High-maneuverability and high-adaptability ground unmanned platform

Abstract

The invention discloses a high-maneuverability and high-adaptability ground unmanned platform. The high-maneuverability and high-adaptability ground unmanned platform is characterized in that the high-maneuverability and high-adaptability ground unmanned platform comprises a vehicle body platform and six sets of independent driving mechanisms. The six sets of independent driving mechanisms are symmetrically disposed on the two sides of the vehicle body platform; each independent driving mechanism comprises a suspension system, a crawler belt traveling mechanism and a half shaft; the crawler belt traveling mechanisms are connected with the vehicle body platform through the suspension systems; the crawler belt traveling mechanisms comprise crawler belt driving mechanisms and crawler belt rotating mechanisms; the crawler belt driving mechanisms comprise driving motors, central driving wheels, wing wheels and crawler belts; the crawler belts which achieve transmission through together engagement of the central driving wheels and the wing wheels on the two sides form a geometrical shape of a parallelogram on the vertical plane; and the relative positions of the wing wheels and the central driving wheels are controlled, so that different moving postures of the independent driving mechanisms are obtained. The high-maneuverability and high-adaptability ground unmanned platform is adaptable to complex terrains and has quite high capacity of obstacle crossing, trench crossing and climbing.

Description

technical field [0001] The invention belongs to the technical field of ground unmanned vehicles, and in particular relates to a ground unmanned platform with high mobility and high adaptability. Background technique [0002] The ground unmanned platform has the characteristics of high mobility, strong carrying capacity, and low cost. Explosive device detection, mine detection, urban auxiliary operations and logistical support can all play a huge role. [0003] For ground unmanned platforms, good passability is one of the most important performances, especially when operating in an unstructured environment, good flexibility and adaptability are required. At present, for different road conditions in complex terrain, the driving methods of ground unmanned platforms mainly include wheel type, crawler type and wheel-track compound type. The wheel type has a simple structure, fast driving speed and strong maneuverability on hard roads. However, due to the high grounding specific...

AI Technical Summary

Problems solved by technology

The wheel structure is simple, and it is fast and maneuverable on hard roads. However, due to the high grounding pressure, it is prone to slipping and subsidence in muddy, sandy and snowy terrains, and the trafficability is poor.

The crawler type has the advantages of large traction, low grounding ratio, strong climbing ability, and small turning radius. It has high passability on sandy, muddy, and rough roads, but it has poor maneuverability, slow driving speed, and damage to the road surface. Big

Wheel-track combined type, wheel-track replacement type, deformable track type, etc. take into account the high maneuverability of wheel drive and the high passability of track drive, but the system structure is complex and the reliability is poor, and it has been greatly challenged in practical applications. limit

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