Independently-driven all-weather wheel type unmanned platform for field severe environment

Abstract

The invention relates to the technical field of unmanned operation platforms, in particular to an independently-driven all-weather wheel type unmanned platform for a field severe environment, which comprises a frame, rotary tables are respectively arranged on two opposite sides of the frame, each rotary table is respectively connected with the frame through a first servo motor, and a plurality of acquisition devices are further arranged on the periphery of the frame; the overturning arm is connected with the rotary table, and a second servo motor is arranged at the free end of the overturning arm; the inner side of one end of the driving arm is connected with an output shaft of the second servo motor, a driving motor is arranged on the inner side of the free end of the driving arm, and an output shaft of the driving motor is connected with the first wheel; the walking control unit is provided with a communication module, and the collecting device, the first servo motor, the second servo motor and the driving motor are electrically connected with the walking control unit. The driving motor is installed at the end of the driving arm, so that transmission parts are reduced, additional heat dissipation measures are not needed, and the reliability of the unmanned platform is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned operating platforms, and in particular to an independently driven all-weather wheeled unmanned platform for use in harsh outdoor environments. Background Art

[0002] For general unmanned platforms, due to China's vast territory, there are towns, mountains, plains, water networks, jungles, plateaus, deserts, Gobi, swamps, etc., as well as complex and harsh environments such as high altitude cold, nuclear, biological and chemical, and narrow spaces. To carry out diversified tasks, the vehicle must meet the global requirements and have high maneuverability, high off-road performance, and high passability. The driving force between the vehicle and the ground must be large, and the adhesion coefficient, anti-skid performance and ground contact pressure ratio are all required to be relatively good. The crawler is better in these aspects, but its speed is slow, its maneuverability is poor, and it is highly destructive to the ground. In addition, the power unit uses hub motors and wheel-side motors to directly drive the vehicle. The advantage is that it reduces the complex transmission links, but the chassis mass increases, affecting the smoothness and stability of the vehicle. The use of hub motors will affect the braking system and cooling system, which still need to be solved. Summary of the invention

[0003] The present invention provides an independently driven all-weather wheeled unmanned platform for use in harsh outdoor environments, wherein a driving motor is mounted at the end of a driving arm, thereby reducing transmission components, lowering the unsprung mass, and requiring no additional heat dissipation measures for the driving motor, thereby improving the reliability of the unmanned platform.

[0004] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: an independently driven all-weather wheeled unmanned platform for use in harsh outdoor environments, comprising: a frame, turntables are respectively provided on opposite sides of the frame, each of the turntables is respectively connected to the frame through a first servo motor, and a plurality of collection devices are also provided around the frame; a flip arm, the flip arm is connected to the turntable, and a second servo motor is provided at the free end of the flip arm; a driving arm, the inner side of one end of the driving arm is connected to the output shaft of the second servo motor, and a driving motor passing through the driving arm is provided on the inner side of the free end of the driving arm, and a first wheel connected to the output shaft of the driving motor is provided on the outer side of the driving arm; a walking control unit, the walking control unit is provided with a communication module, and the collection device, the first servo motor, the second servo motor and the driving motor are respectively electrically connected to the walking control unit.

[0005] Preferably, a second wheel is provided at one end of the driving arm away from the first wheel, and the axles of the first wheel and the second wheel are respectively provided with a sprocket, and the two sprockets are driven by a gear transmission shaft.

[0006] Preferably, a third servo motor is provided outside the turntable, the flip arm is connected to the output shaft of the third servo motor, and the third servo motor is electrically connected to the walking control unit.

[0007] Preferably, a rotating sleeve is provided at one end of the flip arm corresponding to the turntable, the flip arm is sleeved outside the rotating sleeve, and a reduction motor is provided between the flip arm and the rotating sleeve, the third servo motor is a double-output shaft structure, and the two output shafts are connected to the opposite sides of the inner wall of the rotating sleeve; the reduction motor is electrically connected to the walking control unit.

[0008] Preferably, the frame is composed of a plurality of segments, and a fourth servo motor is provided between any two adjacent segments, and the fourth servo motor is electrically connected to the travel control unit; the turntable is arranged on two opposite sides of each segment.

[0009] Preferably, the acquisition device includes a plurality of multi-eye cameras, a laser radar, a GPS, a gyroscope, and an acceleration sensor electrically connected to the walking control unit.

[0010] The beneficial effect of the present invention is that the flip arm and the driving arm of the unmanned platform form an articulated structure, and provide support for the frame under the angle control of the first servo motor and the second servo motor, and the first wheel provides the frame with walking driving force under the action of the driving motor. The walking control unit communicates with the control background through the communication module, and is used to control the unmanned platform to execute the travel task sent by the background. During the travel process, the collection device is used to analyze the obstacles around the unmanned platform and plan the travel route. When encountering obstacles, the driving arm changes the support height or lifts and compacts the obstacles under the control of the first servo motor and the second servo motor, thereby realizing the flipping and crossing actions, and improving the off-road passing ability of the unmanned platform. Since the driving motor is installed at the end of the driving arm, the transmission components are reduced, the unsprung mass is reduced, and the driving motor does not need additional heat dissipation measures, thereby improving the reliability of the unmanned platform. The second wheel shares the same power source with the first wheel through the gear transmission shaft, so that the first wheel and the second wheel obtain the same driving force, and the first wheel and the second wheel are grounded separately or simultaneously according to the working angle of the driving arm and the flip arm, so that the driving needs of different roads such as overturning, climbing, and mud can be met. The third servo motor adjusts the angle between the flip arm and the driving arm and the frame, thereby adjusting the traction direction, achieving on-the-spot turning and crab walking mode, and meeting the climbing requirements of complex terrain. The walking control unit can adjust the angle of the articulated shaft through the cooperation of the first servo motor, the third servo motor and the reduction motor, so that the flip arm can be flipped up laterally, which not only changes the wheelbase, but also meets the walking requirements on the inclined surface, improving the support stability of the unmanned platform. The articulated frame structure makes it more flexible, and in conjunction with the flip arm and the driving arm, the counterweight balancing function can be achieved by flipping up the flip arm and the driving arm, meeting the driving requirements of various complex road conditions and further improving the ability to escape from difficulties. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0013] Figure 2 This is a schematic diagram of the transmission structure of the driving arm of the present invention;

[0014] Figure 3 It is a side view of the overall structure of the present invention;

[0015] Figure 4It is a schematic diagram of the structure of the turning arm and the turntable of the present invention.

[0016] In the figure: 1. frame; 2. turntable; 3. first servo motor; 4. acquisition device; 5. flip arm; 6. second servo motor; 7. drive arm; 8. drive motor; 9. first wheel; 10. second wheel; 11. gear transmission shaft; 12. gear plate; 13. third servo motor; 14. rotating sleeve; 15. reduction motor; 16. segment; 17. fourth servo motor. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, an independent drive all-weather wheeled unmanned platform for harsh outdoor environments includes: a frame 1, wherein the frame 1 is provided with turntables 2 on opposite sides, each of which is connected to the frame 1 through a first servo motor 3, and the frame 1 is also provided with a plurality of collection devices 4 around it; a flip arm 5, wherein the flip arm 5 is connected to the turntable 2, and a second servo motor 6 is provided at the free end of the flip arm 5; a driving arm 7, wherein the inner side of one end of the driving arm 7 is connected to the output shaft of the second servo motor 6, and a driving motor 8 penetrating the driving arm 7 is provided at the inner side of the free end of the driving arm 7, and a first wheel 9 connected to the output shaft of the driving motor 8 is provided at the outer side of the driving arm 7; and a walking control unit, wherein the walking control unit is provided with a communication module, and the collection device 4, the first servo motor 3, the second servo motor 6 and the driving motor 8 are electrically connected to the walking control unit respectively. Wherein, the collection device 4 includes a plurality of multi-eye cameras, a laser radar, a GPS, a gyroscope, and an acceleration sensor electrically connected to the walking control unit.

[0019] Through the above settings, the flip arm 5 and the driving arm 7 of the unmanned platform form an articulated structure, and provide support for the frame 1 under the angle control of the first servo motor 3 and the second servo motor 6, and the first wheel 9 provides the frame 1 with a walking driving force under the action of the driving motor 8. The walking control unit communicates with the control background through the communication module, and is used to control the unmanned platform to execute the travel task sent by the background. During the travel process, the collection device 4 is used to analyze the obstacles around the unmanned platform and plan the travel route. When encountering obstacles, the driving arm 7 changes the support height or lifts and compacts the obstacles under the control of the first servo motor 3 and the second servo motor 6, thereby realizing the flipping and crossing actions, and improving the off-road passing ability of the unmanned platform. Since the driving motor 8 is installed at the end of the driving arm 7, the transmission components are reduced, the unsprung mass is reduced, and the driving motor 8 does not require additional heat dissipation measures, thereby improving the reliability of the unmanned platform.

[0020] A second wheel 10 is disposed at one end of the driving arm 7 away from the first wheel 9 . Axles of the first wheel 9 and the second wheel 10 are respectively provided with toothed discs 12 . The two toothed discs 12 are driven by a gear transmission shaft 11 .

[0021] In this arrangement, the second wheel 10 shares the same power source with the first wheel 9 through the gear transmission shaft 11, so that the first wheel 9 and the second wheel 10 obtain the same driving force, and according to the working angles of the driving arm 7 and the flip arm 5, the first wheel 9 and the second wheel 10 can touch the ground separately or simultaneously, thereby meeting the driving needs of different road surfaces such as rolling over, climbing, and muddy ground.

[0022] A third servo motor 13 is disposed outside the turntable 2 , the flip arm 5 is connected to an output shaft of the third servo motor 13 , and the third servo motor 13 is electrically connected to the walking control unit.

[0023] The third servo motor 13 in this configuration satisfies the adjustment of the angle between the flip arm 5 and the driving arm 7 and the frame 1, thereby realizing the adjustment of the traction direction, achieving on-the-spot turning and crab crawling mode, and meeting the climbing requirements of complex terrain.

[0024] A rotating sleeve 14 is provided at one end of the flip arm 5 corresponding to the turntable 2, the flip arm 5 is sleeved on the outside of the rotating sleeve 14, and a reduction motor 15 is provided between the flip arm 5 and the rotating sleeve 14, the third servo motor 13 is a double-output shaft structure, and the two output shafts are connected to the opposite sides of the inner wall of the rotating sleeve 14; the reduction motor 15 is electrically connected to the walking control unit.

[0025] In this setting, the walking control unit can adjust the angle of the articulated shaft through the cooperation of the first servo motor 3, the third servo motor 13 and the reduction motor 15, so that the flip arm 5 can be flipped up laterally, which not only realizes the change of the wheelbase, but also meets the walking needs on the inclined surface, thereby improving the support stability of the unmanned platform.

[0026] The frame 1 is composed of a plurality of segments 16 , and a fourth servo motor 17 is provided between any two adjacent segments 16 , and the fourth servo motor 17 is electrically connected to the travel control unit; the turntable 2 is arranged on two opposite sides of each segment 16 .

[0027] This arrangement realizes the articulated frame 1 structure of the unmanned platform, thus making it more flexible, and in conjunction with the flip arm 5 and the driving arm 7, the counterweight balancing function can also be realized by flipping up the flip arm 5 and the driving arm 7, thereby meeting the driving requirements of various complex road conditions and further improving the ability to escape from difficulties.

[0028] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An independently driven all-weather wheeled unmanned platform for use in harsh outdoor environments, characterized in that: include: A vehicle frame (1), wherein turntables (2) are respectively provided on opposite sides of the vehicle frame (1), and each of the turntables (2) is connected to the vehicle frame (1) via a first servo motor (3), and a plurality of collection devices (4) are also provided around the vehicle frame (1); A turning arm (5), the turning arm (5) being connected to the turntable (2), and a second servo motor (6) being provided at a free end of the turning arm (5); A driving arm (7), wherein the inner side of one end of the driving arm (7) is connected to the output shaft of the second servo motor (6), and a driving motor (8) penetrating the driving arm (7) is provided on the inner side of the free end of the driving arm (7), and a first wheel (9) connected to the output shaft of the driving motor (8) is provided on the outer side of the driving arm (7); A walking control unit, wherein the walking control unit is provided with a communication module, and the acquisition device (4), the first servo motor (3), the second servo motor (6) and the drive motor (8) are respectively electrically connected to the walking control unit.

2. The independently driven all-weather wheeled unmanned platform for outdoor harsh environments according to claim 1 is characterized by: A second wheel (10) is provided at one end of the driving arm (7) away from the first wheel (9); the axles of the first wheel (9) and the second wheel (10) are respectively provided with toothed discs (12); the two toothed discs (12) are driven via a gear transmission shaft (11).

3. The independently driven all-weather wheeled unmanned platform for outdoor harsh environments according to claim 2 is characterized by: A third servo motor (13) is provided outside the turntable (2), the flip arm (5) is connected to the output shaft of the third servo motor (13), and the third servo motor (13) is electrically connected to the walking control unit.

4. The independently driven all-weather wheeled unmanned platform for outdoor harsh environments according to claim 3 is characterized by: A rotating sleeve (14) is provided at one end of the flip arm (5) corresponding to the turntable (2); the flip arm (5) is sleeved outside the rotating sleeve (14), and a reduction motor (15) is provided between the flip arm and the rotating sleeve (14); the third servo motor (13) is a double-output shaft structure, and the two output shafts are connected to opposite sides of the inner wall of the rotating sleeve (14); the reduction motor (15) is electrically connected to the walking control unit.

5. The independently driven all-weather wheeled unmanned platform for outdoor harsh environments according to claim 1 is characterized by: The frame (1) is composed of a plurality of segments (16), and a fourth servo motor (17) is provided between any two adjacent segments (16), and the fourth servo motor (17) is electrically connected to the travel control unit; the turntable (2) is arranged on two opposite sides of each segment (16).

6. The independently driven all-weather wheeled unmanned platform for use in harsh outdoor environments according to claim 1 is characterized by: The acquisition device (4) comprises a plurality of multi-eye cameras, a laser radar, a GPS, a gyroscope, and an acceleration sensor electrically connected to the walking control unit.

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