Rear wheel suspension radar trolley

Abstract

The utility model discloses a rear wheel suspension radar dolly, comprising a chassis, a radar, a holder and a camera, the radar and the holder are installed on the chassis, the camera is arranged on the holder, the chassis comprises a base plate, and a front wheel steering assembly and a rear wheel suspension assembly which are connected with the base plate, the rear wheel suspension assembly comprises a left rear wheel, a right rear wheel, a left rear wheel motor, a right rear wheel motor, a suspension connecting rod and two motor supports, the two motor supports are arranged side by side in the left-right direction and rotationally connected with the bottom plate, and the left rear wheel motor and the right rear wheel motor are installed on the two motor supports correspondingly. An output shaft of the left rear wheel motor is connected with the left rear wheel, an output shaft of the right rear wheel motor is connected with the right rear wheel, and the two motor supports are movably connected through a suspension connecting rod. According to the utility model, when the radar trolley encounters a rugged road surface, the two rear wheels can land at the same time, so that the driving posture is stabilized, and the trafficability of the radar trolley is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of radar trolleys, in particular to a rear wheel suspended radar trolley. Background Art

[0002] Radar cars are often used in maker education to cultivate children or students' innovative thinking, hands-on ability and problem-solving ability. The two rear wheels of the existing radar car are fixed to the chassis. When encountering uneven roads, the two rear wheels cannot touch the ground at the same time, affecting the car's passability. Utility Model Content

[0003] The utility model aims to overcome the deficiencies of the prior art and provide a rear wheel suspension radar trolley, aiming to solve the problem that the two rear wheels of the trolley cannot touch the ground at the same time when facing an undulating road surface, thus affecting the passability of the trolley.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a rear-wheel suspension radar trolley, comprising a chassis, a radar, a pan-tilt and a camera, wherein the radar and the pan-tilt are installed on the chassis, and the camera is arranged on the pan-tilt; the chassis comprises a bottom plate, and a front wheel steering assembly and a rear wheel suspension assembly connected to the bottom plate; the rear wheel suspension assembly comprises a left rear wheel, a right rear wheel, a left rear wheel motor, a right rear wheel motor, a suspension connecting rod and two motor brackets, the two motor brackets are arranged side by side on the left and right, and the two motor brackets are rotatably connected to the bottom plate, the left rear wheel motor and the right rear wheel motor are respectively installed on the two motor brackets, the output shaft of the left rear wheel motor is connected to the left rear wheel, the output shaft of the right rear wheel motor is connected to the right rear wheel, and the two motor brackets are movably connected through the suspension connecting rod.

[0006] Furthermore, the motor bracket is a U-shaped structure, and the lower side of at least one of the two side portions of the motor bracket is rotatably connected to the base plate, the upper side of at least one of the two side portions of one motor bracket is connected to the upper side of at least one of the two side portions of the other motor bracket through the suspension link, and the bottom portions of the two motor brackets are provided with a motor output shaft through-hole.

[0007] Furthermore, one end of the suspension link is hinged to one of the motor brackets, and the other end of the suspension link is hinged to the other motor bracket.

[0008] Furthermore, the rear wheel suspension assembly also includes a suspension bracket, one side of the suspension bracket is fixedly connected to the base plate, and the other side of the suspension bracket is rotatably connected to the motor bracket.

[0009] Furthermore, the suspension bracket is an L-shaped structure, the horizontal panel of the suspension bracket is fixedly connected to the base plate, the vertical panel of the suspension bracket is provided with a bearing seat, the bearing seat is equipped with a bearing, and the lower side of at least one of the two side portions of the motor bracket is provided with a shaft rod, and the shaft rod is connected to the bearing.

[0010] Furthermore, a left coupling is provided between the left rear wheel and the left rear wheel motor, one end of the left coupling is connected to the left rear wheel, and the other end of the left coupling is connected to the output shaft of the left rear wheel motor; a right coupling is provided between the right rear wheel and the right rear wheel motor, one end of the right coupling is connected to the right rear wheel, and the other end of the right coupling is connected to the output shaft of the right rear wheel motor.

[0011] Furthermore, the front wheel steering assembly includes a left front wheel, a right front wheel, a steering servo, a steering tie rod assembly and two bogies, the two bogies are arranged relatively on the base plate, the left front wheel and the right front wheel are respectively connected to the two bogies, the steering tie rod assembly includes a steering straight tie rod and a steering diagonal tie rod, the two ends of the steering straight tie rod are respectively connected to the two bogies, the steering servo is connected to a steering steering wheel, one end of the steering diagonal tie rod is connected to the steering steering wheel, and the other end of the steering diagonal tie rod is connected to one of the two bogies.

[0012] Furthermore, the chassis also includes an upper plate and several side plates, the upper plate is arranged above the bottom plate, the upper side of the side plate is connected to the upper plate, and the lower side plate is connected to the bottom plate, and a storage space is formed between the bottom plate, the upper plate and the several side plates, and a power board and a battery compartment for accommodating batteries are provided in the storage space, the power board is fixed to the inner side of the upper plate, and a rotatable battery flip cover is provided at the bottom of the battery compartment, and the battery provided in the battery compartment is electrically connected to the power board.

[0013] Furthermore, it also includes a front shell arranged above the upper plate, the gimbal is arranged on the top of the front shell, and the radar is located in front of the gimbal.

[0014] Furthermore, it also includes a rear shell arranged above the upper plate, the rear shell is located behind the front shell, and the rear shell is provided with a screen and an antenna.

[0015] Compared with the prior art, the utility model has the following beneficial effects: a rear-wheel suspension radar trolley, comprising a chassis, a radar, a pan-tilt and a camera, wherein the radar and the pan-tilt are mounted on the chassis, the camera is arranged on the pan-tilt, the chassis comprises a bottom plate, and a front wheel steering assembly and a rear wheel suspension assembly connected to the bottom plate, the rear wheel suspension assembly comprises a left rear wheel, a right rear wheel, a left rear wheel motor, a right rear wheel motor, a suspension connecting rod and two motor brackets, the two motor brackets are arranged side by side, and the two motor brackets are rotatably connected to the bottom plate, the left rear wheel motor and the right rear wheel motor are respectively mounted on the two motor brackets, the output shaft of the left rear wheel motor is connected to the left rear wheel, the output shaft of the right rear wheel motor is connected to the right rear wheel, and the two motor brackets are movably connected through the suspension connecting rod. By using the designed two motor brackets and the suspension connecting rod, when encountering an undulating road surface, after the rear wheel on one side is lifted, the rear wheel on the other side will be lowered by a distance less than the lifting height, thereby lowering the center of gravity of the vehicle body, so that both rear wheels can touch the ground at the same time, thereby stabilizing the driving posture and improving the passability of the radar trolley.

[0016] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a rear wheel suspension radar vehicle provided by a specific embodiment of the utility model;

[0019] Figure 2 An exploded view of a chassis of a rear wheel suspension radar trolley provided in a specific embodiment of the utility model;

[0020] Figure 3 A schematic diagram of a partial structure of a chassis in a rear wheel suspension radar vehicle provided in a specific embodiment of the utility model Figure 1 ;

[0021] Figure 4 A schematic diagram of a partial structure of a chassis in a rear wheel suspension radar vehicle provided in a specific embodiment of the utility model Figure 2 ;

[0022] Figure 5A schematic structural diagram of a bogie in a rear wheel suspension radar trolley provided in a specific embodiment of the utility model.

[0023] Reference numerals

[0024] 1. Chassis; 11. Bottom plate; 12. Front wheel steering assembly; 121. Left front wheel; 122. Right front wheel; 123. Steering servo; 1231. Steering steering wheel; 124. Steering tie rod assembly; 1241. Steering straight tie rod; 1242. Steering diagonal tie rod; 125. Bogie; 1251. First connecting piece; 1252. Second connecting piece; 126. Steering fixing plate; 13. Rear wheel suspension assembly; 131. Left rear wheel; 132. Right rear wheel; 133. Left rear wheel motor; 134. Right rear wheel motor; 135. Motor bracket; 136. Suspension connecting rod; 137. Suspension bracket; 1371. Bearing seat; 14. Upper plate; 15. Side plate; 16. Battery compartment; 2. Radar; 3. PTZ; 4. Camera; 5. Front shell; 6. Rear shell; 7. Screen; 8. Antenna. DETAILED DESCRIPTION

[0025] The following will be combined with the specific embodiments of the utility model to clearly and completely describe the technical solution of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] It should be understood that when used in this specification and claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in the utility model specification are only for the purpose of describing specific embodiments and are not intended to limit the utility model. As used in the utility model specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0028] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] like Figure 1-Figure 5As shown, the embodiment of the utility model provides a rear-wheel suspension radar 2 trolley, including a chassis 1, a radar 2, a pan-tilt platform 3 and a camera 4. The radar 2 and the pan-tilt platform 3 are installed on the chassis 1, and the camera 4 is arranged on the pan-tilt platform 3. The chassis 1 includes a bottom plate 11, and a front wheel steering assembly 12 and a rear wheel suspension assembly 13 connected to the bottom plate 11. The rear wheel suspension assembly 13 includes a left rear wheel 131, a right rear wheel 132, a left rear wheel motor 133, a right rear wheel motor 134, a suspension connecting rod 136 and two motor brackets 135. The two motor brackets 135 are arranged side by side on the left and right, and the two motor brackets 135 are rotatably connected to the bottom plate 11. The left rear wheel motor 133 and the right rear wheel motor 134 are respectively installed on the two motor brackets 135. The output shaft of the left rear wheel motor 133 is connected to the left rear wheel 131, and the output shaft of the right rear wheel motor 134 is connected to the right rear wheel 132. The two motor brackets 135 are movably connected through the suspension connecting rod 136.

[0030] By utilizing the designed two motor brackets 135 and suspension links 136, since the two motor brackets 135 can rotate relative to the chassis 1, the suspension links 136 play a linkage role. When encountering uneven roads, the rear wheel on one side is lifted, driving the suspension links 136 to move, so that the rear wheel on the other side will be lowered by a distance less than the lifting height, thereby lowering the center of gravity of the vehicle body and allowing the two rear wheels to touch the ground at the same time, thereby stabilizing the driving posture and improving the passability of the radar 2 vehicle.

[0031] Furthermore, if Figure 3 As shown, the motor bracket 135 is a U-shaped structure, and the lower side of at least one of the two side parts of the motor bracket 135 is rotatably connected to the base plate 11, and the upper side of at least one of the two side parts of one motor bracket 135 is connected to the upper side of at least one of the two side parts of the other motor bracket 135 through a suspension link 136, and the bottom surfaces of the two motor brackets 135 are provided with a motor output shaft through hole.

[0032] In this embodiment, if Figure 3 As shown, the lower sides of the two side portions of the motor bracket 135 are rotatably connected to the base plate 11. At the same time, the upper sides of the two side portions of one of the two motor brackets 135 are connected to the upper sides of the two side portions of the other motor bracket 135 through a suspension link 136. The suspension link 136 is arc-shaped, and the connection method is that the left end of the suspension link 136 is hinged to the upper side of the side portion of the motor bracket 135 on which the left rear wheel motor 133 is installed, and the right end of the suspension link 136 is hinged to the upper side of the side portion of the motor bracket 135 on which the right rear wheel motor 134 is installed.

[0033] Furthermore, the rear wheel suspension assembly 13 also includes a suspension bracket 137 , one side of the suspension bracket 137 is fixedly connected to the base plate 11 , and the other side of the suspension bracket 137 is rotatably connected to the motor bracket 135 .

[0034] In this embodiment, if Figure 3 As shown, the suspension bracket 137 is an L-shaped structure, the horizontal panel of the suspension bracket 137 is fixedly connected to the bottom plate 11 by screws, the vertical panel of the suspension bracket 137 is provided with a bearing seat 1371, the bearing seat 1371 is fixed to the outer surface of the vertical panel of the suspension bracket 137 by screws, the bearing seat 1371 is installed with a bearing, and the lower sides of the two side parts of the motor bracket 135 are provided with a shaft rod, and the shaft rod is connected to the inner ring of the bearing to realize the rotation connection between the motor bracket 135 and the bottom plate 11. The matching mode of the shaft rod and the bearing is low in cost and durable.

[0035] When the rear wheel of the radar 2 car encounters an undulating road surface, one rear wheel is lifted, and the motor bracket 135 on the same side rotates around the bearing on the suspension bracket 137, and drives the suspension link 136 to move, so that the motor bracket 135 on the other side rotates around the bearing on the suspension bracket 137 connected thereto, and the two motor brackets 135 rotate in the same direction, so that the wheel on the other side turns downward. This enables the car to land on both rear wheels at the same time when encountering an undulating road surface.

[0036] In this embodiment, a left coupling is provided between the left rear wheel 131 and the left rear wheel motor 133, one end of the left coupling is connected to the left rear wheel 131, and the other end of the left coupling is connected to the output shaft of the left rear wheel motor 133; a right coupling is provided between the right rear wheel 132 and the right rear wheel motor 134, one end of the right coupling is connected to the right rear wheel 132, and the other end of the right coupling is connected to the output shaft of the right rear wheel motor 134.

[0037] Furthermore, the front wheel steering assembly 12 includes a left front wheel 121, a right front wheel 122, a steering servo 123, a steering tie rod assembly 124 and two bogies 125. The two bogies 125 are arranged relatively on the base plate 11. The left front wheel 121 and the right front wheel 122 are respectively connected to the two bogies 125. The steering tie rod assembly 124 includes a steering straight tie rod 1241 and a steering diagonal tie rod 1242. The two ends of the steering straight tie rod 1241 are respectively connected to the two bogies 125. The steering servo 123 is connected to a steering steering wheel 1231. One end of the steering diagonal tie rod 1242 is connected to the steering steering wheel 1231, and the other end of the steering diagonal tie rod 1242 is connected to one of the two bogies 125.

[0038] In this embodiment, the mutually symmetrical bogie 125 comprises a first connecting member 1251 and a second connecting member 1252. The first connecting member 1251 is roughly triangular, and its three tips have circular steps. The circular step at one tip is used to install the first steering bearing and is connected to the front wheel, and the front wheel can rotate around the circular step at the tip. The circular steps at the other two tips of the bogie 125 are symmetrical to each other and are on the same axis, and are used to install the second bearing. The bogie 125 is fixed to the chassis 1 through the steering fixing plate 126 and the copper column. At this time, the bogie 125 can rotate around the two symmetrical second bearings. The second connecting member 1252 is perpendicular to the first connecting member 1251 and extends out of the contour area of ​​the first connecting member 1251. The second connecting member 1252 is a hollow triangular structure. The tip of the second connecting member 1252 is provided with a hole for connecting the steering straight tie rod 1241. The steering servo 123 is fixed at the front end of the chassis 1, and its output shaft faces the inside of the car. The steering steering wheel 1231 is connected to the output shaft of the steering servo 123. The end of the steering steering wheel 1231 is connected to one end of the steering diagonal tie rod 1242. The other end of the steering diagonal tie rod 1242 is connected to the round hole of the bogie 125 near the left front wheel 121. The two bogies 125 are connected by the steering straight tie rod 1241. When the output shaft of the steering servo 123 rotates, the steering steering wheel 1231 swings, driving the steering diagonal tie rod 1242 to move, so that the bogie 125 close to the left front wheel 121 rotates around the first bearing and the second bearing, and transmits the motion to the bogie 125 close to the right front wheel 122 through the steering straight tie rod 1241, driving them to rotate in the same direction.

[0039] Furthermore, if Figure 2 As shown, the chassis 1 also includes an upper plate 14 and a plurality of side plates 15. The upper plate 14 is arranged above the bottom plate 11. The upper side of the side plates 15 is connected to the upper plate 14 by screws, and the lower side of the side plates 15 is connected to the bottom plate 11 by screws. The plurality of side plates 15 include a front side plate, a rear side plate, a left side plate and a right side plate. These side plates are independent plates and are assembled when in use. A storage space is formed between the bottom plate 11, the upper plate 14 and the plurality of side plates 15. A power board and a battery compartment 16 for accommodating batteries are arranged in the storage space. The power board is fixed to the inner side of the upper plate 14. A rotatable battery flip cover is arranged at the bottom of the battery compartment 16. The battery arranged in the battery compartment 16 is electrically connected to the power board.

[0040] In this embodiment, the battery compartment 16 is installed in the middle of the base plate 11. The battery compartment 16 bulges above the base plate 11 and is in the shape of a box with a single-sided opening. The opening of the battery compartment 16 is located at the bottom of the base plate 11. The battery is placed in the battery compartment 16. A hinge is provided on one side of the opening of the battery compartment 16. One plate of the hinge is fixedly connected to the base plate 11, and the other plate of the hinge is connected to a battery flip cover. The battery flip cover can be rotated around the center of the hinge to open, so as to realize the closing and opening of the opening of the battery compartment 16.

[0041] Furthermore, if Figure 1 As shown, the rear wheel suspended radar 2 trolley also includes a front shell 5 arranged above the upper plate 14, the pan-tilt platform 3 is arranged on the top of the front shell 5, and the radar 2 is located in front of the pan-tilt platform 3.

[0042] In this embodiment, the radar 2 and the pan / tilt 3 are installed at the front part above the upper plate 14. The radar 2 is fixed to the front part of the upper plate 14 by a copper column. Radar covers are provided on both sides of the radar 2 to cover the radar motor. A radar front baffle is provided in front of the radar 2 to cover the suspended part below the radar 2. The pan / tilt 3 is arranged behind the radar 2. The pan / tilt 3 includes a pan / tilt horizontal servo, a pan / tilt bearing, a pan / tilt bearing upper cover bracket, and a pan / tilt pitch servo. The pan / tilt horizontal servo is fixed on the upper plate 14. The output shaft of the pan / tilt horizontal servo is fixed to the inner ring of the pan / tilt bearing. The inner ring of the pan / tilt bearing and the pan / tilt bearing upper cover bracket are connected by a copper column and fixed to the inner ring of the pan / tilt bearing. The three are relatively fixed and can rotate around the output shaft of the pan / tilt horizontal servo. The outer ring of the pan / tilt bearing and the front shell 5 are connected by a copper column and fixed to the outer ring of the pan / tilt bearing. The front shell 5 is in the shape of a door, and the bottom is fixed on the upper plate 14 to support the pan / tilt bearing. The pan-tilt servo is installed inside the pan-tilt bearing upper cover bracket and can rotate around the output shaft of the pan-tilt horizontal servo. The camera 4 is installed above the pan-tilt servo to achieve two degrees of freedom and increase the camera range.

[0043] Furthermore, if Figure 1 As shown, the rear wheel suspension radar 2 trolley also includes a rear shell 6 arranged above the upper plate 14, the rear shell 6 is located behind the front shell 5, the rear shell 6 is provided with a screen 7 and an antenna 8, a main control board is arranged in the rear shell 6, the screen 7 and the antenna 8 are connected to the main control board, and the power board is connected to the main control board.

[0044] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A rear wheel suspension radar trolley, characterized in that: The invention comprises a chassis, a radar, a gimbal and a camera, wherein the radar and the gimbal are installed on the chassis, and the camera is arranged on the gimbal. The chassis comprises a bottom plate, and a front wheel steering assembly and a rear wheel suspension assembly connected to the bottom plate, wherein the rear wheel suspension assembly comprises a left rear wheel, a right rear wheel, a left rear wheel motor, a right rear wheel motor, a suspension connecting rod and two motor brackets, wherein the two motor brackets are arranged side by side on the left and right, and the two motor brackets are rotatably connected to the bottom plate, the left rear wheel motor and the right rear wheel motor are respectively installed on the two motor brackets, the output shaft of the left rear wheel motor is connected to the left rear wheel, the output shaft of the right rear wheel motor is connected to the right rear wheel, and the two motor brackets are movably connected through the suspension connecting rod.

2. The rear wheel suspension radar trolley according to claim 1, characterized in that: The motor bracket is a U-shaped structure, and the lower side of at least one of the two side parts of the motor bracket is rotatably connected to the base plate, the upper side of at least one of the two side parts of one motor bracket is connected to the upper side of at least one of the two side parts of the other motor bracket through the suspension link, and the bottom surfaces of the two motor brackets are provided with a motor output shaft through-hole.

3. The rear wheel suspension radar trolley according to claim 2, characterized in that: One end of the suspension link is hinged to one of the motor brackets, and the other end of the suspension link is hinged to the other motor bracket.

4. The rear wheel suspension radar trolley according to claim 2, characterized in that: The rear wheel suspension assembly also includes a suspension bracket, one side of which is fixedly connected to the base plate, and the other side of which is rotatably connected to the motor bracket.

5. The rear wheel suspension radar trolley according to claim 4, characterized in that: The suspension bracket is an L-shaped structure, the horizontal panel of the suspension bracket is fixedly connected to the base plate, the vertical panel of the suspension bracket is provided with a bearing seat, the bearing seat is equipped with a bearing, and the lower side of at least one of the two side portions of the motor bracket is provided with a shaft rod, and the shaft rod is connected to the bearing.

6. The rear wheel suspension radar trolley according to claim 1, characterized in that: A left coupling is provided between the left rear wheel and the left rear wheel motor, one end of the left coupling is connected to the left rear wheel, and the other end of the left coupling is connected to the output shaft of the left rear wheel motor; a right coupling is provided between the right rear wheel and the right rear wheel motor, one end of the right coupling is connected to the right rear wheel, and the other end of the right coupling is connected to the output shaft of the right rear wheel motor.

7. The rear wheel suspension radar trolley according to claim 1, characterized in that: The front wheel steering assembly includes a left front wheel, a right front wheel, a steering servo, a steering tie rod assembly and two bogies, the two bogies are arranged opposite to each other on the base plate, the left front wheel and the right front wheel are respectively connected to the two bogies, the steering tie rod assembly includes a steering straight tie rod and a steering diagonal tie rod, both ends of the steering straight tie rod are respectively connected to the two bogies, the steering servo is connected to a steering steering wheel, one end of the steering diagonal tie rod is connected to the steering steering wheel, and the other end of the steering diagonal tie rod is connected to one of the two bogies.

8. The rear wheel suspension radar trolley according to claim 1, characterized in that: The chassis also includes an upper plate and several side plates, the upper plate is arranged above the bottom plate, the upper side of the side plate is connected to the upper plate, and the lower side plate is connected to the bottom plate, and a storage space is formed between the bottom plate, the upper plate and the side plates, and a power board and a battery compartment for accommodating batteries are provided in the storage space, the power board is fixed to the inner side of the upper plate, and a rotatable battery flip cover is provided at the bottom of the battery compartment, and the battery provided in the battery compartment is electrically connected to the power board.

9. The rear wheel suspension radar trolley according to claim 8, characterized in that: It also includes a front shell arranged above the upper plate, the pan-tilt platform is arranged on the top of the front shell, and the radar is located in front of the pan-tilt platform.

10. The rear wheel suspension radar trolley according to claim 9, characterized in that: It also includes a rear shell arranged above the upper plate, the rear shell is located behind the front shell, and the rear shell is provided with a screen and an antenna.

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