Multipurpose unmanned vehicle

Abstract

The utility model discloses a multi-purpose unmanned vehicle, and relates to the technical field of unmanned vehicle tools, and the unmanned vehicle comprises a vehicle frame mechanism which comprises a chassis structure; the two walking mechanisms are connected with the bottom of the chassis structure, each walking mechanism comprises a driving assembly and a supporting assembly which are sequentially arranged in the advancing direction of the unmanned vehicle, and the driving assemblies are located on the rear portion of the unmanned vehicle relative to the supporting assemblies. An auxiliary supporting assembly connected with the chassis structure is arranged between the driving assembly and the supporting assembly, and the driving assembly is in transmission connection with the supporting assembly through a crawler belt. The chassis structure is located in the area where the supporting assemblies and the auxiliary supporting assemblies are located, the driving assembly is located outside the chassis structure, and when the unmanned vehicle climbs or crosses over obstacles, the gravity center of the unmanned vehicle is located in the area formed by the supporting assemblies and the auxiliary supporting assemblies of the two walking mechanisms; according to the design form, the unmanned vehicle has excellent obstacle crossing and climbing performance.

Description

Technical Field

[0001] This application generally relates to the field of unmanned vehicle tooling technology, and specifically to a multi-purpose unmanned vehicle. Background Technology

[0002] In complex terrains such as mountains, muddy areas, and steps, traditional wheeled transport vehicles often cannot pass smoothly due to terrain limitations, easily slipping, getting stuck, or even overturning, thus preventing the completion of transport tasks. Although some tracked transport equipment exists on the market, it still suffers from overturning problems when dealing with complex terrain, especially during climbing and obstacle crossing. Therefore, we propose a multi-purpose unmanned vehicle to solve the above problems. Utility Model Content

[0003] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide a multi-purpose unmanned vehicle that improves the stability and reliability of vehicle operation.

[0004] This application provides a multi-purpose unmanned vehicle, including:

[0005] A chassis mechanism, the chassis mechanism including a chassis structure;

[0006] Two sets of walking mechanisms are connected to the bottom of the chassis structure, and the movement direction of the two sets of walking mechanisms is the direction of travel of the unmanned vehicle; each set of walking mechanisms includes a drive component and a support component arranged sequentially along the direction of travel of the unmanned vehicle, and the drive component is located at the rear of the unmanned vehicle relative to the support component; an auxiliary support component connected to the chassis structure is provided between the drive component and the support component, and the auxiliary support component is used to reduce the impact force of obstacles on the unmanned vehicle;

[0007] The drive assembly is connected to the track and the support assembly via transmission. The chassis structure is located within the area formed by the support assembly and auxiliary support assembly of the two sets of walking mechanisms. The drive assembly is located outside the chassis structure. When the unmanned vehicle climbs a slope or crosses an obstacle, the center of gravity of the unmanned vehicle is located within the area formed by the auxiliary support assembly and the support assembly of the two sets of walking mechanisms. The drive assembly is used to drive the track to rotate, so that the operation of the track generates friction with the ground, and at the same time drives the rotation of the support assembly, thereby propelling the unmanned vehicle forward.

[0008] According to the technical solution provided in the embodiments of this application, the walking mechanism further includes: a tensioning structure;

[0009] The tensioning structure includes:

[0010] A support base is provided, which is connected to the chassis structure. The support base is provided with two parallel slide rails, the extension direction of which is perpendicular to the travel direction of the unmanned vehicle. A first driving member is provided at one end of the slide rail near the chassis structure, and the end of the drive shaft of the first driving member is connected to the slider through an elastic connector.

[0011] A guide wheel is rotatably connected to the track, and a rotating shaft is mounted on the guide wheel. The two ends of the rotating shaft are respectively rotatably connected to the two sliders.

[0012] According to the technical solution provided in the embodiments of this application, the driving component includes:

[0013] A drive unit is mounted on the bottom of the chassis structure;

[0014] The drive wheel is connected to the drive shaft of the drive device via a transmission structure; the drive wheel has teeth that mesh with the inner side of the track.

[0015] According to the technical solution provided in the embodiments of this application, the transmission structure is a chain transmission structure, a gear transmission structure, or a belt transmission structure.

[0016] According to the technical solution provided in the embodiments of this application, the supporting component includes:

[0017] A first support frame, the first support frame having a first connecting section and two first mounting sections; the first connecting section is connected to the bottom of the chassis structure;

[0018] Two support wheels are rotatably connected to the two first mounting sections respectively; the support wheels are engaged with the inner side of the track.

[0019] According to the technical solution provided in the embodiments of this application, the auxiliary support component includes:

[0020] Two hinged second support frames, each second support frame having a second connecting section and two second mounting sections; the second connecting section is connected to the bottom of the chassis structure, and a shock-absorbing structure is provided between the second connecting section and the chassis structure;

[0021] Two auxiliary support wheels are rotatably connected to the two second mounting sections respectively; the auxiliary support wheels are in contact with the inner side of the track.

[0022] According to the technical solution provided in the embodiments of this application, it further includes: a control module, which is communicatively connected to the drive component and the tensioning structure, and is used to control the drive component and the tensioning structure to perform corresponding actions.

[0023] As can be seen from the above technical solution, this application has at least the following beneficial effects:

[0024] This application discloses a multi-purpose unmanned vehicle, comprising: a frame structure including a chassis structure; two sets of walking mechanisms, each connected to the bottom of the chassis structure, with the direction of movement of the two sets of walking mechanisms being the direction of travel of the unmanned vehicle; each set of walking mechanisms includes a drive component and a support component arranged sequentially along the direction of travel of the unmanned vehicle, with the drive component located at the rear of the unmanned vehicle relative to the support component; an auxiliary support component is provided between the drive component and the support component, the auxiliary support component being used to reduce the impact force of obstacles on the unmanned vehicle; the drive component is connected to the support component via a track; the chassis structure is located within the area formed by the support component and the auxiliary support component of the two sets of walking mechanisms, while the drive component is located outside the chassis structure. When the unmanned vehicle climbs a slope or crosses an obstacle, the center of gravity of the unmanned vehicle is located within the area formed by the auxiliary support component and the support component of the two sets of walking mechanisms; the drive component is used to drive the track to rotate, causing the track to generate friction with the ground, and simultaneously driving the rotation of the support component, thereby propelling the unmanned vehicle forward.

[0025] First, this application utilizes an auxiliary support component to assist track rotation, effectively reducing the impact of obstacles on the unmanned vehicle (UAV), significantly improving its stability and safety when driving on complex terrain, and reducing the risk of vehicle damage due to impacts. Second, the drive component is connected to the support component via the track, with the auxiliary support component located between the drive component and the support component. The chassis structure is situated within the area formed by the support and auxiliary support components of the two sets of walking mechanisms. This design ensures that when the UAV climbs slopes or traverses obstacles, its center of gravity remains stably located within the area formed by the auxiliary and support components of the two sets of walking mechanisms, i.e., at the front end of the UAV. This significantly enhances the vehicle's ability to cope with complex road conditions, giving it excellent obstacle-crossing and hill-climbing performance. Furthermore, the drive component drives the track to rotate, generating friction that propels the UAV forward. This transmission method is highly efficient, providing stable driving force for the UAV and ensuring smooth movement under various ground conditions, thus improving operational efficiency. Attached Figure Description

[0026] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the overall structure of a multi-purpose unmanned vehicle.

[0028] Figure 2 This is a cross-sectional view of a multi-purpose unmanned vehicle.

[0029] Figure 3This is a side view of a multi-purpose driverless vehicle.

[0030] Figure 4 This is a schematic diagram of a tensioning structure.

[0031] The following are the labels in the diagram: 1. Chassis structure; 2. Track; 3. Slide rail; 4. First drive component; 5. Elastic connector; 6. Slider; 7. Guide wheel; 8. Shock absorption structure; 9. Drive wheel; 10. First support frame; 11. Support wheel; 12. Second support frame; 13. Auxiliary support wheel. Detailed Implementation

[0032] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] like Figure 1 As shown in the figure, this is a schematic diagram of the overall structure of the multi-purpose unmanned vehicle provided in an embodiment of this application. This multi-purpose unmanned vehicle includes:

[0035] The frame mechanism includes the chassis structure 1;

[0036] Two sets of walking mechanisms are connected to the bottom of the chassis structure 1, and the movement direction of the two sets of walking mechanisms is the direction of travel of the unmanned vehicle; each set of walking mechanisms includes a drive component and a support component arranged sequentially along the direction of travel of the unmanned vehicle, with the drive component located at the rear of the unmanned vehicle relative to the support component; an auxiliary support component connected to the chassis structure 1 is provided between the drive component and the support component, and the auxiliary support component is used to reduce the impact force of obstacles on the unmanned vehicle;

[0037] The drive assembly is connected to the track 2 and the support assembly via transmission. The chassis structure 1 is located in the area formed by the support assembly and auxiliary support assembly of the two sets of walking mechanisms. The drive assembly is located outside the chassis structure 1. When the unmanned vehicle climbs a slope or crosses an obstacle, the center of gravity of the unmanned vehicle is located in the area formed by the auxiliary support assembly and the support assembly of the two sets of walking mechanisms. The drive assembly is used to drive the track 2 to rotate, so that the operation of the track 2 generates friction with the ground, and at the same time drives the rotation of the support assembly, thereby propelling the unmanned vehicle forward.

[0038] It should be noted that the two sets of walking mechanisms are symmetrically distributed at the bottom of the chassis structure 1. This layout ensures the balance of the unmanned vehicle during operation. Furthermore, the drive assembly is located behind the support assembly, and the two are connected via tracks 2, which helps achieve stable power transmission. The auxiliary support assembly is positioned between the drive assembly and the support assembly, which not only reduces the impact of obstacles on the unmanned vehicle but also plays a crucial role in stabilizing the vehicle's center of gravity when climbing slopes and overcoming obstacles. The chassis structure 1 is located within the area formed by the support assembly and auxiliary support assembly of the two walking mechanisms, making the overall structure of the unmanned vehicle more compact and reasonable when driving on complex terrain, effectively reducing the risk of tipping over due to instability.

[0039] First, this application utilizes an auxiliary support component to assist the rotation of the track 2, effectively reducing the impact of obstacles on the unmanned vehicle (UAV), greatly improving the vehicle's stability and safety when driving on complex terrain, and reducing the risk of vehicle damage due to impacts. Second, the drive component is connected to the support component via the track 2, with the auxiliary support component located between the drive component and the support component, and the chassis structure 1 situated within the area occupied by the support component and the auxiliary support component. This design ensures that when the UAV climbs slopes or traverses obstacles, its center of gravity remains stably located within the area formed by the auxiliary support component and the support component of the two walking mechanisms, i.e., at the front end of the UAV. This significantly enhances the vehicle's ability to cope with complex road conditions, giving the UAV excellent obstacle-crossing and slope-climbing performance. Furthermore, the drive component drives the track 2 to rotate, generating friction that propels the UAV forward. This transmission method is highly efficient, providing stable driving force for the UAV and ensuring smooth movement under various ground conditions, thus improving operational efficiency.

[0040] Furthermore, the walking mechanism also includes: a tensioning structure;

[0041] like Figure 4 As shown, the tensioning structure includes:

[0042] The support base is connected to the chassis structure 1. The support base is provided with two parallel slide rails 3. The extension direction of the slide rails 3 is perpendicular to the direction of travel of the unmanned vehicle. The end of the slide rail 3 near the chassis structure 1 is provided with a first driving member 4. The end of the drive shaft of the first driving member 4 is connected to the slider 6 through an elastic connector 5.

[0043] Guide wheel 7 is rotatably connected to track 2. A rotating shaft is installed on guide wheel 7, and the two ends of the rotating shaft are rotatably connected to two sliders 6 respectively.

[0044] It should be noted that the first driving component 4 is, for example, a cylinder, which drives the slider 6 to move on the slide rail 3 by extending and retracting the drive shaft of the cylinder. The elastic connector 5 is used to buffer the vibration generated by the first driving component 4 during operation, preventing damage to the entire tensioning structure and other components of the unmanned vehicle. At the same time, the elastic connector 5 can automatically adjust the position of the guide wheel 7 according to the actual stress on the track 2, so that the track 2 always maintains a suitable tension range. When the track 2 becomes longer due to wear or stretching during operation, the first driving component 4 can push the slider 6 to move, allowing the guide wheel 7 to tension the track 2; when the track 2 is too tight, the elastic connector 5 can contract appropriately, relieving the tension of the track 2, ensuring the normal operation of the track 2, and extending the service life of the track 2. When the contraction capacity of the elastic connector 5 cannot solve the problem of the track 2 being too tight, the first driving component 4 can drive the slider 6 to move, allowing the guide wheel 7 to relieve the tension of the track 2.

[0045] Furthermore, such as Figure 1 and Figure 2 As shown, the driving component includes:

[0046] A drive unit is installed at the bottom of chassis structure 1;

[0047] The drive wheel 9 is connected to the drive shaft of the drive device through a transmission structure; the drive wheel 9 has teeth that mesh with the inner side of the track 2.

[0048] It should be noted that the drive unit, such as a motor, is mounted at the bottom of the chassis structure 1, which effectively lowers the center of gravity of the unmanned vehicle and improves driving stability. The drive wheel 9 is connected to the drive shaft of the drive unit through a transmission structure. Different transmission structures have their own advantages and disadvantages. The type of transmission structure is not limited here and can be selected according to the actual situation. For example, chain drive structures have the characteristics of high transmission efficiency and high reliability, making them suitable for use in environments with high power requirements and harsh operating conditions; gear drive structures have high transmission accuracy and compact structure, and can achieve a large transmission ratio; belt drive structures have the advantages of low noise and good buffering performance, reducing the vibration impact on other components of the unmanned vehicle. In practical applications, a suitable transmission structure can be selected according to the specific usage scenario and performance requirements of the unmanned vehicle.

[0049] Furthermore, the transmission structure can be a chain drive, a gear drive, or a belt drive.

[0050] When choosing a chain drive structure, pay attention to the chain material and pitch. The material should have sufficient strength and wear resistance to withstand frequent use in complex terrain. The pitch should be determined based on the dimensions of the drive and driven pulleys and the required transmission ratio. Gear drives require precise machining and installation to ensure good meshing between gears and reduce wear and noise. Regular lubrication and maintenance of the gears are also necessary to extend their service life. For belt drives, monitor belt tension and wear during use. A loose belt will cause slippage, affecting power transmission; an overly tight belt will increase belt wear and motor load. Furthermore, avoid contact with oil or other corrosive substances to prevent belt aging.

[0051] Furthermore, such as Figure 2 As shown, the supporting components include:

[0052] The first support frame 10 has a first connecting section and two first mounting sections; the first connecting section is connected to the bottom of the chassis structure 1.

[0053] Two support wheels 11 are rotatably connected to two first mounting sections respectively; the support wheels 11 are engaged with the inner side of the track 2.

[0054] It should be noted that the first connecting section of the first support frame 10 is connected to the bottom of the chassis structure 1, and a shock-absorbing structure 8 is also provided near the connection point. The shock-absorbing structure 8 can be an elastic damper. The function of the shock-absorbing structure 8 is to reduce the vibration experienced by the support wheels during driving and transmit it to the chassis structure 1, protecting the equipment and components on the chassis structure 1. The two support wheels 11 are engaged with the inner side of the track 2. The diameter and material of the support wheels 11 affect the driving performance of the unmanned vehicle. A larger diameter support wheel 11 can improve the passability of the unmanned vehicle and reduce bumps on rough roads; in terms of material, materials with good wear resistance and strength can be selected to adapt to the friction and impact of complex terrain.

[0055] Furthermore, such as Figure 2 As shown, the auxiliary support components include:

[0056] Two hinged second support frames 12, each second support frame 12 having a second connecting section and two second mounting sections; the second connecting section is connected to the bottom of the chassis structure 1, and a shock-absorbing structure 8 is provided between the second connecting section and the chassis structure 1;

[0057] Two auxiliary support wheels 13 are rotatably connected to two second mounting sections respectively; the auxiliary support wheels 13 are in contact with the inner side of the track 2.

[0058] It should be noted that the second connecting section of the second support frame 12 is connected to the bottom of the chassis structure 1 through the shock-absorbing structure 8, further enhancing the shock absorption effect of the unmanned vehicle. The two auxiliary support wheels 13 contact the inner side of the track 2, and the height and position of the auxiliary support wheels 13 need to be precisely designed. Too high or too low a height will affect the effectiveness of the auxiliary support, and improper positioning may lead to uneven stress on the track 2. In actual use, the auxiliary support wheels 13 can promptly distribute the pressure on the track 2 when encountering obstacles, reducing the impact on the unmanned vehicle. Simultaneously, when climbing slopes, the auxiliary support wheels 13 can also increase the contact area between the track 2 and the ground, improving friction and preventing the unmanned vehicle from slipping.

[0059] The second connecting section is approximately V-shaped, with the vertices of the two second connecting sections connected to each other. One of the free ends of the second connecting section is connected to the chassis structure 1. The two second mounting sections of the same second support frame 12 are integrally formed and are connected to the other free end of the second connecting section. This free end is connected to one end of the shock-absorbing structure 8.

[0060] Furthermore, this unmanned vehicle also includes a control module, which is communicatively connected to the drive components and tensioning structure. The control module is used to control the drive components and tensioning structure to perform corresponding actions.

[0061] Here, the control module can employ a microcontroller, such as a single-chip microcomputer. It monitors the autonomous vehicle's driving status in real time by receiving signals from sensors, such as speed and tilt sensors. Based on these signals, the control module can precisely control the rotational speed and steering of the drive components, as well as the tension of the tensioning structure. For example, when the autonomous vehicle detects an impending climb, the control module can increase the power output of the drive components and adjust the tensioning structure to tighten the tracks, ensuring the vehicle can climb smoothly. When encountering obstacles, the control module can adjust the actions of the drive components based on sensor feedback, enabling it to bypass or overcome obstacles, thus improving the intelligence and automation of the autonomous vehicle.

[0062] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A multi-purpose unmanned vehicle, characterized in that, include: A frame mechanism, the frame mechanism including a chassis structure (1). Two sets of walking mechanisms are connected to the bottom of the chassis structure (1) respectively, and the movement direction of the two sets of walking mechanisms is the direction of travel of the unmanned vehicle; each set of walking mechanisms includes a drive component and a support component arranged sequentially along the direction of travel of the unmanned vehicle, and the drive component is located at the rear of the unmanned vehicle relative to the support component; an auxiliary support component connected to the chassis structure (1) is provided between the drive component and the support component, and the auxiliary support component is used to reduce the impact force of obstacles on the unmanned vehicle; The drive assembly is connected to the support assembly via the track (2); the chassis structure (1) is located in the area formed by the support assembly and auxiliary support assembly of the two sets of walking mechanisms, and the drive assembly is located outside the chassis structure (1). When the unmanned vehicle climbs a slope or crosses an obstacle, the center of gravity of the unmanned vehicle is located in the area formed by the auxiliary support assembly and support assembly of the two sets of walking mechanisms; the drive assembly is used to drive the track (2) to rotate, so that the operation of the track (2) generates friction with the ground, and at the same time drives the rotation of the support assembly, thereby propelling the unmanned vehicle forward.

2. The multi-purpose unmanned vehicle according to claim 1, characterized in that, The walking mechanism also includes: a tensioning structure; The tensioning structure includes: The support base is connected to the chassis structure (1). The support base is provided with two parallel slide rails (3). The extension direction of the slide rails (3) is perpendicular to the travel direction of the unmanned vehicle. The slide rail (3) is provided with a first drive member (4) at one end near the chassis structure (1). The drive shaft end of the first drive member (4) is connected to the slider (6) through an elastic connector (5). The guide wheel (7) is rotatably connected to the track (2). A rotating shaft is installed on the guide wheel (7), and the two ends of the rotating shaft are rotatably connected to the two sliders (6) respectively.

3. The multi-purpose unmanned vehicle according to claim 1, characterized in that, The driving component includes: A drive unit is mounted on the bottom of the chassis structure (1); The drive wheel (9) is connected to the drive shaft of the drive device via a transmission structure; the drive wheel (9) has teeth that mesh with the inner side of the track (2).

4. A multi-purpose unmanned vehicle according to claim 3, characterized in that, The transmission structure is a chain drive structure, a gear drive structure, or a belt drive structure.

5. A multi-purpose unmanned vehicle according to claim 1, characterized in that, The support components include: A first support frame (10) has a first connecting section and two first mounting sections; the first connecting section is connected to the bottom of the chassis structure (1); Two support wheels (11) are rotatably connected to the two first mounting sections respectively; the support wheels (11) are engaged with the inner side of the track (2).

6. A multi-purpose unmanned vehicle according to claim 1, characterized in that, The auxiliary support components include: Two hinged second support frames (12), each second support frame (12) having a second connecting section and two second mounting sections; the second connecting section is connected to the bottom of the chassis structure (1), and a shock-absorbing structure (8) is provided between the second connecting section and the chassis structure (1). Two auxiliary support wheels (13) are rotatably connected to two second mounting sections respectively; the auxiliary support wheels (13) are in contact with the inner side of the track (2).

7. A multi-purpose unmanned vehicle according to claim 2, characterized in that, Also includes: A control module is communicatively connected to the drive component and the tensioning structure, and the control module is used to control the drive component and the tensioning structure to perform corresponding actions.

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