CN107867347A - The wheel exploration offroad vehicle of one kind eight - Google Patents
The wheel exploration offroad vehicle of one kind eight Download PDFInfo
- Publication number
- CN107867347A CN107867347A CN201711060914.7A CN201711060914A CN107867347A CN 107867347 A CN107867347 A CN 107867347A CN 201711060914 A CN201711060914 A CN 201711060914A CN 107867347 A CN107867347 A CN 107867347A
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- Prior art keywords
- wheel
- connecting rod
- hack lever
- link
- plane
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- 230000000694 effects Effects 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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
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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 belongs to Vehicle Engineering technical field, more particularly to the wheel exploration offroad vehicle of one kind eight, including vehicle body and wheel hack lever, vehicle body side is fixedly arranged in the middle of connecting shaft, wheel hack lever is rotationally connected with connecting shaft, wheel hack lever both ends are equipped with plane four-bar linkage structure, plane four-bar linkage structure includes first, two, three, double leval jib, fourth link is fixed on the end of wheel hack lever, third connecting rod is articulated with the fixed position of wheel hack lever and fourth link, first connecting rod is articulated with third connecting rod one end, second connecting rod is articulated with first connecting rod, fourth link one end is articulated with second connecting rod, first wheel is installed on the elongated end of first connecting rod；The second wheel is mounted on the elongated end of second connecting rod.The beneficial effects of the invention are as follows：During obstacle detouring, plane four-bar linkage structure produces adaptability deformation, can reduce body sway angle；The effect that links is good, and each wheel can be kept contacting with ground, each wheel stress equalization, easily avoid axletree fatigue of materials from failing, service life length.
Description
Technical field
The invention belongs to Vehicle Engineering technical field, and in particular to the wheel exploration offroad vehicle of one kind eight.
Background technology
Existing scout carrier suspension fork mechanism, predominantly six take turns scout carriers, based on the rocker arm suspension in the U.S., eight wheel scout carriers
Quantity is few.Existing six wheels exploration suspension is hinged and formed by a master rocker and a secondary-rocker, and both sides suspension passes through difference
Fast mechanism is connected with car body, and its unilateral suspension frame structure sketch is refering to shown in Fig. 6.One end of its master rocker 10 is connected with trailing wheel 11,
The other end of master rocker 10 is hinged on the middle part of secondary-rocker 12, and the both ends of secondary-rocker 12 are connected with front-wheel 13 and middle wheel 14 respectively.This is outstanding
The scout carrier of frame structure has certain adaptation to the ground ability, but tilting of car body degree is larger during obstacle detouring.Existing eight wheels scout carrier
The unilateral of suspension is formed by independent two chevron shaped rocking arms 15 are be hinged, and both sides suspension is connected by box of tricks with car body respectively,
The both ends of each chevron shaped rocking arm 15 are respectively mounted wheel, and its unilateral suspension frame structure sketch is refering to shown in Fig. 7.The suspension frame structure is surveyed
Visiting car has certain adaptation to the ground ability and obstacle climbing ability, but the linkage effect on two chevron shaped rocking arms 15 is poor, very
Soared to there is piece wheel to produce, and make the wheel stress of support car body larger, long-term use is easily caused axletree fatigue of materials
Failure.
The content of the invention
The purpose of the present invention be overcome prior art exist wheel linkage effect it is poor, there is piece wheel to produce and soar,
And making the wheel stress of support car body larger, long-term use is easily caused the defects of axletree fatigue of materials fails, there is provided a kind of obstacle detouring
When, plane four-bar linkage structure produces adaptability deformation, can reduce body sway angle；The effect that links is good, and each wheel can be with ground
Face keeps contact, each wheel stress equalization, easily avoids axletree fatigue of materials from failing, eight wheel exploration offroad vehicles of service life length.
The technical solution adopted for the present invention to solve the technical problems is：The wheel exploration offroad vehicle of one kind eight, it includes vehicle body
With the wheel hack lever positioned at vehicle body both sides, the middle part of the two sides of vehicle body is vertically and fixedly provided with connecting shaft, takes turns a pair of the middle part 1 of hack lever
Should ground be rotationally connected with connecting shaft, the both ends for taking turns hack lever are equipped with plane four-bar linkage structure, putting down where plane four-bar linkage structure
Face is parallel with vehicle body side, and plane four-bar linkage structure includes first connecting rod, second connecting rod, third connecting rod and fourth link, and the 4th
Connecting rod is fixed on the end of wheel hack lever, and third connecting rod is articulated with the fixed position of wheel hack lever and fourth link, first connecting rod hinge
The one end of third connecting rod away from wheel hack lever is connected to, second connecting rod is articulated with the shaft of first connecting rod, and fourth link is away from wheel carrier
One end of bar is articulated with the shaft of second connecting rod, and first connecting rod is provided with the first wheel on the elongated end away from third connecting rod,
First wheel and third connecting rod are relatively arranged on the both sides of second connecting rod；Second connecting rod is pacified on the elongated end away from first connecting rod
Equipped with the second wheel, the second wheel and first connecting rod are relatively arranged on the both sides of fourth link.
Because two plane four-bar linkage structures of one side are connected to the both ends of wheel hack lever, therefore, after obstacle detouring receives external force,
Plane four-bar linkage structure above barrier can be deformed adaptively, and be passed to by taking turns hack lever by part power another when side
Individual plane four-bar linkage structure, so as to which another plane four-bar linkage structure also produces adaptability deformation, vehicle body during obstacle detouring can be reduced
Angle of inclination；The effect that links is good, so that each wheel can keep good contact with ground, each wheel stress equalization, easily keeps away
Exempt from the failure of axletree fatigue of materials, service life length.In addition, when certain wheel runs into obstacle, the reaction suffered by other wheels
Power passes to obstacles-surmounting wheel by connecting rod, and the power is advantageous to obstacles-surmounting wheel and surmounted obstacles.
Further, the middle part of the unilateral wheel hack lever of eight wheel exploration offroad vehicles of the invention can be with the box of tricks phase of vehicle body
Even, it is convenient to turn.
Preferably, the angle between fourth link and wheel hack lever is obtuse angle, and the one end of fourth link away from wheel hack lever is close
The bottom of vehicle body；Plane four-bar linkage structure deformation angle is larger, is easy to cross larger barrier.
Further, two connecting shafts are coaxially disposed Yu Yigen through the both ends of the axis body of vehicle body, simple in construction, installation side
Just, integral structure rigidity and intensity are high.
The present invention it is a kind of eight wheel exploration offroad vehicle beneficial effect be：
1. because two plane four-bar linkage structures of one side are connected to the both ends of wheel hack lever, therefore, external force is received in obstacle detouring
Afterwards, the plane four-bar linkage structure above barrier can be deformed adaptively, and be passed to part power when side by taking turns hack lever
Another plane four-bar linkage structure, so as to which another plane four-bar linkage structure also produces adaptability deformation, when can reduce obstacle detouring
Body sway angle；
2. the effect that links is good, so that each wheel can keep good contact with ground, each wheel stress equalization, easily keep away
Exempt from the failure of axletree fatigue of materials, service life length；
3. when certain wheel runs into obstacle, the reaction force suffered by other wheels passes to obstacles-surmounting wheel by connecting rod,
The power is advantageous to obstacles-surmounting wheel and surmounted obstacles.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structural representation of eight wheels exploration offroad vehicle of the present invention；
Fig. 2 is the structural representation of the obstacle detouring first stage of eight wheels exploration offroad vehicle of the present invention a kind of；
Fig. 3 is a kind of structural representation of the obstacle detouring second stage of eight wheels exploration offroad vehicle of the present invention；
Fig. 4 is the structural representation of the obstacle detouring phase III of eight wheels exploration offroad vehicle of the present invention a kind of；
Fig. 5 is a kind of structural representation of the obstacle detouring fourth stage of eight wheels exploration offroad vehicle of the present invention；
Fig. 6 is the structural representation of existing six wheels exploration offroad vehicle；
Fig. 7 is the structural representation of existing eight wheels exploration offroad vehicle.
Wherein:1. vehicle body；2. take turns hack lever；3. connecting shaft；4. first connecting rod；5. second connecting rod；6. third connecting rod；7. the 4th connects
Bar；8. the first wheel；9. the second wheel；10. master rocker；11. trailing wheel；12. secondary-rocker；13. front-wheel；Taken turns in 14.；15. herringbone
Type rocking arm.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
A kind of specific embodiment of eight wheels exploration offroad vehicle of the invention as Figure 1-Figure 5, it includes vehicle body 1 and position
Wheel hack lever 2 in the both sides of vehicle body 1, the middle part of the two sides of vehicle body 1 are vertically and fixedly provided with connecting shaft 3, a pair of the middle part 1 of wheel hack lever 2
Should ground be rotationally connected with connecting shaft 3, the both ends for taking turns hack lever 2 are equipped with plane four-bar linkage structure, where plane four-bar linkage structure
Plane is parallel with the side of vehicle body 1, and plane four-bar linkage structure includes first connecting rod 4, second connecting rod 5, third connecting rod 6 and fourth link
7, fourth link 7 is fixed on the end of wheel hack lever 2, and third connecting rod 6 is articulated with the fixed position of wheel hack lever 2 and fourth link 7,
First connecting rod 4 is articulated with the one end of third connecting rod 6 away from wheel hack lever 2, and second connecting rod 5 is articulated with the shaft of first connecting rod 4, the
The one end of double leval jib 7 away from wheel hack lever 2 is articulated with the shaft of second connecting rod 5, extension of the first connecting rod 4 away from third connecting rod 6
First wheel 8 is installed, the first wheel 8 and third connecting rod 6 are relatively arranged on the both sides of second connecting rod 5 on end；Second connecting rod 5 is remote
The second wheel 9 is mounted on elongated end from first connecting rod 4, the second wheel 9 and first connecting rod 4 are relatively arranged on fourth link
7 both sides.
The obstacle detouring step of the eight wheel exploration offroad vehicles of the present embodiment successively as shown in Figure 2-5, due to two planes of one side
Four-bar linkage structure is connected to the both ends of wheel hack lever 2, therefore, after obstacle detouring receives external force, the plane double leval jib knot above barrier
Structure can be deformed adaptively, and part power is passed into another plane four-bar linkage structure when side by taking turns hack lever 2, so as to another
One plane four-bar linkage structure also produces adaptability deformation, can reduce the angle of inclination of vehicle body 1 during obstacle detouring；The effect that links is good, from
And each wheel is kept good contact with ground, each wheel stress equalization easily avoids axletree fatigue of materials from failing, and uses
Long lifespan.In addition, when certain wheel runs into obstacle, the reaction force suffered by other wheels passes to barrier-exceeding vehicle by connecting rod
Wheel, the power are advantageous to obstacles-surmounting wheel and surmounted obstacles.
Further, the middle part of the unilateral wheel hack lever 2 of the eight wheel exploration offroad vehicles of the present embodiment can be with the differential mechanism of vehicle body 1
Structure is connected, convenient to turn.
Preferably, the angle between fourth link 7 and wheel hack lever 2 is obtuse angle, and fourth link 7 is away from the one end for taking turns hack lever 2
Close to the bottom of vehicle body 1；Plane four-bar linkage structure deformation angle is larger, is easy to cross larger barrier.
Further, two connecting shafts 3 are coaxially disposed Yu Yigen through the both ends of the axis body of vehicle body 1, simple in construction, installation side
Just, integral structure rigidity and intensity are high.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
Among the obvious changes or variations that the spirit of the present invention is extended out is still in protection scope of the present invention.
Claims (3)
1. the wheel exploration offroad vehicle of one kind eight, it is characterised in that：Wheel hack lever (2) including vehicle body (1) and positioned at vehicle body (1) both sides,
The middle part of the two sides of the vehicle body (1) is vertically and fixedly provided with connecting shaft (3), and the middle part of the wheel hack lever (2) turns correspondingly
Dynamic to be connected on connecting shaft (3), the both ends of the wheel hack lever (2) are equipped with plane four-bar linkage structure, the plane four-bar linkage structure
The plane at place is parallel with vehicle body (1) side, and the plane four-bar linkage structure includes first connecting rod (4), second connecting rod (5), the
Three connecting rods (6) and fourth link (7), the fourth link (7) are fixed on the end of wheel hack lever (2), third connecting rod (6) hinge
It is connected on the fixed position of wheel hack lever (2) and fourth link (7), the first connecting rod (4) is articulated with third connecting rod (6) away from wheel
One end of hack lever (2), the second connecting rod (5) are articulated with the shaft of first connecting rod (4), and the fourth link (7) is away from wheel
One end of hack lever (2) is articulated with the shaft of second connecting rod (5), elongated end of the first connecting rod (4) away from third connecting rod (6)
On the first wheel (8) is installed, first wheel (8) and third connecting rod (6) are relatively arranged on the both sides of second connecting rod (5)；
The second connecting rod (5) is mounted on the second wheel (9) on the elongated end away from first connecting rod (4), second wheel (9) and
First connecting rod (4) is relatively arranged on the both sides of fourth link (7).
A kind of 2. eight wheels exploration offroad vehicle according to claim 1, it is characterised in that：The fourth link (7) and wheel carrier
Angle between bar (2) is obtuse angle, and the one end of the fourth link (7) away from wheel hack lever (2) is close to the bottom of vehicle body (1).
A kind of 3. eight wheels exploration offroad vehicle according to claim 2, it is characterised in that：Two connecting shafts (3) coaxially set
One is placed in through the both ends of the axis body of vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711060914.7A CN107867347A (en) | 2017-11-02 | 2017-11-02 | The wheel exploration offroad vehicle of one kind eight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711060914.7A CN107867347A (en) | 2017-11-02 | 2017-11-02 | The wheel exploration offroad vehicle of one kind eight |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107867347A true CN107867347A (en) | 2018-04-03 |
Family
ID=61752923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711060914.7A Pending CN107867347A (en) | 2017-11-02 | 2017-11-02 | The wheel exploration offroad vehicle of one kind eight |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107867347A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909875A (en) * | 2018-06-24 | 2018-11-30 | 张冠 | The warehoused cargo handbarrow and its warehoused cargo method for carrying of free obstacle detouring |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN113002654A (en) * | 2021-02-07 | 2021-06-22 | 北京理工大学 | Four-leg wheel-leg type bionic large-stroke adjustable cross-country suspension mechanism and control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2027613C1 (en) * | 1991-04-02 | 1995-01-27 | Исупов Игорь Иванович | Vehicle wheel suspension |
| CN101456433A (en) * | 2008-11-11 | 2009-06-17 | 吉林大学 | Quadrangle suspension mechanism suitable for six-wheel environment detection vehicle |
| CN105584550A (en) * | 2014-11-18 | 2016-05-18 | 郝成武 | Eight-wheel walking robot |
-
2017
- 2017-11-02 CN CN201711060914.7A patent/CN107867347A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2027613C1 (en) * | 1991-04-02 | 1995-01-27 | Исупов Игорь Иванович | Vehicle wheel suspension |
| CN101456433A (en) * | 2008-11-11 | 2009-06-17 | 吉林大学 | Quadrangle suspension mechanism suitable for six-wheel environment detection vehicle |
| CN105584550A (en) * | 2014-11-18 | 2016-05-18 | 郝成武 | Eight-wheel walking robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909875A (en) * | 2018-06-24 | 2018-11-30 | 张冠 | The warehoused cargo handbarrow and its warehoused cargo method for carrying of free obstacle detouring |
| CN108909875B (en) * | 2018-06-24 | 2021-05-28 | 南京幸庄科技创新产业园管理有限公司 | Warehousing goods carrying tool capable of freely crossing obstacles and warehousing goods carrying method thereof |
| CN110371206A (en) * | 2019-08-13 | 2019-10-25 | 浙江大学 | A kind of six-wheel mobile robot multi link walking mechanism |
| CN113002654A (en) * | 2021-02-07 | 2021-06-22 | 北京理工大学 | Four-leg wheel-leg type bionic large-stroke adjustable cross-country suspension mechanism and control method |
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Application publication date: 20180403 |