Unmanned vehicle device and automatic auxiliary obstacle crossing device thereof

Abstract

The utility model discloses an unmanned vehicle device and an automatic auxiliary obstacle crossing device thereof, and relates to the technical field of vehicles, and the automatic auxiliary obstacle crossing device comprises a sleeve, sliding grooves are formed in the two sides of the inner wall of the sleeve; the contraction cylinder is arranged in the sliding groove; the fixed end of the driving device is connected with the sleeve, and the telescopic end of the driving device is connected with one end of the telescopic cylinder; and the obstacle crossing wheel is arranged at the other end of the contraction cylinder, and the obstacle crossing wheel is used for making contact with the ground so as to provide supporting force when the vehicle crosses obstacles. The device is convenient to operate for assisting the vehicle in obstacle crossing and simple in structure.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, and more specifically, to an automatic auxiliary obstacle-crossing device. In addition, it also relates to an unmanned vehicle device including the above automatic auxiliary obstacle-crossing device. Background Art

[0002] The passing performance on complex terrains is the most important performance of special vehicles, mainly referring to the obstacle-crossing ability of the vehicles. The on-site terrains they face are all unstructured, that is, special vehicles must face narrow spaces, collapsed buildings, and rough ground. Therefore, special vehicles need to have good obstacle-crossing ability. However, multiple complex environments are often demanding for vehicle design, and even contradictory. For example, when a vehicle needs to cross a narrow space, the vehicle body size must be small enough, while good obstacle-crossing performance requires a certain volume to ensure. An ideal way to improve the obstacle-crossing performance is to add an auxiliary obstacle-crossing device. However, the existing obstacle-crossing devices have disadvantages such as complex structure, cumbersome operation, and large layout space, which seriously affect the use of the auxiliary obstacle-crossing device and the efficiency of obstacle crossing.

[0003] In summary, how to provide an auxiliary obstacle-crossing device with convenient operation and simple structure for assisting vehicles to cross obstacles is an urgent problem to be solved by those skilled in the art at present. Summary of the Utility Model

[0004] In view of this, the purpose of the utility model is to provide an automatic auxiliary obstacle-crossing device, which has convenient operation and simple structure for assisting vehicles to cross obstacles.

[0005] Another purpose of the utility model is to provide an unmanned vehicle device including the above automatic auxiliary obstacle-crossing device.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An automatic auxiliary obstacle-crossing device includes:

[0008] A sleeve, with chutes provided on both sides of its inner wall;

[0009] A retractable cylinder, which is arranged in the chute;

[0010] A driving device, whose fixed end is connected to the sleeve, and the telescopic end of the driving device is connected to one end of the retractable cylinder;

[0011] An obstacle-crossing wheel, which is arranged at the other end of the retractable cylinder, and the obstacle-crossing wheel is used to contact the ground to provide support force when the vehicle crosses an obstacle.

[0012] In one embodiment, the driving device includes a driving oil cylinder or a driving motor.

[0013] In one embodiment, through holes symmetrically distributed are provided on both sides of the sleeve, and the fixed end of the driving device is fixed in the sleeve through a first connecting shaft and the through holes; the telescopic end of the driving device is connected to the retractable cylinder through a fastening pin.

[0014] In one embodiment, the obstacle-crossing wheel is connected to the retractable cylinder through a second connecting shaft, and the obstacle-crossing wheel rotates freely around the second connecting shaft.

[0015] In one embodiment, the obstacle-crossing wheel is made of wear-resistant material.

[0016] An unmanned vehicle device includes the automatic auxiliary obstacle-crossing device described in any one of the above.

[0017] In one embodiment, an unmanned vehicle is further included. Front wheels are symmetrically provided on both sides of the front end of the unmanned vehicle, middle wheels are symmetrically provided on both sides of the middle end, and rear wheels are symmetrically provided on both sides of the rear end. The automatic auxiliary obstacle-crossing device is arranged between the center of gravity of the unmanned vehicle and the rear wheels.

[0018] In one embodiment, the automatic auxiliary obstacle-crossing device is further provided between the front wheels and the middle wheels.

[0019] In one embodiment, the unmanned vehicle further includes a front-wheel swing arm for driving the front wheels to telescopically move, a middle-wheel swing arm for driving the middle wheels to telescopically move, and a rear-wheel swing arm for driving the rear wheels to telescopically move.

[0020] When using the automatic auxiliary obstacle-crossing device provided by the present utility model, the sleeve of the automatic auxiliary obstacle-crossing device can be installed on a vehicle that needs to increase auxiliary obstacle-crossing. When it is necessary to perform an auxiliary obstacle-crossing operation on the vehicle, the driving device can be controlled to operate, so as to drive the retractable cylinder to extend downward relative to the sleeve. That is, only the extension length of the driving device needs to be adjusted according to the specific road conditions of the obstacle-crossing road surface, so that the obstacle-crossing wheel contacts the ground and provides a supporting force when the vehicle crosses the obstacle, making the vehicle pass through the obstacle more smoothly and facilitating the improvement of the obstacle-crossing efficiency.

[0021] After the vehicle crosses the obstacle, the driving device can be controlled to run in the reverse direction, so that the retractable cylinder moves upward relative to the sleeve, and further the obstacle-crossing wheel is away from the ground, avoiding the obstacle-crossing wheel interfering with the normal operation of the vehicle. That is, when the automatic auxiliary obstacle-crossing device is not needed, by controlling the driving device to contract, the obstacle-crossing wheel no longer contacts the ground, and the normal passing performance of the vehicle can be not affected. The structure of this device is simple, and the operation of assisting the vehicle to cross the obstacle is simple, and it can be popularized and used.

[0022] In summary, the automatic auxiliary obstacle-crossing device provided by the present utility model is convenient to operate and has a simple structure for assisting the vehicle to cross the obstacle.

[0023] In addition, the present utility model further provides an unmanned vehicle device including the above automatic auxiliary obstacle crossing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0025] Figure 1 It is a schematic structural diagram of the automatic auxiliary obstacle crossing device provided by the present utility model;

[0026] Figure 2 It is a schematic structural diagram of the unmanned vehicle device provided by the present utility model;

[0027] Figure 3 It is a schematic structural diagram when the front wheel and the middle wheel cross a vertical obstacle;

[0028] Figure 4 It is a schematic structural diagram when the automatic auxiliary obstacle crossing device assists in crossing an obstacle;

[0029] Figure 5 For Figure 4 Based on this, when controlling the swing arm postures of each wheel of the unmanned vehicle to make the vehicle body in a horizontal state, it is a schematic structural diagram;

[0030] Figure 6 It is a schematic structural diagram when the vehicle body moves forward as a whole under the support of the obstacle crossing wheel 7.

[0031] Figures 1-6 Wherein:

[0032] 1 is the first connecting shaft, 2 is the driving device, 3 is the sleeve, 4 is the fastening pin, 5 is the contraction cylinder, 6 is the second connecting shaft, 7 is the obstacle crossing wheel, 8 is the unmanned vehicle, 81 is the front wheel, 82 is the middle wheel, 83 is the rear wheel, and 84 is the center of gravity. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0034] The core of the present utility model is to provide an automatic auxiliary obstacle-crossing device, which is convenient to operate and has a simple structure for assisting a vehicle to cross obstacles. Another core of the present utility model is to provide an unmanned vehicle device including the above-mentioned automatic auxiliary obstacle-crossing device.

[0035] Please refer to Figures 1 to 6 。

[0036] This specific embodiment provides an automatic auxiliary obstacle-crossing device, including:

[0037] A sleeve 3, with chutes provided on both sides of its inner wall;

[0038] A retractable cylinder 5, which is arranged in the chute;

[0039] A driving device 2, whose fixed end is connected to the sleeve 3, and the telescopic end of the driving device 2 is connected to one end of the retractable cylinder 5;

[0040] An obstacle-crossing wheel 7, which is arranged at the other end of the retractable cylinder 5, and the obstacle-crossing wheel 7 is used to contact the ground to provide a supporting force when the vehicle crosses an obstacle.

[0041] It should be noted that by providing chutes on both sides of the inner wall of the sleeve 3 to install the retractable cylinder 5 into the chute, it can effectively avoid the pollution and damage of the driving device 2 by silt and sand. This device drives the retractable cylinder 5 to expand and contract through the driving device 2, so that the obstacle-crossing wheel 7 contacts or moves away from the ground, thereby assisting the vehicle to cross obstacles or avoiding the obstacle-crossing wheel 7 from interfering with the vehicle movement. The structure of this device is compact and simple, easy to process, and has a small layout space.

[0042] In the actual application process, the shapes, structures, dimensions, materials, positions, numbers, etc. of the sleeve 3, the retractable cylinder 5, the driving device 2, and the obstacle-crossing wheel 7 can be determined according to the actual situation and actual needs.

[0043] When using the automatic auxiliary obstacle-crossing device provided by the present utility model, the sleeve 3 of the automatic auxiliary obstacle-crossing device can be installed on the vehicle that needs to increase auxiliary obstacle-crossing. When it is necessary to perform an auxiliary obstacle-crossing operation on the vehicle, the driving device can be controlled to operate, so as to drive the retractable cylinder 5 to extend downward relative to the sleeve 3 through the driving device 2, that is, only the extension length of the driving device 2 needs to be adjusted according to the specific road conditions of the obstacle-crossing road surface, so that the obstacle-crossing wheel 7 contacts the ground to provide a supporting force when the vehicle crosses an obstacle, making the vehicle pass through the obstacle more smoothly and facilitating the improvement of the obstacle-crossing efficiency.

[0044] After the vehicle crosses an obstacle, the driving device 2 can be controlled to run in reverse, so that the retractable cylinder 5 moves upward relative to the sleeve 3, and further the obstacle-crossing wheel 7 is far away from the ground, avoiding interference of the obstacle-crossing wheel 7 with the normal operation of the vehicle. That is, when the automatic auxiliary obstacle-crossing device is not needed, by controlling the contraction of the driving device 2, the obstacle-crossing wheel 7 is no longer in contact with the ground, so that the normal passing performance of the vehicle is not affected. The structure of this device is simple, and the operation of assisting the vehicle to cross obstacles is simple, and it can be popularized and used.

[0045] In summary, the automatic auxiliary obstacle-crossing device provided by the present utility model is convenient to operate and has a simple structure for assisting the vehicle to cross obstacles.

[0046] In one embodiment, the driving device 2 includes a driving oil cylinder or a driving motor.

[0047] It should be noted that the driving device 2 can be set as a driving oil cylinder. When it is necessary to assist the vehicle to cross an obstacle (including an obstacle or a ground obstacle), only the length of the driving oil cylinder needs to be adjusted according to the specific road conditions of the obstacle-crossing road surface to ensure that the obstacle-crossing wheel 7 is in contact with the ground, assisting the vehicle to cross the obstacle, which is beneficial to improving the obstacle-crossing efficiency. When auxiliary obstacle-crossing is not required, by controlling the contraction of the driving oil cylinder, the obstacle-crossing wheel 7 is no longer in contact with the ground, avoiding affecting the normal passing performance of the vehicle. Of course, the driving device 2 can also be set as a driving motor, which can achieve the same use effect as the driving oil cylinder.

[0048] In one embodiment, through holes symmetrically distributed are provided on both sides of the sleeve 3, and the fixed end of the driving device 2 is fixed in the sleeve 3 through the first connecting shaft 1 and the through holes; the telescopic end of the driving device 2 is connected to the retractable cylinder 5 through the fastening pin 4. Therefore, when the driving device 2 operates, the retractable cylinder 5 can be smoothly extended or retracted relative to the sleeve 3.

[0049] In one embodiment, the obstacle-crossing wheel 7 is connected to the retractable cylinder 5 through the second connecting shaft 6, and the obstacle-crossing wheel 7 rotates freely around the second connecting shaft 6. Therefore, when the obstacle-crossing wheel 7 assists the vehicle to cross an obstacle, after the obstacle-crossing wheel 7 contacts the ground, it can roll forward together with the vehicle, thereby reducing the obstacle-crossing resistance.

[0050] It should be noted that the automatic auxiliary obstacle-crossing device is connected to the vehicle body through the through holes on both sides of the sleeve 3, and the telescopic movement of the driving device 2 drives the retractable cylinder 5 to move up and down to adjust the height of the obstacle-crossing wheel 7 from the ground, so as to adapt to different obstacle-crossing terrains. When encountering an obstacle that requires auxiliary obstacle-crossing, the driving device 2 can be controlled to extend the obstacle-crossing wheel 7 to support on the surface of the obstacle. In this way, when the rear wheel 83 of the vehicle is suspended during obstacle-crossing, the obstacle-crossing wheel 7 can provide a support point for the vehicle body, assisting the vehicle to cross the obstacle better and helping to avoid the vehicle body from tipping over after being suspended.

[0051] In one embodiment, the obstacle-crossing wheel 7 is made of wear-resistant material to improve the service life of the obstacle-crossing wheel 7. During actual operation, the material of the obstacle-crossing wheel 7 and the like can be determined according to the actual situation and actual requirements.

[0052] In addition to the above-mentioned automatic auxiliary obstacle-crossing device, the present utility model further provides an unmanned vehicle device including the automatic auxiliary obstacle-crossing device disclosed in the above embodiment. For the structures of other parts of the unmanned vehicle device, reference can be made to the prior art and will not be elaborated herein.

[0053] In one embodiment, an unmanned vehicle 8 is further included. On both sides of the front end of the unmanned vehicle 8, front wheels 81 are symmetrically arranged; on both sides of the middle end, middle wheels 82 are symmetrically arranged; on both sides of the rear end, rear wheels 83 are symmetrically arranged. The automatic auxiliary obstacle-crossing device is arranged between the center of gravity 84 of the unmanned vehicle 8 and the rear wheels 83. Among them, the automatic auxiliary obstacle-crossing device being arranged between the center of gravity 84 of the unmanned vehicle 8 and the rear wheels 83 means that two automatic auxiliary obstacle-crossing devices are arranged on the unmanned vehicle 8, and they are correspondingly distributed with the two rear wheels 83, so that when the rear wheels 83 are suspended during obstacle crossing, the obstacle-crossing wheel 7 can be used to replace the rear wheels 83.

[0054] It should be noted that the front wheels 81 are installed at the front end of the vehicle body of the unmanned vehicle 8 through the first wheel shaft, the middle wheels 82 are installed at the middle end of the vehicle body through the second wheel shaft, and the rear wheels 83 are installed at the rear end of the vehicle body through the third wheel shaft. Figure 2 For a schematic diagram showing the arrangement of the automatic auxiliary obstacle-crossing device on the unmanned vehicle 8, from Figure 2 it can be seen that the center of gravity 84 of the unmanned vehicle 8 is between the second wheel shaft and the third wheel shaft and is close to the second wheel shaft. The automatic auxiliary obstacle-crossing device can be arranged between the center of gravity 84 of the unmanned vehicle 8 and the third wheel shaft. The occupied space of this automatic auxiliary obstacle-crossing device is small and it is easy to arrange. When there is no obstacle or no auxiliary obstacle crossing is required, the automatic auxiliary obstacle-crossing device can be retracted under the frame of the unmanned vehicle 8 to ensure that the automatic auxiliary obstacle-crossing device does not affect the normal driving of the unmanned vehicle 8.

[0055] Figure 2 For a structural schematic diagram of the unmanned vehicle device. Among them, Figure 3 For a schematic diagram in which the front wheels 81 and the middle wheels 82 have crossed the vertical obstacle; when the rear wheels 83 cross the obstacle, since the rear wheels 83 will be suspended and the center of gravity 84 is between the second wheel shaft and the third wheel shaft, the unmanned vehicle 8 will inevitably tilt backward, resulting in the rear wheels 83 being unable to cross the obstacle; at this time, if a support point is provided for the unmanned vehicle 8 between the center of gravity 84 and the third wheel shaft, the problem of the vehicle body of the unmanned vehicle 8 tilting backward when the rear wheels 83 are suspended during obstacle crossing can be solved.

[0056] Figure 4It is a schematic structural diagram when the automatic auxiliary obstacle-crossing device assists in crossing an obstacle, that is, a schematic diagram of controlling the driving oil cylinder to extend so that the obstacle-crossing wheel 7 touches the ground to provide a support point for the vehicle body between the center of gravity 84 of the driverless vehicle 8 and the third wheel axle. At this time, the obstacle-crossing wheel 7 can support the vehicle body and act as a spare rear wheel 83 for driving.

[0057] Figure 5 For controlling Figure 4 On this basis, the swing arm postures of the wheels of the driverless vehicle 8 are controlled to make the vehicle body in a horizontal state. At this time, the height at which the rear wheel 83 is lifted is not lower than the height of the obstacle to avoid the rear wheel 83 colliding with the obstacle when the vehicle moves forward to cross the obstacle in the next step.

[0058] Figure 6 It is a schematic structural diagram when the vehicle body moves forward as a whole under the support of the obstacle-crossing wheel 7. While moving, the obstacle-crossing wheel 7 of the auxiliary device rolls forward around the connecting shaft, making the obstacle-crossing process smoother; when the rear wheel 83 crosses the obstacle, the swing arm of the rear wheel 83 is adjusted to make the rear wheel 83 land on the ground, and then, the driving oil cylinder of the automatic auxiliary obstacle-crossing device is controlled to contract to Figure 2 The position at that time. In this way, the vehicle can cross obstacles that it cannot cross by itself with the assistance of the automatic auxiliary obstacle-crossing device. The entire auxiliary obstacle-crossing process has few steps, simple operation, and high obstacle-crossing success rate. Moreover, the position adjustment of the automatic auxiliary obstacle-crossing device is accurate and fast, which is beneficial to improving the obstacle-crossing efficiency;

[0059] In one embodiment, an automatic auxiliary obstacle-crossing device is further provided between the front wheel 81 and the middle wheel 82. That is, an automatic auxiliary obstacle-crossing device can be additionally provided between the front wheel 81 and the middle wheel 82 of the driverless vehicle 8 so that when the driverless vehicle 8 performs a reverse operation and encounters an obstacle, the automatic auxiliary obstacle-crossing device can be used for obstacle-crossing operation. Therefore, there can be various ways for the layout direction and layout quantity of the automatic auxiliary obstacle-crossing device on the vehicle body, but they all belong to the scheme type of this application.

[0060] It should be noted that a camera can be installed in front of the vehicle head of the driverless vehicle 8 to wirelessly transmit the road conditions ahead to the handheld remote controller. The operator can perceive the road conditions ahead in real time through the screen on the handheld remote controller to check whether there are obstacles on the road surface, so as to facilitate the operator to decide whether to bypass the obstacles or perform obstacle crossing operations through the automatic auxiliary obstacle crossing device to adjust the posture of the driverless vehicle 8, that is, to control the operation of the front wheel 81, the middle wheel 82, the rear wheel 83 and the automatic auxiliary obstacle crossing device. In one embodiment, the driverless vehicle 8 further includes a front wheel swing arm for driving the front wheel 81 to telescopically move, a middle wheel swing arm for driving the middle wheel 82 to telescopically move, and a rear wheel swing arm for driving the rear wheel 83 to telescopically move. Therefore, when controlling the movement of the driverless vehicle 8, the telescopic movement operations of the front wheel 81, the middle wheel 82 and the rear wheel 83 can be realized by controlling the operation of the front wheel swing arm, the middle wheel swing arm and the rear wheel swing arm, etc., so that the driverless vehicle 8 can better cross the road obstacles.

[0061] It should be noted that for the first connecting shaft 1 and the second connecting shaft 6, the first wheel shaft, the second wheel shaft and the third wheel shaft mentioned in the present utility model, where the first, second and third are only used to distinguish different positions and there is no order of precedence.

[0062] In addition, it should be noted that the orientation or positional relationship indicated by "front and back", "up and down", etc. in the present utility model is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of simplifying the description and facilitating understanding, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present utility model.

[0063] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. Any combination of all the embodiments provided by the present utility model is within the protection scope of this utility model and will not be elaborated here.

[0064] The above has introduced in detail the driverless vehicle device and its automatic auxiliary obstacle crossing device provided by the present utility model. Specific examples are used in this article to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and modifications can be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. An automatic obstacle-crossing assisting device, characterized in that: include: The sleeve (3) has sliding grooves on both sides of its inner wall; A shrinking cylinder (5), which is arranged in the slide groove; A driving device (2), a fixed end of which is connected to the sleeve (3), and a telescopic end of the driving device (2) is connected to one end of the contraction tube (5); An obstacle-crossing wheel (7) is arranged at the other end of the retractable cylinder (5), and the obstacle-crossing wheel (7) is used to contact the ground to provide a supporting force when the vehicle crosses an obstacle.

2. The automatic obstacle-crossing assisting device according to claim 1, characterized in that: The driving device (2) comprises a driving cylinder or a driving motor.

3. The automatic obstacle-crossing assisting device according to claim 1, characterized in that: The sleeve (3) is provided with symmetrically distributed through holes on both sides, the fixed end of the drive device (2) is fixed in the sleeve (3) via the first connecting shaft (1) and the through holes, and the telescopic end of the drive device (2) is connected to the contraction tube (5) via a fastening pin (4).

4. The automatic obstacle-crossing assisting device according to any one of claims 1 to 3, characterized in that: The obstacle-crossing wheel (7) is connected to the shrinking cylinder (5) via a second connecting shaft (6), and the obstacle-crossing wheel (7) is freely rotatable around the second connecting shaft (6).

5. The automatic obstacle-crossing assisting device according to any one of claims 1 to 3, characterized in that: The obstacle-crossing wheel (7) is made of a wear-resistant material.

6. An unmanned vehicle device, characterized in that: The automatic assisted obstacle crossing device comprises any one of claims 1 to 5.

7. The unmanned vehicle device according to claim 6, characterized in that: The invention also comprises an unmanned vehicle (8), wherein front wheels (81) are symmetrically arranged on both sides of the front end of the unmanned vehicle (8), middle wheels (82) are symmetrically arranged on both sides of the middle end, and rear wheels (83) are symmetrically arranged on both sides of the rear end, and the automatic auxiliary obstacle crossing device is arranged between the center of gravity (84) of the unmanned vehicle (8) and the rear wheels (83).

8. The unmanned vehicle device according to claim 7, characterized in that: The automatic auxiliary obstacle crossing device is also provided between the front wheel (81) and the middle wheel (82).

9. The unmanned vehicle device according to claim 7, characterized in that: The unmanned vehicle (8) further comprises a front wheel swing arm for driving the front wheel (81) to move telescopically, a middle wheel swing arm for driving the middle wheel (82) to move telescopically, and a rear wheel swing arm for driving the rear wheel (83) to move telescopically.

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