CN204488926U - Diagonal angle differential steering four-wheeled - Google Patents

Abstract

The utility model discloses a four-wheel vehicle with diagonal differential speed steering, which comprises four wheels and two double-outlet motors, each double-outlet motor controls two wheels, each wheel and the corresponding double-outlet motor are connected by a clutch. The utility model overcomes the deficiencies of the prior art, and provides a simple and reliable structure, high efficiency, good surface adaptability, simple control, low energy consumption, wide application range, and can switch walking modes to adapt to different complex terrains. It can be used for mobile robots, obstacle vehicles and other mobile devices that need to walk on uneven ground and flat ground.

Description

Diagonal differential steering quadricycle

technical field

The utility model relates to a four-wheel vehicle, in particular to a diagonal differential steering four-wheel vehicle.

Background technique

With the rapid development of my country's nuclear energy industry, expedition rescue, military reconnaissance, fire-fighting and explosives removal, aerospace and many other fields, there is an urgent need for a device that can walk freely on flat ground and can operate in field environments and complex terrains (such as earthquake ruins, A mobile robot that walks freely and overcomes obstacles in a mine disaster scene. The walking mechanism of existing mobile robots can be roughly divided into: wheel type, crawler type, multi-legged type, hybrid type (such as wheel-leg hybrid type, wheel-track hybrid type) and special forms (such as polygonal rolling type, snake-shaped sliding type) . Among them, most of the multi-legged and special forms belong to the bionic walking mechanism, which has strong obstacle-surmounting ability and terrain adaptability, but the mechanical structure of these two types of walking mechanisms is complicated, the control is difficult, and the mobility is relatively poor. In the initial stage of research and development applications. After more than 100 years of development, the track has been proved to be a walking mechanism that can adapt to complex terrain and harsh environments, but its shortcomings are also obvious: bulky, requiring high-power drives, therefore, there are strict restrictions on portable or power Tracks are not suitable for mobile robots. The wheel appeared as early as more than 3,000 years ago, and is considered to be the most efficient running mechanism for energy rotation. The advantages of the wheel, such as lightness, simplicity, high speed, high efficiency, and simple control, make it enduring. In recent years, the universal Tug wheels (triangular wheels), various obstacle-crossing wheels, and wheels mixed with other forms of walking mechanism make the wheels start to break away from hard flat ground and enter complex terrain.

The general distribution of power wheels includes: unilateral power, front and rear power, unified power and so on. The traveling mechanism with unilateral power is relatively easy to realize differential steering control, but it is difficult to realize the left and right synchronization of the wheels. The front and rear power running mechanism is just opposite to the one-sided power running mechanism. The front and rear power running mechanism is easy to realize the synchronous control of the wheels, but it is difficult to realize the control of the body steering. In the steering control of the unified power method, a third-party mechanical structure is generally used to assist the implementation, which is relatively complicated.

Utility model content

In view of this, one of the purposes of the utility model is to provide a diagonal differential steering four-wheel vehicle, which can switch modes to adapt to different complex terrains.

The purpose of this utility model is achieved through the following technical solutions, a four-wheeled vehicle with diagonal differential speed steering, including four wheels and two double-outlet motors, each double-outlet motor controls two wheels, each The wheels are connected with the corresponding dual output shaft motors through a clutch.

Preferably, the four wheels adopt the same structure, and the wheels are double eccentric variable eccentricity obstacle-crossing wheels, including an inner wheel and an outer wheel that are both eccentric wheels, and the inner wheel is rotatably arranged in the outer wheel, so The outer ring surface of the inner wheel is provided with several first limiting devices, and the inner ring surface of the outer wheel is provided with a second limiting device matched with the first limiting devices.

Further, the first limiting device is a concave part, and the second limiting device is a telescopic part that can extend into the concave part.

Further, the inner wheel and the outer wheel are provided with driving holes.

Owing to adopting above-mentioned technical scheme, the utility model has following advantage:

1. The utility model mainly includes a dual output shaft motor and a clutch connected to the output shaft of the motor. The disconnection and connection of the clutch can control the force and non-force of the corresponding wheel.

2. Use 4 wheels to realize the turning control of the vehicle body through the corresponding combination of the wheels having power and no power, and the direction of power.

3. The utility model can switch modes to adapt to different complex terrains.

Description of drawings

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings, wherein:

Fig. 1 is the structural diagram of the diagonal differential steering four-wheel vehicle described in the utility model;

Fig. 2 is the first working state of the clutch and the motor when the four-wheel vehicle described in the utility model moves;

Fig. 3 is the second working state of the clutch and the motor when the four-wheel vehicle described in the utility model is in motion;

Fig. 4 is the third working state of the clutch and the motor when the four-wheel vehicle described in the utility model is in motion;

Fig. 5 is the fourth working state of the clutch and the motor when the four-wheel vehicle described in the utility model is in motion;

Fig. 6 is the fifth working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 7 is the sixth working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 8 is the seventh working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 9 is the eighth working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 10 is the ninth working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 11 is the tenth working state of the clutch and the motor when the four-wheel vehicle described in the utility model is in motion;

Fig. 12 is the eleventh working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Fig. 13 is the twelfth working state of the clutch and the motor when the four-wheel vehicle described in the present invention is in motion;

Figure 14 is a schematic diagram of the wheel structure.

Detailed ways

The preferred embodiments of the present utility model will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present utility model, rather than limiting the protection scope of the present utility model.

The utility model discloses a four-wheel vehicle with diagonal differential speed steering. As shown in Figure 1, the four-wheel vehicle with diagonal differential speed steering mainly wheel 3, the fourth wheel 4) and two double output shaft motors (the first motor 5, the second motor 6) and four clutches (the first clutch 7, the second clutch 8, the third clutch 9, the fourth clutch 10 ). Each wheel is connected to the motor shaft through a clutch, so that the "disengagement" and "combination" between the motor shaft and the corresponding wheel can be realized. "Off" means that the wheel is disconnected from the motor, that is, the motor does not work on this wheel. "Combined" just represents that the wheel is connected with the corresponding motor shaft, that is: the motor works on this wheel. In summary: the key of the utility model is the torque transmission of the power source to the running wheel.

The four-wheel vehicle with diagonal differential speed is driven by only two motors, one motor at the front and the rear, the first motor 5 drives the front two wheels, and the second motor 6 drives the two wheels at the back. This makes the body turn different from the classic turn pattern.

In this embodiment, the wheel adopts double eccentric variable eccentric distance obstacle-crossing wheel, and the third wheel 3 is taken as an example for illustration.

As shown in Figure 14, the double eccentric circle variable eccentric distance obstacle-crossing wheel includes an inner wheel 32 and an outer wheel 31 which are both eccentric wheels, and the inner wheel is rotatably arranged in the outer wheel, and the outer ring surface 321 of the inner wheel Several first limiting devices 361 are arranged on the top, and the inner ring surface 311 of the outer wheel is provided with a second limiting device 362 matched with the first limiting devices.

The first limiting device is a concave part, and the second limiting device is a telescopic part that can extend into the concave part. In this embodiment, the expansion and contraction of the expansion and contraction part can be controlled externally.

Drive holes 37 are arranged on the inner wheel and the outer wheel.

The use of double eccentric variable eccentricity obstacle-crossing wheels can improve the disadvantages of low-efficiency movement of robots with eccentric wheel foot structures on regular terrain without losing the ability to overcome obstacles, making the environmental adaptability higher; adopting double eccentric variable eccentricity Walking away from the obstacle-crossing wheel can not only improve the power consumption of the eccentric wheel structure when it is violently oscillating, but also ensure the reliability of walking, and ensure the integrity of forward, backward, left and right steering functions; double eccentric circle variable eccentricity is adopted The obstacle-crossing wheel can be used not only as an obstacle-crossing robot with eccentric wheel feet, but also as a mobile robot with ordinary round-centered wheels, and can freely switch between eccentric wheels and ordinary round-centered wheels. According to the size of the load and the height of the obstacle, different eccentric distances of the obstacle-crossing wheels can be conveniently selected; the independent drive mode is adopted, and the controllability is good, and the step distance and speed of the robot can be dynamically adjusted. Simple mechanical structure, easy realization and convenient control.

The utility model can adjust the size of the eccentricity of the obstacle-crossing wheel according to the maximum height of obstacles in the obstacle-crossing environment, that is, the double eccentric circle variable eccentricity obstacle-crossing wheel 3 is an obstacle-crossing wheel with adjustable eccentricity, that is, through the telescopic part The eccentricity can be changed by cooperating with the concave parts at different positions, and the expansion and contraction of the telescopic part can be remotely controlled by the outside. The eccentricity is defined as the distance between the axis center of the drive shaft 33 of the motor 34 and the center (center) of the outer wheel 31 of the double eccentric circle variable eccentricity obstacle-crossing wheel 3 .

There are many ways to turn the diagonal differential steering vehicle of the utility model, and the common turning ways mainly include the following types (if the motor rotates forward, the wheels will turn forward, and if the motor reverses, the wheels will turn backward ): Turn left mode, turn right mode and mode switching mode.

Way to turn left:

As shown in Figure 2: when the first motor 5 is rotating forward and the second motor 6 is rotating reversely, the first clutch 7 and the fourth clutch 10 are connected, and the second clutch 8 and the third clutch 9 are disconnected, so that the vehicle body can be realized To the left.

Similarly, as shown in Figure 3: when the first motor 5 is rotating in reverse and the second motor 6 is rotating forward, the first clutch 7 and the fourth clutch 10 are disconnected, and the second clutch 8 and the third clutch 9 are connected, so that Realize that the vehicle body turns left.

In addition to the above-mentioned diagonal left rotation, there is also a way to turn the same side to the left, as shown in Figure 4: when the first motor 5 and the second motor 6 are rotating forward, the second clutch 8 and the fourth clutch 10 Disconnect, the first clutch 7 and the third clutch 9 are connected, so that the vehicle body also turns left. Similarly, as shown in Figure 12, when both the first motor 5 and the second motor 6 are reversed, the second clutch 8 and the fourth clutch 10 are connected, and the first clutch 7 and the third clutch 9 are disconnected, so that the vehicle body Also turn left.

In addition to the above-mentioned situation that the vehicle body includes four clutches, it can also only include two clutches, as shown in Figure 5, when only the first clutch 7 and the fourth clutch 10 are included, when the first motor 5 reverses and When the second motor 6 was rotating forward, the first clutch 7 and the fourth clutch 10 were disconnected, so that the vehicle body could turn left. Similarly, when the vehicle body only includes the second clutch 8 and the third clutch 9, as shown in Figure 6: when the first motor 5 rotates forward and the second motor 6 rotates reversely, the second clutch 8 and the third clutch 9 Disconnect, so that the body can turn left.

Way to turn right:

As shown in Figure 7: when the first motor 5 rotates forward and the second motor 6 reverses, the second clutch 8 and the third clutch 9 are connected, and the first clutch 7 and the fourth clutch 10 are disconnected, at this time the vehicle body will turn right.

Similarly, as shown in Figure 8: when the first motor 5 rotates in reverse and the second motor 6 rotates forward, the first clutch 7 and the fourth clutch 10 are connected, and the second clutch 8 and the third clutch 9 are disconnected. will turn right.

In addition to the above-mentioned diagonal right turn, there is also a way to turn right on the same side, as shown in Figure 9: when the first motor 5 and the second motor 6 are rotating forward, the second clutch 8 and the fourth clutch 10 All are connected, and the first clutch 7 and the third clutch 9 are all disconnected, and at this moment, the vehicle body will turn right. Similarly, as shown in Figure 13, when both the first motor 5 and the second motor 6 are reversed, the second clutch 8 and the fourth clutch 10 are disconnected, and the first clutch 7 and the third clutch 9 are connected, At this time, the vehicle body will turn to the right.

In addition to the above-mentioned situation that the vehicle body includes four clutches, it can also include only two clutches. As shown in Figure 10, when only the first clutch 7 and the fourth clutch 10 are included, when the first motor 5 rotates forward and When the second motor 6 reversed, the first clutch 7 and the fourth clutch 10 were disconnected, and at this moment the vehicle body would turn right. Similarly, when the vehicle body only includes the second clutch 8 and the third clutch 9, as shown in Figure 11: when the first motor 5 rotates in reverse and the second motor 6 rotates forward, the second clutch 8 and the third clutch 9 Disconnect, then the body will turn right.

Mode switching:

When this structure turns left or right, it will encounter various complex terrains, so in some relatively complex terrains, the conventional wheel structure usually encounters the situation that the wheels are stuck and unable to move. Then the body with this structure can avoid this situation well. Example: when both the first wheel 1 and the fourth wheel 4 are stuck, if the first motor 5 reverses and the second motor 6 rotates forward, and the second clutch 8 and the third clutch 9 are connected, the first Clutch 7 and fourth clutch 10 are disengaged. Originally this situation is to turn to the left, but because the first wheel 1 and the fourth wheel 4 are stuck and do not work, the disconnection of the first clutch 7 and the fourth clutch 10 also causes the third wheel 3 and the second wheel to turn left. Wheel 2 doesn't work, so there's the whole body of the car standing still, and the left turn fails.

Due to the structure with clutch adopted in the utility model, so in the above situation, the first motor 5 can be controlled to rotate forward and the second motor 6 to reverse, the corresponding first clutch 7 and the fourth clutch 10 are connected, and the second clutch 8 and the third clutch 9 are disconnected, because the second wheel 2 and the third wheel 3 are not stuck by the complex ground, so the second wheel 2 and the third wheel 3 can play a role, and the whole body can be realized to the left turn.

The utility model overcomes the deficiencies of the prior art, and provides a simple and reliable structure, high efficiency, good surface adaptability, simple control, low energy consumption, wide application range, and can switch walking modes to adapt to different complex terrains. It can be used for mobile robots, obstacle vehicles and other mobile devices that need to walk on uneven ground and flat ground.

The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. Obviously, those skilled in the art can make various changes and modifications to the utility model without departing from the spirit and scope of the utility model. In this way, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and equivalent technologies thereof, the utility model is also intended to include these modifications and variations.

Claims (4)

1. a kind of diagonal differential steering four-wheel vehicle is characterized in that: comprise four wheels (1,2,3,4) and two double output shaft motors (5,6), each double output shaft motor control Two wheels, each wheel and the corresponding double output shaft motors are connected by clutches (7, 8, 9, 10). 2. The four-wheel vehicle with diagonal differential steering according to claim 1, characterized in that: the four wheels adopt the same structure, and the wheels are double eccentric circle variable eccentricity obstacle-crossing wheels, including the same eccentric wheels The inner wheel (32) and the outer wheel (31), the inner wheel is rotatably arranged in the outer wheel, the outer ring surface (321) of the inner wheel is provided with several first limiting devices (361), so The inner ring surface (311) of the outer wheel is provided with a second limiting device (362) matched with the first limiting device. 3. The four-wheeled vehicle with diagonal differential steering according to claim 2, characterized in that: the first limiting device is a concave portion, and the second limiting device is a telescopic portion that can extend into the concave portion. 4. The four-wheel vehicle with diagonal differential steering according to claim 3, characterized in that: the inner wheel and the outer wheel are provided with driving holes (37).