CN106627827A - Multi-terrain conveying vehicle - Google Patents

Multi-terrain conveying vehicle Download PDF

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Publication number
CN106627827A
CN106627827A CN201611026629.9A CN201611026629A CN106627827A CN 106627827 A CN106627827 A CN 106627827A CN 201611026629 A CN201611026629 A CN 201611026629A CN 106627827 A CN106627827 A CN 106627827A
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CN
China
Prior art keywords
joint
driving cabin
main body
many landform
support housing
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Pending
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CN201611026629.9A
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Chinese (zh)
Inventor
姜涵宇
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Individual
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Individual
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Application filed by Individual filed Critical Individual
Priority to CN201611026629.9A priority Critical patent/CN106627827A/en
Publication of CN106627827A publication Critical patent/CN106627827A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention discloses a multi-terrain conveying vehicle which comprises a cab body, a supporting shell and mechanical legs. The cab body is installed on the supporting shell. A plurality of front visual systems are arranged on the front side of the multi-terrain conveying vehicle. A plurality of side face visual systems are arranged on the side face of the multi-terrain conveying vehicle. The four mechanical legs are arranged at the four corners of the supporting shell respectively. Each mechanical leg comprises a first joint, a second joint, a third joint and a fourth joint, wherein the first joint, the second joint, the third joint and the fourth joint are sequentially hinged and connected, a first hydraulic cylinder is installed between the first joint and the second joint, a second hydraulic cylinder is installed between the second joint and the third joint, a third hydraulic cylinder is installed between the third joint and the fourth joint, and a plurality of foot hydraulic cylinders are installed at the bottom of the fourth joint. The multi-terrain conveying vehicle is provided with the four mechanical legs to form a four-foot running mechanism, actions such as climbing, turning and walking on ramps can be met, and important market value and social value are achieved.

Description

A kind of many landform trucks
Technical field
The present invention relates to a kind of truck, specifically a kind of many landform trucks.
Background technology
As the development in epoch, auto industry are fast-developing, increasing high-tech and people are employed in automobile production The safety and amenities of property, makes the function of automobile further perfect.Climbing the mountain, stair climbing or other situations without road surface walking Under, existing automobile just cannot normally play a role, in the market also without a people for really being able to solve this problem Use product.Therefore, at present when in the face of these landform, by manpower and power can only be stored, research and development one kind can solve the problem that the problems referred to above Many landform trucks, by with important market value and social value.
The content of the invention
It is an object of the invention to provide a kind of many landform trucks, to solve the problems, such as above-mentioned background technology in propose.
For achieving the above object, the present invention provides following technical scheme:
A kind of many landform trucks, including driving cabin main body, support housing and pedipulator;The driving cabin main body is arranged on and supports On housing;Driving cabin is also slidably fitted with the driving cabin main body to push;Many landform truck front sides are provided with multiple Anterior vision system, many landform truck sides are provided with multiple side vision systems;The pedipulator has four, sets respectively Put supporting at housing corner, the pedipulator includes the first joint, second joint, the 3rd joint and the 4th joint, described the One joint is connected to support housing by vertical axis of rotation, supports and is also equipped with driving the first joint on housing around vertical rotating shaft The electric rotating machine of rotation;First joint, second joint, the 3rd joint and the 4th joint are hinged and connected successively, and first closes First hydraulic cylinder is installed between section and second joint, second hydraulic cylinder is installed between second joint and the 3rd joint, the 3rd The 3rd hydraulic cylinder is installed between joint and the 4th joint;4th joint base is provided with multiple foot hydraulic cylinders, and often Individual foot hydraulic cylinder is controlled by corresponding electro-hydraulic proportional servo valve.
As further scheme of the invention:The driving cabin lower body part is arc, supports and be provided with and drive on housing The arc groove that the curved lower portion of cabin main body is engaged is sailed, arc groove supports and wraps up the curved lower portion of driving cabin main body, drives Sail cabin subject activity to be arranged in the arc groove for supporting housing.
As further scheme of the invention:Spacing circular hole is additionally provided with the arc groove of the support housing, is driven Sail cabin bottom part body and be provided with the spacing preiection being engaged with spacing circular hole, spacing preiection is located in spacing circular hole, and spacing circle The diameter with diameter greater than spacing preiection in hole.
As further scheme of the invention:The driving cabin pushes and is arranged on driving cabin body tail section.
As further scheme of the invention:It is anterior that the anterior vision system is disposed on support housing;It is described Side vision system interval is arranged on the side for supporting housing.
As further scheme of the invention:The anterior vision system and side vision system include infrared system And illuminator.
As further scheme of the invention:It is described to support the bottom of housing to be additionally provided with four-wheel drive system chassis, 4 wheel driven Four wheels are installed on system chassis.
As further scheme of the invention:The driving cabin bottom part body is additionally provided with gyroscope balance system, top Spiral shell instrument balance system includes gyroscope and spill spin block, and gyroscope balance system includes altogether four gyroscopes being disposed vertically.
As further scheme of the invention:4th joint base is provided with six foot hydraulic cylinders, six foots Portion's hydraulic cylinder is divided into two rows, often arranges three, is disposed in an evenly spaced relation in the 4th joint base.
As further scheme of the invention:The foot hydraulic cylinder bottom is provided with neonychium, in the neonychium It is provided with pressure sensor.
Compared with prior art, the invention has the beneficial effects as follows:
1st, many landform trucks of the invention, the motion structure of bionical cattle and sheep arranges four pedipulators and forms four-footed traveling mechanism, often Individual pedipulator has four frees degree, disclosure satisfy that climbing, turns round, walks the actions such as ramp, it is also possible to prevent from rolling, so as to solve Existing automobile cannot climb the mountain and the problems such as stair climbing, with important market value and social value;
2nd, many landform trucks of the invention can also be real for the normally travel on flat ground using four-wheel ground connection traveling It is strong with property;
3rd, many landform trucks of the invention, each of which pedipulator bottom is provided with six foot hydraulic cylinders, six foot hydraulic cylinders Different length can be stretched out, with the flexible shape for changing contact ground, the rough road surface of adaptation and different in width Step, there is higher earth-grasping force and security, and foot hydraulic cylinder also has cushioning effect, strengthens the comfortableness of the truck, Pressure sensor in the neonychium of foot hydraulic cylinder bottom, can prevent from stepping on sky or slip;
4th, the adjustment effect that many landform trucks of the invention pass through gyroscope balance system, makes driving cabin main body remain level State, when serious inclination, if beyond the adjustable range of gyroscope balance system, the bending of four pedipulators can be coordinated To regain the balance of driving cabin;
5th, many landform trucks of the invention, its anterior vision system is used for automatically scanning road conditions, and side vision system is used for real-time Monitor the road conditions around the truck vehicle body, to eliminate four-footed transport condition under the excessive problem in blind area, anterior vision system and Side vision system is comprising infrared system and illuminator such that it is able to the change of light source is adapted to, even if also can be complete at night Into the effect of monitoring road conditions.
Description of the drawings
Fig. 1 is the external structure schematic diagram of many landform trucks.
Fig. 2 is the structural representation of driving cabin main body and gyroscope balance system in many landform trucks.
Fig. 3 is the structural representation that housing and pedipulator are supported in many landform trucks.
Fig. 4 is the structural representation of pedipulator in many landform trucks.
Fig. 5 is the arrangement schematic diagram of the electric and oil circuit control of many landform trucks.
Fig. 6 is the dynamical system space arrangement schematic diagram of many landform trucks.
Fig. 7 is the structural representation of driving cabin main body in many landform trucks.
Fig. 8 is the structural representation of gyroscope balance system in many landform trucks.
Fig. 9 is the structural representation that housing is supported in many landform trucks.
Figure 10 is the structural representation of the 4th joint and foot hydraulic cylinder in many landform trucks.
Figure 11 is schematic diagram when the normal four-footed of many landform trucks is travelled.
Figure 12 is the gyroscope balance system and structure during pedipulator cooperation holding driving cabin level of many landform trucks Schematic diagram.
Figure 13 is structural representation when many landform truck four-wheels are travelled.
Figure 14 is structural representation when many landform trucks are travelled on ladder road.
In figure:1- driving cabins push, 2- driving cabin main bodys, 3- support the anterior vision system of housing, 4-, 5- side visions system System, 6- four-wheel drive systems chassis, 7- wheels, 8- gyroscope balance systems, 9- electric rotating machines, the joints of 10- first, 11- second joints, The joints of 12- the 3rd, the joints of 13- the 4th, 14- first hydraulic cylinders, 15- second hydraulic cylinders, the hydraulic cylinders of 16- the 3rd, 17- foot hydraulic pressure Cylinder, 18- neonychiums.
Specific embodiment
Technical scheme is described in more detail with reference to specific embodiment.
Refer to Fig. 1-14, a kind of many landform trucks, including driving cabin main body 2, support housing 3 and pedipulator;It is described The bottom of driving cabin main body 2 is arc, is provided with support housing 3 recessed with the arc that the curved lower portion of driving cabin main body 2 is engaged Groove, arc groove supports and wraps up the curved lower portion of driving cabin main body 2, and driving cabin main body 2 is movably arranged on the arc for supporting housing 3 In connected in star, so that supporting housing 3 to provide support to driving cabin main body 2, at the same time, driving cabin main body 2 can also The activity on housing 3 is supported, to keep balance;Spacing circular hole, driving cabin are additionally provided with the arc groove of the support housing 3 The bottom of main body 2 is provided with the spacing preiection being engaged with spacing circular hole, and spacing preiection is located in spacing circular hole, and spacing circular hole With diameter greater than the diameter of spacing preiection, make driving cabin main body 2 support housing 3 on have certain displacement, spacing circular hole with Spacing preiection coordinates to limit the displacement of driving cabin main body 2, and the displacement for making driving cabin main body 2 is in suitable scope; Driving cabin is also slidably fitted with the driving cabin main body 2 and pushes 1, pushed away and carry out driving cabin and push 1, driver can push from driving cabin Enter at 1 in driving cabin main body 2, it is also possible to push 1 handling goods via driving cabin, driving cabin pushes 1 in driving cabin main body 2 Particular location it is without restriction, in the present embodiment, it is preferred that the driving cabin pushes and 1 is arranged on the afterbody of driving cabin main body 2, by It is higher in the driving cabin position of the truck, driving cabin is pushed and 1 is arranged on the afterbody of driving cabin main body 2 and is beneficial to unload goods Thing, similar to the deck store door of cargo aircraft, the driving cabin push 1 have car door effect;Many landform truck front sides are provided with Multiple anterior vision systems 4, for automatically scanning road conditions, and are sent to turn-key system, turn-key system by the traffic information of acquisition Information to obtaining determines and sets foot on a little after being analyzed, it is of course also possible to select manual remote control or it is manually operated start, front portion regards The installation site of feel system 4 is without restriction, in the present embodiment, it is preferred that the anterior vision system 4 is disposed on supporting shell Body 3 is anterior, and many landform truck sides are provided with multiple side vision systems 5, for the monitor in real time truck vehicle body Around road conditions, to eliminate four-footed transport condition under the excessive problem in blind area, the installation site of side vision system 5 is not added with limit System, in the present embodiment, it is preferred that the side vision system 5 is disposed on the side for supporting housing 3, the anterior vision System 4 and side vision system 5 are comprising infrared system and illuminator such that it is able to the change of light source is adapted to, even if at night Evening can also complete the effect of monitoring road conditions;It is described to support the bottom of housing 3 to be additionally provided with four-wheel drive system chassis 6, four-wheel drive system bottom Four wheels 7 are installed, four-wheel drive system chassis 6 is existing automobile four-wheel drive system, so that the truck can be as general on disk 6 Logical automobile is equally travelled using wheel on smooth ground;
The bottom of driving cabin main body 2 is additionally provided with gyroscope balance system 8, and gyroscope balance system 8 includes gyroscope and rotation Switch block, gyroscope balance system 8 includes altogether four gyroscopes being disposed vertically, and each two gyroscope is one group, one of which top Spiral shell instrument is used to keep left-right balance, another group of gyroscope to be used to keep anterior-posterior balance, so, in the truck certain angle is rolled When, by the adjustment effect of gyroscope balance system 8, make driving cabin main body 2 remain horizontality;The pedipulator has Four, be separately positioned at 3 four jiaos of housing of support, four pedipulators form four-footed traveling mechanisms, disclosure satisfy that climbing, turn round, The actions such as ramp are walked, the pedipulator includes the first joint 10, second joint 11, the 3rd joint 12 and the 4th joint 13, described First joint 10 by vertical axis of rotation be connected to support housing 3, support housing 3 on be also equipped with drive the first joint 10 around The electric rotating machine 9 of vertical axis of rotation, under four-footed transport condition, electric rotating machine 9 can be assisted when the truck is turned Turn, in addition, when the truck drives from four-footed and is changed into in-wheel driving, the electric rotating machine 9 starts, so that whole pedipulator Around the side of the vertical axis of rotation truck, the structure of cover is formed similar to driving cabin bumper and strengthens, to strengthen driving The security in cabin;First joint 10, second joint 11, the 3rd joint 12 and the 4th joint 13 are hinged and connected successively, and the First hydraulic cylinder 14 is installed between one joint 10 and second joint 11, for driving the turning around the first joint 10 of second joint 11 Axle is rotated, and second joint 11 and the 3rd is provided with second hydraulic cylinder 15 between joint 12, for driving the 3rd joint 12 around second The axis of rotation in joint 11, between the 3rd joint 12 and the 4th joint 13 the 3rd hydraulic cylinder 16 is provided with, for driving the 4th to close Axis of rotation of the section 13 around the 3rd joint 12;The bottom of 4th joint 13 is provided with multiple foot hydraulic cylinders 17, and each foot Portion's hydraulic cylinder 17 is controlled by corresponding electro-hydraulic proportional servo valve, so as to realize that multiple foot hydraulic cylinders 17 can stretch out difference Length, with the flexible step for changing the shape for contacting ground, adapting to rough road surface and different in width, there is higher Earth-grasping force and security, in addition, foot hydraulic cylinder 17 also has cushioning effect, strengthen the comfortableness of the truck, the present embodiment In, it is preferred that the bottom of the 4th joint 13 is provided with six foot hydraulic cylinders 17, and six foot hydraulic cylinders 17 are divided into two rows, Three are often arranged, the bottom of the 4th joint 13 is disposed in an evenly spaced relation in;The bottom of foot hydraulic cylinder 17 is provided with neonychium 18, protection Pad 18 is made up of rubber with fibrous material and metal material, and can be changed, and in the neonychium 18 pressure sensing is provided with Pressure data can be real-time transmitted to central control system by device, pressure sensor, during automatic Pilot, only when pressure data reaches peace During gamut, central control system can just send instruction and perform next action, and in pilot steering, pressure value is displayed in driving cabin On interior display screen.
The power supply plan on four-wheel drive system chassis 6 as shown in figure 5, four-wheel drive motor adopts thulium permanent magnetism gear, The motor has the advantages that commutation ability is good, noise is low, efficiency high, high efficient district width, overload capacity are strong.
Full-vehicle control mainly completes full-vehicle control and energy management two parts function with EMS, is responsible for collection The operation information of the subsystems of car load simultaneously carries out monitor and diagnosis, maintains all batteries to be in optimum state, and control is charged Mode and dump energy is provided the responsibility such as shows, and implement following functions.
(1)Whole vehicle information detection and display, including:The simulation such as air pressure signal, accelerator pedal and brake pedal is acted charitably, and Speed, advance, retrogressing, controller switches, heating installation switch, air pump switch, pump switch and the switching value such as hand braking.
(2)The information related with motor is communicated and is shown to motor controller by CAN.
(3)Gearshift control is carried out, avoids battery depth from putting a little by controlling primary cut-out.
(4)Power battery pack infomation detection and display, including:Total current, total voltage, power battery pack charged state Estimation, single cell voltage and every case battery pack temperature.
(5)Safeguard that battery is used:Put a undervoltage warning, charging over voltage alarm, cell damage warning.
(6)Communicated with charger by CAN.
The high voltage direct current of power battery pack output passes through high-voltage electrical apparatus block terminal and motor, compressor of air conditioner, turns Realize that energy distributes to system drive motor and brakes motor etc., while passing through DC/DC converters by 384V high pressure Direct current is changed into 24V low-tension currents, and for instrument, illumination, control system and body accessories electric energy is provided, and for booster battery Charge.
Car load dynamical system arrangement arranges cavity as shown in fig. 6, wherein A is internal combustion engine, and B is electric power system and transmission system Cavity, C is control system cavity.
The present invention operation principle be:Many landform trucks, both can be driven, it would however also be possible to employ wheeled using four-footed Drive, when driving using four-footed, installed in four pedipulators supported on housing 3 four-footed traveling mechanism is formed, disclosure satisfy that and climb Climb, turn round, walking the actions such as ramp, it is also possible to preventing from rolling, for the road conditions downward driving for being difficult to travel in common in-wheel driving.When When travelling to flat road surface, to switch to in-wheel driving, then pedipulator bending is shunk, and electric rotating machine 9 starts, so that whole Individual pedipulator forms similar to driving cabin bumper and strengthens the structure of cover around the side of the vertical axis of rotation truck, with Strengthen the security of driving cabin.In the process of moving, anterior vision system 4 is used for automatically scanning road conditions, and the road conditions that will be obtained Information is sent to turn-key system, and turn-key system determines after being analyzed to the information for obtaining sets foot on a little, arranges in neonychium 18 Pressure data can be real-time transmitted to central control system by pressure sensor, only when pressure data reaches safe range, middle control System can just send instruction and perform next action, prevent from stepping on sky or slip, and side vision system 5 is for the monitor in real time carrying Road conditions around car vehicle body, to eliminate four-footed transport condition under the excessive problem in blind area, anterior vision system 4 and side vision system System 5 is comprising infrared system and illuminator such that it is able to the change of light source is adapted to, even if can also complete monitoring road conditions at night Effect, it is of course also possible to select manual remote control or it is manually operated start, in pilot steering, pressure value is displayed in driving On display screen in cabin.Gyroscope balance system 8 is used to keep the balance of vehicle body in the process of moving, and in the truck one is rolled When determining angle, by the adjustment effect of gyroscope balance system 8, driving cabin main body 2 is set to remain horizontality, in serious side When inclining, if beyond the adjustable range of gyroscope balance system 8, the bending that can coordinate four pedipulators is driven to regain Sail the balance in cabin.
The many landform trucks of the present invention, the motion structure of bionical cattle and sheep arranges four pedipulators and forms four-footed traveling mechanism, Each pedipulator has four frees degree, disclosure satisfy that climbing, turns round, walks the actions such as ramp, it is also possible to prevent from rolling, so as to solve Existing automobile cannot climb the mountain and the problems such as stair climbing, with important market value and social value;The many landform of the present invention are carried Fortune car can also be practical for the normally travel on flat ground using four-wheel ground connection traveling;The many landform of the present invention are carried Fortune car, each of which pedipulator bottom is provided with six foot hydraulic cylinders 17, and six foot hydraulic cylinders 17 can stretch out different length Degree, with the flexible step for changing the shape for contacting ground, adapting to rough road surface and different in width, has and higher grabs ground Power and security, and foot hydraulic cylinder 17 also has cushioning effect, strengthens the comfortableness of the truck, the bottom of foot hydraulic cylinder 17 Pressure sensor in neonychium 18, can prevent from stepping on sky or slip;The many landform trucks of the present invention are by gyroscope balance system The adjustment effect of system 8, makes driving cabin main body 2 remain horizontality, when serious inclination, if flat beyond gyroscope The adjustable range of balance system 8, can coordinate the bending of four pedipulators to regain the balance of driving cabin;The many landform of the present invention are carried Fortune car, its anterior vision system 4 is used for automatically scanning road conditions, and side vision system 5 is used for the monitor in real time truck vehicle body week The road conditions enclosed, to eliminate four-footed transport condition under the excessive problem in blind area, anterior vision system 4 and side vision system 5 are wrapped Containing infrared system and illuminator such that it is able to adapt to the change of light source, even if can also complete the effect of monitoring road conditions at night.
The better embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment party Formula, in the ken that one skilled in the relevant art possesses, can be with the premise of without departing from present inventive concept Various changes can be made.

Claims (10)

1. a kind of many landform trucks, it is characterised in that including driving cabin main body(2), support housing(3)And pedipulator;It is described Driving cabin main body(2)Installed in support housing(3)On;The driving cabin main body(2)On be also slidably fitted with driving cabin and push (1);Many landform truck front sides are provided with multiple anterior vision systems(4), many landform truck sides are provided with multiple Side vision system(5);The pedipulator has four, is separately positioned on support housing(3)At corner, the pedipulator includes First joint(10), second joint(11), the 3rd joint(12)With the 4th joint(13), first joint(10)By vertical Axis of rotation is connected to support housing(3), support housing(3)On be also equipped with drive the first joint(10)Around vertical axis of rotation Electric rotating machine(9);First joint(10), second joint(11), the 3rd joint(12)With the 4th joint(13)Cut with scissors successively Connect connected, and the first joint(10)With second joint(11)Between first hydraulic cylinder is installed(14), second joint(11)With Three joints(12)Between second hydraulic cylinder is installed(15), the 3rd joint(12)With the 4th joint(13)Between the 3rd liquid is installed Cylinder pressure(16);4th joint(13)Bottom is provided with multiple foot hydraulic cylinders(17), and each foot hydraulic cylinder(17) Controlled by corresponding electro-hydraulic proportional servo valve.
2. many landform trucks according to claim 1, it is characterised in that the driving cabin main body(2)Bottom is arc, Support housing(3)On be provided with and driving cabin main body(2)The arc groove that is engaged of curved lower portion, arc groove supports and wraps Wrap up in driving cabin main body(2)Curved lower portion, driving cabin main body(2)It is movably arranged on support housing(3)Arc groove in.
3. many landform trucks according to claim 2, it is characterised in that the support housing(3)Arc groove in It is additionally provided with spacing circular hole, driving cabin main body(2)Bottom is provided with the spacing preiection being engaged with spacing circular hole, spacing preiection position In spacing circular hole, and the diameter with diameter greater than spacing preiection of spacing circular hole.
4. many landform trucks according to claim 1, it is characterised in that the driving cabin pushes(1)It is arranged on driving Cabin main body(2)Afterbody.
5. many landform trucks according to claim 1, it is characterised in that the anterior vision system(4)Interval setting Supporting housing(3)It is anterior;The side vision system(5)It is disposed on support housing(3)Side.
6. many landform trucks according to claim 1, it is characterised in that the anterior vision system(4)Regard with side Feel system(5)Comprising infrared system and illuminator.
7. according to the arbitrary described many landform trucks of claim 1-6, it is characterised in that the support housing(3)Bottom It is additionally provided with four-wheel drive system chassis(6), four-wheel drive system chassis(6)On four wheels are installed(7).
8. many landform trucks according to claim 7, it is characterised in that the driving cabin main body(2)Bottom also sets up There is gyroscope balance system(8), gyroscope balance system(8)Including gyroscope and spill spin block, gyroscope balance system(8)Wrap altogether Include four gyroscopes being disposed vertically.
9. many landform trucks according to claim 8, it is characterised in that the 4th joint(13)Bottom is provided with six Individual foot hydraulic cylinder(17), six foot hydraulic cylinders(17)It is divided into two rows, often arranges three, is disposed in an evenly spaced relation in the 4th joint (13)Bottom.
10. many landform trucks according to claim 9, it is characterised in that the foot hydraulic cylinder(17)Install bottom There is neonychium(18), the neonychium(18)Inside it is provided with pressure sensor.
CN201611026629.9A 2016-11-22 2016-11-22 Multi-terrain conveying vehicle Pending CN106627827A (en)

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Application Number Priority Date Filing Date Title
CN201611026629.9A CN106627827A (en) 2016-11-22 2016-11-22 Multi-terrain conveying vehicle

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Application Number Priority Date Filing Date Title
CN201611026629.9A CN106627827A (en) 2016-11-22 2016-11-22 Multi-terrain conveying vehicle

Publications (1)

Publication Number Publication Date
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108238126A (en) * 2017-12-30 2018-07-03 哈尔滨工业大学深圳研究生院 A kind of Lun Zu omnidirectional movings robot
CN110861728A (en) * 2019-11-20 2020-03-06 燕山大学 Wheel leg type automatic guiding trolley
CN112896357A (en) * 2021-03-30 2021-06-04 郑州宇通重工有限公司 Wheel-foot composite movable mechanical equipment and hydraulic system thereof
CN114291179A (en) * 2022-01-06 2022-04-08 江苏镌极特种设备有限公司 Multi-foot wall-climbing robot

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CN203237312U (en) * 2013-05-06 2013-10-16 中国科学技术大学 Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined
CN104029745A (en) * 2014-05-21 2014-09-10 浙江大学 Leg and wheel hybrid type hydraulic mechanical leg
CN104176145A (en) * 2014-08-22 2014-12-03 西北工业大学 Asymmetric wheel leg type all-directional moving chassis
CN204472949U (en) * 2015-01-15 2015-07-15 天津智达机器人有限公司 Novelly take turns the changeable robot of leg pattern
CN206187155U (en) * 2016-11-15 2017-05-24 姜涵宇 Many topography carriage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007081452A1 (en) * 2006-01-05 2007-07-19 Scruggs Donald E Arakodile vehicles
CN203237312U (en) * 2013-05-06 2013-10-16 中国科学技术大学 Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined
CN104029745A (en) * 2014-05-21 2014-09-10 浙江大学 Leg and wheel hybrid type hydraulic mechanical leg
CN104176145A (en) * 2014-08-22 2014-12-03 西北工业大学 Asymmetric wheel leg type all-directional moving chassis
CN204472949U (en) * 2015-01-15 2015-07-15 天津智达机器人有限公司 Novelly take turns the changeable robot of leg pattern
CN206187155U (en) * 2016-11-15 2017-05-24 姜涵宇 Many topography carriage

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108238126A (en) * 2017-12-30 2018-07-03 哈尔滨工业大学深圳研究生院 A kind of Lun Zu omnidirectional movings robot
CN110861728A (en) * 2019-11-20 2020-03-06 燕山大学 Wheel leg type automatic guiding trolley
CN112896357A (en) * 2021-03-30 2021-06-04 郑州宇通重工有限公司 Wheel-foot composite movable mechanical equipment and hydraulic system thereof
CN114291179A (en) * 2022-01-06 2022-04-08 江苏镌极特种设备有限公司 Multi-foot wall-climbing robot
CN114291179B (en) * 2022-01-06 2022-10-18 江苏镌极特种设备有限公司 Multi-foot wall-climbing robot

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