CN102991599A - Simulated obstacle crossing probe vehicle - Google Patents

Abstract

A bionic obstacle-surpassing detection vehicle is composed of an obstacle-surmounting system and a detection system. The box body of the obstacle clearance system is fixed with the first bracket and the second bracket. The two sides of the box body are respectively equipped with batteries and circuit boards. One end is movably connected to the connecting rod, and the other end is supported on the middle tire. The motor is connected to the wheel through the motor shaft, the circlip and the first connecting rod sleeve shaft. The connecting rod is connected with the steering motor, and the motor is connected with the tire frame through the motor shaft, the bearing, the snap ring and the spacer. The front end of the DC stepping motor of the detection system is fixed with a detection head, the motor is movably connected to the straight bevel gear, the angled connecting rod is connected to the DC stepping motor and the bushing, and the connecting rod of the motor is connected to another bushing through screws. The above structures are combined and connected, and the formed elephant trunk structure is fixed on the box body through the first bevel gear shaft, the second bevel gear shaft and the angled seat.

Description

Bionic obstacle detection vehicle

technical field

The invention relates to a detection vehicle technology, in particular to a bionic obstacle-surpassing detection vehicle capable of multi-directional detection of the environment under complex terrain conditions.

Background technique

Although the tracked search and rescue robots developed at home and abroad have a strong ability to overcome obstacles, they are too large in size, complex in structure, and lack the ability to detect small spaces. Although wheeled search and rescue robots can detect small spaces, their structure It is complex, does not have the ability to overcome obstacles, and lacks the ability to detect all directions of the required detection environment.

Contents of the invention

The object of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a bionic obstacle-surmounting detection vehicle with a simple structure, strong obstacle-surmounting ability, and capable of all-round detection in a narrow space.

The technical solution of the present invention is: a bionic obstacle-surpassing detection vehicle, which is composed of an obstacle-surmounting system and a detection system, wherein:

The box body of the obstacle clearance system is fixed with the first bracket and the second bracket. The two sides of the box body are respectively equipped with batteries and circuit boards. One end is movably connected to the connecting rod and the other end is supported on the middle tire. The motor is connected to the wheel through the motor shaft, the circlip and the first connecting rod sleeve shaft. The four wheels in the middle are driven by independent motors. The connecting rod, the second connecting rod and the third connecting rod are connected to the steering motor, the spring is connected to the first connecting rod and the second connecting rod, the first connecting rod and the third connecting rod are movably connected with pins, and the motor passes through the motor shaft, the bearing, the card The spring and the spacer are connected with the tire frame, and the tire frame is movably connected with the guide wheel.

The front end of the DC stepping motor of the detection system is fixedly equipped with a detection head, the motor is movably connected to the straight bevel gear, the angled connecting rod is connected to the DC stepping motor and the bushing, and the connecting rod of the motor is connected to another bushing through screws. The above structures are combined and connected, and the formed elephant trunk structure is fixed on the box body through the first bevel gear shaft, the second bevel gear shaft and the angled seat.

The first parallelogram link mechanism includes two fourth links and two swing bars, and the fourth link and the swing bars are connected by a hinge. The middle positions of the two fourth connecting rods are fixed on the carriage of the probe car through a hinge, and the connecting rods can rotate around the hinge point.

The two-degree-of-freedom angle-slope mechanism is composed of a DC stepping motor, an angle-slope connecting rod, a shaft sleeve, a first bevel gear shaft, a second bevel gear shaft and a straight bevel gear, and the first bevel gear shaft and the shaft sleeve The angle between them is 45°.

When the front side driving wheel contacts with the obstacle, the second parallelogram linkage mechanism and the spring formed by the first connecting rod, the second connecting rod and the third connecting rod are deformed as a whole, and the front wheel forms an effective passive obstacle surmounting, while the rear wheel is still in contact with the obstacle. The ground contact pushes the car body forward; the front wheels are converted into driving wheels after overcoming obstacles, driving the rear wheels to climb obstacles. Due to the deflection and deformation of the second parallelogram connecting rod when encountering obstacles, the rising height and inclination of the center of gravity of the vehicle body are reduced, and smooth obstacle surmounting can be realized.

Compared with the prior art, the present invention has the following characteristics:

Due to the adoption of the above structure, the present invention has a strong ability to overcome obstacles. The crank assembly in the double-crank obstacle-climbing mechanism can provide the front guide wheel with a large upward movement range. Maneuverability, can detect narrow space, elephant trunk type detection structure, can flexibly detect all directions.

The detailed structure of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Accompanying drawing 1 is the overall assembly drawing of the present invention;

Accompanying drawing 2 is the plan view among accompanying drawing 1.

Detailed ways

A bionic obstacle-surmounting detection vehicle is composed of an obstacle-breaking system and a detection system, wherein: a bionic obstacle-surmounting detection vehicle is composed of an obstacle-breaking system and a detection system, wherein:

The first bracket 10 and the second bracket 29 are fixed on the box body 12 of the obstacle-surpassing system, and the interior of both sides of the box body 12 is respectively equipped with a storage battery 30 and a circuit board 31, and the connecting rod 11 passes through the second connecting rod bushing 21 and the pin shaft. 22 is connected on the bracket 29, one end of the connecting swing rod 32 is movably connected to the connecting rod 11, and the other end is supported on the middle tire 9, and the motor 37 is connected to the wheel 9 through the motor shaft 26, the snap spring 28 and the first connecting rod sleeve shaft 20. , the four wheels in the middle are all driven by independent motors, the front of the box is connected to the steering motor 17 through the first connecting rod 13, the second connecting rod 15, and the third connecting rod 16, and the spring 14 is connected to the first connecting rod 13 and the second connecting rod. Connecting rod 15, first connecting rod 13, the 3rd connecting rod 16 are flexibly connected with pin 36, motor 17 is connected with tire frame 18 by motor shaft 35, bearing 24, jumper 25, spacer 23, and tire frame 18 is connected with guide Round 19 Active Connections.

The front end of the DC stepping motor 1 of the detection system is fixedly equipped with a detection head 37, the motor 1 is movably connected to the straight bevel gear 7, the angular connecting rod 2 is connected to the DC stepping motor 1 and the bushing 3, and the motor connecting rod 4 passes through the screw 5 , 6 is connected with another shaft sleeve 8, and a plurality of above-mentioned structures are combined and connected, and the formed elephant trunk structure is fixed on the box body 12 through the first bevel gear shaft 33, the second bevel gear shaft 34 and the angled seat 27 .

The first parallelogram linkage mechanism includes two fourth connecting rods 11 and two swing rods 32, and the connecting rods 11 and the swing rods 32 are connected by a hinge. The middle positions of the two connecting rods 11 are fixed on the carriage 12 of the probe car through a hinge, and the connecting rods 11 can rotate around the hinge point.

The two-degree-of-freedom angle-slant mechanism is composed of a DC stepper motor 1, an angle-slope connecting rod 2, a bushing 3, a first bevel gear shaft 33, a second bevel gear shaft 34, and a straight bevel gear 7. The first bevel An included angle of 45° is formed between the gear shaft 33 and the axle sleeve 8 .

When the front side driving wheel contacts the obstacle, the second parallelogram linkage mechanism and the spring 14 formed by the first connecting rod 13, the second connecting rod 15, and the third connecting rod 16 are deformed as a whole, and the front wheel 19 forms an effective passive barrier-crossing mechanism. , rear wheel 38 still pushes car body forward with ground contact; Due to the deflection and deformation of the second parallelogram linkage mechanism when encountering obstacles, the rising height and inclination of the center of gravity of the vehicle body are reduced, and smooth obstacle surmounting can be realized.

Claims (3)

1. bionical obstacle detouring probe vehicles is characterized in that: formed by obstacle detouring system and detection system, wherein:

Be fixed with the first support on the casing of obstacle detouring system, the second support, storage battery is equipped with respectively in inside, casing both sides, circuit card, connecting rod is by the second connecting rod axle sleeve, bearing pin is attached on the support, connecting fork one end is movably connected on the connecting rod, the other end is supported on the tire of middle part, motor passes through motor shaft, jump ring is connected wheel with the first connecting rod sleeve, four wheels in middle part are all used independently motor-driven, first connecting rod is passed through in the casing front portion, second connecting rod, third connecting rod connects steer motor, spring connects first connecting rod, second connecting rod, first connecting rod, third connecting rod is flexibly connected with pin, motor passes through motor shaft, bearing, jump ring, pad is connected with tire dolly, and tire dolly and track adjusting wheel are flexibly connected;

The front end of the dc stepper motor of detection system fixedly is equipped with detecting head, motor is flexibly connected spur bevel gear, the angle diagonal control arm connects dc stepper motor and axle sleeve, motor connection lever links to each other with another axle sleeve by screw, a plurality of said structures are connected, and the trunk type structure that type becomes is returned by the oblique seat in the first bevel gear shaft, the second bevel gear shaft and angle and fixed on the casing.

2. a kind of bionical obstacle detouring probe vehicles according to claim 1, it is characterized in that: form the first parallelogram linkage by two connecting rods, two forks, adopt chain connection between connecting rod and the fork, two connecting rod midways location fix on the probe vehicles railway carriage by hinges fixing, and connecting rod can rotate around hinge-point.

3. a kind of bionical obstacle detouring probe vehicles according to claim 1 and 2, it is characterized in that: the oblique mechanism in two-freedom angle is comprised of dc stepper motor, angle diagonal control arm, axle sleeve, the first bevel gear shaft, the second bevel gear shaft and spur bevel gear, is 45 ° of angles between the first bevel gear shaft and the axle sleeve.

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