CN104175796B - A kind of running gear being provided with balancing rocker arm suspension and deformable wheel - Google Patents
A kind of running gear being provided with balancing rocker arm suspension and deformable wheel Download PDFInfo
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- CN104175796B CN104175796B CN201410430930.0A CN201410430930A CN104175796B CN 104175796 B CN104175796 B CN 104175796B CN 201410430930 A CN201410430930 A CN 201410430930A CN 104175796 B CN104175796 B CN 104175796B
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Abstract
A kind of be provided with balancing rocker arm suspension and deformable wheel running gear, by hull formula vehicle body, vehicle frame, electromotor, change speed gear box, power transmission shaft, transfer case, lower limb case, gap guiding mechanism, brake unit, wheel heel teeth roller box, transfer, balanced controls, deformable wheel and water jet propulsion pump form；Hull formula vehicle body is connected with carriage bolt, electromotor, change speed gear box is arranged on vehicle frame by bolt, it is connected with hull formula carriage bolt about transfer case, balanced controls two ends bearing pin is connected with transfer case, centre bearing pin is connected to vehicle frame, lower limb case is connected by bearing pin with transfer case, gap guiding mechanism two ends, ground are connected to respectively through bearing pin on transfer case and lower limb case, lower limb case front end fifth wheel heel teeth roller box, transfer one end is connected with lower limb case by ear mount, the other end is connected with wheel heel teeth roller box, wheel heel teeth roller box is bolted with deformable wheel, power transmission shaft is provided with brake unit, brake unit is fixed on vehicle frame, water jet propulsion pump is connected with vehicle frame by bolt。
Description
Technical field
The present invention relates to one to dwell multi-mode vehicle more, specifically, relate to a kind of running gear being provided with balancing rocker arm suspension and deformable wheel。Belong to technical field of engineering machinery。
Background technology
There are about the region of 50% on the earth is that conventional vehicles (vehicle equipped with wheel or creeper undercarriage) cannot normally travel, such as desert, marsh, beach, snowfield etc., greatly limit the range of activity of the mankind, simultaneously the water barrier such as rivers and lakes is also the natural cover for defense that vehicle travels, development along with technology, the amphibious vehicle integrating the motor-driven and waterborne motor-driven advantage in land occurs, has expanded the maneuvering range of vehicle, is with a wide range of applications in military, economic dispatch field。
From the World War I, people just notice wheel and track-type limitation, begin for specific region and develop effective walking mechanism, as spiral, walking is wheeled, buoyancy tank crawler belt examination etc.。China invented boat tractor from the seventies, without wheel flange wheel and paddy field blade wheel etc., solve the farming problem in southern paddy field。But these extraordinary walking mechanism majorities can only adapt to specific surface condition, it is impossible to meets the service requirement dwelt more, limits range of activity and have inconvenient traffic greatly with bringing。As just cannot walking on the hard pavement of highway and relatively flat again when shifting without wheel flange wheel and paddy field blade wheel, it is necessary to more wheel change。
Amphibious vehicle is come out the twenties in last century, is for military purposes the earliest。During the Second World War, USN is manufactured that the amphibious jeep of GPA, becomes amphibious vehicle truly in the world the earliest。Various countries all strengthens the research of this respect after this, also occurs in that civilian amphibious vehicle simultaneously。Land and water vehicle is all had place to show one's prowess in many industries of national economy, such as the petroleum geology department of water conservancy and hydropower department, flood control department, field exploration or operation at sea, environmental administration, coastal waters and freshwater aquiculture and transportation by land and water department, water tourism industry etc.。
Summary of the invention
1, it is an object of the invention to provide a kind of running gear being provided with balancing rocker arm suspension and deformable wheel, two trailing wheels of this running gear are deformable wheel。Deformable wheel effectively can run in different geographical condition, is that a kind of of under-carriage of dwelling well selects more。By control to make wheel have wheel rim and without wheel flange wheel between conversion, soft terrain can carry cross-country traveling ability, reduce resistance to rolling, increase driving force；Hull formula vehicle body is used, it is prevented that the depression of vehicle in waters and shoal area；This running gear, under the premise ensureing common wheel undercarriage higher motion speed, has concurrently and adjusts attitude, changes ground gap and the full function taking turns fluid-link steering, improve the obstacle climbing ability of vehicle and pass through performance。
2, a kind of running gear being provided with balancing rocker arm suspension and deformable wheel of the present invention, see Fig. 1, by hull formula vehicle body, vehicle frame, electromotor, change speed gear box, power transmission shaft, transfer case, lower limb case, the part such as gap guiding mechanism, brake unit, wheel heel teeth roller box, transfer, balanced controls, deformable wheel and water jet propulsion pump form。Position annexation between them is: together with hull formula vehicle body is bolted with vehicle frame, electromotor, change speed gear box is arranged on vehicle frame by bolt, it is bolted with hull formula vehicle body about transfer case, balanced controls two ends bearing pin is connected with transfer case, centre bearing pin is connected on vehicle frame, lower limb case is connected by bearing pin with transfer case, gap guiding mechanism two ends, ground are connected to respectively through bearing pin on transfer case and lower limb case, lower limb case front end fifth wheel heel teeth roller box, one end of transfer is connected with lower limb case by ear mount, the other end is connected with wheel heel teeth roller box, together with wheel heel teeth roller box is bolted with deformable wheel, power transmission shaft is provided with brake unit, brake unit is fixed on vehicle frame, water jet propulsion pump is connected with vehicle frame by bolt。
Described hull formula vehicle body is made hull formula structure by fiberglass, sees Fig. 2 a-c, is divided into four parts, parts vehicle body on the left side, parts vehicle body on the right side, main vehicle body and upper vehicle body。Each vehicle body is embedded with bolt for connecting, is connected with between each several part, and be coated with fluid sealant in junction。
Described vehicle frame is to be formed by connecting by channel-section steel, seeing Fig. 3 a-b, its skeleton is mainly made up of two longerons and three crossbeams, and wherein front beam and rear cross beam are arranged symmetrically with at the front and back position of vehicle frame, middle cross beam is in the centre position of vehicle frame, and left-hand stringer and right-hand stringer are equally spaced in the bottom of main vehicle body。Vehicle frame is connected by pre-embedded bolt with main vehicle body。
Described electromotor and change speed gear box are commercial part, and power is transmitted to change speed gear box by CVT or belt by electromotor as power source, and power is transferred to two power transmission shafts in left and right by change speed gear box again。
Described power transmission shaft one end is connected with speed changing box power output shaft, and the other end is that conical gear engages with the conical gear in transfer case, is reached in transfer case by power。
Described transfer case is single-stage conical gear transfer case, see Fig. 4 a-b, it is formed by connecting by left and right riser, forward and backward riser, top board and base plate, its internal bevel pinion shaft engages with the conical gear on power transmission shaft, the forward and backward riser of transfer case is stretched out at the two ends of this axle, and power is transferred to lower limb case。
Described lower limb case, see Fig. 5 a-b, by the left and right riser of lower limb case, lower limb roof box, lower limb box plate, rzeppa joint, lower limb case connects bearing pin and lower limb case power transmission shaft forms, the left and right riser of lower limb case and lower limb roof box link together, lower limb box plate is connected formation box typed structure by bolt with the left and right riser of lower limb case, and rzeppa joint and lower limb case power transmission shaft are arranged in box typed structure。Lower limb case connects bearing pin and passes through the left and right riser of lower limb case。
Described ground gap guiding mechanism, see Fig. 6, adjusted oil cylinder by cylinder body bearing pin, gudgeon pin shaft, cylinder body ear mount, piston ear mount and ground gap to form, cylinder body ear mount is fixed on transfer case, gudgeon pin shaft is through piston ear mount and is connected on lower limb case, ground gap adjusts oil cylinder two ends respectively through gudgeon pin shaft and cylinder body bearing pin connection leg case and transfer case, and ground gap adjusts the flexible drive lower limb case of oil cylinder and rotates around bearing pin, thus realizing the change of car load road clearance。
Described brake unit is two disk brakes, sees Fig. 7, and wherein braking dish is connected with power transmission shaft, similar with common vehicle, and caliper compresses braking dish and realizes car load braking。
Described transfer is made up of steering cylinder, pivot stud, steering arm, locking nut, steering cylinder cylinder body bearing pin, steering cylinder gudgeon pin shaft, steering cylinder ear mount and wheel heel teeth roller box, see Fig. 8, Fig. 9, wherein, steering arm is connected on pivot stud, and pivot stud is connected on wheel heel teeth roller box。Wheel heel teeth roller box is connected with wheel hub by bolt, and wheel heel teeth roller box is connected with lower limb case end。Steering cylinder is arranged on lower limb cover plate top, and one end is connected by short axle is relatively turnable with the ear mount being connected on lower limb cover plate, and the other end is connected by short axle and steering arm are relatively turnable。This steering cylinder is the commercial part chosen on demand；This pivot stud is cylinder axis, and end is connected to location end face, and is connected with wheel heel teeth roller box；This steering arm one end is connected with steering cylinder, and the other end directly links together with pivot stud；This is taken turns heel teeth roller box and is divided into upper and lower two reduction boxes, and upper reduction box is connected with lower limb case, and lower reduction box is connected with wheel hub, can relatively rotate between upper and lower reduction box, positioned by pivot stud and locking nut, upper and lower reduction box is respectively arranged with one-level conical gear and slows down, power can be transferred to wheel place。
Described balanced controls, are shown in Figure 10, are made up of a counter-jib, two connecting rods, middle bearing pin and four ball pivots etc.。Relation is therebetween: be transversely mounted on the front portion of vehicle frame in the middle of counter-jib by middle bearing pin, ball pivot i.e. first, second ball pivot is passed through on both sides, connecting with left and right small end respectively, connecting rod lower end then by the three, the 4th ball pivots, is connected to the rear end of left and right transfer case。This counter-jib is an analog-U shaped cuboid component, and two ends processing has the slotted eye installing ball pivot, and intermediate cross-section size is bigger, and processes the axis hole having the middle bearing pin of installation；The centre of this left and right connecting rod is cylindrical polished rod, and ring set is processed at two ends, to install ball pivot；This middle bearing pin is that end is connected to the cylinder optical axis installing end face；This ball pivot is the commercial part chosen on demand。
Described deformable wheel (this structure is separately applied for a patent), see Figure 11, be that solid plain tire is divided into six partial rubber tires, driven it to rotate by six pairs of worm and gears respectively, the anglec of rotation regulates by controlling the rotation of semiaxis, thus realizing wheel from there being wheel rim to become without wheel rim。Wheel and lower limb case attachment structure figure are shown in Figure 12。
Described water jet propulsion pump is city's component, is connected realization by belt or sprocket wheel with electromotor and rotates, and it carries and turns to and reverse gear。
It is an advantage of the current invention that:
1, amphibious: this car has the ability that common vehicle travels on hard surfaces。Take turns equipped with hull formula vehicle body and deformable so that it is can travel at the soft terrain such as marsh, beach。Water jet propulsion pump can be passed to waters。
2, ground gap is become: by the change of angle between the rocking arm of front and back, it is possible to adjust the road clearance on chassis, make vehicle obtain better obstacle climbing ability and climbing capacity, improve the ride comfort of vehicle and the property passed through。
3, ground is adaptable: owing to left and right lower limb case can relatively rotate, can guarantee that four wheels all can land on various road surfaces simultaneously, simultaneously, by changing the angle between with group lower limb case, can realize on slope horizontal walk or keep the level of vehicle body when working, thus improve vehicle by property and stable performance capacity。
4, attitude is adjustable: by the effect of balanced controls, it is ensured that vehicle body plane is always positioned on two lower limb clamp angular bisectors, plays the effect that body gesture adjusts, and keeps stablizing of vehicle body, it is prevented that vehicle is turned on one's side, and improves the ride performance of vehicle。
5, turn to flexibly: four-wheel independent steering realizes the feature turned to flexibly, radius of turn is little。
6, applied range: can install all kinds of frock accessory on it, such as farming equipment, exploration equipment, rescue outfit etc., can be used for the aspects such as agricultural tillage, geological prospecting, rescue。
Accompanying drawing explanation
Fig. 1 is the engineering machine balancing rocker arm wheel undercarriage running gear top view of the present invention；
Fig. 2 a is that the present invention parts body structure figure on the right side；
Fig. 2 b is the left body structure figure of the present invention；
Fig. 2 c is vehicle body and main body structure figure in the present invention；
Fig. 2 d is that the present invention parts vehicle body top view on the left side；
Fig. 2 e is that the present invention parts vehicle body top view on the right side；
Fig. 2 f is vehicle body and main vehicle body top view in the present invention；
Fig. 3 a is vehicle frame skeleton front view in the present invention；
Fig. 3 b is vehicle frame skeleton top view in the present invention；
Fig. 4 a is transfer case front view in the present invention；
Fig. 4 b is transfer case top view in the present invention；
Fig. 5 a is lower limb case front view in the present invention；
Fig. 5 b is lower limb case top view in the present invention；
Fig. 6 is ground gap guiding mechanism structure chart in the present invention；
Fig. 7 is brake device structure figure in the present invention；
Fig. 8 turns to structure drawing of device in the present invention；
Fig. 9 is wheel side gear box structure figure in the present invention；
Figure 10 is balanced controls structure chart in the present invention；
Figure 11 is deformable rolling hitch composition of the present invention；
Figure 12 is that the present invention takes turns limit attachment structure figure。
In figure, symbol description is as follows:
1-hull formula vehicle body 101-parts vehicle body 102-on the left side and parts vehicle body on the main vehicle body 104-of vehicle body 103-on the right side
2-vehicle frame 201 (a, b)-longeron 202 (a, b, c)-crossbeam 203-bracing frame 204-installing rack
3-electromotor 4-change speed gear box 5-power transmission shaft
6-transfer case 601-left riser 602-right riser 603-front vertical plate 604-back vertical plate 605-top board
606-base plate 607-bevel pinion shaft
7-lower limb case 701-lower limb case left riser 702-lower limb case right riser 703-lower limb roof box 704-lower limb box plate
705-rzeppa joint 706-lower limb case power transmission shaft 707-lower limb case connects bearing pin
8-ground gap guiding mechanism 801-cylinder body bearing pin 802-gudgeon pin shaft 803-cylinder body ear mount 804-piston ear mount
805-ground gap adjusts oil cylinder
9-brake unit 901-braking dish 902-caliper
Reduction box 1003-reduction box conical gear under reduction box 1002-on 10-wheel heel teeth roller box 1001-
11-transfer 1101-steering cylinder 1102-pivot stud 1103-steering arm 1104-locking nut
1105a-steering cylinder cylinder body bearing pin 1105b-steering cylinder gudgeon pin shaft 1106-steering cylinder ear mount
Bearing pin in the middle of 12-balanced controls 1201-counter-jib 1202a-left connecting rod 1202b-right connecting rod 1203-
1204a-the first ball pivot 1204b-the second ball pivot 1204c-the 3rd ball pivot
1204d-the 4th ball pivot 1205 (a, b)-balanced controls bearing pin
13-changeable type wheel 1301 (a, b, c, d, e, f)-rubber tyre 1302-wheel hub 1303-semiaxis
14-water jet propulsion pump
Detailed description of the invention
As shown in Figure 1, the present invention is a kind of is provided with balancing rocker arm suspension and the running gear of deformable wheel, by hull formula vehicle body 1, vehicle frame 2, electromotor 3, change speed gear box 4, power transmission shaft 5, transfer case 6, lower limb case 7, the parts such as gap guiding mechanism 8, brake unit 9, wheel heel teeth roller box 10, transfer 11, balanced controls 12, deformable wheel 13 and water jet propulsion pump 14 form。Wherein power transmission shaft 5, transfer case 6, lower limb case 7, gap guiding mechanism 8, brake unit 9, wheel heel teeth roller box 10, transfer 11 be symmetrical。
Together with hull formula vehicle body 1 is bolted with vehicle frame 2, electromotor 3, change speed gear box 4 is arranged on vehicle frame 2 by bolt, transfer case about 6 is bolted with hull formula vehicle body 1, balanced controls 12 two ends balanced controls bearing pin 1205 (a, b) it is connected with transfer case 6, the middle bearing pin 1203 in centre is connected on vehicle frame 2, lower limb case 7 is connected bearing pin 707 with transfer case 6 by lower limb case and connects, ground gap adjusts oil cylinder 805 two ends respectively through cylinder body bearing pin 801, gudgeon pin shaft 802 and cylinder body ear mount 803, piston ear mount 804 is connected on transfer case 6 and lower limb case 7, lower limb case 7 front end fifth wheel heel teeth roller box 10, one end of transfer 11 is connected with lower limb case 7 by steering cylinder ear mount 1106, the other end is connected with wheel heel teeth roller box 10, wheel heel teeth roller box 10 is bolted together with deformable wheel 13, power transmission shaft 5 is provided with brake unit 9, brake unit 9 is fixed on vehicle frame 2, water jet propulsion pump 14 is connected with vehicle frame 2 by bolt。
As shown in Fig. 2 a-f, hull formula vehicle body 1 is made hull formula structure by fiberglass, sees Fig. 2 a-f, is divided into four parts, parts vehicle body 101 on the left side, parts vehicle body 102 on the right side, main vehicle body 103 and upper vehicle body 104。Wherein the bottom of main vehicle body to thicken, and front end is curved。Vehicle body is embedded with bolt for connecting, is connected with between each several part, and be coated with fluid sealant in junction。
As shown in Fig. 3 a-b, vehicle frame 2 is to be welded by channel-section steel, its skeleton main two longerons 201a, 201b and three crossbeam 202a, 202b, 202c compositions, wherein front beam 202a and rear cross beam 202c is arranged symmetrically with at the front and back position of main vehicle body 103, middle cross beam 202b is in the centre position of main vehicle body 103, and left-hand stringer 201a and right-hand stringer 201b is equally spaced in the bottom of main vehicle body 103。Should being furnished with the bracing frame 203 of electromotor 3 and change speed gear box 4 on vehicle frame 2, the concrete form of bracing frame 203 is determined by the concrete model of selected electromotor 3 and change speed gear box 4。Vehicle frame 2 leaves installation balanced controls 12 desired position, is connected with balanced controls 12 by middle bearing pin 1203。Also has the installing rack 204 with water jet propulsion pump 14 simultaneously。Vehicle frame 2 is connected with main the buried bolt of vehicle body 103。
As it can be seen, electromotor 3 and change speed gear box 4 are commercial part, power is transmitted to change speed gear box 4 by CVT or belt by electromotor 3 as power source, and power is transferred to two power transmission shafts 5 in left and right by change speed gear box 4 again。
As shown in Fig. 4 a-b, power transmission shaft 5 one end is connected with change speed gear box 4 power output shaft, and the other end is that conical gear engages with the bevel pinion shaft 607 in transfer case 6, is reached by power in transfer case 6。Transfer case 6 is single-stage conical gear transfer case, it is welded by left riser 601, right riser 602, front vertical plate 603, back vertical plate 604, top board 605 and base plate 606, cylinder body ear mount 803 it is welded with on top board 605, its internal bevel pinion shaft 607 engages with the conical gear on power transmission shaft 5, the forward and backward riser of transfer case 6 is stretched out at its two ends, is transferred to by power in lower limb case 7。
As shown in Fig. 5 a-b, car load has four lower limb casees as can be seen from Figure, is respectively designated as left front leg case, left back lower limb case, RAT case and right rear leg case。Four lower limb box structures are identical, now only describe one of them in detail。Left back lower limb case is by the left riser 701 of lower limb case, the right riser 702 of lower limb case, lower limb roof box 703, lower limb box plate 704, rzeppa joint 705 and lower limb case power transmission shaft 706 composition, left, right riser 701, 702 and top board 703 weld together, base plate 704 is by bolt and a left side, right riser 701, 702 connect formation box typed structure, cross section is rectangle, concrete size determines according to practical situation, rzeppa joint 705 and lower limb case power transmission shaft 706 are arranged in box typed structure, power is transferred to rzeppa joint 705 by the bevel pinion shaft 607 in transfer case 6, it is transferred to lower limb case power transmission shaft 706 again, whole left back lower limb case connects bearing pin 707 by two lower limb casees and is connected with transfer case 6, and can rotate around bearing pin。Top board 703 is welded with lower limb case and adjusts oil cylinder piston ear mount 804 and steering cylinder ear mount 1106.
As shown in Figure 6, ground gap guiding mechanism 8 is made up of ground gap adjustment oil cylinder 805, cylinder body bearing pin 801, gudgeon pin shaft 802, cylinder body ear mount 803, piston ear mount 804, and ground gap is adjusted oil cylinder 805 two ends and connected respectively on transfer case 6 and lower limb case 7 by cylinder body bearing pin 801, gudgeon pin shaft 802。Cylinder body ear mount 803 is welded with transfer case 6, and piston ear mount 804 is welded with lower limb case 7, and ground gap adjusts the flexible drive lower limb case 7 of oil cylinder 805 and rotates around gudgeon pin shaft 802, thus realizing the change of car load road clearance。It is commercial part that ground gap adjusts oil cylinder 805, selects according to actually used situation。
As it is shown in fig. 7, what brake unit 9 was made up of braking dish 901 and caliper 902, wherein braking dish 901 is connected with power transmission shaft 5, and caliper 902 is connected with vehicle frame 2, similar with common vehicle, and caliper 902 compresses braking dish and realizes car load braking。
As it is shown in figure 9, wheel heel teeth roller box 10 is made up of upper reduction box 1001, lower reduction box 1002, reduction box conical gear 1003。Upper reduction box 1001 welds together with lower limb case 7, and the upper end of reduction box conical gear 1003 is engaged with the conical gear on lower limb case power transmission shaft 706, and the lower end of reduction box conical gear 1003 is engaged with the conical gear on semiaxis 1303, and power is transferred to wheel。
As shown in Figure 8, transfer 11 is made up of steering cylinder 1101, pivot stud 1102, steering arm 1103, locking nut 1104, steering cylinder cylinder body bearing pin 1105a, steering cylinder gudgeon pin shaft 1105b and steering cylinder ear mount 1106 etc., wherein, steering arm 1103 is connected on pivot stud 1102 by spline, and pivot stud 1102 is connected on lower reduction box 1002 by bolt。Lower reduction box 1002 is connected with wheel hub 1302 by bolt, one end of steering cylinder 1101 is arranged in steering cylinder ear mount 1106 by steering cylinder cylinder body bearing pin 1105a, and the other end is connected by steering cylinder gudgeon pin shaft 1105b is relatively turnable with steering arm 1103。This steering cylinder 1101 is the commercial part chosen on demand；This pivot stud 1102 is cylinder axis, and end is welded with location end face, and is connected by bolt with lower reduction box 1002；This steering arm 1103 one end is connected with steering cylinder 1101, and the other end directly links together with pivot stud 1102；The flexible drive steering arm 1103 of steering cylinder 1101 rotates, and pivot stud 1102 rotates with steering arm 1103, drives lower reduction box 1002 to rotate, thus realizing vehicle wheel rotation simultaneously。
As shown in Figure 10, balanced controls 12 are main is made up of counter-jib 1201, left connecting rod 1202a, right connecting rod 1202b, middle bearing pin 1203 and the first ball pivot 1204a, the second ball pivot 1204b, the 3rd ball pivot 1204c, the 4th ball pivot 1204d etc.。Counter-jib 1201, in centre position, is transversely mounted on the front portion of vehicle frame 2 by middle bearing pin 1203, and middle bearing pin 1203 directly inserts from front, and is fixed by bolts on vehicle frame 2, and counter-jib 1201 can swing around middle bearing pin 1203。The both sides, two ends of counter-jib 1201 connect with left connecting rod 1202a, right connecting rod 1202b upper end respectively through the first ball pivot 1204a, the second ball pivot 1204b, and left connecting rod 1202a, right connecting rod 1202b lower end are then connected to the front end of left transfer case 6a, right transfer case 6b respectively through the 3rd ball pivot 1204c, the 4th ball pivot 1204d。This counter-jib 1201 is an analog-U shaped cuboid component, and two ends processing has the slotted eye installing 4 ball pivots, and intermediate cross-section size is bigger, and processes the axis hole having the middle bearing pin 1203 of installation；This left connecting rod 1202a is identical with right connecting rod 1202b, is cylindrical polished rod in the middle of it, and ring set is processed at two ends, to install 4 ball pivots；This middle bearing pin 1203 is that end is welded with the cylinder optical axis installing end face；These 4 ball pivot the first ball pivot 1204a, the second ball pivot 1204b, the 3rd ball pivot 1204c, the 4th ball pivot 1204d are the commercial parts chosen on demand。
As shown in Figure 11,12, deformable wheel 13 is made up of six lobe rubber tyre 1301a, 1301b, 1301c, 1301d, 1301e, 1301f, wheel hub 1302, semiaxis 1303。Adopt suitable method to realize the deformation of wheel, namely make wheel from there being wheel flange wheel to become without wheel flange wheel。The anglec of rotation regulates by controlling the rotation of semiaxis 1303。
As it is shown in figure 1, water jet propulsion pump 14 is city's component, being connected realization by belt or sprocket wheel with electromotor 3 and rotate, it carries and turns to and reverse gear。
It is introduced below for concrete road conditions:
1, when normal hard pavement travels, adjusting oil cylinder 805 locked, ground gap guiding mechanism 8 is in off position, without relative motion between two lower limb casees of homonymy, connects bearing pin 707 by lower limb case and is fixed on transfer case 6。When vehicle is by uneven road surface, transfer case 6 and lower limb case 7 can swing together about power transmission shaft 5 along with road surface rises and falls, thus ensure that all wheels can land all the time simultaneously。Vehicle is in order to adapt to different condition of road surface and when needs change the road clearance, adjusting oil cylinder 805 works, and promotes lower limb case to connect bearing pin 707 around lower limb case and rotates, thus the angle changed between former and later two lower limb casees of homonymy, reaches the purpose of ground clearance adjusting。As can be seen here, when this vehicle is advanced on rough ground, can remain that four-wheel lands simultaneously, simultaneously, can also pass through to change the road clearance on chassis, obtain on rough ground higher by the good ride comfort on property and hard pavement, there is the advantage that other various vehicles is incomparable, there is very high ground adaptive capacity。
When vehicle travels at potted road surface, left and right lower limb case rotates against, left connecting rod 1202a, right connecting rod 1202b is driven to move, the 3rd ball pivot 1204c and the four ball pivot 1204d is made to produce space motion, movement locus overlaps with the movement locus at the two ends of counter-jib 1201, vehicle frame 2 is lifted by counter-jib 1201 by middle middle bearing pin 1203, and the amplitude of lifting is the half at lower limb clamp angle, left and right。This keeps stablizing of vehicle body, it is prevented that vehicle topples, and that improves vehicle passes through performance。
2, when the soft surfaces such as beach travel, adjust oil cylinder 805 and work, drive two lower limb casees to rotate around bearing pin 707, until whole front and rear wheel closes in hull formula vehicle body 1。Then making deformable wheel 13 deform, after deformation terminates, adjust oil cylinder 805 and work, drive lower limb case to rotate around bearing pin 707, until trailing wheel reaches correct position, now car load supports by vehicle body, and driving force is provided by deformable wheel。Owing to the contact area on ground Yu vehicle is big, it is provided that support force big, therefore car load sink, the degree of depth reduces, and can pass through。
When 3, travelling in water, adjust oil cylinder 805 and work, drive lower limb case to rotate around bearing pin 707, until whole front and rear wheel closes in vehicle body 1。Vehicle relies on water to float on the water surface to the buoyancy of vehicle body 1, connects the power of water jet propulsion pump 14, it may be achieved vehicle advances in water, retreats, turns to。
Claims (1)
1. one kind be provided with balancing rocker arm suspension and deformable wheel running gear, it is characterised in that: it by hull formula vehicle body, vehicle frame, electromotor, change speed gear box, power transmission shaft, transfer case, lower limb case, gap guiding mechanism, brake unit, wheel heel teeth roller box, transfer, balanced controls, deformable wheel and water jet propulsion pump form；Together with hull formula vehicle body is bolted with vehicle frame, electromotor, change speed gear box is arranged on vehicle frame by bolt, it is bolted with hull formula vehicle body about transfer case, balanced controls two ends bearing pin is connected with transfer case, it is connected on vehicle frame with bearing pin in the middle of balanced controls, lower limb case is connected by bearing pin with transfer case, gap guiding mechanism two ends, ground are connected to respectively through bearing pin on transfer case and lower limb case, lower limb case front end fifth wheel heel teeth roller box, one end of transfer is connected with lower limb case by steering cylinder ear mount, the other end is connected with wheel heel teeth roller box, together with wheel heel teeth roller box is bolted with deformable wheel, power transmission shaft is provided with brake unit, brake unit is fixed on vehicle frame, water jet propulsion pump is connected with vehicle frame by bolt；
Described hull formula vehicle body is made hull formula structure by fiberglass, is divided into four parts, parts vehicle body on the left side, parts vehicle body on the right side, main vehicle body and upper vehicle body；Each vehicle body is embedded with bolt for connecting, is connected with between each several part, and be coated with fluid sealant in junction；
Described vehicle frame is to be formed by connecting by channel-section steel, its skeleton is made up of two longerons and three crossbeams, wherein front beam and rear cross beam are arranged symmetrically with at the front and back position of vehicle frame, middle cross beam is in the centre position of vehicle frame, left-hand stringer and right-hand stringer are equally spaced in the bottom of main vehicle body, and vehicle frame is connected with main vehicle body pre-embedded bolt；
Power is transmitted to change speed gear box by belt by described electromotor as power source, and power is transferred to two power transmission shafts in left and right by change speed gear box again；
Described power transmission shaft one end is connected with speed changing box power output shaft, and the other end is conical gear, and the conical gear of power transmission shaft engages with the conical gear in transfer case, is reached in transfer case by power；
Described transfer case is single-stage conical gear transfer case, it is be formed by connecting by left and right riser, forward and backward riser, top board and base plate, its internal bevel pinion shaft engages with the conical gear on power transmission shaft, and the forward and backward riser of transfer case is stretched out at the two ends of this bevel pinion shaft, and power is transferred to lower limb case；
Described lower limb case, by the left and right riser of lower limb case, lower limb roof box, lower limb box plate, rzeppa joint, lower limb case connects bearing pin and lower limb case power transmission shaft forms, the left and right riser of lower limb case and lower limb roof box link together, lower limb box plate is connected formation box typed structure by bolt with the left and right riser of lower limb case, rzeppa joint and lower limb case power transmission shaft are arranged in box typed structure, and lower limb case connects bearing pin and passes through the left and right riser of lower limb case；
Described ground gap guiding mechanism, adjusted oil cylinder by cylinder body bearing pin, gudgeon pin shaft, cylinder body ear mount, piston ear mount and ground gap to form, cylinder body ear mount is fixed on transfer case, gudgeon pin shaft is through piston ear mount and is connected on lower limb case, ground gap adjusts one end of oil cylinder by gudgeon pin shaft connection leg case, the other end connects transfer case by cylinder body bearing pin, and ground gap adjusts the flexible drive lower limb case of oil cylinder and rotates around gudgeon pin shaft, thus realizing the change of car load road clearance；
Described brake unit is two disk brakes, and wherein braking dish is connected with power transmission shaft, and caliper compresses braking dish and realizes car load braking；
Described transfer is made up of steering cylinder, pivot stud, steering arm, locking nut, steering cylinder cylinder body bearing pin, steering cylinder gudgeon pin shaft, steering cylinder ear mount and wheel heel teeth roller box, wherein, steering arm is connected on pivot stud, pivot stud is connected on wheel heel teeth roller box, wheel heel teeth roller box is connected with wheel hub by bolt, and wheel heel teeth roller box is connected with lower limb case end；Steering cylinder is arranged on lower limb roof box top, and one end is by short axle and the piston ear mount being connected on lower limb roof box and steering cylinder ear mount is relatively turnable is connected, and the other end is connected by short axle and steering arm are relatively turnable；This pivot stud is cylinder axis, and end is connected to location end face, and is connected with wheel heel teeth roller box；This steering arm one end is connected with steering cylinder, and the other end directly links together with pivot stud；This is taken turns heel teeth roller box and is divided into upper and lower two reduction boxes, and upper reduction box is connected with lower limb case, and lower reduction box is connected with wheel hub, can relatively rotate between upper and lower reduction box, positioned by pivot stud and locking nut, upper and lower reduction box is respectively arranged with one-level conical gear and slows down, power is transferred to wheel place；
Described balanced controls, it is made up of a counter-jib, two connecting rods, a middle bearing pin and four ball pivots, it is transversely mounted on the front portion of vehicle frame by middle bearing pin in the middle of counter-jib, counter-jib while being connected with left small end by the first ball pivot, the another side of counter-jib is connected with right connecting rod upper end by the second ball pivot；Left connecting rod lower end is connected to the rear end of left transfer case by the 3rd ball pivot；Right connecting rod lower end is connected to the rear end of right transfer case by the 4th ball pivot；This counter-jib is an analog-U shaped cuboid component, and two ends processing has the slotted eye installing ball pivot, and intermediate cross-section size is bigger, and processes the axis hole having the middle bearing pin of installation；The centre of this left and right connecting rod is cylindrical polished rod, and ring set is processed at two ends, to install ball pivot；This middle bearing pin is that end is connected to the cylinder optical axis installing end face；
Described deformable is taken turns, and is that solid plain tire is divided into six partial rubber tires, is driven it to rotate by six pairs of worm and gears respectively, and the anglec of rotation regulates by controlling the rotation of semiaxis, thus realizing wheel from there being wheel rim to become without wheel rim；
Described water jet propulsion pump is connected realization by belt or sprocket wheel and rotates with electromotor, and it carries and turns to and reverse gear。
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105235467B (en) * | 2015-09-28 | 2017-09-26 | 北京理工大学 | Unmanned motor platform is turned to based on the rocker arm suspension formula speed difference being driven in elbow |
| CN107455031A (en) * | 2017-08-08 | 2017-12-12 | 彭广平 | A kind of rolling walked frame of big driving torque |
| CN107953937B (en) * | 2017-12-01 | 2020-02-11 | 北京履坦科技有限公司 | Improved structure of walking system of walking combined type mobile robot |
| CN109435686B (en) * | 2018-10-29 | 2021-10-15 | 苏州履坦智能科技有限公司 | Novel chain-drive four-wheel-drive wheel leg combined vehicle with electric control gear shifting |
| CN109552036B (en) * | 2018-10-29 | 2021-07-06 | 苏州履坦智能科技有限公司 | Multistage chain transmission mechanism for wheeled vehicle |
| CN113950883B (en) * | 2021-11-17 | 2022-06-03 | 湖南秀林机械有限公司 | Environment-friendly paddy field tractor-ploughing boat |
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