The invention relates to an obstacle crossing operation method of an obstacle crossing trolley, and belongs to the field of vehicle driving control. According to the technical scheme, the vehicle comprises a vehicle body and paired wheel sets, wherein the wheel sets comprise the front wheel set and the rear wheel set; the front wheel set comprises a pair of front hub motors, a pair of front trundles, a front wheel frame and a front wheel lifting drive, the front hub motors and the front trundles are arranged at the bottom of the front wheel frame, and the front trundles are arranged in front of the front hub motors; the front wheel lifting drive is connected with the front wheel frame and the vehicle body and drives the front wheel frame to swing up and down in the front-back direction; when the front end of the front wheel frame swings upwards, the front trundles are separated from the ground, and the front hub motor is in contact with the ground; when the front end of the front wheel frame swings downwards, the front trundles are in contact with the ground, and the front hub motor is separated from the ground; the rear wheel set comprises a pair of rear hub motors, a pair of rear casters, a rear wheel frame and a rear wheel lifting drive, the rear hub motors and the rear casters are arranged at the bottom of the rear wheel frame, the rear casters are arranged in front of the rear hub motors, and the rear hub motors are arranged behind the rear casters. Lifting of the wheel set suspension is achieved through the linear driving structure, and the purpose that the trolley crosses obstacles is achieved.

    本发明涉及一种越障小车的越障运行方法,属于车辆行驶控制领域。本发明采用的技术方案是:包括车体和成对的轮组,所述轮组分为前轮组和后轮组;前轮组包括一对前轮毂电机、一对前脚轮、前轮架和前轮抬升驱动,所述前轮毂电机和前脚轮设置在前轮架底部,且前脚轮在前,前轮毂电机在后;前轮架设置在车体底部,前轮抬升驱动连接前轮架和车体,前轮抬升驱动带动前轮架前后位置分别上下摆动,前轮架前端上摆时前脚轮脱离地面,前轮毂电机接触地面,反之前轮架前端下摆时前脚轮接触地面,前轮毂电机脱离地面,后轮组包括一对后轮毂电机、一对后脚轮、后轮架和后轮抬升驱动,所述后轮毂电机和后脚轮设置在后轮架底部,且后脚轮在前,后轮毂电机在后。本发明通过直线驱动结构实现轮组悬架的抬升,实现小车越过障碍的目的。


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    Title :

    Obstacle crossing trolley and obstacle crossing operation method


    Additional title:

    一种越障小车及越障运行方法


    Contributors:
    XIANG ZENGHE (author) / JIN ZUJIN (author) / SHAN XIANLEI (author) / YANG KUN (author) / ZHENG WENWEN (author)

    Publication date :

    2024-10-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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