Unmanned vehicle walking structure

Abstract

The unmanned vehicle walking structure comprises a chassis, the two ends of the chassis are fixedly connected with a front axle frame and a rear axle frame respectively, one end of the rear axle frame is fixedly connected with a plurality of vector engines, the two sides of the bottom end of the front axle frame and the two sides of the bottom end of the rear axle frame are fixedly connected with driving motors, and wheel cups are arranged on the outer sides of the front axle frame and the rear axle frame. Wheel discs are fixedly connected to the outer sides of the wheel cups correspondingly, and a driving assembly is arranged at the output end of the driving motor. According to the unmanned vehicle, the four driving motors are adopted to drive the corresponding walking wheels respectively, the unmanned vehicle is provided with the two large-thrust vector engines for providing power, the top speed and acceleration performance of the vehicle running on the road surface can be improved, the driving motors can accurately control all the walking wheels while the power is improved, the control upper limit of the vehicle is improved, and the service life of the vehicle is prolonged. Meanwhile, under the condition that part of the driving motors or the walking wheels are damaged, normal driving can still be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle walking structures, and in particular to an unmanned vehicle walking structure. Background Art

[0002] Since the 1970s, developed countries such as the United States, the United Kingdom, and Germany have begun to conduct research on driverless cars, and have made breakthrough progress in feasibility and practicality. China has been conducting research on driverless cars since the 1980s, and the National University of Defense Technology successfully developed China's first truly driverless car in 1992. Driverless cars are intelligent cars that use on-board sensor systems to sense road conditions, automatically plan driving routes, and control vehicles to reach predetermined destinations.

[0003] The existing unmanned vehicle walking structure has a large turning radius, is not flexible enough, has poor power and weak maneuverability. In order to overcome these disadvantages, the present invention provides an unmanned vehicle walking structure. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an unmanned vehicle walking structure.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an unmanned vehicle walking structure, including a chassis, wherein the two ends of the chassis are respectively fixedly connected with a front axle frame and a rear axle frame, one end of the rear axle frame is fixedly connected with a plurality of vector engines, both sides of the bottom ends of the front axle frame and the rear axle frame are fixedly connected with drive motors, the outer sides of the front axle frame and the rear axle frame are provided with wheel cups, the outer sides of the wheel cups are fixedly connected with wheel discs, the output end of the drive motor is provided with a drive assembly, the outer end of the drive assembly is fixedly connected with a brake disc through the center of the corresponding wheel cup and the wheel disc, the outer side of the brake disc is fixedly connected with a mounting disc, the mounting disc is bolted with a walking wheel, a support assembly is provided between the outer sides of the front axle frame and the rear axle frame and the corresponding wheel cups, the front axle frame and the rear axle frame are fixedly connected with a steering gear body, the inner sides of the wheel cups are fixedly connected with steering horns, and a steering rod is provided between the output end of the steering gear body and the corresponding steering horn.

[0006] Furthermore, the wheel discs are all bolted with brake calipers, and the brake calipers are located on the outer sides of the corresponding brake discs.

[0007] Furthermore, the support assembly includes a first mounting seat and a second mounting seat fixed to the front axle frame and the rear axle frame, the first mounting seat is rotatably connected to an upper swing arm, and the second mounting seat is rotatably connected to a lower swing arm.

[0008] Furthermore, one end of the upper swing arm is fixedly connected to a second ball head top, the top of the wheel cup is fixedly connected to a second ball bottom, and the second ball bottom is rotatably connected to the second ball head top.

[0009] Furthermore, one end of the lower swing arm is fixedly connected to a third ball bottom, the bottom end of the wheel cup is fixedly connected to a third ball top, and the third ball bottom is rotatably connected to the third ball top.

[0010] Furthermore, the drive assembly includes a transmission rod, both ends of which are fixedly connected with universal joints, the universal joint on one side is fixedly connected to the output end of the drive motor, and one end of the universal joint on the other side is fixedly connected to a first rotating shaft, the first rotating shaft is rotatably connected to the wheel cup, and one end of the first rotating shaft passes through the wheel cup and is fixedly connected to the brake disc.

[0011] Furthermore, the servo body includes a servo housing fixed to the front axle frame and the rear axle frame, a steering motor is fixedly connected to one side of the servo housing, a worm is fixedly connected to the output end of the steering motor, a second rotating shaft is rotatably connected to the inside of the servo housing, a worm wheel and a gear are fixedly connected to the second rotating shaft, the worm is meshingly connected to the worm wheel, a rack is slidably connected to the inside of the servo housing, and the gear is meshingly connected to the rack.

[0012] Furthermore, one end of the steering rod is connected to the rack through a universal joint, the other end of the steering rod is fixedly connected to the top of a first ball head, one side of the steering horn is fixedly connected to the first ball bottom, and the first ball bottom is rotatably connected to the top of the first ball head.

[0013] Beneficial effects of the present invention:

[0014] 1. When the present invention is in use, the unmanned vehicle walking structure adopts four drive motors to drive the corresponding walking wheels respectively, and the unmanned vehicle is provided with two large thrust vector engines to provide power, which can improve the top speed and acceleration performance of the vehicle on the road, and the vector engine can adjust the injection direction to adjust the downforce to increase the maximum grip and the maximum lateral g value, so as to improve the high-speed turning ability. The drive motor can also accurately control each walking wheel to improve the control upper limit of the vehicle. At the same time, the vehicle can still travel normally when some drive motors or walking wheels are damaged;

[0015] 2. When the present invention is in use, the walking structure of the unmanned vehicle and the front and rear walking wheels are controlled by two steering gear bodies. When turning, the front and rear walking wheels can be driven to rotate synchronously, which can reduce the turning radius and improve the flexibility of the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the specific implementation methods 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.

[0017] Figure 1 : A front view of the present invention;

[0018] Figure 2 : Bottom view of the present invention;

[0019] Figure 3 : Schematic diagram of the support assembly installation structure of the present invention;

[0020] Figure 4 : A schematic diagram of the support assembly structure of the present invention;

[0021] Figure 5 : Schematic diagram of the main structure of the steering gear of the present invention.

[0022] The reference numerals are as follows:

[0023] 1. Chassis; 2. Front axle frame; 3. Rear axle frame; 4. Vector engine; 5. Drive motor; 6. Transmission rod; 7. Universal joint; 8. First rotating shaft; 9. Wheel disc; 10. Brake disc; 11. Mounting plate; 12. Brake caliper; 13. Travel wheel; 14. First mounting seat; 15. Upper swing arm; 16. Second mounting seat; 17. Lower swing arm; 18. Wheel cup; 19. Servo housing; 20. Rack; 21. Steering rod; 22. First ball head top; 23. Steering horn; 24. First ball bottom; 25. Second ball head top; 26. Second ball bottom; 27. Third ball bottom; 28. Third ball head top; 29. ​​Steering motor; 30. Worm; 31. Second rotating shaft; 32. Worm wheel; 33. Gear. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0025] like Figure 1-5As shown, it relates to an unmanned vehicle walking structure, including a chassis 1, a front axle frame 2 and a rear axle frame 3 are fixedly connected at both ends of the chassis 1, and a plurality of vector engines 4 are fixedly connected at one end of the rear axle frame 3. The arranged vector engines 4 can provide thrust to the unmanned vehicle, thereby improving the power of the unmanned vehicle. Both sides of the bottom ends of the front axle frame 2 and the rear axle frame 3 are fixedly connected to drive motors 5, and a 1:2.8 reducer is arranged on the drive motors 5 to amplify the torque. The power of the drive motors 5 is 12KW. Wheel cups 18 are arranged on the outer sides of the front axle frame 2 and the rear axle frame 3, and the outer sides of the wheel cups 18 are fixed. A wheel disc 9 is connected, and a driving component is provided at the output end of the driving motor 5. The outer end of the driving component passes through the corresponding wheel cup 18 and the center of the wheel disc 9 and is fixedly connected to a brake disc 10. The outer side of the brake disc 10 is fixedly connected to a mounting plate 11, and a walking wheel 13 is bolted to the mounting plate 11. Support components are provided between the outer sides of the front axle frame 2 and the rear axle frame 3 and the corresponding wheel cups 18. The front axle frame 2 and the rear axle frame 3 are fixedly connected to a steering gear body, and the inner sides of the wheel cups 18 are fixedly connected to a steering horn 23. A steering rod 21 is provided between the output end of the steering gear body and the corresponding steering horn 23.

[0026] like Figure 1-5 As shown, the wheel disc 9 is bolted with a brake caliper 12 , which is located outside the corresponding brake disc 10 . The brake caliper 12 and the brake disc 10 can brake the running wheel 13 .

[0027] like Figure 1-5 As shown, the support assembly includes a first mounting seat 14 and a second mounting seat 16 fixed to the front axle frame 2 and the rear axle frame 3, an upper swing arm 15 is rotatably connected to the first mounting seat 14, and a lower swing arm 17 is rotatably connected to the second mounting seat 16, one end of the upper swing arm 15 is fixedly connected to a second ball head top 25, a second ball bottom 26 is fixedly connected to the top of a wheel cup 18, and the second ball bottom 26 is rotatably connected to the second ball head top 25, one end of the lower swing arm 17 is fixedly connected to a third ball bottom 27, a third ball head top 28 is fixedly connected to the bottom end of the wheel cup 18, and the third ball bottom 27 is rotatably connected to the third ball head top 28.

[0028] like Figure 1-5 As shown, the driving assembly includes a transmission rod 6, both ends of which are fixedly connected with universal joints 7, the universal joint 7 on one side is fixedly connected to the output end of the driving motor 5, and one end of the universal joint 7 on the other side is fixedly connected to the first rotating shaft 8, the first rotating shaft 8 is rotatably connected to the wheel cup 18, and one end of the first rotating shaft 8 passes through the wheel cup 18 and is fixedly connected to the brake disc 10, the driving motor 5 drives the driving assembly to rotate, thereby driving the walking wheel 13 on the mounting plate 11 to rotate, thereby driving the unmanned vehicle to walk.

[0029] like Figure 1-5As shown, the steering gear body includes a steering gear housing 19 fixed to the front axle frame 2 and the rear axle frame 3, a steering motor 29 is fixedly connected to one side of the steering gear housing 19, a worm 30 is fixedly connected to the output end of the steering motor 29, a second rotating shaft 31 is rotatably connected to the inside of the steering gear housing 19, a worm wheel 32 and a gear 33 are fixedly connected to the second rotating shaft 31, the worm 30 is meshingly connected to the worm wheel 32, a rack 20 is slidably connected to the inside of the steering gear housing 19, the gear 33 is meshingly connected to the rack 20, one end of the steering rod 21 is connected to the rack 20 through a universal joint 7, the other end of the steering rod 21 is fixedly connected to the first ball head 22, and one side of the steering horn 23 is fixedly connected to the first ball head 22. A first ball bottom 24 is fixedly connected, and the first ball bottom 24 is rotatably connected to the first ball head top 22. The steering motor 29 can drive the worm 30 to rotate, and through the transmission of the worm wheel 32, the second rotating shaft 31 and the gear 33, the rack 20 can be driven to move left and right, so that the wheel cup 18 fixed to the steering horn 23 can be driven to rotate through the steering tie rod 21, the universal joint 7, the first ball head top 22 and the first ball bottom 24. The wheel cup 18 rotates between the upper swing arm 15 and the lower swing arm 17, the second ball head top 25 and the second ball bottom 26 rotate, and the third ball head top 28 and the third ball bottom 27 rotate, so that the steering of the walking wheel 13 can be realized.

[0030] Working principle: When in use, the drive motor 5 drives the drive assembly to rotate, thereby driving the walking wheel 13 on the mounting plate 11 to rotate, thereby driving the unmanned vehicle to walk, the brake caliper 12 and the brake disc 10 can brake the walking wheel 13, the vector engine 4 can thrust the unmanned vehicle, thereby increasing the power of the unmanned vehicle, the steering motor 29 can drive the worm 30 to rotate, and through the transmission of the worm gear 32, the second rotating shaft 31 and the gear 33, it can drive the rack 20 to move left and right, so that the wheel cup 18 fixed to the steering horn 23 can be driven to rotate through the steering rod 21, the universal joint 7, the first ball head 22 and the first ball bottom 24, the wheel cup 18 rotates between the upper swing arm 15 and the lower swing arm 17, the second ball head 25 and the second ball bottom 26 rotate, and the third ball head 28 and the third ball bottom 27 rotate, thereby realizing the steering of the walking wheel 13.

[0031] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An unmanned vehicle walking structure, comprising a chassis (1), characterized in that: The two ends of the chassis (1) are respectively fixedly connected to a front axle frame (2) and a rear axle frame (3); one end of the rear axle frame (3) is fixedly connected to a plurality of vector engines (4); both sides of the bottom ends of the front axle frame (2) and the rear axle frame (3) are fixedly connected to drive motors (5); wheel cups (18) are arranged on the outside of the front axle frame (2) and the rear axle frame (3); wheel discs (9) are fixedly connected to the outside of the wheel cups (18); a drive assembly is arranged at the output end of the drive motor (5); the outer end of the drive assembly passes through the center of the corresponding wheel cup (18) and the wheel disc (9); A brake disc (10) is fixedly connected to the center, a mounting disc (11) is fixedly connected to the outside of the brake disc (10), a running wheel (13) is bolted to the mounting disc (11), a support assembly is arranged between the outside of the front axle frame (2) and the rear axle frame (3) and the corresponding wheel cup (18), a steering gear body is fixedly connected to the inside of the front axle frame (2) and the rear axle frame (3), a steering clevis (23) is fixedly connected to the inside of the wheel cup (18), and a steering tie rod (21) is arranged between the output end of the steering gear body and the corresponding steering clevis (23).

2. The unmanned vehicle walking structure according to claim 1, characterized in that: The wheel disc (9) is bolted with a brake caliper (12), and the brake caliper (12) is located outside the corresponding brake disc (10).

3. The unmanned vehicle walking structure according to claim 1, characterized in that: The support assembly comprises a first mounting seat (14) and a second mounting seat (16) fixed to the front axle frame (2) and the rear axle frame (3); an upper swing arm (15) is rotatably connected to the first mounting seat (14), and a lower swing arm (17) is rotatably connected to the second mounting seat (16).

4. The unmanned vehicle walking structure according to claim 3, characterized in that: One end of the upper swing arm (15) is fixedly connected to a second ball head (25), the top of the wheel cup (18) is fixedly connected to a second ball bottom (26), and the second ball bottom (26) is rotatably connected to the second ball head (25).

5. The unmanned vehicle walking structure according to claim 3, characterized in that: One end of the lower swing arm (17) is fixedly connected to a third ball bottom (27), the bottom end of the wheel cup (18) is fixedly connected to a third ball head top (28), and the third ball bottom (27) is rotatably connected to the third ball head top (28).

6. The unmanned vehicle walking structure according to claim 1, characterized in that: The driving assembly comprises a transmission rod (6), both ends of the transmission rod (6) are fixedly connected with universal joints (7), the universal joint (7) located on one side is fixedly connected to the output end of the driving motor (5), one end of the universal joint (7) located on the other side is fixedly connected to a first rotating shaft (8), the first rotating shaft (8) is rotatably connected to a wheel cup (18), and one end of the first rotating shaft (8) passes through the wheel cup (18) and is fixedly connected to a brake disc (10).

7. The unmanned vehicle walking structure according to claim 1, characterized in that: The steering gear body comprises a steering gear housing (19) fixed to the front axle frame (2) and the rear axle frame (3); a steering motor (29) is fixedly connected to one side of the steering gear housing (19); a worm (30) is fixedly connected to the output end of the steering motor (29); a second rotating shaft (31) is rotatably connected to the inside of the steering gear housing (19); a worm wheel (32) and a gear (33) are fixedly connected to the second rotating shaft (31); the worm (30) is meshingly connected to the worm wheel (32); a rack (20) is slidably connected to the inside of the steering gear housing (19); and the gear (33) is meshingly connected to the rack (20).

8. The unmanned vehicle walking structure according to claim 7, characterized in that: One end of the steering rod (21) is connected to the rack (20) via a universal joint (7), the other end of the steering rod (21) is fixedly connected to a first ball head (22), one side of the steering horn (23) is fixedly connected to a first ball bottom (24), and the first ball bottom (24) is rotatably connected to the first ball head (22).

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