CN114771471A - off-road vehicle - Google Patents

Abstract

The application discloses an off-road vehicle. The all terrain vehicle comprises a vehicle body, at least four wheels and an obstacle crossing mechanism. At least four wheels are provided on the vehicle body. The obstacle crossing mechanism is arranged at the longitudinal end part of the vehicle body. And the obstacle crossing mechanism comprises a swing arm extending in the longitudinal direction of the vehicle body, and the swing arm is rotatably connected to the vehicle body. In the scheme of this application embodiment, the swing arm is rotationally connected on the automobile body, consequently can be according to the running condition of cross country vehicle through the turned angle of control swing arm for the automobile body to be adapted to different road conditions.

Description

Translated fromChinese

越野车辆off-road vehicle

技术领域technical field

本申请涉及一种越野车辆。The present application relates to an off-road vehicle.

背景技术Background technique

现阶段，地面平台主要分为轮式、履带式、轮履复合式和仿生式几种，其中轮式和履带式最为常见，轮式平台沿用常规轮式车辆技术，速度快，机动能力强，但越障越壕能力弱，泥泞路、雪地、沙漠等通过能力差。履带式平台发挥履带接地比压低的优势，沙地、泥泞路面通过能力强，但行驶速度慢，寿命低。轮履复合式平台综合了轮式驱动机动性高和履带式驱动通过性强的特点，但系统结构复杂、故障率高、成本高。但是现阶段的地面平台缺少对各种地形的适应性，尤其是缺乏较强的越野越障能力。At this stage, ground platforms are mainly divided into wheeled, tracked, wheel-tracked composite and bionic, among which wheeled and tracked are the most common. Wheeled platforms follow conventional wheeled vehicle technology, with high speed and strong maneuverability. However, the ability to cross obstacles and trenches is weak, and the ability to pass through muddy roads, snow, and deserts is poor. The crawler-type platform takes advantage of the low ground-to-ground ratio of the crawler, and has strong passing ability on sandy and muddy roads, but the running speed is slow and the service life is short. The wheel-track composite platform combines the characteristics of high mobility of the wheel drive and strong passability of the crawler drive, but the system structure is complex, the failure rate is high, and the cost is high. However, the ground platform at this stage lacks adaptability to various terrains, especially lacks strong off-road obstacle crossing ability.

在此需要说明的是，该背景技术部分的陈述仅提供与本申请有关的背景技术，并不必然构成现有技术。It should be noted here that the statements in this Background section merely provide background art related to the present application, and do not necessarily constitute prior art.

发明内容SUMMARY OF THE INVENTION

本申请提供一种越野车辆，以提高其越障能力。The present application provides an off-road vehicle to improve its obstacle-surmounting capability.

本申请提供一种越野车辆，包括：The application provides an off-road vehicle, including:

车体；body;

至少四个车轮，设置在车体上；以及at least four wheels mounted on the body of the vehicle; and

越障机构，设置在车体的纵向端部，且越障机构包括在车体的纵向方向上延伸的摆臂，摆臂可转动地连接在车体上。The obstacle surmounting mechanism is provided at the longitudinal end of the vehicle body, and the obstacle surmounting mechanism includes a swing arm extending in the longitudinal direction of the vehicle body, and the swing arm is rotatably connected to the vehicle body.

在一些实施例中，越障机构还包括设置在摆臂的远离车体一端的越障轮。In some embodiments, the obstacle surmounting mechanism further includes an obstacle surmounting wheel disposed at one end of the swing arm away from the vehicle body.

在一些实施例中，越障机构包括驱动机构和连杆机构，连杆机构连接驱动机构和摆臂，驱动机构驱动连杆机构相对于车体转动以带动摆臂转动。In some embodiments, the obstacle crossing mechanism includes a driving mechanism and a link mechanism, the link mechanism connects the driving mechanism and the swing arm, and the driving mechanism drives the link mechanism to rotate relative to the vehicle body to drive the swing arm to rotate.

在一些实施例中，连杆机构包括第一连杆和第二连杆，第一连杆的第一铰接点铰接于车体上，第一连杆的第二铰接点与驱动机构铰接，第一连杆的第三铰接点与第二连杆的第一端铰接，第二连杆的第二端与摆臂铰接。In some embodiments, the link mechanism includes a first link and a second link, the first hinge point of the first link is hinged on the vehicle body, the second hinge point of the first link is hinged with the driving mechanism, the first hinge The third hinge point of a link is hinged with the first end of the second link, and the second end of the second link is hinged with the swing arm.

在一些实施例中，驱动机构包括驱动油缸。In some embodiments, the drive mechanism includes a drive cylinder.

在一些实施例中，摆臂相对于车体的轴线的转动角度的范围为[-90°，90°]。In some embodiments, the rotation angle of the swing arm relative to the axis of the vehicle body is in the range of [-90°, 90°].

在一些实施例中，越野车辆还包括环境感知装置和控制器，环境感知装置被配置为对行驶环境进行感知检测，控制器根据行驶环境控制摆臂相对于车体转动。In some embodiments, the off-road vehicle further includes an environment perception device and a controller, the environment perception device is configured to sense and detect the driving environment, and the controller controls the swing arm to rotate relative to the vehicle body according to the driving environment.

在一些实施例中，越野车辆包括分别设置在车体的纵向前端的第一越障机构以及设置在车体的纵向后端的第二越障机构。In some embodiments, the off-road vehicle includes a first obstacle clearance mechanism disposed at a longitudinal front end of the vehicle body and a second obstacle clearance mechanism provided at a longitudinal rear end of the vehicle body, respectively.

在一些实施例中，越野车辆包括设置在车体的纵向前端的两个第一越障机构，两个第一越障机构分别设置在车体的横向两侧；和/或，越野车辆包括设置在车体的纵向后端的两个第二越障机构，两个第二越障机构分别设置在车体的横向两侧。In some embodiments, the off-road vehicle includes two first obstacle surmounting mechanisms arranged at the longitudinal front end of the vehicle body, and the two first obstacle surmounting mechanisms are respectively arranged on the lateral sides of the vehicle body; and/or, the off-road vehicle includes a The two second obstacle surmounting mechanisms at the longitudinal rear end of the vehicle body are respectively arranged on both lateral sides of the vehicle body.

在一些实施例中，越野车辆还包括与至少四个车轮对应设置的至少四个轮毂电机，至少四个轮毂电机中的每个轮毂电机用于独立驱动对应的车轮。In some embodiments, the off-road vehicle further includes at least four in-wheel motors corresponding to the at least four wheels, and each of the at least four in-wheel motors is used to independently drive the corresponding wheels.

在一些实施例中，越野车辆为无人车。In some embodiments, the off-road vehicle is an unmanned vehicle.

基于本申请提供的技术方案，越野车辆包括车体、至少四个车轮以及越障机构。至少四个车轮设置在车体上。越障机构设置在车体的纵向端部。且越障机构包括在车体的纵向方向上延伸的摆臂，摆臂可转动地连接在车体上。在本申请实施例的方案中，摆臂可转动地连接在车体上，因此可根据越野车辆的行驶工况通过控制摆臂相对于车体的转动角度，以适应于不同的路况。Based on the technical solution provided by the present application, the off-road vehicle includes a vehicle body, at least four wheels and an obstacle crossing mechanism. At least four wheels are arranged on the vehicle body. The obstacle crossing mechanism is provided at the longitudinal end of the vehicle body. And the obstacle crossing mechanism includes a swing arm extending in the longitudinal direction of the vehicle body, and the swing arm is rotatably connected to the vehicle body. In the solution of the embodiment of the present application, the swing arm is rotatably connected to the vehicle body, so it can be adapted to different road conditions by controlling the rotation angle of the swing arm relative to the vehicle body according to the driving conditions of the off-road vehicle.

通过以下参照附图对本申请的示例性实施例的详细描述，本申请的其它特征及其优点将会变得清楚。Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings.

附图说明Description of drawings

此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

图1为本申请一些实施例的越野车辆的立体结构示意图。FIG. 1 is a schematic three-dimensional structural diagram of an off-road vehicle according to some embodiments of the present application.

图2为本申请一些实施例的越野车辆的越障机构收回时的结构示意图。FIG. 2 is a schematic structural diagram of an obstacle-crossing mechanism of an off-road vehicle according to some embodiments of the application when it is retracted.

图3为本申请一些实施例的越野车辆的越障机构展开时的结构示意图。FIG. 3 is a schematic structural diagram of an obstacle-crossing mechanism of an off-road vehicle according to some embodiments of the present application when it is deployed.

图4为本申请一些实施例的越障机构的结构示意图。FIG. 4 is a schematic structural diagram of an obstacle crossing mechanism according to some embodiments of the present application.

图5为本申请一些实施例的越野车辆在跨越壕沟时的示意图。FIG. 5 is a schematic diagram of an off-road vehicle crossing a trench according to some embodiments of the present application.

图6为本申请一些实施例的越野车辆在跨越垂直障碍时的示意图。FIG. 6 is a schematic diagram of an off-road vehicle according to some embodiments of the present application when crossing a vertical obstacle.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本申请及其应用或使用的任何限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本申请的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，技术、方法和设备应当被视为说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that, for the convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific value should be construed as illustrative only and not as limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位，并且对这里所使用的空间相对描述作出相应解释。For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under other devices or constructions". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be positioned in other different ways, and the spatially relative descriptions used herein interpreted accordingly.

在城市周边地区或其他复杂且高危的环境下，能够搭载不同载荷与任务模块以完成各种功能任务的地面无人平台正发挥着越来越重要的作用。地面无人平台集成了环境感知、动态路径规划、行为控制与执行等多种功能，而且还具有在山地、丘陵、壕沟、垂直墙等各种路况的通过能力，也就是说地面无人平台具有极强的环境适应能力与越野越障能力。In the surrounding areas of cities or other complex and high-risk environments, ground unmanned platforms that can carry different payloads and mission modules to complete various functional tasks are playing an increasingly important role. The ground unmanned platform integrates various functions such as environmental perception, dynamic path planning, behavior control and execution, and also has the ability to pass through various road conditions such as mountains, hills, trenches, and vertical walls. Strong environmental adaptability and off-road obstacle-surmounting ability.

参考图1，在一些实施例中，越野车辆包括车体10、至少四个车轮20以及越障机构30。至少四个车轮20设置在车体10上。越障机构30设置在车体10的纵向端部。且越障机构30包括在车体10的纵向方向上延伸的摆臂32，摆臂32可转动地连接在车体10上。Referring to FIG. 1 , in some embodiments, an off-road vehicle includes abody 10 , at least fourwheels 20 , and anobstacle clearance mechanism 30 . At least fourwheels 20 are provided on thevehicle body 10 . Theobstacle clearance mechanism 30 is provided at the longitudinal end portion of thevehicle body 10 . And theobstacle crossing mechanism 30 includes aswing arm 32 extending in the longitudinal direction of thevehicle body 10 , and theswing arm 32 is rotatably connected to thevehicle body 10 .

车体10是越野车辆的主体部分，例如车体10可以包括底盘、车身以及悬架系统等。悬架系统可以是纵臂式悬架搭配可调行程主动悬架缸。至少四个车轮20可以对称安装在车体10上。在图1示出的实施例中，越野车辆包括六个车轮20，左右两侧分别安装有三个车轮20。六个车轮20可以均为驱动轮。越障机构30设置在车体10的纵向端部，此处的车体10的纵向端部指的是车体10的长度方向上的端部，可以是纵向前端，也可以是纵向后端。Thevehicle body 10 is the main part of the off-road vehicle. For example, thevehicle body 10 may include a chassis, a body, a suspension system, and the like. The suspension system can be trailing arm type suspension with adjustable stroke active suspension cylinder. At least fourwheels 20 may be symmetrically mounted on thevehicle body 10 . In the embodiment shown in FIG. 1 , the off-road vehicle includes sixwheels 20 , and threewheels 20 are installed on the left and right sides respectively. The sixwheels 20 may be all drive wheels. Theobstacle clearance mechanism 30 is provided at the longitudinal end of thevehicle body 10 , where the longitudinal end of thevehicle body 10 refers to the end in the longitudinal direction of thevehicle body 10 , which may be the longitudinal front end or the longitudinal rear end.

在本申请实施例的方案中，摆臂32可转动地连接在车体10上，因此可根据越野车辆的行驶工况通过控制摆臂32相对于车体10的转动角度，以适应于不同的路况。例如，当该越野车辆正常行驶时，摆臂32可转动至与地面不接触的位置，至少四个车轮20与地面接触以支撑车体10。当该越野车辆越障行驶时，越障机构30可转动至与地面接触的位置，以与至少四个车轮中的至少部分车轮共同支撑车体10。因此本申请实施例的越野车辆具有较强的越障能力。In the solution of the embodiment of the present application, theswing arm 32 is rotatably connected to thevehicle body 10, so the rotation angle of theswing arm 32 relative to thevehicle body 10 can be controlled according to the driving conditions of the off-road vehicle to adapt to different road conditions. For example, when the off-road vehicle is running normally, theswing arm 32 can be rotated to a position not in contact with the ground, and at least fourwheels 20 are in contact with the ground to support thevehicle body 10 . When the off-road vehicle travels over obstacles, theobstacle overtaking mechanism 30 can be rotated to a position in contact with the ground, so as to jointly support thevehicle body 10 with at least some of the at least four wheels. Therefore, the off-road vehicle of the embodiment of the present application has a strong ability to overcome obstacles.

在一些实施例中，越野车辆包括分别设置在车体10的纵向前端的第一越障机构以及设置在车体10的纵向后端的第二越障机构。In some embodiments, the off-road vehicle includes a first obstacle clearance mechanism disposed at a longitudinal front end of thevehicle body 10 and a second obstacle clearance mechanism provided at a longitudinal rear end of thevehicle body 10 , respectively.

如图1所示，越野车辆的纵向前端和纵向后端均设置有越障机构。这样使得越野车辆可跨越更宽的壕沟，或者通过更高的垂直障碍。As shown in FIG. 1 , both the longitudinal front end and the longitudinal rear end of the off-road vehicle are provided with obstacle clearance mechanisms. This allows off-road vehicles to cross wider ditches or pass taller vertical obstacles.

在一些实施例中，越野车辆包括设置在车体10的纵向前端的两个第一越障机构，两个第一越障机构分别设置在车体10的横向两侧。越野车辆还包括设置在车体10的纵向后端的两个第二越障机构，两个第二越障机构分别设置在车体10的横向两侧。这样越野车辆的左右两侧均有支撑，进而使得越野车辆的行驶更平稳。In some embodiments, the off-road vehicle includes two first obstacle surmounting mechanisms arranged at the longitudinal front end of thevehicle body 10 , and the two first obstacle surmounting mechanisms are respectively arranged on the lateral sides of thevehicle body 10 . The off-road vehicle further includes two second obstacle surmounting mechanisms arranged at the longitudinal rear end of thevehicle body 10 , and the two second obstacle surmounting mechanisms are respectively arranged on the lateral sides of thevehicle body 10 . In this way, the left and right sides of the off-road vehicle are supported, thereby making the off-road vehicle run more smoothly.

在一些实施例中，参考图1和图3，摆臂32相对于车体10的轴线的转动角度的范围为[-90°，90°]。In some embodiments, referring to FIGS. 1 and 3 , the rotation angle of theswing arm 32 relative to the axis of thevehicle body 10 is in the range of [-90°, 90°].

在本申请实施例的描述中，以车体10的轴线为零度，那么如图3示出的实施例中，当摆臂32转动至与水平的地面平行时，摆臂32相对于车体10的转动角度为零度。摆臂32相对于车体10的轴线向上摆动为正，如图2所示，当摆臂32转动至与水平的地面垂直时，摆臂32相对于车体10的转动角度为90°，摆臂32相对于车体10的轴线向下摆动为负，参考图2，当摆臂32至与水平的地面垂直且向靠近车轮20一侧时，摆臂32相对于车体10的转动角度为-90°。In the description of the embodiment of the present application, the axis of thevehicle body 10 is assumed to be zero degrees, then in the embodiment shown in FIG. The angle of rotation is zero degrees. The upward swing of theswing arm 32 relative to the axis of thevehicle body 10 is positive. As shown in FIG. 2 , when theswing arm 32 is rotated to be perpendicular to the horizontal ground, the rotation angle of theswing arm 32 relative to thevehicle body 10 is 90°, and the swing The downward swing of thearm 32 relative to the axis of thevehicle body 10 is negative. Referring to FIG. 2 , when theswing arm 32 is perpendicular to the horizontal ground and is close to the side of thewheel 20 , the rotation angle of theswing arm 32 relative to thevehicle body 10 is -90°.

本申请实施例的摆臂32的转动角度为180°。如图2所示，当第一越障机构和第二越障机构均转动到垂直于轴线时，越障机构处于收回状态，此时越野车辆的长度最短。如图3所示，当第一越障机构和第二越障机构均转动到与轴线平行时，越障机构处于展开状态，此时越野车辆的长度最长。The rotation angle of theswing arm 32 in the embodiment of the present application is 180°. As shown in FIG. 2 , when both the first obstacle surmounting mechanism and the second obstacle surmounting mechanism are rotated to be perpendicular to the axis, the obstacle surmounting mechanism is in a retracted state, and the length of the off-road vehicle is the shortest at this time. As shown in FIG. 3 , when both the first obstacle surmounting mechanism and the second obstacle surmounting mechanism are rotated to be parallel to the axis, the obstacle surmounting mechanism is in a deployed state, and the length of the off-road vehicle is the longest at this time.

在一些实施例中，参考图4，越障机构30还包括设置在摆臂32的远离车体10一端的越障轮31。In some embodiments, referring to FIG. 4 , theobstacle surmounting mechanism 30 further includes anobstacle surmounting wheel 31 disposed at one end of theswing arm 32 away from thevehicle body 10 .

摆臂32的一端铰接于车体10上，另一端设置有越障轮31。越障轮31的设置使得当越障机构30支撑车体10时，越障轮31可随着车辆滚动，随动性能更好。当然在其他实施例中，也可以根据需要不设置越障轮31。或者在部分越障机构上设置越障轮，部分越障机构上不设置越障轮。One end of theswing arm 32 is hinged to thevehicle body 10 , and the other end is provided with anobstacle wheel 31 . The setting of theobstacle jumping wheel 31 enables theobstacle jumping wheel 31 to roll with the vehicle when theobstacle jumping mechanism 30 supports thevehicle body 10 , and the follow-up performance is better. Of course, in other embodiments, theobstacle crossing wheel 31 may not be provided as required. Or some obstacle surmounting mechanisms are provided with obstacle surmounting wheels, and some obstacle surmounting mechanisms are not provided with obstacle surmounting wheels.

在本实施例中，越障轮31的半径远小于车轮20的半径。这样当越障机构收回时，越障机构占用的体积很小，不会对越野车辆的体积造成很大的影响。In this embodiment, the radius of theobstacle wheel 31 is much smaller than the radius of thewheel 20 . In this way, when the obstacle-surmounting mechanism is retracted, the obstacle-surmounting mechanism occupies a small volume and will not cause a great impact on the volume of the off-road vehicle.

在一些实施例中，参考图4，越障机构30包括驱动机构和连杆机构，连杆机构连接驱动机构和摆臂32，驱动机构驱动连杆机构相对于车体10转动以带动摆臂32转动。In some embodiments, referring to FIG. 4 , theobstacle crossing mechanism 30 includes a drive mechanism and a link mechanism, the link mechanism connects the drive mechanism and theswing arm 32 , and the drive mechanism drives the link mechanism to rotate relative to thevehicle body 10 to drive theswing arm 32 turn.

如图4所示，摆臂32的第一端具有两个铰接点，分别为第一铰接点321和第二铰接点322。其中摆臂32的第一铰接点321铰接在车体10上，第二铰接点322用于与连杆机构铰接。摆臂32的第二端设置有越障轮31。摆臂32包括并排设置的两个立板以及设置在两个立板之间的横板，且两个立板上分别可转动地连接有两个越障轮31。As shown in FIG. 4 , the first end of theswing arm 32 has two hinge points, which are afirst hinge point 321 and asecond hinge point 322 respectively. Thefirst hinge point 321 of theswing arm 32 is hinged on thevehicle body 10, and thesecond hinge point 322 is used for hinged connection with the link mechanism. The second end of theswing arm 32 is provided with abarrier wheel 31 . Theswing arm 32 includes two vertical plates arranged side by side and a transverse plate arranged between the two vertical plates, and twoobstacle crossing wheels 31 are respectively rotatably connected to the two vertical plates.

在一些实施例中，连杆机构包括第一连杆33和第二连杆34。第一连杆33的第一铰接点331铰接于车体10上，第一连杆33的第二铰接点332与驱动机构铰接，第一连杆33的第三铰接点333与第二连杆34的第一端铰接，第二连杆34的第二端与摆臂32铰接。In some embodiments, the linkage mechanism includes afirst link 33 and asecond link 34 . Thefirst hinge point 331 of thefirst link 33 is hinged on thevehicle body 10 , thesecond hinge point 332 of thefirst link 33 is hinged with the driving mechanism, and thethird hinge point 333 of thefirst link 33 is hinged with the second link The first end of thesecond link 34 is hinged with theswing arm 32 , and the second end of thesecond link 34 is hinged.

具体地，第二连杆34的第二端与摆臂32的第二铰接点322铰接。第二连杆34为直杆。第一连杆33为L型板，第一连杆33的三个铰接点分别设置在第一连杆33的三个角处。Specifically, the second end of thesecond link 34 is hinged with thesecond hinge point 322 of theswing arm 32 . Thesecond link 34 is a straight rod. Thefirst link 33 is an L-shaped plate, and the three hinge points of thefirst link 33 are respectively set at three corners of thefirst link 33 .

驱动机构驱动第一连杆33绕车体10转动，这样第一连杆33的转动通过第二连杆34传递至摆臂32，摆臂32也随之而绕车体10转动。本申请实施例的越野车辆利用连杆机构来驱动摆臂32转动，结构简单。The driving mechanism drives thefirst link 33 to rotate around thevehicle body 10 , so that the rotation of thefirst link 33 is transmitted to theswing arm 32 through thesecond link 34 , and theswing arm 32 also rotates around thevehicle body 10 . The off-road vehicle of the embodiment of the present application uses a link mechanism to drive theswing arm 32 to rotate, and has a simple structure.

在一些实施例中，驱动机构包括驱动油缸35。具体地，驱动油缸35的活塞杆与第一连杆33连接，驱动油缸35的缸体连接在车体10上，这样当活塞杆在缸体内伸缩时，第一连杆33可绕车体10转动。在其他实施例中，驱动机构可以是电缸，也可以是其他伸缩机构。In some embodiments, the drive mechanism includes adrive cylinder 35 . Specifically, the piston rod of the drivingoil cylinder 35 is connected to the first connectingrod 33, and the cylinder body of the drivingoil cylinder 35 is connected to thevehicle body 10, so that when the piston rod expands and contracts in the cylinder, the first connectingrod 33 can wrap around thevehicle body 10 turns. In other embodiments, the driving mechanism may be an electric cylinder or other telescopic mechanisms.

在一些实施例中，越野车辆还包括环境感知装置和控制器。环境感知装置被配置为对行驶环境进行感知检测，控制器根据行驶环境控制摆臂32相对于车体10转动。In some embodiments, the off-road vehicle further includes an environment awareness device and a controller. The environment sensing device is configured to sense and detect the driving environment, and the controller controls theswing arm 32 to rotate relative to thevehicle body 10 according to the driving environment.

环境感知装置可以是红外线传感器、摄像头等。控制器可以是越野车辆控制系统的控制器。本申请实施例未限定控制器的具体类型，举例来说，其可以为PLC(即Programmable Logic Controller，可编程逻辑控制器)、工控机等。控制器根据行驶环境控制摆臂32相对于车体10转动指的是控制器可根据行驶环境控制摆臂32相对于车体10的角度，该角度是根据行驶环境自适应地变化的。例如在图5示出的实施例中，当需要通过较宽的壕沟时，可控制前端的第一越障机构和后端的第二越障机构均打开，这样使得前端的第一越障机构可向前延伸并支撑在壕沟前侧的地面上，当车辆逐步向前行驶时，后端的第二越障机构也可支撑在壕沟后侧的地面上，这样使得车轮20不会陷入在壕沟内，进而成功跨越壕沟。例如在图6示出的实施例中，当越野车辆的车轮爬到垂直障碍上时，纵向后端的摆臂32需要摆动至相对于车体10的轴线向下的一个角度，这样才能支撑住车体。综上可知，摆臂32的角度是根据行驶环境变化的，而不是固定的，因此本实施例的越野车辆对环境的适应能力更强。The environment perception device may be an infrared sensor, a camera, or the like. The controller may be a controller of an off-road vehicle control system. The embodiment of the present application does not limit the specific type of the controller. For example, it may be a PLC (ie, Programmable Logic Controller, programmable logic controller), an industrial computer, and the like. The controller controlling theswing arm 32 to rotate relative to thevehicle body 10 according to the driving environment means that the controller can control the angle of theswing arm 32 relative to thevehicle body 10 according to the driving environment, and the angle is adaptively changed according to the driving environment. For example, in the embodiment shown in FIG. 5 , when a wider trench needs to be passed, both the first obstacle surmounting mechanism at the front end and the second obstacle surmounting mechanism at the rear end can be controlled to be opened, so that the first obstacle surmounting mechanism at the front end can be controlled to open. It extends forward and is supported on the ground on the front side of the ditch. When the vehicle moves forward gradually, the second obstacle clearance mechanism at the rear end can also be supported on the ground on the rear side of the ditch, so that thewheels 20 will not sink into the ditch. And then successfully cross the trench. For example, in the embodiment shown in FIG. 6, when the wheel of the off-road vehicle climbs on the vertical obstacle, theswing arm 32 at the longitudinal rear end needs to swing to an angle downward relative to the axis of thevehicle body 10, so as to support the vehicle body. To sum up, the angle of theswing arm 32 is changed according to the driving environment instead of being fixed, so the off-road vehicle of this embodiment has a stronger adaptability to the environment.

在一些实施例中，越野车辆还包括与至少四个车轮20对应设置的至少四个轮毂电机，至少四个轮毂电机中的每个轮毂电机用于独立驱动对应的车轮20。每个车轮20均通过独立的轮毂电机驱动。In some embodiments, the off-road vehicle further includes at least four in-wheel motors corresponding to the at least fourwheels 20 , and each of the at least four in-wheel motors is used to independently drive the correspondingwheel 20 . Eachwheel 20 is driven by an independent in-wheel motor.

在一些实施例中，越野车辆为无人车。In some embodiments, the off-road vehicle is an unmanned vehicle.

当车辆跨越较宽的壕沟时，前后的越障机构分别打开，如图5所示。此时车辆由于增加了前后的越障轮，由6×6车型变为10×6，增强了车轮跨越水平壕沟的能力。When the vehicle crosses a wider trench, the front and rear obstacle clearance mechanisms are opened respectively, as shown in Figure 5. At this time, the vehicle was changed from a 6×6 model to a 10×6 due to the addition of front and rear obstacle-crossing wheels, which enhanced the ability of the wheels to cross the horizontal trench.

当车辆跨越较高的垂直障碍时，前后的越障机构分别打开，如图6所示。依靠前后的越障机构将车辆支撑起来，增强了车轮跨越垂直障碍的能力。When the vehicle crosses a higher vertical obstacle, the front and rear obstacle-crossing mechanisms are opened respectively, as shown in Figure 6. Relying on the front and rear obstacle-crossing mechanisms to support the vehicle, the ability of the wheels to cross vertical obstacles is enhanced.

最后应当说明的是：以上实施例仅用以说明本申请的技术方案而非对其限制；尽管参照较佳实施例对本申请进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本申请的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本申请技术方案的精神，其均应涵盖在本申请请求保护的技术方案范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand: The specific embodiments of the application are modified or some technical features are equivalently replaced; without departing from the spirit of the technical solutions of the present application, all of them should be included in the scope of the technical solutions claimed in the present application.

Claims (11)

Translated fromChinese

1.一种越野车辆，其特征在于，包括：1. An off-road vehicle, characterized in that, comprising:车体(10)；body (10);至少四个车轮(20)，设置在所述车体(10)上；以及at least four wheels (20) provided on the vehicle body (10); and越障机构(30)，设置在所述车体(10)的纵向端部，且所述越障机构(30)包括在所述车体(10)的纵向方向上延伸的摆臂(32)，所述摆臂(32)可转动地连接在所述车体(10)上。An obstacle crossing mechanism (30) is provided at a longitudinal end of the vehicle body (10), and the obstacle crossing mechanism (30) includes a swing arm (32) extending in the longitudinal direction of the vehicle body (10) , the swing arm (32) is rotatably connected to the vehicle body (10).2.根据权利要求1所述的越野车辆，其特征在于，所述越障机构(30)还包括设置在所述摆臂(32)的远离所述车体(10)一端的越障轮(31)。2 . The off-road vehicle according to claim 1 , wherein the obstacle-surmounting mechanism ( 30 ) further comprises an obstacle-surmounting wheel ( 31).3.根据权利要求1所述的越野车辆，其特征在于，所述越障机构(30)包括驱动机构和连杆机构，所述连杆机构连接所述驱动机构和所述摆臂(32)，所述驱动机构驱动所述连杆机构相对于所述车体(10)转动以带动所述摆臂(32)转动。3. The off-road vehicle according to claim 1, characterized in that, the obstacle crossing mechanism (30) comprises a driving mechanism and a link mechanism, and the link mechanism connects the driving mechanism and the swing arm (32) , the drive mechanism drives the link mechanism to rotate relative to the vehicle body (10) to drive the swing arm (32) to rotate.4.根据权利要求3所述的越野车辆，其特征在于，所述连杆机构包括第一连杆(33)和第二连杆(34)，所述第一连杆(33)的第一铰接点(331)铰接于所述车体(10)上，所述第一连杆(33)的第二铰接点(332)与所述驱动机构铰接，所述第一连杆(33)的第三铰接点(333)与所述第二连杆(34)的第一端铰接，所述第二连杆(34)的第二端与所述摆臂(32)铰接。4. The off-road vehicle according to claim 3, wherein the link mechanism comprises a first link (33) and a second link (34), and the first link (33) has a first link (33). The hinge point (331) is hinged on the vehicle body (10), the second hinge point (332) of the first link (33) is hinged with the drive mechanism, and the first link (33) is hinged to the drive mechanism. The third hinge point (333) is hinged with the first end of the second link (34), and the second end of the second link (34) is hinged with the swing arm (32).5.根据权利要求3所述的越野车辆，其特征在于，所述驱动机构包括驱动油缸(35)。5. The off-road vehicle according to claim 3, wherein the driving mechanism comprises a driving oil cylinder (35).6.根据权利要求1所述的越野车辆，其特征在于，所述摆臂(32)相对于所述车体(10)的轴线的转动角度的范围为[-90°，90°]。6 . The off-road vehicle according to claim 1 , wherein the rotation angle of the swing arm ( 32 ) relative to the axis of the vehicle body ( 10 ) is in the range of [−90°, 90°]. 7 .7.根据权利要求6所述的越野车辆，其特征在于，所述越野车辆还包括环境感知装置和控制器，所述环境感知装置被配置为对行驶环境进行感知检测，所述控制器根据所述行驶环境控制所述摆臂(32)相对于所述车体(10)转动。7 . The off-road vehicle according to claim 6 , wherein the off-road vehicle further comprises an environment perception device and a controller, the environment perception device is configured to sense and detect the driving environment, and the controller The driving environment controls the swing arm (32) to rotate relative to the vehicle body (10).8.根据权利要求1至7中任一项所述的越野车辆，其特征在于，所述越野车辆包括分别设置在所述车体(10)的纵向前端的第一越障机构以及设置在所述车体(10)的纵向后端的第二越障机构。8. The off-road vehicle according to any one of claims 1 to 7, characterized in that the off-road vehicle comprises a first obstacle surmounting mechanism arranged at the longitudinal front end of the vehicle body (10), and a first obstacle clearance mechanism arranged at each The second obstacle clearance mechanism at the longitudinal rear end of the vehicle body (10).9.根据权利要求8所述的越野车辆，其特征在于，所述越野车辆包括设置在所述车体(10)的纵向前端的两个所述第一越障机构，所述两个第一越障机构分别设置在所述车体(10)的横向两侧；和/或，所述越野车辆包括设置在所述车体(10)的纵向后端的两个所述第二越障机构，所述两个第二越障机构分别设置在所述车体(10)的横向两侧。9. The off-road vehicle according to claim 8, characterized in that, the off-road vehicle comprises two of the first obstacle clearance mechanisms provided at the longitudinal front end of the vehicle body (10), the two first obstacle clearance mechanisms Obstacle surmounting mechanisms are respectively arranged on both lateral sides of the vehicle body (10); and/or, the off-road vehicle includes two of the second obstacle surmounting mechanisms arranged at the longitudinal rear end of the vehicle body (10), The two second obstacle surmounting mechanisms are respectively arranged on both lateral sides of the vehicle body (10).10.根据权利要求1至7中任一项所述的越野车辆，其特征在于，所述越野车辆还包括与所述至少四个车轮(20)对应设置的至少四个轮毂电机，所述至少四个轮毂电机中的每个轮毂电机用于独立驱动对应的车轮(20)。10. The off-road vehicle according to any one of claims 1 to 7, characterized in that the off-road vehicle further comprises at least four in-wheel motors arranged corresponding to the at least four wheels (20), the at least four in-wheel motors Each of the four in-wheel motors is used to independently drive the corresponding wheel (20).11.根据权利要求1至7中任一项所述的越野车辆，其特征在于，所述越野车辆为无人车。11. The off-road vehicle according to any one of claims 1 to 7, wherein the off-road vehicle is an unmanned vehicle.

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