All-dimensional steering obstacle crossing vehicle based on hub motor

Abstract

The invention discloses an all-dimensional steering obstacle crossing vehicle based on a hub motor. The all-dimensional steering obstacle crossing vehicle comprises a central control system, a storage battery pack, an operating table, a hydraulic system and wheels, wherein the storage battery pack is fixed to a vehicle body, and the wheels are arranged on the left front portion, the right front portion, the left rear portion and the right rear portion of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle is characterized in that the wheels and the vehicle body are connected through a steering lifting mechanism, and crawler wheel mechanisms are arranged on the left side and the right side of the bottom of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle can realize on-site steering, transverse traveling and wheel lifting obstacle crossing, flexibility, maneuverability and obstacle crossing performance of the all-dimensional steering obstacle crossing vehicle are high, and stability, power performance and the terrain adaptive capacity of the all-dimensional steering obstacle crossing vehicle are high.

Description

technical field [0001] The invention relates to an omnidirectional steering obstacle-climbing vehicle based on a hub motor. Background technique [0002] With the development of economy and society, the application of obstacle-crossing vehicles is becoming more and more extensive. Obstacle vehicles are mainly divided into two types: tracked and wheeled. The crawler-type obstacle-crossing vehicle is generally composed of two sections. When the front section is suspended in the air on flat ground, the rear section is flattened to the ground and rotates forward; when encountering an obstacle, adjust the lifting height of the front section and place it on the obstacle. above, and then use its rear end as the rotating shaft to rotate in reverse to raise the front part of the entire car body, then the front and rear crawlers rotate simultaneously, and crawl forward with the support of obstacles and the ground respectively; then the front crawler lands, and the rear crawler The s...

AI Technical Summary

Problems solved by technology

The contact between the wheeled obstacle vehicle and the ground is line contact, which makes it flexible to steer and easy to control, but its gripping ability is weak, its adaptability to the terrain is poor, and its planetary wheel cannot be lifted, and the height of the obstacle cannot exceed the planetary wheel The height of the central axis of the group from the ground has poor obstacle-surmounting ability; in addition, the deflection angle of the planetary wheel usually does not exceed 50°, which cannot realize in-situ steering and lateral driving, and the steering requires a large space and flexible steering Performance needs to be improved, which limits its ability to work in smaller spaces

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