CN105416433A - All-terrain vehicle wheel leg walking system - Google Patents
All-terrain vehicle wheel leg walking system Download PDFInfo
- Publication number
- CN105416433A CN105416433A CN201510887259.7A CN201510887259A CN105416433A CN 105416433 A CN105416433 A CN 105416433A CN 201510887259 A CN201510887259 A CN 201510887259A CN 105416433 A CN105416433 A CN 105416433A
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- China
- Prior art keywords
- shock absorber
- swing arm
- terrain vehicle
- shank
- drive wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to an all-terrain vehicle wheel leg walking system. The system comprises a steering mechanism I used for controlling the driving direction, a main vibration attenuating mechanism II used for buffering and attenuating the ground motivation, an auxiliary vibration attenuating mechanism III used for buffering and attenuating the ground motivation in an auxiliary manner, and a walking mechanism IV used for controlling the driving speed and directions (advancing and retreating). The all-terrain vehicle wheel leg walking system which is a walking mechanism more suitable for an all-terrain vehicle to walk on the complex landform is provided to overcome the defects in the prior art. The system has the super high capability of vibration attenuating, vibration isolating and vibration eliminating, and therefore the working comfort level and adaptability of the all-terrain vehicle in the complex and severe environment are improved. By means of the system, the working flexibility and passing ability of the all-terrain vehicle in the complex and severe environment are improved, and the capability of passing ditches, protruding obstacles and steps is improved.
Description
Technical field
The present invention relates to all-terrain vehicle field, specifically a kind of all-terrain vehicle wheel leg running gear.
Technical background
Along with the development of all-terrain vehicle technology and perfect, will be used widely in the fields such as all-terrain vehicle is searched and rescued at resource exploration, jungle, sandy beach is chased, engineering is explored, military surveillance, disaster search and rescue.The traveling gear of all-terrain vehicle mainly contains wheeled, several mechanism such as crawler type, legs and feet formula.Ratcheting mechanism is most widely used general, and transportation and communication common in life is all this mechanism adopted, and is adapted at flat road surface walking, but often runs into the situation without road when operation due to all-terrain vehicle, so ratcheting mechanism improper all-terrain vehicle; Crawler type mechanism has stronger crossing ability, but for the comparatively rugged environment such as sandy beach, rock, jungle that all-terrain vehicle often runs into, also just helpless when especially running into wider trench and higher steep step; Legs and feet formula mechanism has larger limitation to working environment, seldom applies in the vehicle of this frequent conversion work environment of all-terrain vehicle.
Current traveling gear oneself through obviously the requirement of operation can not be carried out at complex landform, as resource exploration etc. by all-terrain adaptable car.In order to improve the work efficiency in the complex environments such as resource exploration, selecting a kind ofly more can be adapted at the traveling gear that complex landform carries out work, seeming very important.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of and more can be applicable to all-terrain vehicle carries out work traveling gear at complex landform--all-terrain vehicle wheel leg running gear, this system has the ability of superpower vibration damping, vibration isolation and weakening, thus improves traveling comfort and comformability that all-terrain vehicle works in complicated harsh environment; This system also improves the alerting ability and crossing ability that all-terrain vehicle works in complicated harsh environment, by the ability of trench, protruding obstacle and step.
The object of the present invention is achieved like this, this system comprises the steering hardware I for controlling travel direction, be used for cushion and decay ground excitation main damper mechanism II, be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III and be used for controlling moving velocity and (advance in direction, fall back) traveling gear IV, described steering hardware I is by turning to swing arm, turn to swing arm input shaft, swing arm output shaft and steer-drive is turned to form, wherein actuating device is arranged on all-terrain vehicle domain, and be connected with turning to swing arm input shaft, turning to swing arm input shaft to be arranged on turns in swing arm, and be connected with all-terrain vehicle chassis, turning to swing arm output shaft to be arranged on turns in swing arm, and be connected with thigh, swing arm is turned to be controlled by steer-drive relative to the corner on all-terrain vehicle chassis, described main damper mechanism II is by thigh, swinging kick actuating device, shank, shock absorber swing arm, shock absorber Locking Device and shock absorber two (comprising elastic element and damping element) are formed, wherein thigh one end is connected with turning to swing arm output shaft, the other end is connected with shank, steer-drive is arranged on thigh, and be connected with shank, shock absorber two one end and thigh are linked together by pin six, the other end and shock absorber swing arm are linked together by pin two, shock absorber swing arm and shank are linked together by pin one, shock absorber Locking Device is arranged on shank, whether shock absorber swing arm is in lockup state (whether namely shock absorber swing arm can swing relative to shank) is controlled by shock absorber Locking Device, when shock absorber swing arm is in lockup state, shank is controlled by the damping force characteristics of shock absorber two and elastic element rigidity relative to the pivot angle of thigh, when shock absorber swing arm is not in lockup state, shank is controlled by swinging kick actuating device relative to the pivot angle of thigh, described auxiliary damper mechanism III is made up of shank, vibration damping spider, shock absorber one (comprising elastic element and damping element) and drive wheel bracket two, wherein vibration damping spider is linked together by pin five with shank, one end is linked together by pin three with drive wheel bracket one, the other end is connected with shock absorber one, described shock absorber one other end is connected with drive wheel bracket two, and the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by shock absorber one damping force characteristics, described traveling gear IV is made up of drive wheel tire, drive wheel bracket one, wheel hub motor and drive wheel bracket two, wherein drive wheel tire is arranged on wheel hub motor and forms drive wheel, wheel hub motor and drive wheel bracket one and drive wheel bracket two-way wheel shaft of overdriving links together, drive wheel bracket two and shank are linked together by pin four, and the main story of drive wheel, reversion and rotating speed are all by hub motor control.
Relative to prior art, all-terrain vehicle wheel leg running gear of the present invention has following features:
(1) ground motivation needs just can pass to full landform chassis through three layers of vibration dampings such as drive wheel tire, main damper mechanism II and auxiliary damper mechanisms III, make all-terrain vehicle have the ability of superpower vibration damping, vibration isolation and weakening, thus improve traveling comfort and comformability that all-terrain vehicle works in complicated harsh environment.
(2) utilize steering hardware I can realize four all-terrain vehicle wheel leg running gear independent steerings of all-terrain vehicle, thus improve alerting ability and crossing ability that all-terrain vehicle works in complicated harsh environment.
(3) by the control to swinging kick actuating device and shock absorber Locking Device, the action of all-terrain vehicle four all-terrain vehicle wheel leg running gear independence swinging kick can be realized, improve the ability of all-terrain vehicle by trench, protruding obstacle and step.
(4) by the control to wheel hub motor, the individual drive of all-terrain vehicle four all-terrain vehicle wheel leg running gears, braking and assisted diversion can be realized, improve crossing ability and the alerting ability of all-terrain vehicle.
Accompanying drawing explanation
Fig. 1 is the structural principle schematic diagram of an embodiment of all-terrain vehicle of the present invention wheel leg running gear.
Fig. 2 is the structural representation of a swinging kick of all-terrain vehicle of the present invention wheel leg running gear.
Fig. 3 is the schematic diagram that all-terrain vehicle runs into not only wide but also dark trench.
Fig. 4 is the schematic diagram that all-terrain vehicle passes through not only wide but also dark trench.
Fig. 5 is the partial schematic diagram of traveling gear in all-terrain vehicle of the present invention wheel leg running gear.
Fig. 6 is the partial schematic diagram of main damper mechanism in all-terrain vehicle of the present invention wheel leg running gear.
Description of reference numerals: 1, all-terrain vehicle chassis, 2, steer-drive, 3, turn to swing arm input shaft, 4, turn to swing arm, 5, thigh, 6, swinging kick actuating device, 7, shank, 8, pin one, 9, shock absorber swing arm, 10, pin two, 11, drive wheel bracket one, 12, drive wheel tire, 13, wheel hub motor, 14, live axle, 15, pin three, 16, pin four, 17, pin five, 18, drive wheel bracket two, 19, shock absorber one, 20, vibration damping spider, 21, shock absorber Locking Device, 22, shock absorber 2 23, pin six, 24, turn to swing arm output shaft, 25, ground, 26, trench, 27, all-terrain vehicle wheel leg running gear.
Detailed description of the invention
Below in conjunction with accompanying drawing, all-terrain vehicle wheel leg running gear of the present invention is further described:
Shown in Fig. 1: this system comprises the steering hardware I for controlling travel direction, be used for cushion and decay ground excitation main damper mechanism II, be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III and be used for controlling moving velocity and (advance in direction, fall back) traveling gear IV, described steering hardware I is by turning to swing arm 4, turn to swing arm input shaft 3, swing arm output shaft 24 and steer-drive 2 is turned to form, wherein actuating device 2 is arranged on all-terrain vehicle domain 1, and be connected with turning to swing arm input shaft 3, turn to swing arm input shaft 3 to be arranged on and turn in swing arm 4, and be connected with all-terrain vehicle chassis 1, turn to swing arm output shaft 24 to be arranged on and turn in swing arm 4, and be connected with thigh, swing arm 4 is turned to be controlled by steer-drive 2 relative to the corner on all-terrain vehicle chassis 1, described main damper mechanism II is by thigh 5, swinging kick actuating device 6, shank 7, shock absorber swing arm 9, shock absorber Locking Device 21 and shock absorber two (comprising elastic element and damping element) 22 are formed, wherein thigh 5 one end is connected with turning to swing arm output shaft 24, the other end is connected with shank 7, steer-drive 6 is arranged on thigh 5, and be connected with shank 7, shock absorber 2 22 one end and thigh 5 are linked together by pin 6 23, the other end and shock absorber swing arm 9 are linked together by pin 2 10, shock absorber swing arm 9 and shank 7 are linked together by pin 1, shock absorber Locking Device 21 is arranged on shank 7, whether shock absorber swing arm 9 is in lockup state (whether namely shock absorber swing arm 9 can swing relative to shank 7) is controlled by shock absorber Locking Device 21, when shock absorber swing arm 9 is in lockup state, shank 7 is controlled by the damping force characteristics of shock absorber 2 22 and elastic element rigidity relative to the pivot angle of thigh 5, when shock absorber swing arm 9 is not in lockup state, shank 7 is controlled by swinging kick actuating device 6 relative to the pivot angle of thigh 5, described auxiliary damper mechanism III is made up of shank 7, vibration damping spider 20, shock absorber one (comprising elastic element and damping element) 19 and drive wheel bracket 2 18, wherein vibration damping spider 20 and shank 7 are linked together by pin 5 17, one end and drive wheel bracket 1 are linked together by pin 3 15, the other end is connected with shock absorber 1, shock absorber 1 other end is connected with drive wheel bracket 2 18, and the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by shock absorber 1 damping force characteristics, described traveling gear IV is made up of drive wheel tire 12, drive wheel bracket 1, wheel hub motor 13 and drive wheel bracket 2 18, wherein drive wheel tire 12 is arranged on wheel hub motor 13 and forms drive wheel, wheel hub motor 13 is linked together by live axle 14 with drive wheel bracket 1 and drive wheel bracket 2 18, drive wheel bracket 2 18 and shank 7 are linked together by pin 4 16, and the main story of drive wheel, reversion and rotating speed are all by hub motor control.
The installation of all-terrain vehicle wheel leg running gear of the present invention:
All-terrain vehicle generally adopts four groups of all-terrain vehicle wheel leg running gears 27 of the present invention and the supporting installation in all-terrain vehicle chassis.
All-terrain vehicle wheel leg running gear control principle of the present invention and process:
By changing the position turning to swing arm 4 relative to all-terrain vehicle chassis 1 to the control of steer-drive 2, and then drive thigh 5, shank 7, drive wheel bracket 1 and drive wheel bracket 2 18 to rotate, and then change the travel direction of all-terrain vehicle; By changing the effectiveness in vibration suppression of main damper mechanism II to the control of shock absorber 2 22 damping force characteristics; By changing the lockup state of shock absorber swing arm 9 to the control of shock absorber Locking Device 21, shank 7 is changed to the control of swinging kick actuating device 6 simultaneously and rotate relative to thigh 5, and then just can realize the action of all-terrain vehicle swinging kick; By changing the effectiveness in vibration suppression of auxiliary damper mechanism III to the control of shock absorber 1 damping force characteristics; By changing the hand of rotation of drive wheel to the control of wheel hub motor 13, so can realize all-terrain vehicle advance, fall back and brake.Due to the effect of above associated mechanisms, the independence that can realize all-terrain vehicle four all-terrain vehicle wheel leg running gears 27 controls, and then individual drive, independent steering, independent swinging kick can be realized, ground motivation needs just can be delivered to all-terrain vehicle chassis through three layers of vibration damping, so all-terrain vehicle wheel leg running gear of the present invention has stronger damping, crossing ability, alerting ability and comformability, all-terrain vehicle can be made more to adapt to carry out the requirement of work in the environment of complex landform.
Shown in Fig. 2: be after shank 7 turns over a big swing angle relative to thigh 5 in figure, the relative position of all parts.
Shown in Fig. 3: all-terrain vehicle, when ground run, has occurred a not only wide but also dark trench in right front.
Shown in Fig. 4: when all-terrain vehicle goes to trench front, the all-terrain vehicle wheel leg running gear 27 of right front makes the action of swinging kick, its excess-three all-terrain vehicle wheel leg running gear 27 supports all-terrain vehicle and continues to drive and travels, and the all-terrain vehicle wheel leg running gear 27 crossing rear right front swings back original place again.
Shown in Fig. 5: partial cross is carried out to traveling gear IV, further illustrates drive wheel mechanism.
Shown in Fig. 6: partial cross is carried out to shank 7 structure, show the structure of the parts such as thigh 5, shank 7, pin 1, swinging kick actuating device 6, pin 2 10, shock absorber Locking Device 21 from the side.
Claims (5)
1. all-terrain vehicle wheel leg running gear, this system comprises steering hardware I for controlling travel direction, be used for cushioning and the excitation of decay ground main damper mechanism II, be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III and be used for controlling the traveling gear IV in moving velocity and direction.
2. steering hardware I described in is by turning to swing arm (4), turn to swing arm input shaft (3), swing arm output shaft (24) and steer-drive (2) is turned to form, wherein actuating device (2) is arranged on all-terrain vehicle domain (1), and be connected with turning to swing arm input shaft (3), turn to swing arm input shaft (3) to be arranged on and turn in swing arm (4), and be connected with all-terrain vehicle chassis (1), turn to swing arm output shaft (24) to be arranged on and turn in swing arm (4), and be connected with thigh, swing arm (4) is turned to be controlled by steer-drive (2) relative to the corner of all-terrain vehicle chassis (1).
3. described in, main damper mechanism II is by thigh (5), swinging kick actuating device (6), shank (7), shock absorber swing arm (9), shock absorber Locking Device (21) and shock absorber two (22) are formed, wherein thigh (5) one end is connected with turning to swing arm output shaft (24), the other end is connected with shank (7), steer-drive (6) is arranged on thigh (5), and be connected with shank (7), shock absorber two (22) one end and thigh (5) are linked together by pin six (23), the other end and shock absorber swing arm (9) are linked together by pin two (10), shock absorber swing arm (9) and shank (7) are linked together by pin one (8), shock absorber Locking Device (21) is arranged on shank (7), whether shock absorber swing arm (9) is in lockup state is controlled by shock absorber Locking Device (21), when shock absorber swing arm (9) is in lockup state, shank (7) is controlled by the damping force characteristics of shock absorber two (22) and elastic element rigidity relative to the pivot angle of thigh (5), when shock absorber swing arm (9) is not in lockup state, shank (7) is controlled by swinging kick actuating device (6) relative to the pivot angle of thigh (5).
4. described in, auxiliary damper mechanism III is by shank (7), vibration damping spider (20), shock absorber one (19) and drive wheel bracket two (18) are formed, wherein vibration damping spider (20) and shank (7) are linked together by pin five (17), one end and drive wheel bracket one (11) are linked together by pin three (15), the other end is connected with shock absorber one (19), described shock absorber one (19) other end is connected with drive wheel bracket two (18), the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by shock absorber one (19) damping force characteristics.
5. traveling gear IV described in is by drive wheel tire (12), drive wheel bracket one (11), wheel hub motor (13) and drive wheel bracket two (18) are formed, wherein drive wheel tire (12) is arranged on wheel hub motor (13) and forms drive wheel, wheel hub motor (13) is linked together by live axle (14) with drive wheel bracket one (11) and drive wheel bracket two (18), drive wheel bracket two (18) and shank (7) are linked together by pin four (16), the main story of drive wheel, reversion and rotating speed are all by hub motor control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887259.7A CN105416433B (en) | 2015-12-07 | 2015-12-07 | All-terrain vehicle wheel leg running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887259.7A CN105416433B (en) | 2015-12-07 | 2015-12-07 | All-terrain vehicle wheel leg running gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105416433A true CN105416433A (en) | 2016-03-23 |
| CN105416433B CN105416433B (en) | 2017-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510887259.7A Expired - Fee Related CN105416433B (en) | 2015-12-07 | 2015-12-07 | All-terrain vehicle wheel leg running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105416433B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106437706A (en) * | 2016-12-26 | 2017-02-22 | 徐州乐泰机电科技有限公司 | Novel wheel-leg type rock drilling robot |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN111409605A (en) * | 2020-04-29 | 2020-07-14 | 吉林大学 | Height adjusting device for obstacle crossing electric rescue vehicle and obstacle crossing electric rescue vehicle |
| CN113022890A (en) * | 2021-04-06 | 2021-06-25 | 哈尔滨工业大学 | Planet detection vehicle |
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| JPH01103506A (en) * | 1987-10-16 | 1989-04-20 | Suzuki Motor Co Ltd | Suspension system |
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| CN200992242Y (en) * | 2006-12-31 | 2007-12-19 | 中国北车集团唐山机车车辆厂 | Multipurpose investigation vehicle |
| WO2011157808A1 (en) * | 2010-06-16 | 2011-12-22 | Messier-Bugatti-Dowty | Main landing gear of an aircraft, comprising two walking beams and a deformable parallelogram structure |
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
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2015
- 2015-12-07 CN CN201510887259.7A patent/CN105416433B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01103506A (en) * | 1987-10-16 | 1989-04-20 | Suzuki Motor Co Ltd | Suspension system |
| WO1994008806A1 (en) * | 1992-10-20 | 1994-04-28 | Dowty Aerospace Gloucester Limited | Suspension arrangement |
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| WO2011157808A1 (en) * | 2010-06-16 | 2011-12-22 | Messier-Bugatti-Dowty | Main landing gear of an aircraft, comprising two walking beams and a deformable parallelogram structure |
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106437706A (en) * | 2016-12-26 | 2017-02-22 | 徐州乐泰机电科技有限公司 | Novel wheel-leg type rock drilling robot |
| CN106437706B (en) * | 2016-12-26 | 2018-09-28 | 乐清市华尊电气有限公司 | A kind of wheel leg type problem of rock-drilling robot |
| CN108058755A (en) * | 2017-12-04 | 2018-05-22 | 吉林大学 | Double triangle suspension wheel leg type all-terrain moving robot |
| CN111409605A (en) * | 2020-04-29 | 2020-07-14 | 吉林大学 | Height adjusting device for obstacle crossing electric rescue vehicle and obstacle crossing electric rescue vehicle |
| CN113022890A (en) * | 2021-04-06 | 2021-06-25 | 哈尔滨工业大学 | Planet detection vehicle |
| CN113022890B (en) * | 2021-04-06 | 2022-07-12 | 哈尔滨工业大学 | Wheel-leg composite planetary detection vehicle based on swing suspension |
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| Publication number | Publication date |
|---|---|
| CN105416433B (en) | 2017-11-07 |
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Granted publication date: 20171107 Termination date: 20181207 |