CN203032789U

CN203032789U - Self-leveling five-wheel survey vehicle

Info

Publication number: CN203032789U
Application number: CN 201220685133
Authority: CN
Inventors: 李国铭; 刘君敏; 陈鹏; 吕宁; 姚永芳; 冯春晶
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2012-12-12
Filing date: 2012-12-12
Publication date: 2013-07-03
Anticipated expiration: 2022-12-12

Abstract

The utility model discloses a self-leveling five-wheel survey vehicle. The front and rear two-section vehicle bodies are traction-connected by a double-degree-of-freedom connection mechanism; The rear body is equipped with two rear wheels, three vertically arranged ball screws, a drive motor and a screw motor; the three vertically arranged ball screws are provided with a platform; the rear body is also provided with a central controller, Mechanical lifting mechanism and platform measurement control mechanism. The beneficial effect of the utility model is that it can travel on complex roads in the field, has certain obstacle-crossing and passability, the traveling speed should be low-speed driving, and the horizontal state of the platform is guaranteed during the movement, so as to facilitate the leveling of the platform and the maintenance of equipment. Work.

Description

The exploration car is taken turns in self-level(l)ing five

Technical field

The utility model belongs to field of intelligent control technology, relates to a kind of self-level(l)ing five and takes turns the exploration car.

Background technology

Modern machines people's technical development is more and more faster, and the robot kind is also more and more.Wherein the research of barrier-surpassing robot is a focus always, this robotlike is usually used in the detection in unknown area, also can be used for military unmanned scouting aspect, and more is used for civilian, as shake back search and rescue etc., the development of barrier-surpassing robot has great help to minimizing personal casualty and impairment financially.

It also is very common carrying mobile platform at barrier-surpassing robot, but common being seen barrier-surpassing robot all is mobile platform to fluctuate with landform, can not in movement, preserve the level of platform, this just collects for data and periphery viewing has brought inconvenience, for the purpose that is up to the standard better and uses, need research and develop one to adapt to various landform, and under certain requirement condition, can keep the robot of platform upper horizontal.

Summary of the invention

The purpose of this utility model provides a kind of self-level(l)ing five and takes turns the exploration car, has solved dolly mobile platform of the prior art and has fluctuated with landform, can not guarantee in movement that platform is in the problem of horizontality all the time.

The technical scheme that the utility model adopts is, the exploration car is taken turns in a kind of self-level(l)ing five, comprises front body and back vehicle body, and the two sections vehicle bodies in front and back draw connection by double freedom bindiny mechanism, and the two sections vehicle bodies in front and back are in transmission connection by the binodal universal-joint in addition;

At front body front jockey wheel is installed, the detector that advances, two front-wheels and DC machine, steering hardware and the steering wheel of front jockey wheel are in transmission connection;

At the back vehicle body two trailing wheels, three ball-screw, drive motor and spindle motors that vertically arrange are installed; DC machine is provided with two power output routes, and one is directly to be in transmission connection by dynamical axis and two front-wheels, and another is that the dynamical axis by binodal universal-joint and diff and two trailing wheels is in transmission connection successively; Three ball-screws that vertically arrange are provided with platform;

Also be provided with central controller, mechanical elevating mechanism peace platform measurement control mechanism on the back vehicle body.

The beneficial effects of the utility model are, be used for the intelligent carriage that ground observation, mapping, shooting etc. need make equipment maintenance level, advance in the road surface of complexity in the open air, have certain obstacle detouring and crossing ability, gait of march should be low speed driving, in movement, guarantee the platform horizontality, so that the leveling of the work of equipment and platform.

Description of drawings

Fig. 1 is the sketch of looking up that the exploration car is taken turns in self-level(l)ing five of the present utility model;

Fig. 2 is the diagrammatic side views that the exploration car is taken turns in self-level(l)ing five of the present utility model;

Fig. 3 is the diagrammatic front view that the exploration car is taken turns in self-level(l)ing five of the present utility model.

Among the figure, 1. front jockey wheel, 2. dynamical axis, 3. binodal universal-joint, 4. platform, 5. drive motor, 6. mechanical elevating mechanism, 7. ball-screw, 8. DC machine, 9. platform measuring control mechanism, 10. double freedom bindiny mechanism, 11. difies, 12. spindle motors.

The specific embodiment

With reference to Fig. 1, Fig. 2, Fig. 3, self-level(l)ing five of the present utility model is taken turns the structure of surveying car and is,

Comprise front body and back vehicle body, the two sections vehicle bodies in front and back draw connection by double freedom bindiny mechanism 10, and the two sections vehicle bodies in front and back are in transmission connection by binodal universal-joint 3 in addition;

At front body front jockey wheel 1 is installed, the detector that advances, two front-wheels and DC machine 8, steering hardware and the steering wheel of front jockey wheel 1 are in transmission connection; At the back vehicle body two trailing wheels, three ball-screw 7, drive motor 5 and spindle motors 12 that vertically arrange are installed; DC machine 8 is provided with two power output routes, and one is directly to be in transmission connection by dynamical axis 2 and two front-wheels (forward), and another is (backward) to realize being in transmission connection by the dynamical axis of binodal universal-joint 3 and diff 11 and two trailing wheels successively;

Also be provided with central controller, mechanical elevating mechanism 6 on the back vehicle body, platform 4 is provided with platform measuring control mechanism 9, under the monitoring and control of platform measuring control mechanism 9, mechanical elevating mechanism 6 controls the work of three ball-screws 7 respectively, finishes the adjustment of the horizontal attitude of platform 4.

Based on 3 principles of determining a plane, three ball-screws 7 are equicrural triangle and distribute, it is the ball-screw 7 in front, each ball-screw 7 about the back, be respectively installed with a slide block on three ball-screws 7, the common installation is connected with platform 4 on three slide blocks, is used for carrying detecting instrument equipment on the platform 4, be connected by an extension spring respectively between platform 4 and three slide blocks, so just can be implemented in the distortion when taking place with the car body relative tilt in the platform leveling process; Accordingly, three ball-screws 7, spindle motor 12, drive motor 5 and transmission shafts thereof constitute the mechanical elevating mechanism 6 of platform 4 together.

The control route of mechanical elevating mechanism 6 is divided into two parts, same spindle motor 12 is used in left and right sides leveling, spindle motor 12 is in transmission connection with drive link, the finishing bevel gear cuter of drive link by two ends with about two vertical ball-screws 7 be in transmission connection, namely give left and right sides ball-screw 7 by horizontal drive link and two ends finishing bevel gear cuter with transmission of power, two ball-screws 7 are equilibrium point with the center of drive link about so can making just, realize the rising of the slide block on the end ball-screw 7, the decline of the slide block on the other end ball-screw 7.In like manner, drive motor 5 is used in the leveling of platform 4 front and back, and drive motor 5 is in transmission connection with a ball-screw 7 of front, moves up and down by the slide block on the ball-screw 7 regulating the front, and implementation platform 4 is in the leveling of front and back longitudinal direction.

Platform measuring control mechanism 9 is mechanical structures, or uses sensor to carry out the structure of level induction.Mechanical structure comprises steel ball, glass tube, forms near switch and switch control chip; The structure of sensor type comprises gyroscope and switch control chip composition;

The physical construction of platform measuring control mechanism 9 is, upper surface at platform 4 is provided with orthogonal two glass tubes, glass tube is along vertical setting of car body, another glass tube is along the horizontally set of car body, each glass tube the inside respectively is placed with a steel ball, each glass tube two ends respectively is provided with one near switch, and all are connected with central controller by the switch control chip near switch.Before and after car body takes place or tilt, the related side to steel ball will roll to a low end, the touching respective direction near switch, transmit signal to central controller near switch by the switch control chip, central controller is controlled mechanical lifting mechanism 6 work again, by the rotation of corresponding motor, the lifting of three slide block matching coordinatives makes platform 4 recall to horizontality.

Central controller is connected with the detector that advances, steering wheel, DC machine 8, drive motor 5, spindle motor 12, each switch control chip respectively, the function of central controller comprises, 1) by the obstacle in the detector detection the place ahead of advancing, controls turn to (the turning to of control dolly) of steering wheel; 2) rotating of control DC machine 8 (moving forward and backward of control dolly); 3) experience platform 4 vertically and the transverse horizontal state, the rotating of control drive motor 5 and spindle motor 12 (leveling of control platform 4).

Front jockey wheel 1 and two front-wheels are rigidly attached on the front body, have guaranteed that front jockey wheel 1 has enough earth-grasping forces, make it can pass to front body to power when turning, and pilot trolley is avoided large-scale obstacle.

The exploration car is taken turns in self-level(l)ing five of the present utility model, front jockey wheel 1 wherein is used for guiding, its direction is controlled by steering wheel, and the wheel that four of back have independent suspension is four wheel drive, will drive transmission of power by dynamical axis 2, diff successively by DC machine 8 and give four wheels; In order to reduce the turn radius of car body, and the adherence properties that strengthens five wheels, the front and back vehicle body adopts the double freedom bindiny mechanism 10 with two degree of freedom to connect, can realize rotating along the direction perpendicular to car body, and can make front body produce the rotation with respect to axle, so just can guarantee that five wheels keep in touch with ground constantly, make tire that enough earth-grasping forces be arranged, strengthen its obstacle performance; At last, transmission shaft adopts binodal universal-joint 3 to realize transition in vehicle body junction, front and back, so just make vehicle body when twisting, and power still can pass to front and back wheel normally.

Experimental results show that, the crossing ability that the exploration car has good complex road surface is taken turns in self-level(l)ing five of the present utility model, platform is under mechanical leveling mode, speed of response is a bit slow, but in car body low speed is advanced, platform can satisfy the preliminary requirement of design, and this gait of march at a slow speed also satisfies the requirement of field measurement, exploration, shooting; Use the leveling of electronic sensor formulas such as gyroscope, can reduce its response time.

Claims

1. A self-leveling five-wheel survey vehicle, characterized in that: it includes a front body and a rear body, and the front and rear two sections of the body are traction-connected by a two-degree-of-freedom connection mechanism (10);

A front guide wheel (1), a forward detector, two front wheels and a DC motor (8) are installed on the front body, and the steering mechanism of the front guide wheel (1) is connected to the steering gear transmission;

Two rear wheels, three vertically arranged ball screws (7), a drive motor (5) and a screw motor (12) are installed on the rear body;

The DC motor (8) is provided with two power output routes, one is directly connected to the two front wheels through the power shaft (2), and the other is through the double-joint universal joint (3) and the differential (11) in sequence Drive shaft connection with the two rear wheels;

The three vertically arranged ball screws (7) are provided with a platform (4), and the platform (4) is provided with a platform measurement control mechanism (9);

The rear vehicle body is also provided with a central controller and a mechanical lifting mechanism (6).

2. The self-leveling five-wheel survey vehicle according to claim 1, characterized in that: the three ball screws (7) are distributed in an isosceles triangle, that is, one ball screw (7) in the front and one left in the back , one ball screw (7) on the right side, a slider is set on each of the three ball screws (7), and a platform (4) is installed and connected to the three sliders, and the platform (4) is connected to the three The sliders are respectively connected by a tension spring.

3. The self-leveling five-wheel survey vehicle according to claim 1 or 2, characterized in that the platform measurement control mechanism (9) is a mechanical structure, or a structure that uses sensors for level sensing.

4. The self-leveling five-wheel survey vehicle according to claim 3, characterized in that: the mechanical structure of the platform measurement control mechanism (9) is that two mutually perpendicular One glass tube is arranged along the longitudinal direction of the car body, and the other glass tube is arranged along the transverse direction of the car body. A steel ball is placed in each glass tube, and a proximity switch is arranged at both ends of each glass tube. , all proximity switches are connected with the central controller through the switch control chip.

5. The self-leveling five-wheel survey vehicle according to claim 2, characterized in that: the control route of the mechanical lifting mechanism (6) is divided into two parts,

The left and right leveling of the platform (4) uses the same lead screw motor (12), the lead screw motor (12) is connected to the transmission rod, and the transmission rod passes through the bevel gears at both ends and the left and right vertical ball screws (7) transmission connection;

The front and rear leveling of the platform (4) uses a drive motor (5), and the drive motor (5) is connected with a ball screw (7) in the front.