CN106864623A - A kind of double adjusting rock arm spring suspension vehicles of six wheels - Google Patents
A kind of double adjusting rock arm spring suspension vehicles of six wheels Download PDFInfo
- Publication number
- CN106864623A CN106864623A CN201710105998.5A CN201710105998A CN106864623A CN 106864623 A CN106864623 A CN 106864623A CN 201710105998 A CN201710105998 A CN 201710105998A CN 106864623 A CN106864623 A CN 106864623A
- Authority
- CN
- China
- Prior art keywords
- leg mechanism
- rotary shaft
- mounting hole
- wheel
- thigh bar
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of double adjusting rock arm spring suspension vehicles of six wheels include vehicle frame A, the first to the 6th wheel leg machine B a, B b, B c, B d, B e, B f.Vehicle frame A takes turns the second rotary shaft B b 1 of leg mechanism B b, the 3rd rotary shaft B c 1 of third round leg mechanism B c, the 6th rotary shaft B f 1 of the wheel leg mechanism B of the 5th rotary shaft B e the 1, the 6th f of the wheel leg mechanism B of the 4th rotary shaft B d the 1, the 5th e of fourth round leg mechanism B d with the first rotary shaft B a 1, second of the first round leg mechanism B a of the walking component B and achieves a fixed connection respectively.A kind of six wheel adjusting rock arms spring suspension vehicle of the present invention proposes double regulating systems, breaches the limitation of traditional single regulating system, and realization is steadily run at high speed and rocking arm wide swing function on complicated ground.A kind of described double adjusting rock arm spring suspension vehicles of six wheels can carry out Material Transportation in rough complicated ground, and the offer of manned walking is facilitated.
Description
Technical field
The present invention relates to a kind of double adjusting rock arm spring suspension vehicles of six wheels, concretely relate to a kind of by double adjusting rock arms
Suspension system, realizes the double adjusting rock arm spring suspension vehicles of six wheels of the steady function of running at high speed on complicated ground.
Background technology
Chinese patent 201120000628.3 discloses a kind of " cross-country traveling ability wheeled vehicle suspension system with walking function
System ", while buffer shock-absorbing performance requirement when vehicle is travelled is met, each control arm can realize individually swing, so that
Wheel can have motion by a relatively large margin with the relative vehicle body of change of surface relief, can improve the obstacle climbing ability of vehicle.But should
Wheeled vehicle suspension system rocking arm angle of regulation range is limited, is not suitable for the easy motion of field complicated ground.
The content of the invention
The problem to be solved in the present invention is to provide one kind and can be realized on complicated ground by double adjusting rock arm suspension systems
The steady double adjusting rock arm spring suspension vehicles of six wheels run at high speed with rocking arm wide swing.
Technical scheme：The double adjusting rock arm spring suspension vehicles of six wheels include vehicle frame, the first to the 6th wheel leg mechanism.
Vehicle frame is to undertake outer loading section；First to the 6th wheel leg mechanism has the different road surfaces of adaptation, carries out quick and stable
The function of traveling.
Vehicle frame the first rotary shaft, the second rotation of the second wheel leg mechanism respectively with the first round leg mechanism of the walking component
Rotating shaft, the 3rd rotary shaft of third round leg mechanism, the 4th rotary shaft of fourth round leg mechanism, the 5th rotation of the 5th wheel leg mechanism
Axle, the 6th rotary shaft of the 6th wheel leg mechanism are realized being rotatably assorted.By above-mentioned connection, the group of vehicle frame and walking component is completed
Dress.The walking component includes first round leg mechanism, the second wheel leg mechanism, third round leg mechanism, fourth round leg mechanism, the 5th wheel
Leg mechanism, the 6th wheel leg mechanism.Described first round leg mechanism to the 6th mechanism configuration for taking turns leg mechanism, component part is assembled
Mode is identical, and identical with the connected mode of vehicle frame.
The first round leg mechanism is big by the first rotary shaft, head rod 1, the first wheel, the first thigh bar 1, first
Leg bar 2, head rod 2, first wheel motor 3 are constituted.Head rod 1, the first thigh bar 2, the two ends of head rod 2 point
A mounting hole is not provided with；First thigh bar 1 is triangle rod member；First thigh bar 1 is respectively provided with an installation on three summits
Hole；A mounting hole is arranged at the middle part of head rod 2.
First rotary shaft is fixed on the mounting hole at the middle part of head rod 2, is formed a fixed connection；Head rod 1
End mounting hole is attached with the end mounting hole of head rod 2 by axle, is formed and is rotated secondary；The end of head rod 1
Portion's mounting hole is attached with a summit mounting hole of the first thigh bar 1 by axle, is formed and is rotated secondary；First thigh bar 1
One summit mounting hole is attached with the first round by axle, is formed and is rotated secondary；One summit mounting hole of the first thigh bar 1 with
The end mounting hole of the first thigh bar 2 is attached by axle, is formed and is rotated secondary；The end mounting hole of the first thigh bar 2 and
The end mounting hole of one connecting rod 2 is attached by axle, is formed and is rotated secondary.
By above-mentioned connection, the assembling of first round leg mechanism to the 6th wheel leg mechanism is completed.The middle part dress of the first thigh bar 1
There is damping spring；The middle part of the first thigh bar 2 is equipped with damping spring.
Beneficial effects of the present invention：The double adjusting rock arm spring suspension vehicles of six wheels of the present invention breach traditional single regulation
The limitation of suspension system, by double adjusting rock arm suspension systems, realizes that vehicle is moved in rugged road surface high-speed smooth
Function, increase rocking arm working range.The described double adjusting rock arm spring suspension vehicles of six wheels are mountain region Material Transportation, hollow, recessed
Convex unequal complicated ground walking provides facility, the reliable walking-replacing tool as Material Transportation.
Brief description of the drawings
A kind of overall graphics of the double adjusting rock arm spring suspension vehicles of six wheels of Fig. 1；
Fig. 2 ground-engaging element graphics；
The graphics of the first thigh bar of Fig. 3 ground-engaging elements 1；
The graphics of the first thigh bar of Fig. 4 ground-engaging elements 2.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of double adjusting rock arm spring suspension vehicles of six wheels include vehicle frame A, the first to the 6th wheel leg mechanism B-a,
B-b,B-c,B-d,B-e,B-f。
First to the 6th wheel leg mechanism B-a, B-b, B-c, B-d, B-e, B-f is driven using two motors, is controlled respectively
The regulation of wheel leg mechanism and integral cycle rotating.
The vehicle frame A is goods loading part, the described first to the 6th wheel leg mechanism B-a, B-b, B-c, B-d, B-e, B-f tool
There are the different road surfaces of adaptation, carry out the function of quick and stable traveling.The vehicle frame A is respectively with described first round leg mechanism B-a's
Second rotary shaft B-b-1, the 3rd rotary shaft of third round leg mechanism B-c of the first rotary shaft B-a-1, the second wheel leg mechanism B-b
B-c-1, the 4th rotary shaft B-d-1 of fourth round leg mechanism B-d, the 5th rotary shaft B-e-1, the 6th of the 5th wheel leg mechanism B-e
The 6th rotary shaft B-f-1 of wheel leg mechanism B-f realizes rotating connection.By above-mentioned connection, complete vehicle frame A and first to the 6th and take turns
The assembling of leg mechanism B-a, B-b, B-c, B-d, B-e, B-f.
The double adjusting rock arm spring suspension vehicles of six wheels, it is possible to achieve adapt to different road surfaces, carry out the work(of quick and stable traveling
Energy.The one kind six described according to claim 1 takes turns double adjusting rock arm spring suspension vehicles, its first to the 6th wheel leg mechanism B-a, B-b,
B-c, B-d, B-e, B-f are characterised by：Described first round leg mechanism B-a to the 6th wheel leg mechanism B-f mechanism configurations, composition zero
Part, assembling mode is identical, and identical with the connected mode of vehicle frame A.
As shown in Fig. 2 the first round leg mechanism B-a is by the first rotary shaft B-a-1, head rod 1B-a-2, first
Wheel B-a-3, the first thigh bar 1B-a-4, the first thigh bar 2B-a-5, head rod 2B-a-6,3 groups of first wheel motor
Into.
Head rod 1B-a-2, the first thigh bar 2B-a-5, head rod 2B-a-6 two ends have a peace
Dress hole；First thigh bar 1B-a-4 is triangle rod member；First thigh bar 1B-a-4 is respectively provided with a mounting hole on three summits；
A mounting hole is arranged at the middle part of head rod 2B-a-6.
First rotary shaft B-a-1 is fixed on the mounting hole in the middle part of head rod 2B-a-6, is formed a fixed connection；First
The end mounting hole of connecting rod 1B-a-2 is attached with the end mounting hole of head rod 2B-a-6 by axle, is formed and rotated
It is secondary；The end mounting hole of head rod 1B-a-2 is connected with the first thigh bar 1B-a-4 medial apex mounting holes by axle
Connect, formed and rotate secondary；One summit mounting hole of the first thigh bar 1B-a-4 is realized rotating and is connected with first round B-a-3, is passed through
Inner hub motor drives；One summit mounting hole of the first thigh bar 1B-a-4 and the end of the first thigh bar 2B-a-5 are installed
Hole is attached by axle, is formed and is rotated secondary；The end mounting hole of the first thigh bar 2B-a-5 is with head rod 2B-a-6's
End mounting hole is attached by axle, is formed and is rotated secondary.
By above-mentioned connection, first round leg mechanism to the 6th wheel leg mechanism B-a, B-b, B-c, B-d, B-e is completed, B-f's
Assembling.
As shown in figure 3, the first thigh bar B-a-4 is triangle rod member, a mounting hole, left side are respectively provided with three summits
Equipped with damping spring.
As shown in figure 4, the first thigh bar B-a-5 two ends have a mounting hole, middle part is equipped with damping spring.
Claims (3)
1. a kind of six double adjusting rock arm spring suspension vehicles are taken turns, it is characterised in that：The double adjusting rock arm spring suspension vehicles of six wheels include vehicle frame
(A), the first to the 6th wheel leg mechanism (B-a, B-b, B-c, B-d, B-e, B-f)；
The vehicle frame (A) is goods loading part；Described first to the 6th wheel leg mechanism (B-a, B-b, B-c, B-d, B-e, B-f) tool
There are the different road surfaces of adaptation, carry out the function of quick and stable traveling；
The vehicle frame (A) the first rotary shaft (B-a-1), the second wheel leg mechanism respectively with described first round leg mechanism (B-a)
(B-b) the second rotary shaft (B-b-1), the 3rd rotary shaft (B-c-1) of third round leg mechanism (B-c), fourth round leg mechanism (B-
D) the 4th rotary shaft (B-d-1), the 5th rotary shaft (B-e-1) of the 5th wheel leg mechanism (B-e), the 6th wheel leg mechanism (B-f)
The 6th rotary shaft (B-f-1) realize rotate connection；
By above-mentioned connection, the group of vehicle frame (A) and the first to the 6th wheel leg mechanism (B-a, B-b, B-c, B-d, B-e, B-f) is completed
Dress；
First to the 6th wheel leg mechanism (B-a, B-b, B-c, B-d, B-e, B-f) is driven using two motors, respectively control wheel
Leg mechanism is adjusted and integral cycle rotating；
The double adjusting rock arm spring suspension vehicles of six wheels, it is possible to achieve adapt to different road surfaces, carry out the function of quick and stable traveling.
2. a kind of double adjusting rock arm spring suspension vehicles of six wheels for being described according to claim 1, its first to the 6th wheel leg mechanism (B-a,
B-b, B-c, B-d, B-e, B-f) it is characterised by：
Described first round leg mechanism (B-a) is to the 6th wheel leg mechanism (B-f) mechanism configuration, and component part, assembling mode is complete
It is identical and identical with the connected mode of vehicle frame (A)；
The first round leg mechanism (B-a) is by the first rotary shaft (B-a-1), head rod 1 (B-a-2), the first wheel (B-a-
3), the first thigh bar 1 (B-a-4), the first thigh bar 2 (B-a-5), head rod 2 (B-a-6), first wheel motor (3),
First motor (4) is constituted；
Head rod 1 (B-a-2), the first thigh bar 2 (B-a-5), head rod 2 (B-a-6) two ends have one
Mounting hole；First thigh bar 1 (B-a-4) is triangle rod member；First thigh bar 1 (B-a-4) is respectively provided with one on three summits
Mounting hole；A mounting hole is arranged at the middle part of head rod 2 (B-a-6)；
First rotary shaft (B-a-1) is fixed on the mounting hole in the middle part of head rod 2 (B-a-6), is formed a fixed connection；First
The end mounting hole of connecting rod 1 (B-a-2) is attached with the end mounting hole of head rod 2 (B-a-6) by axle, is formed
Rotate secondary, driven by the first motor (4)；The end mounting hole and the (B- of the first thigh bar 1 of head rod 1 (B-a-2)
A-4) medial apex mounting hole is attached by axle, is formed and is rotated secondary；Install on one summit of the first thigh bar 1 (B-a-4)
Hole is realized rotating and is connected with the first round (B-a-3), is driven by first wheel motor (3)；The one of first thigh bar 1 (B-a-4)
Individual summit mounting hole is attached with the end mounting hole of the first thigh bar 2 (B-a-5) by axle, is formed and is rotated secondary；First is big
The end mounting hole of leg bar 2 (B-a-5) is attached with the end mounting hole of head rod 2 (B-a-6) by axle, is formed and turned
Dynamic pair；
By above-mentioned connection, the group of first round leg mechanism to the 6th wheel leg mechanism (B-a, B-b, B-c, B-d, B-e, B-f) is completed
Dress.
3. a kind of double adjusting rock arm spring suspension vehicles of six wheels for being described according to claim 1, it is characterised in that：
The middle part of the first thigh bar 2 (B-a-5) is equipped with damping spring (1)；The middle part of the first thigh bar 1 (B-a-4) is equipped with damping
Spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105998.5A CN106864623A (en) | 2017-02-27 | 2017-02-27 | A kind of double adjusting rock arm spring suspension vehicles of six wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105998.5A CN106864623A (en) | 2017-02-27 | 2017-02-27 | A kind of double adjusting rock arm spring suspension vehicles of six wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106864623A true CN106864623A (en) | 2017-06-20 |
Family
ID=59169350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710105998.5A Pending CN106864623A (en) | 2017-02-27 | 2017-02-27 | A kind of double adjusting rock arm spring suspension vehicles of six wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106864623A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200354003A1 (en) * | 2017-12-25 | 2020-11-12 | Kubota Corporation | Work Vehicle |
| CN113022891A (en) * | 2021-04-06 | 2021-06-25 | 哈尔滨工业大学 | Mars vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0781696A (en) * | 1993-09-14 | 1995-03-28 | Nissan Motor Co Ltd | Off-road travel car |
| US20040007401A1 (en) * | 2002-07-12 | 2004-01-15 | Simon Chu | Detachable transmission mechanism for a wheel chair and driving device thereof |
| CN201021088Y (en) * | 2007-04-04 | 2008-02-13 | 梁观源 | Independent front suspension of four-wheel vehicle |
| CN101704416A (en) * | 2009-11-20 | 2010-05-12 | 河南科技大学 | Lunar vehicle |
| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
-
2017
- 2017-02-27 CN CN201710105998.5A patent/CN106864623A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0781696A (en) * | 1993-09-14 | 1995-03-28 | Nissan Motor Co Ltd | Off-road travel car |
| US20040007401A1 (en) * | 2002-07-12 | 2004-01-15 | Simon Chu | Detachable transmission mechanism for a wheel chair and driving device thereof |
| CN201021088Y (en) * | 2007-04-04 | 2008-02-13 | 梁观源 | Independent front suspension of four-wheel vehicle |
| CN101704416A (en) * | 2009-11-20 | 2010-05-12 | 河南科技大学 | Lunar vehicle |
| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200354003A1 (en) * | 2017-12-25 | 2020-11-12 | Kubota Corporation | Work Vehicle |
| US11767071B2 (en) * | 2017-12-25 | 2023-09-26 | Kubota Corporation | Work vehicle |
| CN113022891A (en) * | 2021-04-06 | 2021-06-25 | 哈尔滨工业大学 | Mars vehicle |
| CN113022891B (en) * | 2021-04-06 | 2022-07-12 | 哈尔滨工业大学 | Wheel-leg composite mars vehicle |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170620 |