Multi-power source all-terrain unmanned vehicle

Abstract

A kind of multi-power source all-terrain unmanned vehicle, including car body, four steering motors, four wheel motors, four telescopic modules, hydraulic control module, four wheels, the car body includes side wall, bottom wall, top plate, underframe, storage cavity, control cavity;The car body is equipped with the steering motor in, the storage cavity, the control cavity, controller and communicator are equipped in the control cavity, the output shaft of steering motor is connected to the cylinder body through the side wall, the steering motor can drive the cylinder body rotate;The bottom wall is provided above the underframe, the hydraulic control module is equipped below the underframe, the hydraulic control module controls the oil supply to the cylinder body;The center shaft of each wheel is provided with a wheel motor to drive wheel rotation, distance sensor is provided on the side wall.

Description

Technical Field

[0001] This invention relates to the field of autonomous mobile vehicle components, and more specifically to a multi-power source all-terrain unmanned vehicle. Background Technology

[0002] With the advancement of modern science and technology, autonomous mobile vehicles have been widely applied in various fields. They are widely used in urban and wilderness environments, as well as in exploration, transportation, and rescue. Given the complexities of these environments, there is still considerable room for improvement in the research of autonomous mobile vehicles.

[0003] In practical engineering work, the following problems exist:

[0004] First, existing autonomous mobile vehicles cannot automatically, effectively, and flexibly adjust their height when faced with complex terrain, resulting in poor functionality and adaptability.

[0005] Second, in the existing technology, the hydraulic cylinder achieves stroke change by piston movement. However, for the vehicle telescopic outriggers, the telescopic structure between the outrigger and the outer shell is already very long. If the length of the hydraulic cylinder is added, the proportion of the outrigger relative to the whole vehicle will be too large, which is obviously not feasible.

[0006] Third, in the prior art, the supply pressure on both sides of the piston in the hydraulic cylinder is similar, but for the outrigger hydraulic cylinder, the different structures on both sides result in different piston chamber sizes, which will affect the pressure and pressure response.

[0007] Fourth, as mentioned above, the different structures on both sides of the outrigger hydraulic cylinder result in different piston chamber sizes. When the piston chamber size is too small, the liquid will be blocked and backflowed, causing an undesirable water hammer phenomenon.

[0008] Fifth, existing pistons do not have stroke positioning function. Sliding parts in other fields may have stop parts, but the stop parts cannot effectively position the piston.

[0009] VI. Existing sliding components may only have stop components, but this is insufficient for telescopic outriggers. Telescopic outriggers are also subject to gravity, and the combination of gravity and hydraulic pressure can lead to excessive downward pressure.

[0010] 7. Existing driverless vehicles have insufficient carrying capacity and a single power source; they cannot achieve greater carrying capacity or more flexible movement. Summary of the Invention

[0011] To overcome the above problems, the present invention proposes a solution that addresses multiple problems simultaneously.

[0012] The technical solution adopted by this invention to solve its technical problem is as follows: a multi-power source all-terrain unmanned vehicle, including a vehicle body, four steering motors, four wheel motors, four telescopic modules, a hydraulic control module, and four wheels. The vehicle body includes side walls, a bottom wall, a top plate, a chassis, a storage cavity, and a control cavity. The telescopic module includes a cylinder, outriggers, an extension end input module, a lifting end input module, a top block, a support plate, a bottom plate, a sealing block, a left cavity, a lifting cavity, and a pressing cavity. The vehicle body is equipped with the steering motors, the storage cavity, and the control cavity. The control cavity is equipped with a controller and a communicator. The output shaft of the steering motor passes through the side wall and is connected to the cylinder, and the steering motor can drive the cylinder to rotate. The bottom wall is provided above the chassis, and the hydraulic control module is provided below the chassis. The hydraulic control module controls the oil supply to the cylinder. Each wheel has a wheel motor on its central axle to drive the wheel to rotate, and a distance sensor is provided on the side wall.

[0013] The extended end input module includes an extended input tube, and the lifting end input module includes a lifting input tube and a connecting box; the cylinder is provided with a lifting input port and an extended input port; the support leg includes a piston plate, an I-shaped leg, a positioning block, and an inner cavity; the lower end of the support leg is connected to a wheel, the I-shaped leg includes an I-shaped cross section, the I-shaped leg can extend and retract in the cylinder, the lower end of the I-shaped leg extends out of the cylinder, the upper end of the I-shaped leg is provided with the piston plate, a gap is formed between the concave part of the I-shaped leg and the inner wall of the cylinder, the lifting input port communicates with the gap, the lower end of the cylinder is provided with the bottom plate, and the thickness of the top wall of the cylinder is greater than the thickness of the bottom plate;

[0014] The sealing block is connected to the inner wall of the cylinder, and the sealing block and the I-shaped leg form a sliding sealing fit; when laid flat, the left cavity is formed on the left side of the sealing block inside the cylinder, the lifting cavity is formed between the sealing block and the piston plate, and the pressing cavity is formed on the right side of the piston plate; the inner cavity is provided inside the I-shaped leg, and the inner cavity is connected to the lifting cavity through a through hole;

[0015] The I-shaped leg is provided with the positioning block. When the positioning block abuts against the sealing block, the projection of the lifting input port along the axial direction extends to cover the through hole, and the piston plate participates in forming the inner cavity. The elongated input pipe is connected to the pressing cavity through the elongated input port, and the lifting input pipe is connected to the lifting cavity through the connecting box and the lifting input port. The diameter of the connecting box is twice the diameter of the lifting input pipe.

[0016] The top block and the support plate are provided on the I-shaped leg. The top block and the support plate are connected and located outside the cylinder body. During the stroke of the I-shaped leg retracting into the cylinder body, the support plate can abut against the bottom plate to limit the stroke.

[0017] Preferably, the diameter of the lifting input port is twice the diameter of the through hole.

[0018] Preferably, the diameter of the connecting box is equal to the diameter of the lifting input port.

[0019] Preferably, the diameter of the lifting input port is twice the diameter of the elongated input port.

[0020] Preferably, the thickness of the top wall is three times the thickness of the bottom plate.

[0021] Preferably, the gap includes a left cavity and an elevation cavity.

[0022] Preferably, the lifting input port is connected to the lifting cavity.

[0023] Preferably, the positioning block does not abut against the inner wall of the cylinder.

[0024] Preferably, the cylinder body has a rectangular cross-section.

[0025] Preferably, the lifting input port is located on the cylinder wall corresponding to the long side of the cylinder body cross-section.

[0026] The beneficial effects of this invention are:

[0027] First, in response to the first point raised in the background technology, a hydraulically controlled telescopic outrigger is provided, which can better realize automated control of outrigger extension and retraction to adapt to different terrains.

[0028] Second, regarding the second point raised in the background technology, the extension and retraction of the outriggers are combined with the extension and retraction of the hydraulic cylinder. The outriggers are incorporated into the hydraulic cylinder module, and the outriggers are designed with an I-beam structure. The concave part of the I-beam structure initially provides piston chamber space, thereby creating a preliminary hydraulic space between the outriggers and the hydraulic cylinder body, reducing the overall length of the extension and retraction module, and better serving the lifting action.

[0029] Thirdly, regarding the third point raised in the background technology, utilizing the principle of "slower flow rate, increased pressure" involved in Bernoulli's principle, a connecting diffuser box is set between the input pipe of the corresponding outrigger lifting input end and the hydraulic cylinder body. The diffuser box increases the input space to reduce the flow rate, thereby objectively increasing the pressure and increasing the input space to better achieve the lifting action.

[0030] Fourth, in response to the fourth point raised in the background technology, a further expanded space was constructed. Specifically, a cavity was opened inside the I-shaped support leg. The cavity was connected to the lifting space through a hole, thereby further expanding the lifting piston cavity and avoiding obstructive water hammer caused by an insufficiently small lifting piston cavity.

[0031] Fifth, in response to the fifth point raised in the background technology, a positioning block is set on the I-shaped outrigger, which can not only stop the flow but also raise the inlet to directly align with the internal cavity of the outrigger when the outrigger is in the extended position, so that the input liquid can directly enter the internal cavity to avoid obstructive water hammer.

[0032] VI. Regarding the sixth point raised in the background technology, an outer stop structure is provided on the outside of the hydraulic cylinder. The outer stop structure includes a top block and a support plate. The support plate supports the hydraulic cylinder body, thus simultaneously serving as an outer stop and supporting gravity.

[0033] VII. In response to point 7 in the background technology, a first electric module with four steering motors, a second electric module with wheel motors and a hydraulic module are provided. To address the load-bearing burden caused by multiple power sources, a thickened chassis is added under the vehicle body floor to support the first electric module and the hydraulic module, thereby enabling more functions with the help of multiple power sources.

[0034] Note: The above designs are not in any particular order, and each one makes the present invention different from the prior art and a significant advancement. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Figure 1 This is a schematic diagram of the retracted state of the outrigger of the present invention.

[0037] Figure 2 This is a schematic diagram of the extended leg state of the present invention.

[0038] Figure 3 This is a cross-sectional view of the hydraulic cylinder in its retracted state according to the present invention.

[0039] Figure 4 This is a cross-sectional view of the hydraulic cylinder in its extended state according to the present invention.

[0040] Figure 5 This is a cross-sectional view of the sealing block location in this invention.

[0041] Figure 6 This is a schematic diagram of the extended state of the unmanned vehicle of the present invention.

[0042] Figure 7 This is a schematic diagram of the retracted state of the unmanned vehicle of the present invention.

[0043] Figure 8 This is a diagram showing the internal cavity distribution of the vehicle body according to the present invention.

[0044] The reference numerals in the figure are as follows:

[0045] 1. Cylinder block, 2. Outrigger, 3. Output shaft, 4. Wheel, 5. Extension end input module, 6. Lifting end input module, 7. Top block, 8. Support plate, 9. Top wall, 10. Bottom plate, 11. Lifting input port, 12. Extension input port, 13. Lifting input pipe, 14. Connecting box, 15. Extension input pipe, 16. Positioning block, 17. Piston plate, 18. I-beam leg, 19. Left cavity, 20. Sealing block, 21. Lifting cavity, 22. Pressing cavity, 23. Through hole, 24. Inner cavity, 25. Gap, 26. Side wall, 27. Bottom wall, 28. Top plate, 29. Base frame, 30. Hydraulic control module, 31. Storage cavity, 32. Steering motor, 33. Control cavity. Detailed Implementation

[0046] As shown in the figure: A multi-power source all-terrain unmanned vehicle includes a vehicle body, four steering motors, four wheel motors, four telescopic modules, a hydraulic control module, and four wheels. The vehicle body includes side walls, a bottom wall, a top plate, a chassis, a storage cavity, and a control cavity. The telescopic module includes a cylinder, outriggers, an extension end input module, a lifting end input module, a top block, a support plate, a bottom plate, a sealing block, a left cavity, a lifting cavity, and a pressing cavity. The vehicle body houses the steering motors, the storage cavity, and the control cavity. The control cavity contains a controller and a communicator. The output shaft of the steering motor passes through the side wall and connects to the cylinder, allowing the steering motor to drive the cylinder to rotate. The bottom wall is located above the chassis, and the hydraulic control module is located below the chassis, controlling the oil supply to the cylinder. Each wheel has a wheel motor on its central axle to drive the wheel to rotate, and a distance sensor is located on the side wall.

[0047] The extended end input module includes an extended input tube, and the lifting end input module includes a lifting input tube and a connecting box; the cylinder is provided with a lifting input port and an extended input port; the support leg includes a piston plate, an I-shaped leg, a positioning block, and an inner cavity; the lower end of the support leg is connected to a wheel, the I-shaped leg includes an I-shaped cross section, the I-shaped leg can extend and retract in the cylinder, the lower end of the I-shaped leg extends out of the cylinder, the upper end of the I-shaped leg is provided with the piston plate, a gap is formed between the concave part of the I-shaped leg and the inner wall of the cylinder, the lifting input port communicates with the gap, the lower end of the cylinder is provided with the bottom plate, and the thickness of the top wall of the cylinder is greater than the thickness of the bottom plate;

[0048] The sealing block is connected to the inner wall of the cylinder, and the sealing block and the I-shaped leg form a sliding sealing fit; when laid flat, the left cavity is formed on the left side of the sealing block inside the cylinder, the lifting cavity is formed between the sealing block and the piston plate, and the pressing cavity is formed on the right side of the piston plate; the inner cavity is provided inside the I-shaped leg, and the inner cavity is connected to the lifting cavity through a through hole;

[0049] The I-shaped leg is provided with the positioning block. When the positioning block abuts against the sealing block, the projection of the lifting input port along the axial direction extends to cover the through hole, and the piston plate participates in forming the inner cavity. The elongated input pipe is connected to the pressing cavity through the elongated input port, and the lifting input pipe is connected to the lifting cavity through the connecting box and the lifting input port. The diameter of the connecting box is twice the diameter of the lifting input pipe.

[0050] The top block and the support plate are provided on the I-shaped leg. The top block and the support plate are connected and located outside the cylinder body. During the stroke of the I-shaped leg retracting into the cylinder body, the support plate can abut against the bottom plate to limit the stroke.

[0051] As shown in the figure: the diameter of the lifting input port is twice the diameter of the through hole. The diameter of the connecting box is equal to the diameter of the lifting input port. The diameter of the lifting input port is twice the diameter of the elongation input port. The thickness of the top wall is three times the thickness of the bottom plate. The gap includes the left cavity and the lifting cavity. The lifting input port communicates with the lifting cavity. The positioning block does not abut against the inner wall of the cylinder. The cylinder body has a rectangular cross-section. The lifting input port is located on the cylinder wall corresponding to the long side of the cylinder body cross-section.

[0052] The above detailed description is a specific description of feasible embodiments of the present invention. These embodiments are not intended to limit the patent scope of the present invention. All equivalent implementations or modifications that do not depart from the present invention should be included in the patent scope of this case.

Claims

1. A multi-power source all-terrain unmanned vehicle, characterized in that: The utility model provides a kind of four-wheel steering vehicle, including car body, four steering motors, four wheel motors, four telescopic modules, liquid control module, four wheels, the car body includes side wall, bottom wall, top plate, underframe, storage cavity, control cavity;The telescopic module includes cylinder body, support leg, elongation end input module, lifting end input module, top block, support plate, bottom plate, sealing block, left cavity, lifting cavity, down cavity;The car body is equipped with the steering motor, the storage cavity, the control cavity in it, controller and communicator are equipped in the control cavity, the output shaft of steering motor passes through the side wall and is connected to the cylinder body, the steering motor can drive the cylinder body rotates;The bottom wall is provided above the underframe, the liquid control module is equipped below the underframe, the liquid control module controls the oil supply to the cylinder body;The central shaft of each wheel is provided with a wheel motor to drive wheel rotation, distance sensor is provided on the side wall; Wherein the elongation end input module includes elongation input pipe, the lifting end input module includes lifting input pipe, connecting box;The cylinder body is equipped with lifting input port, elongation input port;The support leg includes piston plate, H-shaped leg, positioning block, inner cavity;The support leg is connected with wheel at lower end, the H-shaped leg includes H-shaped section, the H-shaped leg can be telescopic in the cylinder body, the H-shaped leg lower end extends from the cylinder body, the upper end of the H-shaped leg is provided with the piston plate, the gap is formed between the recess of the H-shaped leg and cylinder inner wall, the lifting input port is communicated with the gap, the bottom plate is provided at the lower end of the cylinder body, the thickness of the top wall of the cylinder body is greater than the thickness of the bottom plate; The inner wall of the cylinder body is connected with the sealing block, and the sealing block and the H-shaped leg form a sliding sealing fit;When lying, the left side of the sealing block in the cylinder body forms the left cavity, the lifting cavity is formed between the sealing block and the piston plate, and the right side of the piston plate forms the down cavity;The inner cavity is provided in the H-shaped leg, and the inner cavity is communicated with the lifting cavity through the through hole; The H-shaped leg is provided with the positioning block, when the positioning block abuts against the sealing block, the projection of the lifting input port axis direction extends covers the through hole, and the piston plate participates in surrounding the inner cavity;The elongation input pipe is communicated with the down cavity through the elongation input port, the lifting input pipe is communicated with the lifting cavity through the connecting box and the lifting input port, the diameter of the connecting box is twice the diameter of the lifting input pipe, and the diameter of the connecting box is twice the diameter of the elongation input pipe; The top block and support plate are provided on the H-shaped leg, the top block is connected with the support plate, and the top block and the support plate are located outside the cylinder body, in the stroke of the H-shaped leg retracting into the cylinder body, the support plate can abut on the bottom plate to limit stroke.

2. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The diameter of the lifting input port is twice the diameter of the through hole.

3. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The diameter of the connecting box is equal to the diameter of the lifting input port.

4. The multi-power source all-terrain unmanned vehicle of claim 3, wherein: The diameter of the lifting input port is twice the diameter of the elongation input port.

5. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The thickness of the top wall is three times the thickness of the bottom plate.

6. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The gap includes the left cavity and the lifting cavity.

7. The multi-power source all-terrain unmanned vehicle of claim 6, wherein: The lifting input port is communicated with the lifting cavity.

8. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The positioning block does not abut against the inner wall of the cylinder.

9. The multi-power source all-terrain unmanned vehicle of claim 1, wherein: The cylinder has a rectangular cross section.

10. The multi-power source all-terrain unmanned vehicle of claim 9, wherein: The lifting input port is arranged on the cylinder wall corresponding to the long side of the cross section of the cylinder.

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