CN101407174A - Walking device - Google Patents

Abstract

Translated fromChinese

本发明涉及一种行走装置，属于车辆行走底盘。技术方案包括车架(1)和四个独立驱动的结构相同的基本轮组，每个基本轮组包括与桥壳(2)、驱动轴(3)、带轮(4)和(4′)、连杆(5)和(5′)、车轮轴(6)和(6′)、带轮(8)和车轮(7)及与带轮(8′)和车轮(7′)、带(9)和(9′)、液压缸(10)。四个独立驱动的基本轮组同时驱动时形成全轮全时驱动行走系统，通过液压缸(10)缸杆的伸缩调整连杆(5)和(5′)间的夹角α，从而调节行走装置的地隙，由连杆(5)和(5′)绕驱动轴(3)随动实现车轮(7)和(7′)对地面的仿形，通过改变两侧基本轮组的驱动转速实现行走系统转向。

The invention relates to a running device, which belongs to the vehicle running chassis. The technical solution includes a vehicle frame (1) and four independently driven basic wheel sets with the same structure, each basic wheel set includes an axle housing (2), a drive shaft (3), a pulley (4) and (4′) , connecting rod (5) and (5'), wheel shaft (6) and (6'), pulley (8) and wheel (7) and pulley (8') and wheel (7'), belt ( 9) and (9 '), hydraulic cylinder (10). When the four independently driven basic wheel sets are driven simultaneously, an all-wheel full-time driving walking system is formed, and the angle α between the connecting rods (5) and (5′) is adjusted through the expansion and contraction of the cylinder rod of the hydraulic cylinder (10), thereby adjusting the walking The ground clearance of the device is followed by the connecting rods (5) and (5') around the drive shaft (3) to realize the profiling of the wheels (7) and (7') on the ground, by changing the driving speed of the basic wheel sets on both sides Realize the steering of the walking system.

Description

A kind of running gear

Technical field

The present invention relates to a kind of running gear, belong to the vehicle to run chassis, can improve the crossing ability of vehicle and the comformability of complicated ground.

Technical background

The wheel mounting means that uses on the vehicle mostly is the direct and transmission shaft connection of wheel at present, and the chassis height basic fixed of vehicle maybe can only be carried out small adjusting by suspension like this.If the chassis height, then vehicle body stable poor in motion particularly caused rollover easily, and traffic accident takes place when higher speed travels or turns.Vehicle chassis is too low, and when when pavement conditions is poor, such as muddy, rough and uneven in surface road surface, the vehicle chassis ratio is easier to bump or rub with ground, and trafficability is poor.

Large-scale load-carrying vehicle chassis is mostly supported by a plurality of vehicle bridge, and the chassis is constructed of rigid materials, may occur the unsettled phenomenon of part wheel when by scraggly road, has reduced the load-carrying ability and the crossing ability of vehicle.

1979 the 4th phase papers of " trac. and agriculture truck " " a kind of trac. before and after crack, bridge ground adjusting mechanism " are respectively by the direct jack-up vehicle body of hydraulic actuating cylinder and satellite gear revolution adjusting propons and crack, back axle ground, and mechanism is huge and not to the ground profiling.The planet gear type lunar rover vehicle that in May, 2000 paper " design of New Omni-directional Crossing Obstacle Mechanism " of " machine design and manufacturing engineering " proposes can profiling ground but can not be regulated the crack, ground.

Summary of the invention

The objective of the invention is to provide a kind of and can regulate the vehicle chassis height significantly, and can realize running gear road, ground profiling.It can change the height of gravitational center of vehicle, makes vehicle adapt to different ground, road, improves the through performance of vehicle; It can also make set of wheels that rugged, scraggly road profiling is travelled simultaneously, improves vehicle to ground-surface comformability and cruising characteristic.

In order to reach the identical basic wheels of structure that technical scheme that purpose of the present invention takes comprises vehicle frame 1 and four individual drive, each basic wheels comprises the axle housing 2 that is connected with vehicle frame 1, the axle drive shaft 3 that in axle housing 2, rotates, with the belt wheel 4 and 4 of axle drive shaft 3 coaxial rotation ', connecting rod 5 and 5 ', axletree 6 and 6 ', with the belt wheel 8 of axletree 6 coaxial rotation and wheel 7 and with the belt wheel 8 of axletree 6 ' coaxial rotation ' and wheel 7 ', be with 9 and 9 ', hydraulic actuating cylinder 10, be with 9 on belt wheel 4 and belt wheel 8, to constitute strap drive, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, be with 9 ' around belt wheel 4 ' and belt wheel 8 ' on constitute strap drive, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 ' and axletree 6 ' go up and free to rotate respectively, the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.The basic wheels of four individual drive form the full-time driving running gear of full wheel when driving simultaneously, flexible adjustment connecting rod 5 and 5 by hydraulic actuating cylinder 10 cylinder bars ' angle α, thereby regulate the crack, ground of running gear, by connecting rod 5 and 5 ' realize wheel 7 and 7 ', realize that by the driving rotating speed that changes the basic wheels in both sides running gear turns to ground-surface profiling around axle drive shaft 3 servo-actuateds.

In the above line walking apparatus, strap drive is replaced by chain-driving, be about to belt wheel 4 and 4 ', belt wheel 8 and 8 ' be replaced by sprocket wheel, be with 9 and 9 ' be replaced by chain, constitute chain-driving form of the present invention.

In the above line walking apparatus, with the strap drive of basic wheels be replaced by n level spur gear drive (positive integer n=2,3,4 ...), the power of axle drive shaft 3 and Motion Transmission give wheel 7 and 7 ', constitute multi-stage gear type of belt drive of the present invention.

In the above line walking apparatus, the basic wheels in two of two basic wheels of fwd or back cut off the power input or remove be with 9 and 9 ', running gear becomes back-wheel drive or front-wheel drive.

The present invention can regulate vehicle frame apart from ground-surface height by above-mentioned basic wheels, realizes ground-surface profiling, improves crossing ability and the comformability of vehicle to Different Ground.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is that two connecting rod angles of basic wheels of the present invention are adjusted scheme drawing;

Fig. 3 is the present invention replaces the strap drive running gear with n=3 level gear transmission a basic wheels scheme drawing;

Fig. 4 is a profiling scheme drawing in ground of the present invention.

Specific embodiments

With reference to the accompanying drawings embodiments of the invention are described below.

Figure 1 shows that the scheme drawing of running gear of the present invention, the identical basic wheels of structure by vehicle frame 1 and four individual drive are formed, each basic wheels is again by the axle housing 2 that is connected with vehicle frame 1, the axle drive shaft 3 that in axle housing 2, rotates, with the belt wheel 4 and 4 of axle drive shaft 3 coaxial rotation ', connecting rod 5 and 5 ', axletree 6 and 6 ', belt wheel 8 and wheel 7 with axletree 6 coaxial rotation, with the belt wheel 8 of axletree 6 ' coaxial rotation ' and wheel 7 ', be with 9 and 9 ', hydraulic actuating cylinder 10 is formed, be with 9 on belt wheel 4 and belt wheel 8, to constitute strap drive, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, be with 9 ' around belt wheel 4 ' and belt wheel 8 ' on constitute strap drive, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 ' and axletree 6 ' go up and free to rotate respectively, the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.

Flexible by hydraulic actuating cylinder 10 cylinder bars, can change connecting rod 5 and 5 ' between angle, thereby adjust vehicle frame 1 and ground-surface distance, reach the purpose of adjusting vehicle frame crack, 1 ground and vehicle frame 1 height of gravitational center.Axle drive shaft 3 respectively by belt wheel 4, belt wheel 8 and with 9 strap drives of forming and belt wheel 4 ', the strap drive of belt wheel 8 ' with 9 ' form with power transmission to wheel 7 and wheel 7 '.Because the weight of whole running gear, connecting rod 5 and 5 ' meeting makes wheel 7 and 7 ' profiling ground around drive shaft turns.

Fig. 2 is that two connecting rod angles of basic wheels of the present invention are adjusted scheme drawings, flexible by hydraulic actuating cylinder 10, can adjust connecting rod 5 and 5 ' between angle α, thereby change the terrain clearance of vehicle frame 1, reach the purpose of adjusting crack, vehicle frame 1 ground.

Fig. 3 is the present invention replaces the strap drive running gear with n=3 level gear transmission a basic wheels scheme drawing.Each basic wheels is by axle housing 2 (being connected with vehicle frame 1), the axle drive shaft 3 that in axle housing 2, rotates, cylindrical wheel 11 with axle drive shaft 3 coaxial rotation, connecting rod 5 and 5 ', the cylindrical wheel 12 and 13 that on connecting rod 5, rotates, the cylindrical wheel 12 of 5 ' rotation on connecting rod ' and 13 ', axletree 6 and 6 ', cylindrical wheel 14 and wheel 7 with axletree 6 coaxial rotation, with the cylindrical wheel 14 of axletree 6 ' coaxial rotation ' and wheel 7 ', hydraulic actuating cylinder 10 is formed, the two ends of connecting rod 5 are enclosed within on axle drive shaft 3 and the axletree 6 also free to rotate respectively, connecting rod 5 ' two ends be enclosed within axle drive shaft 3 and axletree 6 ' go up and free to rotate respectively, cylindrical wheel 11 and cylindrical wheel 12 engaged transmission, cylindrical wheel 12 and cylindrical wheel 13 engaged transmission, cylindrical wheel 13 and cylindrical wheel 14 engaged transmission, power reaches wheel 7 from axle drive shaft 3 by 11-12-13-14, cylindrical wheel 11 and cylindrical wheel 12 ' engaged transmission, cylindrical wheel 12 ' with cylindrical wheel 13 ' engaged transmission, cylindrical wheel 13 ' with cylindrical wheel 14 ' engaged transmission, power from axle drive shaft 3 by 11-12 '-13 '-14 ' reach wheel 7 ', the two ends of hydraulic actuating cylinder 10 respectively with connecting rod 5 and 5 ' be connected with revolute pair.When n gets even number, axle drive shaft 3 turn to wheel 7 and 7 ' turn to identical; When n gets odd number, axle drive shaft 3 turn to wheel 7 and 7 ' switched in opposite.

Flexible by hydraulic actuating cylinder 10 cylinder bars, can change connecting rod 5 and 5 ' between angle, thereby adjust vehicle frame 1 and ground-surface distance, reach the purpose of adjusting vehicle frame crack, 1 ground and vehicle frame 1 height of gravitational center.Because the weight of whole running gear, connecting rod 5 and 5 ' meeting makes wheel 7 and 7 ' profiling ground around drive shaft turns, ground profiling principle such as Fig. 4 of running gear.

Claims (4)

Translated fromChinese

1、一种行走装置，其特征在于，包括车架1和四个独立驱动的结构相同的基本轮组，每个基本轮组包括与车架1固连的桥壳2、在桥壳2内转动的驱动轴3、与驱动轴3同轴转动的带轮4和4′、连杆5和5′、车轮轴6和6′、与车轮轴6同轴转动的带轮8和车轮7及与车轮轴6′同轴转动的带轮8′和车轮7′、带9和9′、液压缸10，带9绕在带轮4和带轮8上构成带传动，连杆5的两端分别套在驱动轴3和车轮轴6上并可自由转动，带9′绕在带轮4′和带轮8′上构成带传动，连杆5′的两端分别套在驱动轴3′和车轮轴6′上并可自由转动，液压缸10的两端分别与连杆5和5′以转动副连接，通过液压缸10缸杆的伸缩调整连杆5和5′间的夹角α。1. A walking device, characterized in that it includes a vehicle frame 1 and four independently driven basic wheel sets with the same structure, each basic wheel set includes an axle housing 2 fixedly connected to the vehicle frame 1, and in the axle housing 2 Rotating drive shaft 3, belt pulley 4 and 4' coaxially rotating with drive shaft 3, connecting rod 5 and 5', wheel shaft 6 and 6', belt pulley 8 and wheel 7 coaxially rotating with wheel shaft 6 and The pulley 8' rotating coaxially with the wheel shaft 6', the wheel 7', the belts 9 and 9', the hydraulic cylinder 10, the belt 9 is wound on the pulley 4 and the pulley 8 to form a belt transmission, and the two ends of the connecting rod 5 They are respectively set on the drive shaft 3 and the wheel shaft 6 and can rotate freely. The belt 9' is wound on the pulley 4' and the pulley 8' to form a belt transmission. The two ends of the connecting rod 5' are respectively set on the drive shaft 3' and the pulley 8'. Wheel axle 6' is free to rotate, and the two ends of hydraulic cylinder 10 are respectively connected with connecting rod 5 and 5' with a rotary pair, and the angle α between connecting rod 5 and 5' is adjusted by the expansion and contraction of hydraulic cylinder 10 cylinder rods.2、根据权利要求1所述的行走装置，其特征在于，将带传动更换为链传动，即将带轮4和4′、带轮8和8′更换为链轮、带9和9′更换为链，构成本发明的链传动形式。2. The walking device according to claim 1, characterized in that, the belt drive is replaced by a chain drive, that is, the pulleys 4 and 4', the pulleys 8 and 8' are replaced by sprockets, and the belts 9 and 9' are replaced by Chain constitutes the chain transmission form of the present invention.3、根据权利要求1所述的行走装置，其特征在于，可以将基本轮组的带传动更换为n级圆柱齿轮传动(正整数n＝2、3、4、……)，把驱动轴3的动力和运动传递给车轮7和7′，构成本发明的多级齿轮传动形式。3. The walking device according to claim 1, characterized in that, the belt drive of the basic wheel set can be replaced by an n-stage cylindrical gear drive (positive integer n=2, 3, 4, ...), and the drive shaft 3 The power and motion of the wheel are transmitted to the wheels 7 and 7', forming the multi-stage gear transmission form of the present invention.4、根据权利要求1所述的行走装置，其特征在于，前面的两个基本轮组或者后边两个基本轮组切断动力输入或去掉带9和9′，行走装置变为后轮驱动或前轮驱动装置。4. The walking device according to claim 1, characterized in that, the front two basic wheel sets or the rear two basic wheel sets cut off the power input or remove the belts 9 and 9', and the running device becomes rear wheel drive or front wheel drive. wheel drive.

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