmanned vehicle chassis has taken place accidents such as the car rollover, this unmanned vehicle still can normal operating, the executive task, therefore, unmanned vehicle chassis and unmanned vehicle disclosed in the embodiment of the application, the unmanned vehicle field of using in the complex environment has good application prospect.
Drawings
Figure 1 embodiment 1 unmanned vehicle chassis structure schematic diagram
Figure 2 embodiment 2 frame structure schematic diagram of unmanned vehicle chassis
Figure 3 embodiment 3 first rotation axis of unmanned aerial vehicle chassis sets up schematic diagram
Figure 4 embodiment 4 wheel assembly arrangement schematic diagram of unmanned vehicle chassis
Figure 5 embodiment 4 driven wheel setting schematic diagram of unmanned vehicle chassis
Fig. 6 schematic diagram of driving mode of wheel assembly of unmanned vehicle chassis in embodiment 5
Reference numerals
1 frame 2 wheel assembly
11. 12, 13, 14, 15, 16 frame side edges
1A, 1B, 1C, 1D frame vertices
3 first rotation axis O1-OcFirst axis of rotation
O1-O2First axis of rotation projection line β Angle of first axis of rotation
20 driving wheel and 21 driven wheel
22 second rotation axis 23 fixing bracket
200 sunken 4 motor
41 Motor fixing rack R20Direction of rotation of the driving wheel
R21Direction of rotation of driven wheel
Detailed Description
The word "embodiment" as used herein, is not necessarily to be construed as preferred or advantageous over other embodiments, including any embodiment illustrated as "exemplary". Performance index tests in the examples of this application, unless otherwise indicated, were performed using routine experimentation in the art. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; other test methods and techniques not specifically mentioned in the present application are those commonly employed by those of ordinary skill in the art.
The terms "substantially" and "about" are used throughout this disclosure to describe small fluctuations. For example, they may mean less than or equal to ± 5%, such as less than or equal to ± 2%, such as less than or equal to ± 1%, such as less than or equal to ± 0.5%, such as less than or equal to ± 0.2%, such as less than or equal to ± 0.1%, such as less than or equal to ± 0.05%. Numerical data may be represented or presented herein in a range format. Such range format is used merely for convenience and brevity and thus should be interpreted flexibly to include not only the numerical values explicitly recited as the limits of the range, but also to include all the individual numerical values or sub-ranges encompassed within that range as if each numerical value and sub-range is explicitly recited. For example, a numerical range of "1 to 5%" should be interpreted to include not only the explicitly recited values of 1% to 5%, but also include individual values and sub-ranges within the indicated range. Thus, included in this numerical range are individual values, such as 2%, 3.5%, and 4%, and sub-ranges, such as 1% to 3%, 2% to 4%, and 3% to 5%, etc. This principle applies equally to ranges reciting only one numerical value. Moreover, such an interpretation applies regardless of the breadth of the range or the characteristics being described.
In this disclosure, including the claims, all conjunctions such as "comprising," including, "" carrying, "" having, "" containing, "" involving, "" containing, "and the like are to be understood as being open-ended, i.e., to mean" including but not limited to. Only the conjunctions "consisting of … …" and "consisting of … …" are closed conjunctions.
In the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In the examples, some methods, means, instruments, apparatuses, etc. known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application. On the premise of no conflict, the technical features disclosed in the embodiments of the present application may be combined arbitrarily, and the obtained technical solution belongs to the content disclosed in the embodiments of the present application. The first and second mentioned in this application are only for describing different parts and do not indicate their sequential order.
In some embodiments, the unmanned vehicle chassis comprises a frame having a regular tetrahedron shape as a whole, and wheel assemblies disposed on four tops of the frame, each top having a set of wheel assemblies disposed thereon; wherein, the wheel subassembly includes: the driving wheel is connected with the top point of the frame through a first rotating shaft, the first rotating shaft is consistent with the cubic symmetry axis of the regular tetrahedron corresponding to the top, and a recess is formed in the outer surface of the driving wheel; the driven wheel is arranged in the recess in a matched mode and is connected with the driving wheel through a second rotating shaft, and the second rotating shaft and the first rotating shaft are perpendicular to each other; the driven wheels are arranged in a plurality of numbers and are sequentially and continuously arranged in a surrounding mode along the surface of a loop line of the driving wheel, which is in contact with the ground, so that the driven wheels are kept in contact with the ground, and the continuous arrangement direction of the driven wheels is consistent with the rotation direction of the driving wheel.
The whole framework is in a regular tetrahedron shape, the structure height is symmetrical, four side faces are completely the same, six side edges are completely the same, any one side face is used as a bottom face, and the other three adjacent side faces are the upper side faces of the unmanned vehicle. The wheel assemblies arranged at the four vertexes of the frame are used as the components of a running system of the chassis of the unmanned vehicle, any one bottom surface corresponds to the three vertexes, and the three wheel assemblies arranged on the bottom surface are matched with each other and can be used as an independent and complete running system. The wheel assembly generally includes a driving wheel and a driven wheel, the driving wheel is connected to the frame, disposed on a vertex of the frame, and rotatably connected to the frame through a first rotating shaft, and the first rotating shaft is generally disposed on a cubic symmetry axis of the regular tetrahedron corresponding to the vertex, that is, the first rotating shaft is perpendicular to a side surface corresponding to the vertex through a position where the vertex is located. The driving wheel is provided with a recess, the shape of which is usually matched with that of the driven wheel, so that the driven wheel is arranged in the recess; usually, the driven wheel is provided with a plurality of driven wheels, and the concave position provided on the driving wheel is matched with the driven wheels so as to provide the driven wheels. The driven wheel is typically interconnected to the drive wheel by a second rotational axis such that the driven wheel rotates about the second rotational axis. Generally, the setting direction of the second rotating shaft is consistent with the rotating direction of the driving wheel, the rotating direction of the driven wheel sleeved on the second rotating shaft is mutually perpendicular to the rotating direction of the driving wheel, or mutually orthogonal, so that the driven wheel is continuously arranged along the rotating direction of the driving wheel, the driven wheel does not rotate in the rotating process of the driving wheel, the driven wheel is used as a part of the wheel assembly, which is directly contacted with the walking ground, the friction resistance between the wheel assembly and the walking ground is increased, and the driving wheel becomes a driving wheel and a walking wheel. One driving wheel does not generate driving force, and the driven wheel on the driving wheel rotates along with the movement of the unmanned vehicle chassis to assist the unmanned vehicle chassis to perform related movement, such as pivot rotation and turning of the unmanned vehicle chassis by taking the driving wheel as a center.
As an alternative embodiment, the drive wheel of the drone chassis includes a spherical outer surface. The driving wheel with the spherical outer surface has high axial symmetry, is set to be in a position that the driving wheel takes a rotating shaft as an axis, is fixedly connected with the vertex of the tetrahedral frame through the first rotating shaft, and has a completely consistent arrangement mode with three adjacent surfaces, and four same driving wheels with spherical surfaces are arranged at the four vertexes, so that the tetrahedral frame keeps the high symmetry of the tetrahedral frame, and can take any surface as a bottom surface to be used as an unmanned vehicle chassis. In an alternative embodiment, the drive wheel is a sphere. As an alternative embodiment, the driving wheel is a hollow sphere. As an alternative embodiment, the driving wheel is a hemisphere, or a part of a sphere with any proportion obtained by cutting the sphere at any height can be used as the driving wheel.
As an alternative embodiment, the drive wheel of the drone chassis includes an ellipsoidal outer surface. The driving wheel with the ellipsoidal outer surface has high axial symmetry, is set to be in a position that the driving wheel takes a rotating shaft as an axis, is fixedly connected with the vertexes of the tetrahedral frame through the first rotating shaft, so that the driving wheel and three adjacent surfaces have a completely consistent arrangement mode, and four identical driving wheels with spherical surfaces are arranged at the four vertexes, so that the tetrahedral frame keeps the high symmetry of the tetrahedral frame, and can take any surface as a bottom surface to be used as an unmanned vehicle chassis. In an alternative embodiment, the drive wheel is an oval sphere. As an alternative embodiment, the driving wheel is a hollow oval sphere. As an alternative embodiment, the driving wheel may be a semi-elliptical sphere, or a partial elliptical sphere with any proportion obtained by cutting the elliptical sphere at any height along the major axis direction, and may be used as the driving wheel.
As an optional implementation mode, the depressions on the outer surface of the driving wheel of the unmanned vehicle chassis are arranged in a plurality of intervals, and the number of the depressions is equal to that of the driven wheels. Usually, a plurality of recesses are arranged on the outer surface of the driving wheel at intervals, and the arrangement direction is consistent with the rotation direction of the driving wheel. The shape of the recess is generally adapted to the driven wheel, for example a spherical recess, a cylindrical recess.
As an alternative embodiment, the depression on the surface of the driving wheel of the unmanned vehicle chassis is a continuous groove arranged along the rotation direction of the driving wheel, the continuous groove forms an annular cavity distributed on the outer side surface of the driving wheel, the cross section of the annular cavity is in the shape of a circular arc, and the second rotating shaft is fixedly connected in the continuous groove through a mounting bracket. The driven wheel is mounted on the second rotating shaft and is configured to rotate around the second rotating shaft. The second axes of rotation of the driven wheels are usually arranged coaxially or the driven wheels share the same second axis of rotation. In an alternative embodiment, the second rotating shaft is disposed in the continuous groove, the second rotating shaft is fixedly connected in the continuous groove through a plurality of mounting brackets arranged in series, and the driven wheel is disposed between the two mounting brackets at intervals.
As an optional embodiment, the wheel assembly further comprises an annular protection component arranged outside the plurality of driven wheels which are continuously arranged, the protection component is provided with a plurality of through holes which are sequentially arranged, and the arrangement positions of the through holes are matched with the arrangement positions of the driven wheels; the annular protection part is sleeved on the outer side of the driving wheel so as to arrange the outer part of the driven wheel in the through hole and strengthen and fix the position of the driven wheel. The annular protective member is generally an annular band-shaped member so as to be fitted to the outer surface of the drive pulley.
As an alternative embodiment, the first rotating shaft of the unmanned vehicle chassis is a length-adjustable structure. Usually, the length of the first rotating shaft is directly related to the distance between the bottom surface of the chassis of the unmanned vehicle and the running ground, that is, the chassis height of the unmanned vehicle, and the chassis height is large when the mounting position of the wheel assembly is determined, and the first rotating shaft may be a length-adjustable structure, for example, a part having a length-adjustable cylinder structure, or a length-adjustable connecting rod structure part, in order to control the chassis height.
As an alternative, the included angle between the first rotating shaft of the unmanned vehicle chassis and the side surface adjacent to the vertex connected with the first rotating shaft can be adjusted. Usually, a first rotating shaft for mounting the wheel assembly is consistent with a cubic symmetry axis of a position where a vertex of the wheel assembly is located, and the first rotating shaft is perpendicular to a side face corresponding to the vertex, so that as the wheel assembly of the bottom surface of the chassis of the unmanned vehicle, a certain angle exists between the first rotating shaft and the plane where the bottom surface of the chassis of the unmanned vehicle is located, and the angle is the same as an included angle between the cubic symmetry axis and the side face. The included angle between the first rotating shaft and the adjacent side face of the first rotating shaft is set, so that the included angle between the first rotating shaft forming the bottom face of the unmanned vehicle chassis and the ground can be adjusted, the height of the chassis and the distance between the wheel assemblies are further adjusted, and the stability of the unmanned vehicle chassis is higher if the height of the chassis is lower; the greater the distance between the wheel assemblies, the greater the stabilizing surface of the unmanned vehicle chassis, and the greater its stability.
As an optional implementation mode, four driving wheels arranged at four vertexes of the unmanned vehicle chassis are respectively and independently driven. Generally, a wheel assembly comprises a driving wheel and a plurality of driven wheels arranged on the side surface of the driving wheel, and the four driving wheels arranged on the four vertexes are respectively and independently driven, so that the wheel assembly can be independently controlled, and the movement form of the chassis of the unmanned vehicle can be conveniently controlled.
The space structure of the unmanned vehicle chassis is a regular tetrahedron, the side surface of the bottom can be called as a bottom surface, and the three wheel assemblies arranged at the three vertexes corresponding to the bottom surface form the driving and driving system of the unmanned vehicle chassis. The three wheel assemblies independently control the stop, the movement speed and the movement direction of the three wheel assemblies, and various movement modes of the unmanned vehicle chassis can be realized. For example, if the driving of one of the wheel assemblies is stopped and the rotating directions of the other two wheel assemblies are consistent, the unmanned vehicle chassis normally travels in a straight line, and the driven wheel of the wheel assembly which is stopped from driving is driven by the unmanned vehicle chassis to rotate so as to keep the straight-line traveling state of the unmanned vehicle chassis; if the driving of one wheel assembly is stopped, the rotating directions of the other two wheel assemblies are the same, but the rotating speeds are different, the running direction of the chassis of the unmanned vehicle deviates at a certain angle, and the driven wheel of the wheel assembly which stops driving rotates under the driving of the chassis of the unmanned vehicle, so that the motion state is maintained; if the driving of one wheel assembly is stopped, the rotating directions of the other two wheel assemblies are opposite, but the rotating speeds are the same, the unmanned vehicle chassis rotates by taking the wheel assembly which is stopped to drive as a circle center, and the driven wheel of the wheel assembly which is stopped to drive rotates under the driving of the unmanned vehicle chassis, so that the rotating motion state is maintained.
As an optional implementation mode, an elastic buffer part is arranged between the first rotating shaft of the unmanned vehicle chassis and the driving wheel. The elastic buffer component can relieve the impact of the running ground on the chassis of the unmanned vehicle, and the damage to the structure of the unmanned vehicle is reduced. For example, a spring buffer member, a steel plate buffer member, or the like may be used.
As an alternative embodiment, the four sides of the regular tetrahedron frame form a part with the same structure and function, and the part can be effectively used as a bearing area of other components on the chassis of the unmanned vehicle. For example, a solar component can be arranged and mounted on the side surface, and the solar component can effectively utilize three surfaces on the upper surface or the upper side surface to absorb solar energy and convert the solar energy into electric energy so as to provide electric energy for the unmanned vehicle, and the electric energy can be used as driving energy of the unmanned vehicle chassis or operation energy of other functional components of the unmanned vehicle chassis.
In another aspect, some embodiments disclose an unmanned vehicle comprising a chassis of the unmanned vehicle disclosed in embodiments herein; and the power components are connected with the driving wheels in a one-to-one correspondence manner and are used for driving the driving wheels. The power assembly generally refers to a component for providing driving force for the unmanned vehicle, such as an electric motor, an oil engine, a gas engine, and the like. For example, an independent motor and a wheel assembly can be arranged in a cooperative mode, at least one motor is arranged for a driving wheel of the wheel assembly to carry out independent driving and control, and the independent driving and control of the wheel assembly can conveniently realize multiple driving modes of the unmanned vehicle. Generally, the tetrahedral frame is used as the chassis of the unmanned vehicle, the external surface and the internal structure of the tetrahedral frame can be effectively utilized, and the tetrahedral frame can be used as the arrangement parts of other parts of the unmanned vehicle, for example, a visual identification part, a positioning part, an information acquisition part, an information processing part, an information transmission part and the like of the unmanned vehicle can be arranged on the chassis of the unmanned vehicle and customized to the unmanned vehicle which can execute specific functions under specific conditions.
The technical details are further illustrated in the following examples.
Example 1
Fig. 1 is a schematic structural view of a chassis of the unmanned vehicle disclosed in embodiment 1.
In embodiment 1, the chassis of the unmanned vehicle includes a tetrahedral frame 1, four vertexes of the frame 1 are 1A, 1B, 1C and 1D respectively, each vertex is fixedly connected with a first rotating shaft 3, and each first rotating shaft 3 is connected with a set of wheel assemblies 2.
The top points 1B, 1C and 1D form the bottom surface of the unmanned vehicle chassis, the three groups of wheel assemblies 2 arranged on the top point of the bottom surface form a running system of the unmanned vehicle chassis, the top point 1A is positioned on the upper portion, and the three surfaces directly adjacent to the top point 1A are the upper side surface of the unmanned vehicle chassis.
Example 2
Fig. 2 is a schematic diagram of a frame structure of an unmanned vehicle chassis disclosed in embodiment 2, wherein a regular tetrahedron frame structure is formed by arranging six frame side edges 11, 12, 13, 14, 15, 16 into a regular tetrahedron shape and connecting them, the side edges 14, 15, 16 are sequentially connected end to form a bottom frame of a triangular structure as a frame, the side edges 11, 12, 16 are sequentially connected end to form a first side frame of the triangular structure as a frame, the side edges 12, 13, 15 are sequentially connected end to form a second side frame of the triangular structure as a frame, the side edges 11, 13, 14 are sequentially connected end to form a third side frame of the triangular structure as a frame:
the vertexes 1A, 1B, 1C and 1D are used as structural parts in a frame structure of the chassis of the unmanned vehicle, and corresponding frame side edges are fixedly connected to form a regular tetrahedron-shaped frame with a stable structure; in the embodiment, the top point is provided with a cylindrical rigid component, the lateral edge is provided with a cylindrical rod-shaped component, the end part of the rod-shaped component is fixedly connected with the lateral surface of the cylindrical rigid component, and the four cylindrical rigid components are respectively fixedly connected with the corresponding rod-shaped components to form a regular tetrahedron frame structure with a rigid structure; the top point 1A is arranged above, the side surface of the top point is fixedly connected with side edges 11, 12 and 13, and the central symmetrical shaft part is provided with a first rotating shaft 3; the top point 1B is arranged at the right side below, the side surfaces of the top point 1B are fixedly connected with side edges 11, 14 and 16, and the central symmetrical shaft part is provided with a first rotating shaft 3; the top point 1C is arranged at the left side below, the side surfaces thereof are fixedly connected with side edges 12, 15 and 16, and the central symmetrical shaft part is provided with a first rotating shaft 3; the top point 1D is arranged at the front of the lower part, the side surface of the top point is fixedly connected with side edges 13, 14 and 15, and the central symmetrical shaft part is provided with a first rotating shaft 3;
the first rotation shaft 3 is rotatably connected to the cylindrical rigid member via a rotation bearing.
Example 3
Fig. 3 is a schematic view of the arrangement of the first rotating shaft of the chassis of the unmanned vehicle disclosed in embodiment 3.
In example 3, the vertex 1C is a cylindrical fixing member, the side surfaces of which are sequentially provided with side edges 12, 15 and 16, and the corresponding position of the vertex 1C is O1The plane where the side edges 15 and 16 are located is the plane where the bottom surface of the chassis of the unmanned vehicle is located, and the plane where the parallelogram represented by a dotted line in the figure is located is the plane; the axis of the first rotating shaft 3 is defined by a dotted line O1OcMarked that the projection of the axle center on the plane of the bottom surface of the unmanned vehicle chassis is a dotted line O1O2The angle between the first rotation axis 3 and the bottom surface of the chassis of the unmanned vehicle is marked as a dotted line O1OcAnd dotted line O1O2Angle β therebetween.
Example 4
Fig. 4 is a schematic view of arrangement of wheel assemblies of the unmanned vehicle chassis disclosed in embodiment 4, and fig. 5 is a schematic view of arrangement of driven wheels of the unmanned vehicle chassis disclosed in embodiment 4.
In embodiment 4, the vertex 1B is fixedly connected with the side edges 11, 14, 16, the vertex 1B is provided with a wheel assembly, the wheel assembly includes a driving wheel 20, the driving wheel 20 is connected with the vertex 1B through a first rotating shaft, and the driving wheel 20 is arranged to surroundRotating around a first rotation axis, the rotation direction of the driving wheel 20 is shown as a double-headed arrow R20The driving wheel 20 can rotate in forward direction or reverse direction, and the surface of the driving wheel 20 is provided with continuous grooves 200, and the arrangement direction and R of the continuous grooves 20020The pointed directions are consistent; a plurality of driven wheels 21 are arranged, the driven wheels 21 are sequentially arranged and arranged on a second rotating shaft 22, two fixed brackets 23 are respectively arranged on two sides of each driven wheel 21, and one end of each fixed bracket 23 is connected with the second rotating shaft 22; the other end of the fixed bracket 23 is arranged in the continuous groove and fixedly connected with the continuous groove, and the driven wheel 21 can be adaptively arranged in the continuous groove 200 and can be arranged along the direction R21The direction indicated by the rotation can be in a forward direction or a reverse direction;
wherein the direction of rotation of the driven wheel 21, indicated by the double arrow R in the figure21Indicated, perpendicular to the direction of rotation of the capstan 20; i.e. the driven wheel is arranged to rotate in the axial section in which it is arranged.
Example 5
Fig. 6 is a schematic view of a driving mode of a wheel assembly of the unmanned vehicle chassis disclosed in embodiment 5.
In embodiment 5, the vertex 1B is connected to the wheel assembly 2, the vertex 1B is connected to the end portions of the side edges 11, 14, 16, the side edges 11, 14, 16 are fixedly connected to the motor fixing frame 41, and the motor 4 is mounted on the motor fixing frame 41 and connected to the wheel assembly 2 through the first rotating shaft for driving the wheel assembly 2.
The unmanned vehicle chassis disclosed in the embodiment of the application, the whole frame that is regular tetrahedron shape has, respectively be provided with a wheel subassembly on its four summits, the wheel subassembly comprises the action wheel and rather than the driven wheel that cooperates the setting, the direction of rotation of action wheel is perpendicular with the direction of rotation from the driving wheel, wheel subassembly independent drive, the bottom surface can all be regarded as to any one side of this unmanned vehicle chassis, the wheel subassembly of the three summit position that this bottom surface corresponds can drive this chassis motion, even the unmanned vehicle based on this unmanned vehicle chassis has taken place accidents such as the car rollover, this unmanned vehicle still can normal operating, the executive task, therefore, unmanned vehicle chassis and unmanned vehicle disclosed in the embodiment of the application, the unmanned vehicle field of using in the complex environment has good application prospect.
The technical solutions and the technical details disclosed in the embodiments of the present application are only examples to illustrate the concept of the present application, and do not constitute a limitation to the technical solutions of the present application, and all the inventive changes that are made to the technical details disclosed in the present application without inventive changes have the same inventive concept as the present application, and are within the protection scope of the claims of the present application.
Claims (10)
1. An unmanned vehicle chassis, characterized in that, this chassis includes:
a frame having a regular tetrahedral shape as a whole; and the combination of (a) and (b),
the four wheel assemblies are arranged in four groups and are respectively arranged at the four tops of the frame;
wherein the wheel assembly comprises:
the driving wheel is connected with the top point of the frame through a first rotating shaft, the first rotating shaft is consistent with the third symmetrical shaft corresponding to the top, and a recess is formed in the outer surface of the driving wheel;
the driven wheel is fittingly arranged in the recess and is connected with the driving wheel through a second rotating shaft, and the second rotating shaft and the first rotating shaft are arranged perpendicularly to each other;
the driven wheels are arranged in a plurality of numbers and are sequentially and continuously arranged in a surrounding mode along the surface of a loop line, contacting the ground, of the driving wheel, and the continuous arrangement direction of the driven wheels is consistent with the rotation direction of the driving wheel.
2. The drone vehicle chassis of claim 1, wherein the drive wheel includes a spherical outer surface.
3. The drone vehicle chassis of claim 1, wherein the drive wheel includes an ellipsoidal outer surface.
4. The unmanned vehicle chassis of claim 1, wherein the depressions are provided in a plurality, spaced apart, equal in number to the driven wheels.
5. The unmanned vehicle chassis of claim 1, wherein the recess is a continuous groove arranged along a rotation direction of the driving wheel, and the second rotating shaft is fixedly connected in the continuous groove through a mounting bracket.
6. The unmanned vehicle chassis of claim 1, wherein the first rotational axis is a length adjustable structure.
7. The unmanned vehicle chassis of claim 1, wherein an included angle between the side surfaces adjacent to the vertex to which the first rotation axis is connected is adjustable.
8. The unmanned vehicle chassis of claim 1, wherein four drive wheels disposed at four vertices are driven independently from each other.
9. The unmanned vehicle chassis of claim 1, wherein an elastic buffer member is disposed between the first rotating shaft and the driving wheel.
10. An unmanned vehicle, comprising:
the unmanned vehicle chassis of any one of claims 1-9;
and the power components are connected with the driving wheels in a one-to-one correspondence manner and are used for driving the driving wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010640076.6A CN111776107A (en) | 2020-07-06 | 2020-07-06 | Unmanned vehicle chassis and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010640076.6A CN111776107A (en) | 2020-07-06 | 2020-07-06 | Unmanned vehicle chassis and unmanned vehicle |
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| Publication Number | Publication Date |
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| CN111776107A true CN111776107A (en) | 2020-10-16 |
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| CN202010640076.6A Pending CN111776107A (en) | 2020-07-06 | 2020-07-06 | Unmanned vehicle chassis and unmanned vehicle |
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Application publication date: 20201016 |