CN109435687B - Novel multistage chain transmission and steering mechanism for wheeled vehicle - Google Patents
Novel multistage chain transmission and steering mechanism for wheeled vehicle Download PDFInfo
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- CN109435687B CN109435687B CN201811267507.8A CN201811267507A CN109435687B CN 109435687 B CN109435687 B CN 109435687B CN 201811267507 A CN201811267507 A CN 201811267507A CN 109435687 B CN109435687 B CN 109435687B
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- transmission
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- driving wheel
- shaft
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 125
- 239000010720 hydraulic oil Substances 0.000 claims description 11
- 208000032369 Primary transmission Diseases 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/342—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a longitudinal, endless element, e.g. belt or chain, for transmitting drive to wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
Abstract
The invention discloses a novel multistage chain transmission and steering mechanism for a wheeled vehicle.A transfer case is respectively connected with a transmission and an output half shaft at two ends, a driving wheel primary driving sprocket is connected on the output half shaft, and the driving wheel primary driving sprocket is connected with a front driving wheel primary driven sprocket and a rear driving wheel primary driven sprocket through a driving wheel chain; the tension pulley assembly is fixedly connected on the inner supporting plate and is arranged between the first-stage transmission chain wheels, the first-stage driven chain wheel of the front driving wheel is connected with the driving wheel steering mechanism assembly through the input transmission shaft, the driving wheel steering mechanism assembly is connected with the second-stage chain transmission assembly through the output transmission shaft, the output transmission shaft is arranged on a steering knuckle and the inner supporting plate of the speed changer, the second-stage chain transmission assembly is connected with the driving wheel, the first-stage driven chain wheel of the rear driving wheel is connected with the driving steering mechanism assembly through the input transmission shaft, and the driving steering mechanism assembly is connected with the second-stage chain transmission assembly through the output transmission shaft. The invention can be driven and steered by four wheels, and improves the terrain adaptability of the vehicle.
Description
Technical Field
The invention relates to a novel multistage chain transmission and steering mechanism for a wheeled vehicle, in particular to an H-shaped multistage chain transmission and steering mechanism which can realize four-wheel drive and four-wheel steering of the wheeled vehicle and is well suitable for the ground.
Background
The invention is provided according to the actual requirement when researching a novel chain-driven wheel-leg combined type wheeled vehicle with electric control gear shifting. The wheeled vehicle is provided with a balance rocker arm suspension and a wheel leg composite walking device, and has strong complex environment posture regulation and control capability and terrain adaptability. The wheel type vehicle adopts a configuration scheme that a balance rocker chassis and four chain transmission driving steering wheel legs are adopted, and the steering of the wheel type vehicle is realized by respectively carrying out steering control on four driving wheels.
In order to realize the steering function and the ground adaptability improvement of the novel chain-driven wheel-leg combined wheeled vehicle with electric control gear shifting, the inventor team explores a multistage chain type transmission and steering mechanism which can realize four-wheel steering and has high ground adaptability through research.
Disclosure of Invention
1. Objects of the invention
In order to solve the problems and the defects of the prior art, the invention provides a novel multistage transmission and steering mechanism for a wheeled vehicle, which can improve the ground adaptability, has wide overall applicability and improves the service performance of a transmission system.
2. The technical scheme adopted by the invention
The invention provides a novel multistage chain transmission and steering mechanism for a wheeled vehicle, which comprises a transmission, a transfer case, an output half shaft, a driving wheel primary driving chain wheel, a tensioning wheel assembly, a driving wheel, a front driving wheel primary driven chain wheel, a driving wheel chain, a rear driving wheel primary driven chain wheel, an inner supporting plate, an outer supporting plate, a baffle plate, a driving wheel steering mechanism assembly and a secondary chain transmission assembly, wherein the transmission is arranged on the front driving wheel primary driven chain wheel; two ends of the transfer case are respectively connected with the transmission and the output half shaft, a driving wheel primary driving sprocket is connected to the output half shaft, and the driving wheel primary driving sprocket is connected with a front driving wheel primary driven sprocket and a rear driving wheel primary driven sprocket through a driving wheel chain; the tension pulley assembly is fixedly connected to the inner supporting plate and is arranged between the first-stage transmission chain wheels, the first-stage driven chain wheel of the front driving wheel is connected with the driving wheel steering mechanism assembly through the input transmission shaft, the driving wheel steering mechanism assembly is connected with the second-stage chain transmission assembly through the output transmission shaft, the output transmission shaft is arranged on a steering knuckle and the inner supporting plate of the speed changer, the second-stage chain transmission assembly is connected with the driving wheel, the first-stage driven chain wheel of the rear driving wheel is connected with the driving steering mechanism assembly through the input transmission shaft, the driving steering mechanism assembly is connected with the second-stage chain transmission assembly through the output transmission shaft, and the second-stage chain transmission assembly is connected with the driving wheel.
Furthermore, the driving wheel steering mechanism assembly comprises an input transmission shaft, a universal joint, an output transmission shaft, a steering joint arm, a hydraulic oil cylinder, an upper pin shaft and a lower pin shaft, wherein the horizontal two sides of the universal joint are respectively connected with the input transmission shaft and the output transmission shaft, the output rotating shaft is supported on the steering joint, and the steering joint is supported on the upper pin shaft and the lower pin shaft; the hydraulic oil cylinder is fixedly connected to the steering knuckle through a steering knuckle arm, one end of the hydraulic oil cylinder is connected with the steering knuckle arm, the other end of the hydraulic oil cylinder is fixedly connected to the baffle, and the baffle is fixedly connected to the supporting plate.
Furthermore, the secondary chain transmission assembly comprises a secondary driving chain wheel, a transmission chain, a secondary driven chain wheel, a wheel edge output shaft, a transmission inner supporting plate, a transmission outer supporting plate and a transmission shell; the secondary driving chain wheel is connected with the output transmission shaft, the secondary driving chain wheel is connected with the secondary driven chain wheel through a transmission chain, the secondary driven chain wheel is connected with the driving wheel through a wheel edge output shaft, the wheel edge output shaft is supported on a transmission inner supporting plate and a transmission outer supporting plate, and the transmission inner supporting plate is fixedly connected with the steering knuckle;
furthermore, the tensioning wheel assembly comprises a tensioning wheel, a swinging arm, a pin shaft and a connecting rod, wherein the tensioning wheel is connected with the swinging arm through the pin shaft, the swinging arm is connected with the connecting rod, and the connecting rod is fixedly connected to the inner supporting plate.
Furthermore, the output half shaft is supported on the inner support plate and the outer support plate, and the input transmission shaft is supported on the inner support plate and the outer support plate.
3. The invention has the beneficial effects
(1) The steering system and the transmission system are integrated, so that the mechanical structure is simplified, and the use performance of the machine is improved.
(2) The balance rocker arm type chassis vehicle or the wheel type vehicle applying the mechanism can realize pivot steering around the center of the vehicle.
(3) The transmission mechanism can ensure that the average running speed of the balance rocker arm type chassis vehicle or the crawler vehicle is unchanged relative to the normal running speed.
Drawings
FIG. 1 is a top plan view of a multi-stage chain drive and steering mechanism for a novel wheeled vehicle of the present invention;
FIG. 2 is an isometric view of a multi-stage chain drive and steering mechanism for a novel wheeled vehicle of the present invention;
FIG. 3 is a view of the drive wheel steering assembly (10);
FIG. 4 is a block diagram of the secondary chain drive assembly (11);
FIG. 5 is a view of the tensioner assembly (7);
the symbols in the figures are as follows:
1-speed changer, 2-transfer case, 3-output half shaft, 4-rear driving wheel primary driven sprocket, 5-driving wheel primary driving sprocket, 6-driving wheel chain, 7-tensioning wheel assembly, 8-driving wheel, 9-front driving wheel primary driven sprocket, 10-driving wheel steering mechanism assembly, 11-secondary chain transmission assembly, 12-inner supporting plate, 13-baffle, 14-outer supporting plate, 15-output transmission shaft, 16-universal joint, 17-steering joint, 18-upper pin shaft, 19-steering joint arm, 20-hydraulic oil cylinder, 21-input transmission shaft, 22-lower pin shaft, 23-speed changer outer supporting plate, 24-secondary driving sprocket, 25-speed changer inner supporting plate, 26-secondary driven sprocket, 26-rear driven sprocket, etc, 27-wheel edge output shaft, 28-transmission chain, 29-transmission shell, 30-tension wheel, 31-pin shaft, 32-swing arm and 33-connecting rod.
Detailed Description
The invention is further illustrated by the following figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only.
Example 1
As shown in fig. 1, the novel multistage chain transmission and steering mechanism for a wheeled vehicle provided by the invention comprises a transmission 1, a transfer case 2, an output half shaft 3, a driving wheel primary driving sprocket 5, a tensioning wheel assembly 7, a driving wheel 8, a front driving wheel primary driven sprocket 9, a driving wheel chain 6, a rear driving wheel primary driven sprocket 4, an inner supporting plate 12, an outer supporting plate 14, a baffle 13, a driving wheel steering mechanism assembly 10 and a secondary chain transmission assembly 11; two ends of the transfer case 2 are respectively connected with the speed changer 1 and the output half shaft 3, a driving wheel primary driving sprocket 5 is connected on the output half shaft 3, and the driving wheel primary driving sprocket 5 is connected with a front driving wheel primary driven sprocket 9 and a rear driving wheel primary driven sprocket 4 through a driving wheel chain 6; the tension pulley assembly 7 is fixedly connected on an inner support plate 12 and is arranged between first-stage transmission chain wheels, a front driving wheel first-stage driven chain wheel 9 is connected with a driving wheel steering mechanism assembly 10 through an input transmission shaft 21, the driving wheel steering mechanism assembly 10 is connected with a second-stage chain transmission assembly 11 through an output transmission shaft 15, the output transmission shaft 15 is arranged on a steering knuckle 17 and a transmission inner support plate 25, the second-stage chain transmission assembly 11 is connected with a driving wheel 8, a rear driving wheel first-stage driven chain wheel 4 is connected with the driving steering mechanism assembly 10 through the input transmission shaft 21, the driving steering mechanism assembly 10 is connected with the second-stage chain transmission assembly 11 through the output transmission shaft 15, and the second-stage chain transmission assembly 11 is connected with the driving wheel 8.
Example 2
As shown in fig. 1 and 2, a novel wheel type vehicle multistage transmission and steering mechanism comprises a transmission 1, a transfer case 2, an output half shaft 3, a driving wheel primary driving sprocket 5, a tension pulley assembly 7, a driving wheel 8, a front driving wheel primary driven sprocket 9, a driving wheel chain 6, a rear driving wheel primary driven sprocket 4, an inner support plate 12, an outer support plate 14, a baffle 13, a driving wheel steering mechanism assembly 10 and a secondary chain transmission assembly 11; their relationship to each other is: the transmission 1 is connected with a transfer case 2, the transfer case 2 is connected with an output half shaft 3, a driving wheel primary driving sprocket 5 is connected on the output half shaft 3, the driving wheel primary driving sprocket 5 is connected with a front driving wheel primary driven sprocket 9 through a driving wheel chain 6, the driving wheel primary driving sprocket 5 is connected on the output half shaft 3, the driving wheel primary driving sprocket 5 is connected with a rear driving wheel primary driven sprocket 4 through the driving wheel chain 6, the output half shaft 3 is supported on an inner supporting plate 12 and an outer supporting plate 14, a tension wheel assembly 7 is arranged between the primary driving sprockets and fixedly connected on the inner supporting plate 12, the front driving wheel primary driven sprocket 9 is connected with a driving wheel steering mechanism assembly 10 through an input transmission shaft 21, the input transmission shaft 21 is supported on the inner supporting plate 12 and the outer supporting plate 14, and the driving wheel steering mechanism assembly 10 is connected with a secondary chain drive assembly 11 through an output transmission shaft 15, the output transmission shaft 15 is supported on a steering knuckle 17 and a transmission inner supporting plate 25, the secondary chain transmission assembly 11 is connected with the driving wheel 8, the rear driving wheel primary driven chain wheel 4 is connected with the driving steering mechanism assembly 10 through the input transmission shaft 21, the driving steering mechanism assembly 10 is connected with the secondary chain transmission assembly 11 through the output transmission shaft 15, and the secondary chain transmission assembly 11 is connected with the driving wheel 8.
As shown in fig. 3, the driving wheel steering mechanism assembly 10 includes an input transmission shaft 21, a universal joint 16, an output transmission shaft 15, a steering knuckle 17, a steering knuckle arm 19, a hydraulic cylinder 20, an upper pin 18 and a lower pin 22, wherein the input transmission shaft 21 is coupled to the universal joint 16, the universal joint 16 is coupled to the output transmission shaft 15, the output rotation shaft is supported on the steering knuckle 17, and the steering knuckle 17 is supported on the upper pin 18 and the lower pin 22; a knuckle arm 19 is fixedly connected to a knuckle 17, one end of a hydraulic oil cylinder 20 is connected with the knuckle arm 19, the other end of the hydraulic oil cylinder 20 is fixedly connected to a baffle 13, and the baffle 13 is fixedly connected to an inner supporting plate 12;
as shown in fig. 4, the secondary chain transmission assembly 11 comprises a secondary driving sprocket 24, a transmission chain 28, a secondary driven sprocket 26, a wheel-side output shaft 27, a transmission inner support plate 25, a transmission outer support plate 23 and a transmission shell 29, wherein the secondary driving sprocket 24 is connected with the output transmission shaft 15, the secondary driving sprocket 24 is connected with the secondary driven sprocket 26 through the transmission chain 28, the secondary driven sprocket 26 is connected with the wheel-side output shaft 27, the wheel-side output shaft 27 is connected with the driving wheel 8, the wheel-side output shaft 27 is supported on the transmission inner support plate 25 and the transmission outer support plate 23, and the transmission inner support plate 25 is fixedly connected with the knuckle 17;
as shown in fig. 5, the tensioning wheel assembly 7 mainly comprises a tensioning wheel 30, a swing arm 32, a pin 31 and a connecting rod 33, the tensioning wheel 30 is connected with the swing arm 32 through the pin 31, the swing arm 32 is connected with the connecting rod 33, and the connecting rod 33 is fixedly connected to the inner support plate 12.
Claims (4)
1. A multi-stage chain transmission and steering mechanism for a wheeled vehicle is characterized in that: the transmission comprises a transmission (1), a transfer case (2), an output half shaft (3), a driving wheel primary driving chain wheel (5), a tension wheel assembly (7), a driving wheel (8), a front driving wheel primary driven chain wheel (9), a driving wheel chain (6), a rear driving wheel primary driven chain wheel (4), an inner supporting plate (12), an outer supporting plate (14), a baffle (13), a driving wheel steering mechanism assembly (10) and a secondary chain transmission assembly (11); two ends of the transfer case (2) are respectively connected with the speed changer (1) and the output half shaft (3), a driving wheel primary driving sprocket (5) is connected on the output half shaft (3), and the driving wheel primary driving sprocket (5) is connected with a front driving wheel primary driven sprocket (9) and a rear driving wheel primary driven sprocket (4) through a driving wheel chain (6); the tensioning wheel assembly (7) is fixedly connected onto an inner supporting plate (12) and is arranged between primary transmission chain wheels, a primary front driving wheel driven chain wheel (9) is connected with a driving wheel steering mechanism assembly (10) through an input transmission shaft (21), the driving wheel steering mechanism assembly (10) is connected with a secondary chain transmission assembly (11) through an output transmission shaft (15), the output transmission shaft (15) is arranged on a steering knuckle (17) and a transmission inner supporting plate (25), the secondary chain transmission assembly (11) is connected with a driving wheel (8), a primary rear driving wheel driven chain wheel (4) is connected with the driving wheel steering mechanism assembly (10) through the input transmission shaft (21), the driving wheel steering mechanism assembly (10) is connected with the secondary chain transmission assembly (11) through the output transmission shaft (15), and the secondary chain transmission assembly (11) is connected with the driving wheel (8);
the driving wheel steering mechanism assembly (10) comprises an input transmission shaft (21), a universal joint (16), an output transmission shaft (15), a steering joint (17), a steering joint arm (19), a hydraulic oil cylinder (20), an upper pin shaft (18) and a lower pin shaft (22), wherein the two horizontal sides of the universal joint (16) are respectively connected with the input transmission shaft (21) and the output transmission shaft (15), the output rotation shaft (15) is supported on the steering joint (17), and the steering joint (17) is supported on the upper pin shaft (18) and the lower pin shaft (22); the hydraulic oil cylinder (20) is fixedly connected to the steering knuckle (17) through a steering knuckle arm (19), one end of the hydraulic oil cylinder (20) is connected with the steering knuckle arm (19), the other end of the hydraulic oil cylinder (20) is fixedly connected to the baffle (13), and the baffle (13) is fixedly connected to the inner supporting plate (12).
2. The multi-stage chain drive and steering mechanism for wheeled vehicles of claim 1 wherein: the secondary chain transmission assembly (11) comprises a secondary driving chain wheel (24), a transmission chain (28), a secondary driven chain wheel (26), a wheel edge output shaft (27), a transmission inner supporting plate (25), a transmission outer supporting plate (23) and a transmission shell (29); the secondary driving chain wheel (24) is connected with the output transmission shaft (15), the secondary driving chain wheel (24) is connected with the secondary driven chain wheel (26) through a transmission chain (28), the secondary driven chain wheel (26) is connected with the driving wheel (8) through a wheel edge output shaft (27), the wheel edge output shaft (27) is supported on a transmission inner supporting plate (25) and a transmission outer supporting plate (23), and the transmission inner supporting plate (25) is fixedly connected with the steering knuckle (17).
3. The multi-stage chain drive and steering mechanism for wheeled vehicles of claim 1 wherein: the tensioning wheel assembly (7) comprises a tensioning wheel (30), a swing arm (32), a pin shaft (31) and a connecting rod (33), the tensioning wheel (30) is connected with the swing arm (32) through the pin shaft (31), the swing arm (32) is connected with the connecting rod (33), and the connecting rod (33) is fixedly connected to the inner supporting plate (12).
4. The multi-stage chain drive and steering mechanism for wheeled vehicles of claim 1 wherein: the output half shaft (3) is supported on the inner supporting plate (12) and the outer supporting plate (14), and the input transmission shaft (21) is supported on the inner supporting plate (12) and the outer supporting plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267507.8A CN109435687B (en) | 2018-10-29 | 2018-10-29 | Novel multistage chain transmission and steering mechanism for wheeled vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811267507.8A CN109435687B (en) | 2018-10-29 | 2018-10-29 | Novel multistage chain transmission and steering mechanism for wheeled vehicle |
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| Publication Number | Publication Date |
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| CN109435687A CN109435687A (en) | 2019-03-08 |
| CN109435687B true CN109435687B (en) | 2021-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811267507.8A Active CN109435687B (en) | 2018-10-29 | 2018-10-29 | Novel multistage chain transmission and steering mechanism for wheeled vehicle |
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| JP2001509225A (en) * | 1997-08-23 | 2001-07-10 | バムフォール，ジョセフ・シリル | Side-slip steering loading vehicle |
| CN101032923A (en) * | 2007-04-19 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing mechanism of whole clime car |
| CN101032922A (en) * | 2007-04-03 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing of whole clime car |
| CN202641256U (en) * | 2012-05-08 | 2013-01-02 | 泰安金城重工科技有限公司 | Steering drive axle used for wheel excavator |
| CN106458276A (en) * | 2014-04-28 | 2017-02-22 | 洋马株式会社 | Travelling vehicle |
| CN206475746U (en) * | 2016-12-30 | 2017-09-08 | 云南昆船智能装备有限公司 | It is a kind of to be used for the differential drive device of industrial traveling vehicle |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| CN207773299U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Safety protection robot four-wheel drive structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8157032B2 (en) * | 2010-04-06 | 2012-04-17 | Robotex Inc. | Robotic system and method of use |
-
2018
- 2018-10-29 CN CN201811267507.8A patent/CN109435687B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001509225A (en) * | 1997-08-23 | 2001-07-10 | バムフォール，ジョセフ・シリル | Side-slip steering loading vehicle |
| CN101032922A (en) * | 2007-04-03 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing of whole clime car |
| CN101032923A (en) * | 2007-04-19 | 2007-09-12 | 中国嘉陵工业股份有限公司（集团） | 8x8 light type gearing mechanism of whole clime car |
| CN202641256U (en) * | 2012-05-08 | 2013-01-02 | 泰安金城重工科技有限公司 | Steering drive axle used for wheel excavator |
| CN106458276A (en) * | 2014-04-28 | 2017-02-22 | 洋马株式会社 | Travelling vehicle |
| CN206475746U (en) * | 2016-12-30 | 2017-09-08 | 云南昆船智能装备有限公司 | It is a kind of to be used for the differential drive device of industrial traveling vehicle |
| CN108407610A (en) * | 2017-08-14 | 2018-08-17 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
| CN207773299U (en) * | 2018-01-18 | 2018-08-28 | 中山市百佳大谷电子科技有限公司 | Safety protection robot four-wheel drive structure |
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| CN109435687A (en) | 2019-03-08 |
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Effective date of registration: 20231102 Address after: A007, 4th Floor, Building A, Zhizhen Building, No. 7 Zhichun Road, Haidian District, Beijing, 100089 Patentee after: BEIJING LYUTAN TECHNOLOGY CO.,LTD. Address before: 215513 Science Park No. 11 Sihai Road, Changshu Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee before: SUZHOU LYUTAN INTELLIGENT TECHNOLOGY Co.,Ltd. |
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