CN101407174B - Walking device - Google Patents
Walking device Download PDFInfo
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- CN101407174B CN101407174B CN200810227233XA CN200810227233A CN101407174B CN 101407174 B CN101407174 B CN 101407174B CN 200810227233X A CN200810227233X A CN 200810227233XA CN 200810227233 A CN200810227233 A CN 200810227233A CN 101407174 B CN101407174 B CN 101407174B
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- wheel
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- axletree
- drive shaft
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Abstract
The invention relates to a walking device, and belongs to a walking chassis of a vehicle. The walking device adopts the technical proposal that the walking device comprises a vehicle frame (1) and four basic wheel sets driven independently with same structures, each basic wheel set comprises an axle housing (2), a driving shaft (3), belt wheels (4) and (4'), connecting rods (5) and (5'), wheel shafts (6) and (6'), a belt wheel (8) and a wheel (7), a belt wheel (8') and a wheel (7'), belts (9) and (9'), and a hydraulic cylinder (10). The four basic wheel sets driven independently form a full-wheel full-time drive walking system when driving simultaneously, an included angle alpha between the connecting rods (5) and (5') is adjusted through the expansion and contraction of a cylinder rod of the hydraulic cylinder (10), so as to adjust ground clearance of the walking device, the connecting rods (5) and (5') follow up around the driving shaft (3) to achieve profile modeling of tyres (7) and (7') to the ground, and the walking system is steered through changing the drive rotating speed of the basic wheel sets at two sides.
Description
Technical field
The present invention relates to a kind of running gear, belong to the vehicle to run chassis, can improve the crossing ability of vehicle and the comformability of complicated ground.
Technical background
The wheel mounting means that uses on the vehicle mostly is the direct and transmission shaft connection of wheel at present, and the chassis height basic fixed of vehicle maybe can only be carried out small adjusting by suspension like this.If the chassis height, then vehicle body stable poor in motion particularly caused rollover easily, and traffic accident takes place when higher speed travels or turns.Vehicle chassis is too low, and when when pavement conditions is poor, such as muddy, rough and uneven in surface road surface, the vehicle chassis ratio is easier to bump or rub with ground, and trafficability is poor.
Large-scale load-carrying vehicle chassis is mostly supported by a plurality of vehicle bridge, and the chassis is constructed of rigid materials, may occur the unsettled phenomenon of part wheel when by scraggly road, has reduced the load-carrying ability and the crossing ability of vehicle.
1979 the 4th phase papers of " trac. and agriculture truck " " a kind of trac. before and after crack, bridge ground adjusting mechanism " are respectively by the direct jack-up vehicle body of hydraulic actuating cylinder and satellite gear revolution adjusting propons and crack, back axle ground, and mechanism is huge and not to the ground profiling.The planet gear type lunar rover vehicle that in May, 2000 paper " design of New Omni-directional Crossing Obstacle Mechanism " of " machine design and manufacturing engineering " proposes can profiling ground but can not be regulated the crack, ground.
Summary of the invention
The objective of the invention is to provide a kind of and can regulate the vehicle chassis height significantly, and can realize running gear road, ground profiling.It can change the height of gravitational center of vehicle, makes vehicle adapt to different ground, road, improves the through performance of vehicle; It can also make set of wheels that rugged, scraggly road profiling is travelled simultaneously, improves vehicle to ground-surface comformability and cruising characteristic.
In order to reach the identical basic wheels of structure that technical scheme that purpose of the present invention takes comprises vehicle frame 1 and four individual drive, each basic wheels comprises the axle housing 2 that is connected with vehicle frame 1, the axle drive shaft 3 that in axle housing 2, rotates, with the belt wheel 4 and 4 of axle drive shaft 3 coaxial rotation ', connecting rod 5 and 5 ', axletree 6 and 6 ', with the belt wheel 8 of axletree 6 coaxial rotation and wheel 7 and with the belt wheel 8 of axletree 6 ' coaxial rotation ' and wheel 7 ', be with 9 and 9 ', hydraulic actuating cylinder 10, be with 9 on belt wheel 4 and belt wheel 8, to constitute strap drive, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, be with 9 ' around belt wheel 4 ' and belt wheel 8 ' on constitute strap drive, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 ' and axletree 6 ' go up and free to rotate respectively, the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.The basic wheels of four individual drive form the full-time driving running gear of full wheel when driving simultaneously, flexible adjustment connecting rod 5 and 5 by hydraulic actuating cylinder 10 cylinder bars ' angle α, thereby regulate the crack, ground of running gear, by connecting rod 5 and 5 ' realize wheel 7 and 7 ', realize that by the driving rotating speed that changes the basic wheels in both sides running gear turns to ground-surface profiling around axle drive shaft 3 servo-actuateds.
In the above line walking apparatus, strap drive is replaced by chain-driving, be about to belt wheel 4 and 4 ', belt wheel 8 and 8 ' be replaced by sprocket wheel, be with 9 and 9 ' be replaced by chain, constitute chain-driving form of the present invention.
In the above line walking apparatus, with the strap drive of basic wheels be replaced by n level spur gear drive (positive integer n=2,3,4 ...), the power of axle drive shaft 3 and Motion Transmission give wheel 7 and 7 ', constitute multi-stage gear type of belt drive of the present invention.
In the above line walking apparatus, the basic wheels in two of two basic wheels of fwd or back cut off the power input or remove be with 9 and 9 ', running gear becomes back-wheel drive or front-wheel drive.
The present invention can regulate vehicle frame apart from ground-surface height by above-mentioned basic wheels, realizes ground-surface profiling, improves crossing ability and the comformability of vehicle to Different Ground.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is that two connecting rod angles of basic wheels of the present invention are adjusted scheme drawing;
Fig. 3 is the present invention replaces the strap drive running gear with n=3 level gear transmission a basic wheels scheme drawing;
Fig. 4 is a profiling scheme drawing in ground of the present invention.
Specific embodiments
With reference to the accompanying drawings embodiments of the invention are described below.
Figure 1 shows that the scheme drawing of running gear of the present invention, the identical basic wheels of structure by vehicle frame 1 and four individual drive are formed, each basic wheels is again by the axle housing 2 that is connected with vehicle frame 1, the axle drive shaft 3 that in axle housing 2, rotates, with the belt wheel 4 and 4 of axle drive shaft 3 coaxial rotation ', connecting rod 5 and 5 ', axletree 6 and 6 ', belt wheel 8 and wheel 7 with axletree 6 coaxial rotation, with the belt wheel 8 of axletree 6 ' coaxial rotation ' and wheel 7 ', be with 9 and 9 ', hydraulic actuating cylinder 10 is formed, be with 9 on belt wheel 4 and belt wheel 8, to constitute strap drive, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, be with 9 ' around belt wheel 4 ' and belt wheel 8 ' on constitute strap drive, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 ' and axletree 6 ' go up and free to rotate respectively, the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.
Flexible by hydraulic actuating cylinder 10 cylinder bars, can change connecting rod 5 and 5 ' between angle, thereby adjust vehicle frame 1 and ground-surface distance, reach the purpose of adjusting vehicle frame crack, 1 ground and vehicle frame 1 height of gravitational center.Axle drive shaft 3 respectively by belt wheel 4, belt wheel 8 and with 9 strap drives of forming and belt wheel 4 ', the strap drive of belt wheel 8 ' with 9 ' form with power transmission to wheel 7 and wheel 7 '.Because the weight of whole running gear, connecting rod 5 and 5 ' meeting makes wheel 7 and 7 ' profiling ground around drive shaft turns.
Fig. 2 is that two connecting rod angles of basic wheels of the present invention are adjusted scheme drawings, flexible by hydraulic actuating cylinder 10, can adjust connecting rod 5 and 5 ' between angle α, thereby change the terrain clearance of vehicle frame 1, reach the purpose of adjusting crack, vehicle frame 1 ground.
Fig. 3 is the present invention replaces the strap drive running gear with n=3 level gear transmission a basic wheels scheme drawing.Each basic wheels is by axle housing 2 (being connected with vehicle frame 1), the axle drive shaft 3 that in axle housing 2, rotates, cylindrical wheel 11 with axle drive shaft 3 coaxial rotation, connecting rod 5 and 5 ', the cylindrical wheel 12 and 13 that on connecting rod 5, rotates, the cylindrical wheel 12 of 5 ' rotation on connecting rod ' and 13 ', axletree 6 and 6 ', cylindrical wheel 14 and wheel 7 with axletree 6 coaxial rotation, with the cylindrical wheel 14 of axletree 6 ' coaxial rotation ' and wheel 7 ', hydraulic actuating cylinder 10 is formed, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 and axletree 6 ' go up and free to rotate respectively, cylindrical wheel 11 and cylindrical wheel 12 engaged transmission, cylindrical wheel 12 and cylindrical wheel 13 engaged transmission, cylindrical wheel 13 and cylindrical wheel 14 engaged transmission, power reaches wheel 7 from axle drive shaft 3 by 11-12-13-14, cylindrical wheel 11 and cylindrical wheel 12 ' engaged transmission, cylindrical wheel 12 ' with cylindrical wheel 13 ' engaged transmission, cylindrical wheel 13 ' with cylindrical wheel 14 ' engaged transmission, power from axle drive shaft 3 by 11-12 '-13 '-14 ' reach wheel 7 ', the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.When n gets even number, axle drive shaft 3 turn to wheel 7 and 7 ' turn to identical; When n gets odd number, axle drive shaft 3 turn to wheel 7 and 7 ' switched in opposite.
Flexible by hydraulic actuating cylinder 10 cylinder bars, can change connecting rod 5 and 5 ' between angle, thereby adjust vehicle frame 1 and ground-surface distance, reach the purpose of adjusting vehicle frame crack, 1 ground and vehicle frame 1 height of gravitational center.Because the weight of whole running gear, connecting rod 5 and 5 ' meeting makes wheel 7 and 7 ' profiling ground around drive shaft turns, ground profiling principle such as Fig. 4 of running gear.
Claims (4)
1. running gear, it is characterized in that, the identical basic wheels of structure that comprise vehicle frame (1) and four individual drive, each basic wheels comprises the axle housing (2) that is connected with vehicle frame (1), the axle drive shaft (3) that in axle housing (2), rotates, first belt wheel (4) and second belt wheel (4 ') with axle drive shaft (3) coaxial rotation, first connecting rod (5) and second connecting rod (5 '), first axletree (6) and second axletree (6 '), with the 3rd belt wheel (8) of first axletree (6) coaxial rotation and first wheel (7) and with four-tape wheel (8 ') and second wheel (7 ') of second axletree (6 ') coaxial rotation, first band (9) and second band (9 '), hydraulic actuating cylinder (10), first band (9) is gone up the formation strap drive around first belt wheel (4) and the 3rd belt wheel (8), the two ends of first connecting rod (5) are enclosed within axle drive shaft (3) respectively and first axletree (6) is gone up also free to rotate, second band (9 ') is gone up the formation strap drive around second belt wheel (4 ') and four-tape wheel (8 '), the two ends of second connecting rod (5 ') are enclosed within axle drive shaft (3) respectively and second axletree (6 ') is gone up also free to rotate, the two ends of hydraulic actuating cylinder (10) are connected with revolute pair with second connecting rod (5 ') with first connecting rod (5) respectively, by the flexible adjustment first connecting rod (5) of hydraulic actuating cylinder (10) cylinder bar and the angle α between second connecting rod (5 ').
2. running gear according to claim 1 is characterized in that, two the basic wheels in two basic wheels of fwd or back cut off the power input or remove first band (9) and second band (9 '), and running gear becomes back-wheel drive or front-wheel drive.
3. running gear, it is characterized in that, the identical basic wheels of structure that comprise vehicle frame (1) and four individual drive, each basic wheels comprises the axle housing (2) that is connected with vehicle frame (1), the axle drive shaft (3) that in axle housing (2), rotates, first sprocket wheel (4) and second sprocket wheel (4 ') with axle drive shaft (3) coaxial rotation, first connecting rod (5) and second connecting rod (5 '), first axletree (6) and second axletree (6 '), with the 3rd sprocket wheel (8) of first axletree (6) coaxial rotation and first wheel (7) and with the 4th sprocket wheel (8 ') and second wheel (7 ') of second axletree (6 ') coaxial rotation, first chain (9) and second chain (9 '), hydraulic actuating cylinder (10), first chain (9) is gone up the formation chain-driving around first sprocket wheel (4) and the 3rd sprocket wheel (8), the two ends of first connecting rod (5) are enclosed within axle drive shaft (3) respectively and first axletree (6) is gone up also free to rotate, second chain (9 ') is gone up the formation chain-driving around second sprocket wheel (4 ') and the 4th sprocket wheel (8 '), the two ends of second connecting rod (5 ') are enclosed within axle drive shaft (3) respectively and second axletree (6 ') is gone up also free to rotate, the two ends of hydraulic actuating cylinder (10) are connected with revolute pair with second connecting rod (5 ') with first connecting rod (5) respectively, by the flexible adjustment first connecting rod (5) of hydraulic actuating cylinder (10) cylinder bar and the angle α between second connecting rod (5 ').
4. running gear, it is characterized in that, the identical basic wheels of structure that comprise vehicle frame (1) and four individual drive, each basic wheels comprises the axle housing (2) that is connected with vehicle frame (1), the axle drive shaft (3) that in axle housing (2), rotates, driven wheel with axle drive shaft (3) coaxial rotation, first connecting rod (5) and second connecting rod (5 '), first axletree (6) and second axletree (6 '), with first gear of first axletree (6) coaxial rotation and first wheel (7) and with second gear and second wheel (7 ') of second axletree (6 ') coaxial rotation, hydraulic actuating cylinder (10), by driven wheel to first gear, power transmission between second gear adopts n level spur gear drive, positive integer n=2,3,4, ..., the two ends of first connecting rod (5) are enclosed within axle drive shaft (3) respectively and first axletree (6) is gone up also free to rotate, the two ends of second connecting rod (5 ') are enclosed within axle drive shaft (3) respectively and second axletree (6 ') is gone up also free to rotate, the two ends of hydraulic actuating cylinder (10) are connected with revolute pair with second connecting rod (5 ') with first connecting rod (5) respectively, by the flexible adjustment first connecting rod (5) of hydraulic actuating cylinder (10) cylinder bar and the angle α between second connecting rod (5 ').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810227233XA CN101407174B (en) | 2008-11-25 | 2008-11-25 | Walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810227233XA CN101407174B (en) | 2008-11-25 | 2008-11-25 | Walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101407174A CN101407174A (en) | 2009-04-15 |
| CN101407174B true CN101407174B (en) | 2011-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810227233XA Expired - Fee Related CN101407174B (en) | 2008-11-25 | 2008-11-25 | Walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101407174B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788036A (en) * | 2010-03-26 | 2010-07-28 | 中色科技股份有限公司 | Floating gear train structure |
| CN102030007B (en) * | 2010-11-26 | 2013-07-24 | 清华大学 | Method for acquiring overall dynamics controlled quantity of independently driven-independent steering vehicle |
| CN102303526B (en) * | 2011-06-16 | 2014-03-12 | 北京航空航天大学 | H-shaped power chassis |
| CN104802861B (en) * | 2014-01-26 | 2017-02-15 | 上海交通大学 | All-terrain rescue car |
| CN104527416B (en) * | 2014-12-19 | 2017-06-06 | 贾克 | Barrier-exceeding vehicle four-wheel drive axle |
| CN106567916A (en) * | 2015-10-10 | 2017-04-19 | 中国科学院沈阳自动化研究所 | Joint type linear motion mechanism |
| CN106041960A (en) * | 2016-07-22 | 2016-10-26 | 浙江捷众科技股份有限公司 | Garbage pick-up robot |
| CN106427454B (en) * | 2016-11-07 | 2019-04-30 | 中国农业大学 | Adaptive leveling chassis |
| CN106427453A (en) * | 2016-11-07 | 2017-02-22 | 中国农业大学 | Adaptive leveling suspension |
| CN108528481A (en) * | 2018-01-22 | 2018-09-14 | 中融飞腾（北京）科技有限公司 | A kind of electronic shipping system of heavy goods |
| CN109552036B (en) * | 2018-10-29 | 2021-07-06 | 苏州履坦智能科技有限公司 | Multistage chain transmission mechanism for wheeled vehicle |
| CN110143248A (en) * | 2019-03-29 | 2019-08-20 | 盐城工学院 | A kind of intelligent vehicle chassis system of adjustable chassis height |
| CN110435785A (en) * | 2019-07-31 | 2019-11-12 | 山东科技大学 | A kind of gear type running gear |
| CN110622637B (en) * | 2019-10-14 | 2023-05-09 | 塔里木大学 | Combined operation machine for ditching and fertilizing of fruit trees |
| CN116336344A (en) * | 2023-04-11 | 2023-06-27 | 东莞市川晟模具有限公司 | Intelligent security patrol robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB608592A (en) * | 1945-04-04 | 1948-09-17 | Henry Carl Harbers | Improved motor vehicle chassis particularly for armoured vehicles |
| FR2652313A1 (en) * | 1989-09-26 | 1991-03-29 | Neyrinck Marc | Elementary vehicle with two independent wheels and complex vehicle including at least one such elementary vehicle |
| CN2389816Y (en) * | 1999-08-14 | 2000-08-02 | 张玺 | Three-wheel mountain tractor |
| CN2571620Y (en) * | 2002-07-08 | 2003-09-10 | 郎铁成 | Gearing device for lifting tractor body |
| CN101032922A (en) * | 2007-04-03 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing of whole clime car |
-
2008
- 2008-11-25 CN CN200810227233XA patent/CN101407174B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB608592A (en) * | 1945-04-04 | 1948-09-17 | Henry Carl Harbers | Improved motor vehicle chassis particularly for armoured vehicles |
| FR2652313A1 (en) * | 1989-09-26 | 1991-03-29 | Neyrinck Marc | Elementary vehicle with two independent wheels and complex vehicle including at least one such elementary vehicle |
| CN2389816Y (en) * | 1999-08-14 | 2000-08-02 | 张玺 | Three-wheel mountain tractor |
| CN2571620Y (en) * | 2002-07-08 | 2003-09-10 | 郎铁成 | Gearing device for lifting tractor body |
| CN101032922A (en) * | 2007-04-03 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing of whole clime car |
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| Publication number | Publication date |
|---|---|
| CN101407174A (en) | 2009-04-15 |
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Granted publication date: 20110406 Termination date: 20131125 |