CN102303656A - Wheel leg type walking device - Google Patents
Wheel leg type walking device Download PDFInfo
- Publication number
- CN102303656A CN102303656A CN201110170074A CN201110170074A CN102303656A CN 102303656 A CN102303656 A CN 102303656A CN 201110170074 A CN201110170074 A CN 201110170074A CN 201110170074 A CN201110170074 A CN 201110170074A CN 102303656 A CN102303656 A CN 102303656A
- Authority
- CN
- China
- Prior art keywords
- arm
- seat
- leg type
- axle
- wheel leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Tires In General (AREA)
Abstract
The invention discloses a wheel leg type walking device, which comprises a hinge mechanism, a four-bar linkage mechanism and an axle mechanism, wherein the hinge mechanism consists of a seat arm shaft fixedly connected to a seat arm and a seat arm shaft seat on an applied machinery body; the four-bar linkage mechanism consists of the seat arm, a driving arm, a driven arm and a foot arm; and the axle mechanism is arranged at the corresponding position of the foot arm. The wheel leg type walking device can control the relative positions of the wheel and the applied machinery body and can control positive and negative drive, passiveness and braking of the wheel, so that the wheel leg type walking device has strong passing capacity and adaptability, and the applied machinery can meet the requirement of working in the environment of complex geomorphology. The wheel leg type walking device is widely applied in the fields of rescue and relief work, exploration, military projects and the like.
Description
Technical field
The present invention relates to a kind of running gear, especially relate to a kind of wheel leg type running gear.
Background technology
At present common in the field of running gear technology have several kinds of running gears such as wheeled, crawler type, legs and feet formula.Running gear system is widely used on the vehicle of communications and transportation; Cterpillar drive is mainly used in construction machinery and equipment and military project mechanically; Legs and feet formula running gear also is useful on the forestry machinery.Yet existing several kinds of running gears all have bigger limitation to its working environment.Only suit that like running gear system the environment walking of road is being arranged; Though cterpillar drive has stronger crossing ability, at stone, beach, side slope etc. be comparatively in the rugged environment, and its work is difficulty very also, and it is also just powerless especially to run into dark wide trench or higher wall.Legs and feet formula running gear is because its inadaptability that working environment is shifted and seldom using.
Present running gear technology obviously can not adapt to some application machine is carried out operation at complicated landforms requirement.Like rescue and relief work of disasteies such as earthquake etc.In order to improve the work efficiency in complex environments such as rescue and relief work, select a kind ofly more can be adapted at the running gear that complicated landforms carry out work, seem very important.
Summary of the invention
The object of the invention promptly is to overcome the deficiency of prior art, provides a kind of and more can be adapted at the running gear that complicated landforms carry out work.
Wheel leg type running gear of the present invention includes the linkage of being made up of seat arm axle on the present arm of captive joint and the seat arm axle seat on the application machine body; Master arm, the four-bar linkage that passive arm and pin arm are formed are arranged by the seat arm; The axle mechanism that is installed on the pin arm relevant position is arranged.Its special feature is, the seat arm axle of said linkwork is fixedly connected with a pitman arm, has the hydraulic ram hinge to be connected between pitman arm and the application machine body, and the relative position of pitman arm and application machine body is controlled by hydraulic ram; Have the hydraulic ram hinge to be connected between seat arm and the master arm of said four-bar linkage, the relative position of an arm and master arm is controlled by hydraulic ram; The wheel of said axle mechanism, its rotating drives, and is passive, and braking is controlled by HM Hydraulic Motor.
The installation of wheel leg type running gear of the present invention:
Four groups of supporting installations of the body with application machine of the general employing of epicycle legged walking device.
Wheel leg type running gear control principle of the present invention and process:
Change the relative position of described four-bar linkage and application machine body through the control to bonded assembly hydraulic ram on pitman arm and application machine body, the axle mechanism and the relative position of application machine body that are installed in like this on the pin arm also change thereupon; Change axle mechanism and the relative position of application machine body on the pin arm that is installed in said four-bar linkage through control to bonded assembly hydraulic ram on seat arm and the master arm of four-bar linkage; The rotating of controlling the wheel of said axle mechanism through HM Hydraulic Motor drives, and is passive, braking.Because the effect of above associated mechanisms; Wheel leg type running gear of the present invention can control described take turns with the relative position of application machine body with can control the described rotating of taking turns and drive; Passive; Braking, thus make wheel leg type running gear of the present invention have stronger crossing ability and comformability, and then make application machine more can adapt to the requirement of in the environment of complicated landforms, carrying out work.
Relative prior art, wheel leg type running gear of the present invention has following characteristics:
(1) utilize the motion characteristics of four-bar linkage, the operating mode (rotating drives, and is passive, braking) of the wheel through cooperating said axle mechanism can make epicycle legged walking device realize the step wise walking, thereby improve the crossing ability of application machine.
(2) through control linkage on the pitman arm with the application machine body on hydraulic ram and hydraulic ram on the seat arm and the master arm that are connected four-bar linkage change described relative position of taking turns with the application machine body; Thereby change the ground Clearance of application machine body, improved the crossing ability of application machine.
(3) because wheel leg type running gear of the present invention has adopted axle mechanism, walk so can adapt to having under the situation on road.Improved the comformability of application machine.
Description of drawings
Fig. 1 is the structural principle scheme drawing of an embodiment of wheel leg type running gear of the present invention.
Fig. 2 is the principle schematic of wheel leg type running gear of the present invention.
Fig. 3 is mounted in the structural representation of the axle mechanism on the pin arm.
Description of reference numerals:
1-application machine body 2-seat arm axle seat 3-seat arm axle 4-hydraulic ram I
5-pitman arm 6-seat arm 7-hydraulic ram II 8-passive arm
9-master arm 10-pin arm 11-wheel 12-axle
13 HM Hydraulic Motors, 14 fasteners, 15 Transmissions
The specific embodiment
Below in conjunction with accompanying drawing wheel leg type running gear of the present invention is done explanation further:
Shown in Figure 1 is the structural principle sketch of an embodiment of wheel leg type running gear of the present invention.Wheel leg type running gear of the present invention among this embodiment, by: with seat arm axle 3 on the present arm 6 of captive joint and the linkage that arm axle seat 2 is formed on the application machine body 1; With seat arm 6, master arm 9, passive arm 8, the four-bar linkage that pin arm 10 is formed; Three great institutions such as axle mechanism to be installed on pin arm 10 relevant positions are formed.The two ends of hydraulic ram I 4 are hingedly mounted on respectively on the pitman arm 5 corresponding positions of captiveing joint with seat arm axle 3 and on the application machine body 1 corresponding position; The two ends of hydraulic ram II 7 be hingedly mounted on respectively on an arm 6 corresponding positions with master arm 9 corresponding positions on; By wheel 11, axle 12, the axle mechanism that HM Hydraulic Motor 13 is formed is installed on the pin arm 10 corresponding positions.
Shown in Figure 2 is the principle schematic of wheel leg type running gear of the present invention.
Among the figure by dotted portion, the fine line part, heavy line partly waits the principle of three parts signals wheel leg type running gear of the present invention.Three parts are represented hydraulic ram I 4 respectively, hydraulic ram II 7 under different state of a controls, described take turns 11 with application machine body 1 different relative positions.
The structural representation that is mounted in the axle mechanism on the pin arm 10 shown in Figure 3.
The hydraulic power and the operation control system that are adopted on the wheel leg type running gear of the present invention can adopt prior art, generally comprise dynamic machine, oil pump, maneuvering valve, fuel tank, pipeline etc.No longer launch to detail at this.
The control of wheel leg type running gear of the present invention can also be adopted other forms.Can use motor or cylinder instead like described hydraulic ram, it is like that described HM Hydraulic Motor can be used electrical motor etc. instead, all belongs to the technological category of wheel leg type running gear of the present invention.
Claims (2)
1. the wheel leg type running gear includes the linkage of being made up of the seat arm axle seat (2) of (1) on seat arm axle (3) on the present arm (6) of captive joint and the application machine body; Master arm (9), the four-bar linkage that passive arm (8) and pin arm (10) are formed are arranged by seat arm (6); The axle mechanism that is installed on pin arm (10) relevant position is arranged; It is characterized in that the seat arm axle (3) of said linkwork is fixedly connected with a pitman arm (5), has hydraulic ram I (4) hinge to be connected between pitman arm (5) and the application machine body (1); Said four-bar linkage the seat arm (6) with master arm (9) between have hydraulic ram II (7) hinge to be connected; There is Transmission (15) to be connected between the output shaft of the axle of said axle mechanism (12) and engine.
2. wheel leg type running gear according to claim 1 is characterized in that, described engine is to adopt HM Hydraulic Motor (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110170074A CN102303656A (en) | 2011-06-16 | 2011-06-16 | Wheel leg type walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110170074A CN102303656A (en) | 2011-06-16 | 2011-06-16 | Wheel leg type walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102303656A true CN102303656A (en) | 2012-01-04 |
Family
ID=45377607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110170074A Pending CN102303656A (en) | 2011-06-16 | 2011-06-16 | Wheel leg type walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102303656A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818879A (en) * | 2016-03-29 | 2016-08-03 | 北京交通大学 | Forward-backward double-gait foot type robot |
| CN106114670A (en) * | 2016-08-26 | 2016-11-16 | 周勇强 | Device instead of walk |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN107651033A (en) * | 2017-08-04 | 2018-02-02 | 浙江工贸职业技术学院 | A kind of leg wheel hybrid hydraulic pedipulator |
| CN108189924A (en) * | 2017-11-28 | 2018-06-22 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of water power crusing robot and its method for inspecting |
| CN109718019A (en) * | 2019-03-18 | 2019-05-07 | 沈阳工业大学 | It is capable of the wheelchair of obstacle detouring |
-
2011
- 2011-06-16 CN CN201110170074A patent/CN102303656A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818879A (en) * | 2016-03-29 | 2016-08-03 | 北京交通大学 | Forward-backward double-gait foot type robot |
| CN105818879B (en) * | 2016-03-29 | 2018-05-04 | 北京交通大学 | A kind of positive and negative double step gait legged type robot |
| CN106114670A (en) * | 2016-08-26 | 2016-11-16 | 周勇强 | Device instead of walk |
| CN106114670B (en) * | 2016-08-26 | 2018-03-06 | 周勇强 | Device instead of walk |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107117225B (en) * | 2017-05-07 | 2018-07-17 | 荆门市炬峰机械设备制造有限公司 | A kind of four-footed wheeled mobile robot |
| CN107651033A (en) * | 2017-08-04 | 2018-02-02 | 浙江工贸职业技术学院 | A kind of leg wheel hybrid hydraulic pedipulator |
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| CN108189924A (en) * | 2017-11-28 | 2018-06-22 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of water power crusing robot and its method for inspecting |
| CN109718019A (en) * | 2019-03-18 | 2019-05-07 | 沈阳工业大学 | It is capable of the wheelchair of obstacle detouring |
| CN109718019B (en) * | 2019-03-18 | 2020-04-10 | 沈阳工业大学 | Wheelchair capable of crossing obstacle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102303656A (en) | Wheel leg type walking device | |
| CN204119758U (en) | A kind of spiral subsoiling farming machine | |
| CN105835969A (en) | Agricultural electric chassis with double-torsion parallel four-connecting-rod independent suspension | |
| CN201124757Y (en) | Full hydraulic drive loading type tractor | |
| CN205469354U (en) | Agricultural electric chassis with double-torsion parallel four-connecting-rod independent suspension | |
| CN204586506U (en) | A kind of hand-held gearbox changes high-clearance vehicle bridge device | |
| CN202130525U (en) | Wheel leg type traveling gear | |
| CN201240266Y (en) | Wheel shaft regulating mechanism for tractor | |
| CN204687842U (en) | Wheel tyre walking hydraulic pressure auxiliary drive | |
| CN204226184U (en) | ATF pump | |
| CN210887359U (en) | Electric skid-steer loader | |
| CN201756061U (en) | Power output switching device | |
| CN202264652U (en) | Potential energy generating equipment for vehicle | |
| CN210766965U (en) | Oil-electricity hybrid power device of excavator | |
| CN206637009U (en) | The sealing device of output shaft of gear-box and the agricultural creeper truck with the sealing device | |
| CN104279070A (en) | Gear train structure of small diesel engine air cylinder | |
| CN202847853U (en) | Multifunctional crawler-type transferring machine | |
| CN205615342U (en) | Vehicular concrete pump | |
| CN2934769Y (en) | Walking hydraulic driving device | |
| CN204060953U (en) | The wheel train structure of small diesel engine cylinder block | |
| CN203995685U (en) | 4 wheel driven moves gear box of walking tractor | |
| CN204137103U (en) | The steering hardware of wheeled rice wheat combine harvester rear driving axle | |
| CN201245183Y (en) | Agricultural remote control crawler multifunctional vehicle | |
| CN202727977U (en) | Hydraulic transmission device used for track chassis | |
| RU2537434C1 (en) | Earthmover with hydrostatic transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120104 |