CN202429272U - Snake-shaped off-road vehicle - Google Patents
Snake-shaped off-road vehicleDownload PDFInfo
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- CN202429272U CN202429272UCN201120532900.2UCN201120532900UCN202429272UCN 202429272 UCN202429272 UCN 202429272UCN 201120532900 UCN201120532900 UCN 201120532900UCN 202429272 UCN202429272 UCN 202429272U
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- guide rail
- ring
- shaped guide
- annular guide
- frame
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Abstract
Description
Technical field
The present invention relates to a kind of new transportation vehicles, especially a kind of snakelike cross-country car.
Background technology
Bionic wide range, such as radar is the imitation to bat supersonic sounding ability, the earthquake counter measure that wing uses have then been used for reference the structure of dragonfly dragonfly wing.The bio-robot kinematics is a bionic very important development.Human on wisdom, to exceed animal a lot, but will be more far short of what is expected than animal in the adaptation of specific environment.Though the people has invented a lot of technology and has remedied this deficiency, can see that obviously the alerting ability on naval vessel is less than fish, the alerting ability of aircraft is less than birds even insect, and the landform comformability of vehicle is less than the animal of four legs.The research of bionic movement can remedy the deficiency of our this respect, and society is produced big economic benefit.The research of snake-shaped robot can be satisfied the demand of some industries.Snake-shaped robot is owing to its born multi-joint, multiple degree of freedom, and many redundant degree of freedom can have multiple mode of motion, can satisfy in complex environment anti-terrorism tasks such as searching and rescuing, investigate, get rid of explosive; Aerospace field can use it as the planet surface exploration device, the flexible arm of orbiter; Then can be applicable to multi-redundant flexible mechanical arm, aspects such as pipe robot in the industry.
In recent years, particularly since 2000, snakelike bio-robot was becoming the new research focus in the whole world.But people's research object also just rests on bio-robot, and the present invention has taken the lead in it is applied on the manned traveler car.
Summary of the invention
The object of the invention is to provide a kind of snakelike cross-country car, and the vehicle that this snakelike cross-country car can be used as a kind of field use, and it can adapt to different landform.
Technical program of the present invention lies in: a kind of snakelike cross-country car; Comprise the vehicle frame and the car body of advancing that is arranged on the vehicle frame bottom side that are used to carry the passenger; It is characterized in that: the said car body of advancing comprises and follows footpath direction first ring-shaped guide rail and second ring-shaped guide rail that laterally arrange; The linkage of edge two ring-shaped guide rail circular flows simultaneously is set on said first and second ring-shaped guide rail; Realize series connection through the universal-joint that is arranged on the center between the chain link monomer of said linkage; Be positioned at and be respectively arranged with a pair of pulley that cooperates with first and second ring-shaped guide rail of being used on the chain link monomer of two sides about universal-joint, the front and back ends of said first and second ring-shaped guide rail has circular-arc rigidity transition portion, and the circle centre position of said rigidity transition portion has been horizontally set with a rotating shaft respectively; The thumb wheel that is used for driver link monomer circulating motion is installed in the said rotating shaft, and said first and second ring-shaped guide rail and vehicle frame are connected.
Can advance along no track in order to make snakelike cross-country car; Also be connected with at least 4 the hydraulic actuating cylinder that is used to regulate and fix the distance between the two adjacent link monomers between the two adjacent link monomers; Said hydraulic actuating cylinder be symmetrically distributed in universal-joint upper left side, lower left, four orientation in lower right and upper right side on; Be positioned at the upper left side and bottom-right two hydraulic actuating cylinders are connected into a hydraulic control circuit; Be positioned at the lower left and top-right two hydraulic actuating cylinders are connected into another hydraulic control circuit, on said two hydraulic control circuits shutoff valve be installed all.After shutoff valve is closed, because liquid can not free-flowing in the hydraulic control circuit, make the stroke of hydraulic actuating cylinder can not change, cause the relative position between the chain link monomer can not change.During use; The chain link monomer shutoff valve that is positioned on the ring-shaped guide rail lower lateral section is closed condition; When keeping snakelike cross-country car to advance; Can keep certain path of motion, and the chain link monomer shutoff valve that is positioned on the ring-shaped guide rail upper lateral section is opening, to make way for the travel track that chain link monomer on the ring-shaped guide rail upper lateral section can adapt to the chain link monomer that is positioned on the ring-shaped guide rail lower lateral section.
More particularly; Said vehicle frame comprises headstock frame, tailstock frame and vehicle body frame; Said headstock frame comprises first axle sleeve and second axle sleeve that is nested with respectively in thumb wheel two side rotating shafts; Said rigidity transition portion is connected with first and second axle sleeve respectively through connecting spoke, and the external side end of said first and second axle sleeve is connected through first side plate and second side plate and the body contact cross bar that is positioned at the control cross bar of headstock rear upside and is positioned at the car body of advancing respectively.
In a preferred embodiment; Said vehicle body frame comprises body support and body understructure; Said body understructure comprises axle sleeve, the vehicle body cross bar that is used for socket body contact cross bar and is arranged on the first flexible carrier bar and the second flexible carrier bar of vehicle body two sides; Be connected through the vehicle body cross bar that is arranged on its both ends between said first and second flexible carrier bar, be connected with Hooke's coupling between said axle sleeve and the vehicle body cross bar, two sides of said chain link monomer are provided with the roller that is used to support first and second flexible carrier bar; Be between the roller of two chain link monomers about first and second flexible carrier bar is installed in; Said body support is made up of arch frame and rectangle locating rack, and the slotted eye on first and second flexible carrier bar and is passed in the base of said rectangle locating rack between the upper lateral section and lower lateral section of ring-shaped guide rail; Gravity with vehicle body frame passes to through roller on the chain link monomer that is positioned at downside, and the base of said rectangle locating rack and the upper lateral section of ring-shaped guide rail and lower lateral section are connected through right-angle connecting plate respectively.
More particularly; The upper lateral section of said ring-shaped guide rail and lower lateral section are flexible guide rail; Said flexible guide rail by cylinder be connected the alternate series connection of spring and constitute, said cylinder is connected through the base of right-angle connecting plate and rectangle locating rack, to realize the guiding and the location of chain link monomer.Do turning to when advancing like this at snakelike cross-country car, the guide rail in zone, center can free bend, avoids pulley and guide rail to interfere.
As preferred version, said tailstock frame is identical with the integral structure of headstock frame.Snakelike like this cross-country car not only can freely advance, and can also fall back as required.
In a preferred embodiment, on said first side plate or second side plate drive motor is installed, be provided with belt gear between said drive motor and the rotating shaft.
Here wanting annotated is: the universal-joint among the present invention can be that the universal-joint of rigidity also can be flexible universal-joint; In addition; Be to adopt the pivotally attached connection mode between the two ends of hydraulic actuating cylinder and the adjacent two chain link monomers so that hydraulic actuating cylinder relatively the chain link monomer do the swing of certain angle.
Advantage of the present invention is following: the vehicle that this snakelike cross-country car can be used as a kind of field use, and it can be as though walking upon flat ground when some complex-terrain walkings, and motion can adapt to different open-air landform very flexibly.
Description of drawings
Fig. 1 is an integral structure side scheme drawing of the present invention.
Fig. 2 is an A-A cutaway view among Fig. 1.
Fig. 3 is the structural representation of two adjacent link monomers.
Fig. 4 is a headstock shelf structure scheme drawing.
Fig. 5 is the body undrstructure scheme drawing.
Fig. 6 is the body support structural representation.
Fig. 7 is the body support perspective view.
Among the figure: 1 vehicle frame, 2 car bodies of advancing, 3 first ring-shaped guide rails, 4 second ring-shaped guide rails, 5 linkages, 6 chain link monomers, 7 universal-joints; 8 pulleys, 9 rigidity transition portions, 10 rotating shafts, 11 thumb wheels, 12 hydraulic actuating cylinders, 13 ring-shaped guide rail lower lateral section, 14 ring-shaped guide rail upper lateral section; 15 headstock framves, 16 tailstock framves, 17 vehicle body frames, 18 first axle sleeves, 19 second axle sleeves, 20 first side plates, 21 second side plates; 22 control cross bars, 23 body contact cross bars, 24 connect spoke, 25 body supports, 26 body understructurees, 27 axle sleeves; 28 vehicle body cross bars, 29 first flexible carrier bars, 30 second flexible carrier bars, 31 rollers, 32 arch frames, 33 rectangle locating racks; 34 slotted eyes, 35 right-angle connecting plates, 36 Hooke's couplings, 37 cylinders, 38 connect spring, 39 drive motor.
The specific embodiment
For letting the above-mentioned feature and advantage of the present invention can be more obviously understandable, hereinafter is special lifts embodiment, and conjunction with figs., elaborates as follows.
Referring to Fig. 1, Fig. 2 and Fig. 3, wherein Fig. 1 is an integral structure side scheme drawing of the present invention, and Fig. 2 is an A-A cutaway view among Fig. 1, and Fig. 3 is the structural representation of two adjacent link monomers.Snakelike cross-country car of the present invention; Comprise the vehicle frame 1 and thecar body 2 of advancing that is arranged on vehicle frame 1 bottom side that are used to carry the passenger; It is characterized in that: the saidcar body 2 of advancing comprises and follows footpath direction first ring-shaped guide rail 3 and second ring-shaped guide rail 4 that laterally arrange; Thelinkage 5 of edge two ring-shaped guide rail circular flows simultaneously is set on said first and second ring-shaped guide rail; Realize series connection through the universal-joint 7 that is arranged on chain link monomer middle part between the chain link monomer 6 of saidlinkage 5; Be positioned at and be respectively arranged with a pair of pulley 8 that cooperates with first and second ring-shaped guide rail of being used on the chain link monomer of universal-joint about 7 two sides, the front and back ends of said first and second ring-shaped guide rail has circular-arcrigidity transition portion 9, and the circle centre position of saidrigidity transition portion 9 has been horizontally set with a rotatingshaft 10 respectively; Thethumb wheel 11 that is used for driver link monomer circulating motion is installed in the said rotatingshaft 10, and said first and second ring-shaped guide rail and vehicle frame 1 are connected.
For snakelike cross-country car can be advanced along no track, referring to Fig. 3, Fig. 3 is the structural representation of two adjacent link monomers.Also be connected with at least 4 the hydraulic actuating cylinder 12 that is used to regulate and fix the distance between the two adjacent link monomers between the two adjacent link monomers; Said hydraulic actuating cylinder 12 be symmetrically distributed in universal-joint 7 upper left side, lower left, four orientation in lower right and upper right side on; Be positioned at the upper left side and bottom-right two hydraulic actuating cylinders are connected into a hydraulic control circuit; Be positioned at the lower left and top-right two hydraulic actuating cylinders are connected into another hydraulic control circuit, on said two hydraulic control circuits shutoff valve be installed all.After shutoff valve is closed, because liquid can not free-flowing in the hydraulic control circuit, make the stroke of hydraulic actuating cylinder can not change, cause the relative position between the chain link monomer 6 can not change.During use; Chain link monomer 6 shutoff valves that are positioned on the ring-shaped guide rail lowerlateral section 13 are closed condition; When keeping snakelike cross-country car to advance; Can keep certain path of motion, and chain link monomer 6 shutoff valves that are positioned on the ring-shaped guide rail upperlateral section 14 are opening, to make way for the travel track that chain link monomer 6 on the ring-shaped guide rail upperlateral section 14 can adapt to the chain link monomer that is positioned on the ring-shaped guide rail lowerlateral section 13.
More particularly, said vehicle frame 1 comprisesheadstock frame 15, tailstock frame 16 and vehicle body frame 17.Referring to Fig. 4, Fig. 4 is a headstock shelf structure scheme drawing.Saidheadstock frame 15 comprisesfirst axle sleeve 18 andsecond axle sleeve 19 that is nested with respectively in thumb wheel two side rotating shafts; Saidrigidity transition portion 9 is connected with first and second axle sleeve respectively through connectingspokes 24, and the external side end of said first and second axle sleeve is connected throughfirst side plate 20 andsecond side plate 21 and the bodycontact cross bar 23 that is positioned at thecontrol cross bar 22 of headstock rear upside and is positioned at the car body of advancing respectively.
In a preferred embodiment, with reference to figure 2, Fig. 5 and Fig. 6, Fig. 5 is the body undrstructure scheme drawing, and Fig. 6 is the body support structural representation.Saidvehicle body frame 17 comprises body support 25 and body understructure 26; As shown in Figure 5; Said body understructure 26 comprisesaxle sleeve 27, the vehiclebody cross bar 28 that is used for socket bodycontact cross bar 23 and is arranged on the firstflexible carrier bar 29 and the secondflexible carrier bar 30 of vehicle body two sides; Be connected through the vehiclebody cross bar 28 that is arranged on its both ends between said first and second flexible carrier bar; Be connected with Hooke'scoupling 36 between saidaxle sleeve 27 and the vehiclebody cross bar 28, two sides of said chain link monomer 6 are provided with theroller 31 that is used to support first and second flexible carrier bar, and promptly first and second flexible carrier bar is installed between theroller 31 of two chain link monomers 6 up and down; As shown in Figure 6; Said body support 25 is made up ofarch frame 32 andrectangle locating rack 33, and the slottedeye 34 on first and second flexible carrier bar and is passed in the base of saidrectangle locating rack 33 between the upper lateral section and lower lateral section of ring-shaped guide rail; Gravity withvehicle body frame 17 passes to throughroller 31 on the chain link monomer 6 that is positioned at downside, and the base of said rectangle locating rack and the upper lateral section of ring-shaped guide rail and lower lateral section are connected through right-angle connecting plate 35 respectively.
More particularly; The upper lateral section of said ring-shaped guide rail and lower lateral section are flexible guide rail; Said flexible guide rail bycylinder 37 be connectedspring 38 alternate series connection and constitute, saidcylinder 37 is connected through the base of right-angle connecting plate 35 withrectangle locating rack 33, to realize the guiding and the location of chain link monomer.Do turning to when advancing like this at snakelike cross-country car, the guide rail in zone, center can free bend, avoids pulley and guide rail to interfere.
As preferred version, said tailstock frame 16 is identical with the integral structure of headstock frame 15.Snakelike like this cross-country car not only can freely advance, and can also fall back as required.
In a preferred embodiment, on said first side plate or second sideplate drive motor 39 is installed, be provided with belt gear between said drive motor and the rotating shaft.
The present invention does not limit to above-mentioned preferred forms, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (7)
1. snakelike cross-country car; Comprise the vehicle frame and the car body of advancing that is arranged on the vehicle frame bottom side that are used to carry the passenger; It is characterized in that: the said car body of advancing comprises and follows footpath direction first ring-shaped guide rail and second ring-shaped guide rail that laterally arrange; The linkage of edge two ring-shaped guide rail circular flows simultaneously is set on said first and second ring-shaped guide rail; Realize series connection through the universal-joint that is arranged on the center between the chain link monomer of said linkage; Be positioned at and be respectively arranged with a pair of pulley that cooperates with first and second ring-shaped guide rail of being used on the chain link monomer of two sides about universal-joint, the front and back ends of said first and second ring-shaped guide rail has circular-arc rigidity transition portion, and the circle centre position of said rigidity transition portion has been horizontally set with a rotating shaft respectively; The thumb wheel that is used for driver link monomer circulating motion is installed in the said rotating shaft, and said first and second ring-shaped guide rail and vehicle frame are connected.
2. snakelike cross-country car according to claim 1; It is characterized in that: also be connected with at least 4 the hydraulic actuating cylinder that is used to regulate and fix the distance between the two adjacent link monomers between the two adjacent link monomers; Said hydraulic actuating cylinder is symmetrically distributed on the upper left side, lower left, four orientation in lower right and upper right side of universal-joint; Be positioned at the upper left side and bottom-right two hydraulic actuating cylinders are connected into a hydraulic control circuit; Be positioned at the lower left and top-right two hydraulic actuating cylinders are connected into another hydraulic control circuit, on said two hydraulic control circuits shutoff valve be installed all.
3. snakelike cross-country car according to claim 1; It is characterized in that: said vehicle frame comprises headstock frame, tailstock frame and vehicle body frame; Said headstock frame comprises first axle sleeve and second axle sleeve that is nested with respectively in thumb wheel two side rotating shafts; Said rigidity transition portion is connected with first and second axle sleeve respectively through connecting spoke, and the external side end of said first and second axle sleeve is connected through first side plate and second side plate and the body contact cross bar that is positioned at the control cross bar of headstock rear upside and is positioned at the car body of advancing respectively.
4. snakelike cross-country car according to claim 3; It is characterized in that: said vehicle body frame comprises body support and body understructure; Said body understructure comprises axle sleeve, the vehicle body cross bar that is used for socket body contact cross bar and is arranged on the first flexible carrier bar and the second flexible carrier bar of vehicle body two sides; Be connected through the vehicle body cross bar that is arranged on its both ends between said first and second flexible carrier bar; Be connected with Hooke's coupling between said axle sleeve and the vehicle body cross bar; Two sides of said chain link monomer are provided with the roller that is used to support first and second flexible carrier bar, and between the roller of two chain link monomers, said body support was made up of arch frame and rectangle locating rack about promptly first and second flexible carrier bar was installed in; The base of said rectangle locating rack is between the upper lateral section and lower lateral section of ring-shaped guide rail; And pass the slotted eye on first and second flexible carrier bar, pass to through roller on the chain link monomer that is positioned at downside with the gravity with vehicle body frame, the base of said rectangle locating rack and the upper lateral section of ring-shaped guide rail and lower lateral section are connected through right-angle connecting plate respectively.
5. snakelike cross-country car according to claim 4; It is characterized in that: the upper lateral section of said ring-shaped guide rail and lower lateral section are flexible guide rail; Said flexible guide rail by cylinder be connected the alternate series connection of spring and constitute; Said cylinder is connected through the base of right-angle connecting plate and rectangle locating rack, to realize the guiding and the location of chain link monomer.
6. snakelike cross-country car according to claim 3 is characterized in that: said tailstock frame is identical with the integral structure of headstock frame.
7. according to claim 3 or 6 described snakelike cross-country cars, it is characterized in that: on said first side plate or second side plate drive motor is installed, is provided with belt gear between said drive motor and the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120532900.2UCN202429272U (en) | 2011-12-19 | 2011-12-19 | Snake-shaped off-road vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120532900.2UCN202429272U (en) | 2011-12-19 | 2011-12-19 | Snake-shaped off-road vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202429272Utrue CN202429272U (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120532900.2UExpired - LifetimeCN202429272U (en) | 2011-12-19 | 2011-12-19 | Snake-shaped off-road vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN202429272U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501911A (en)* | 2011-12-19 | 2012-06-20 | 吴银明 | Snakelike all-terrain travelling vehicle |
| CN110293543A (en)* | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
- 2011
- 2011-12-19CNCN201120532900.2Upatent/CN202429272U/ennot_activeExpired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501911A (en)* | 2011-12-19 | 2012-06-20 | 吴银明 | Snakelike all-terrain travelling vehicle |
| CN102501911B (en)* | 2011-12-19 | 2013-05-08 | 吴银明 | Snakelike all-terrain travelling vehicle |
| CN110293543A (en)* | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | Granted publication date:20120912 Effective date of abandoning:20130508 | |
| AV01 | Patent right actively abandoned | Granted publication date:20120912 Effective date of abandoning:20130508 | |
| RGAV | Abandon patent right to avoid regrant |