CN104648500B - Eight-wheel hinged obstacle crossing vehicle - Google Patents

Eight-wheel hinged obstacle crossing vehicle Download PDF

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Publication number
CN104648500B
CN104648500B CN201410806211.4A CN201410806211A CN104648500B CN 104648500 B CN104648500 B CN 104648500B CN 201410806211 A CN201410806211 A CN 201410806211A CN 104648500 B CN104648500 B CN 104648500B
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CN
China
Prior art keywords
frame
front frame
rear frame
shaft
walking beam
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Expired - Fee Related
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CN201410806211.4A
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Chinese (zh)
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CN104648500A (en
Inventor
贾小平
于魁龙
李炯
李军
李志刚
刘洋
樊石光
马骏
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Individual
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Individual
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Priority to CN201410806211.4A priority Critical patent/CN104648500B/en
Publication of CN104648500A publication Critical patent/CN104648500A/en
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Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses an eight-wheel hinged obstacle crossing vehicle and comprises a front frame, a rear frame and an engine, wherein the engine is mounted on the front frame; a cab and seats are arranged at a front half part of the front vehicle; a hydraulic oil tank and a hydraulic oil cooler are arranged at a rear half part of the front vehicle; the rear end middle part of the front frame is connected with the front end middle part of the rear frame through a frame connecting device; a power output shaft of the engine is in transmission connection with a power input shaft of more than one hydraulic pump; hydraulic oil output by the hydraulic pump is connected with an oil inlet of a front hydraulic motor and an oil inlet of a rear hydraulic motor through pipelines of a hydraulic control system; the front hydraulic motor is installed at the front frame, and the rear hydraulic motor is installed at the rear frame. The objective of the invention is to provide the eight-wheel hinged obstacle crossing vehicle that has greatly enhanced traffic capacity and obstacle crossing capability on bumpy roads, can cross higher obstacles when running on bumpy roads, and is stable and reliable in obstacle crossing performance.

Description

The eight hinged barrier-exceeding vehicles of wheel
Technical field
The present invention relates to a kind of eight hinged barrier-exceeding vehicles of wheel.
Background technology
Existing barrier-exceeding vehicle, due to its wheel portion can not be favorably improved wheel cross over obstacle detouring swing up and down fortune Dynamic, lead to the obstacle climbing ability of existing barrier-exceeding vehicle relatively low, vehicle is difficult to cross higher obstacle when running on rugged road, Use requirement can not be met.
Content of the invention
It is an object of the invention to provide a kind of can increase substantially current energy on rugged road for the vehicle Power and obstacle climbing ability, allow vehicle can cross higher obstacle when running on rugged road, and obstacle performance stably may be used The eight hinged barrier-exceeding vehicles of wheel leaning on.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, including front frame, Rear frame and the electromotor being arranged in front frame, front truck The first half of frame is provided with driver's cabin and seat, and the latter half of of front frame is provided with hydraulic oil tank and hydraulic oil cooler, described before It is connected by frame connecting device with the front center of Rear frame in the middle part of the rear end of vehicle frame；
The power output shaft of described electromotor is connected with the power input shaft transmission of more than one hydraulic pump, and hydraulic pump is defeated The hydraulic oil going out is connected with the oil-in of front hydraulic motor and the oil-in of rear hydraulic motor by the pipeline of hydraulic control system, Described front hydraulic motor is arranged in front frame, and described rear hydraulic motor is arranged in described Rear frame；
The power output shaft of described front hydraulic motor is connected with the power input shaft transmission of front frame change speed gear box, and front frame becomes Fast case is arranged in described front frame, and the power output shaft of front frame change speed gear box passes through front frame power transmission shaft and front frame drive axle The transmission of front power input shaft be connected；
The power output shaft of described rear hydraulic motor is connected with the power input shaft transmission of Rear frame change speed gear box, and Rear frame becomes Fast case is arranged in described Rear frame, and the power output shaft of Rear frame change speed gear box passes through Rear frame power transmission shaft and Rear frame drive axle The transmission of rear power input shaft be connected；
Described front frame drive axle includes front power input shaft, left front output axle, front right output shaft and front frame drive axle Housing, left front output axle is arranged on the left side in front frame driving axle housing body, described front right output shaft edge along left and right horizontal direction Left and right horizontal direction is arranged on the right side in front frame driving axle housing body；Front power input shaft respectively with left front output axle and front right The inner end transmission of output shaft is connected；
The right-hand member of described front frame Driving axle housing is rotatably mounted with the middle part of the right walking beam of front frame and is connected, described Front right output shaft extends right up in the right walking beam of front frame, and the shaft part that front right output shaft is located in the right walking beam of front frame is respectively It is connected by Chain conveyer or V belt translation or gear drive with front frame front right wheel shaft and front frame rear right wheel shaft, front frame front right wheel , in the front portion of front right output shaft, described front frame rear right wheel axle position is in the rear portion of front right output shaft, front frame front right wheel shaft for axle position Axis and front frame rear right wheel shaft diameter parallel in the axis of front right output shaft, the outer end of front frame front right wheel shaft and front truck The transmission of frame front right wheel is connected, and the outer end of front frame rear right wheel shaft is connected with the transmission of front frame rear right wheel, described front frame front right wheel Axle is installed in rotation on the front portion of the right walking beam of front frame, and it is right that described front frame rear right wheel shaft is installed in rotation on front frame The rear portion of walking beam；
The left end of described front frame Driving axle housing is rotatably mounted with the middle part of the left walking beam of front frame and is connected, described A left front output axial direction left side extends in the left walking beam of front frame, and shaft part in the left walking beam of front frame for the left front output axle position is respectively It is connected by Chain conveyer or V belt translation or gear drive with front frame front left wheel shaft and front frame rear left wheel shaft, revolver before front frame , in the front portion of left front output axle, described front frame revolver after axle position is in the rear portion of left front output axle, front frame front left wheel shaft for axle position Axis and front frame rear left wheel shaft diameter parallel in the axis of left front output axle, the outer end of front frame front left wheel shaft and front truck Before frame, revolver transmission is connected, and the outer end of front frame rear left wheel shaft is connected with the transmission of front frame revolver after, revolver before described front frame Axle is installed in rotation on the front portion of the left walking beam of front frame, and it is left that described front frame rear left wheel shaft is installed in rotation on front frame The rear portion of walking beam；
Described Rear frame drive axle includes rear power input shaft, rear left output shaft, rear right output shaft and Rear frame drive axle Housing, rear left output shaft is arranged on the left side in Rear frame driving axle housing body, described rear right output shaft edge along left and right horizontal direction Left and right horizontal direction is arranged on the right side in Rear frame driving axle housing body；Afterwards power input shaft respectively with rear left output shaft and rear right The inner end transmission of output shaft is connected；
The right-hand member of described Rear frame Driving axle housing is rotatably mounted with the middle part of the right walking beam of Rear frame and is connected, described Rear right output shaft extends right up in the right walking beam of Rear frame, and the shaft part that rear right output shaft is located in the right walking beam of Rear frame is respectively It is connected by Chain conveyer or V belt translation or gear drive with Rear frame front right wheel shaft and Rear frame rear right wheel shaft, Rear frame front right wheel , in the front portion of rear right output shaft, described Rear frame rear right wheel axle position is in the rear portion of rear right output shaft, Rear frame front right wheel shaft for axle position Axis and Rear frame rear right wheel shaft diameter parallel in the axis of rear right output shaft, the outer end of Rear frame front right wheel shaft and rear car The transmission of frame front right wheel is connected, and the outer end of Rear frame rear right wheel shaft is connected with the transmission of Rear frame rear right wheel, described Rear frame front right wheel Axle is installed in rotation on the front portion of the right walking beam of described Rear frame, and described Rear frame rear right wheel shaft is installed in rotation on rear car The rear portion of the right walking beam of frame；
The left end of described Rear frame Driving axle housing is rotatably mounted with the middle part of the left walking beam of Rear frame and is connected, described Rear left output shaft extends in the left walking beam of Rear frame to the left, and the shaft part that rear left output shaft is located in the left walking beam of Rear frame is respectively It is connected by Chain conveyer or V belt translation or gear drive with Rear frame front left wheel shaft and Rear frame rear left wheel shaft, revolver before Rear frame , in the front portion of rear left output shaft, described Rear frame revolver after axle position is in the rear portion of rear left output shaft, Rear frame front left wheel shaft for axle position Axis and Rear frame rear left wheel shaft diameter parallel in the axis of rear left output shaft, the outer end of Rear frame front left wheel shaft and rear car Before frame, revolver transmission is connected, and the outer end of Rear frame rear left wheel shaft is connected with the transmission of Rear frame revolver after, revolver before described Rear frame Axle is installed in rotation on the front portion of the left walking beam of described Rear frame, and described Rear frame rear left wheel shaft is installed in rotation on rear car The rear portion of the left walking beam of frame.
Described frame connecting device includes the sleeve pipe vertically arranging, on the side wall in the middle part of sleeve pipe with along anterior-posterior horizontal The middle part of the rotating shaft set of direction setting is fixedly linked, and is rotationally fitted with middle connecting shaft, the two ends of middle connecting shaft in rotating shaft set Stretch out the port of rotating shaft set respectively, the top in described sleeve pipe is rotationally fitted with connecting shaft, the top of upper connecting shaft to On stretch out sleeve pipe, the lower end in sleeve pipe is rotationally fitted with lower connecting shaft, and the bottom of lower connecting shaft extends downwardly from sleeve pipe, sleeve pipe Side wall be fixedly linked with the middle part of course changing control beam, course changing control beam along left and right horizontal direction arrange；
The left end of described course changing control beam and the piston rod of left steering oil cylinder are hinged and connected, the right-hand member of course changing control beam with right The piston rod of steering cylinder is hinged and connected, and the cylinder body of the cylinder body of right turn oil cylinder and left steering oil cylinder is horizontally disposed, right The rear end of the cylinder body of the rear end of the cylinder body of steering cylinder and left steering oil cylinder is hinged and connected with Rear frame respectively, described rotating shaft set It is connected by strengthening gusset between lateral wall and outside of sleeve wall；
The bottom of the top of described upper connecting shaft and described lower connecting shaft is fixedly linked with Rear frame respectively,
The rear portion of described front frame has two crossbeams being set up in parallel along left and right horizontal direction, and two ends of two crossbeams are divided It is not connected as one with cant beam, described middle connecting shaft is connected with the middle part of two crossbeams.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the right walking beam of wherein said front frame, the left walking beam of described front frame, described The right walking beam of Rear frame and the left walking beam of described Rear frame are middle height, the in front and back low arch in two ends or triangle, and front frame is right Two sides in front and back that the left walking beam of walking beam, front frame, the right walking beam of Rear frame and Rear frame left swing move back portion are respectively equipped with dimension Repair observation panel, be respectively equipped with cover plate at each maintenance observation panel, each cover plate is respectively adopted bolt and fixes.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the left section of inclusion left outside set of front frame of wherein said front frame Driving axle housing Pipe, the inner end of the left outside sleeve pipe of front frame is fixedly linked with the left end in front frame Driving axle housing stage casing, the left outside sleeve pipe of front frame The left boss of front frame of annular is had on the lateral wall of outer end, is rotationally fitted with front frame in the left outside sleeve pipe of front frame left inside Sleeve pipe, the outer end of the left inside sleeve pipe of front frame is provided with front frame left flange plate, front frame left flange plate end face outwardly with described before The left walking beam of vehicle frame side wall inwardly is affixed, and the lateral wall of the left outside sleeve pipe of described front frame is set with the left gland of front frame, front Left boss and front frame left flange plate end face inwardly is affixed the left gland of vehicle frame end face outwardly with described front frame respectively, front truck The left gland of frame is using multiple being bolted on the left walking beam of described front frame side wall inwardly through front frame left flange plate；
Right section of the described front frame Driving axle housing inclusion right trocar sheath of front frame, the inner end of the right trocar sheath of front frame with front The right-hand member in vehicle frame Driving axle housing stage casing is fixedly linked, and the lateral wall of outer end of the right trocar sheath of front frame has the front truck of annular The right boss of frame, is rotationally fitted with the right inner sleeve of front frame in the right trocar sheath of front frame, the outer end of the right inner sleeve of front frame sets There is the right ring flange of front frame, side wall inwardly is affixed the right ring flange of front frame end face outwardly with the right walking beam of described front frame, Be set with the right gland of front frame on the lateral wall of the right trocar sheath of described front frame, the right gland of front frame end face outwardly respectively with institute State the right boss of front frame and the right ring flange of front frame end face inwardly to be affixed, the right gland of front frame adopts multiple right through front frame Being bolted on the right walking beam of described front frame side wall inwardly of ring flange；
Left section of the described Rear frame Driving axle housing inclusion left outside sleeve pipe of Rear frame, the inner end of the left outside sleeve pipe of Rear frame with after The left end in vehicle frame Driving axle housing stage casing is fixedly linked, and the lateral wall of outer end of the left outside sleeve pipe of Rear frame has the rear car of annular The left boss of frame, is rotationally fitted with the left inside sleeve pipe of Rear frame in the left outside sleeve pipe of Rear frame, the outer end of the left inside sleeve pipe of Rear frame sets There is Rear frame left flange plate, side wall inwardly is affixed Rear frame left flange plate end face outwardly with the left walking beam of described Rear frame, Be set with the left gland of Rear frame on the lateral wall of the left outside sleeve pipe of described Rear frame, the left gland of Rear frame end face outwardly respectively with institute State the left boss of Rear frame and Rear frame left flange plate end face inwardly is affixed, the left gland of Rear frame adopts multiple left through Rear frame Being bolted on the left walking beam of described Rear frame side wall inwardly of ring flange；
Right section of the described Rear frame Driving axle housing inclusion right trocar sheath of Rear frame, the inner end of the right trocar sheath of Rear frame with after The right-hand member in vehicle frame Driving axle housing stage casing is fixedly linked, and the lateral wall of outer end of the right trocar sheath of Rear frame has the rear car of annular The right boss of frame, is rotationally fitted with the right inner sleeve of Rear frame in the right trocar sheath of Rear frame, the outer end of the right inner sleeve of Rear frame sets There is the right ring flange of Rear frame, side wall inwardly is affixed the right ring flange of Rear frame end face outwardly with the right walking beam of described Rear frame, Be set with the right gland of Rear frame on the lateral wall of the right trocar sheath of described Rear frame, the right gland of Rear frame end face outwardly respectively with institute State the right boss of Rear frame and the right ring flange of Rear frame end face inwardly to be affixed, the right gland of Rear frame adopts multiple right through Rear frame Being bolted on the right walking beam of described Rear frame side wall inwardly of ring flange.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the inwall of wherein said left front output axle and the left inside sleeve pipe of described front frame it Between, between described front right output shaft and the inwall of the right inner sleeve of described front frame, described rear left output shaft left with described Rear frame Between the inwall of inner sleeve, between described rear right output shaft and the inwall of the right inner sleeve of described Rear frame, it is respectively equipped with bearing.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the outer end of wherein said left front output axle is arranged on described front truck by bearing The left walking beam of frame is located on the side wall in outside, and the outer end of described front right output shaft is arranged on the right swing of described front frame by bearing Beam is located on the side wall in outside, and the outer end of described rear right output shaft is arranged on the right walking beam of described Rear frame positioned at outer by bearing On the side wall of side, the outer end of described rear left output shaft is arranged on, by bearing, the side wall that the left walking beam of described Rear frame is located at outside On.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the wheel hub of wherein said front frame front right wheel is sleeved on front frame by bearing On front right hollow axle, front frame front right hollow axle along left and right horizontal direction arrange, the inner end of front frame front right hollow axle with described The side wall that the right walking beam of front frame is located at outside is fixedly linked, and described front frame front right wheel shaft is hollow from front frame front right vertically Front frame front right hollow axle is passed through, front frame front right terminal pad and described front frame are passed through in the outer end of front frame front right wheel shaft in axle The wheel hub of front right wheel is connected；
The wheel hub of described front frame rear right wheel is sleeved on front frame rear right hollow axle by bearing, and front frame rear right is hollow Axle is arranged along left and right horizontal direction, the inner end of front frame rear right hollow axle and the right walking beam of the described front frame side wall positioned at outside It is fixedly linked, described front frame rear right wheel shaft passes through front frame rear right hollow axle vertically in front frame rear right hollow axle, front The outer end of vehicle frame rear right wheel shaft is connected with the wheel hub of described front frame rear right wheel by front frame rear right terminal pad；
Before described front frame, the wheel hub of revolver is sleeved on front frame front left hollow axle by bearing, and front frame front left is hollow Axle is arranged along left and right horizontal direction, the inner end of front frame front left hollow axle and the left walking beam of the described front frame side wall positioned at outside It is fixedly linked, described front frame front left wheel shaft passes through front frame front left hollow axle vertically in front frame front left hollow axle, front The outer end of vehicle frame front left wheel shaft is connected with the wheel hub of revolver before described front frame by front frame front left terminal pad；
The wheel hub of described front frame revolver after is sleeved on front frame rear left hollow axle by bearing, and front frame rear left is hollow Axle is arranged along left and right horizontal direction, the inner end of front frame rear left hollow axle and the left walking beam of the described front frame side wall positioned at outside It is fixedly linked, described front frame rear left wheel shaft passes through front frame rear left hollow axle vertically in front frame rear left hollow axle, front The outer end of vehicle frame rear left wheel shaft is connected with the wheel hub of described front frame revolver after by front frame rear left terminal pad；
The wheel hub of described Rear frame front right wheel is sleeved on Rear frame front right hollow axle by bearing, and Rear frame front right is hollow Axle is arranged along left and right horizontal direction, the inner end of Rear frame front right hollow axle and the right walking beam of the described Rear frame side wall positioned at outside It is fixedly linked, described Rear frame front right wheel shaft passes through Rear frame front right hollow axle vertically in Rear frame front right hollow axle, after The outer end of vehicle frame front right wheel shaft is connected with the wheel hub of described Rear frame front right wheel by Rear frame front right terminal pad；
The wheel hub of described Rear frame rear right wheel is sleeved on Rear frame rear right hollow axle by bearing, and Rear frame rear right is hollow Axle is arranged along left and right horizontal direction, the inner end of Rear frame rear right hollow axle and the right walking beam of the described Rear frame side wall positioned at outside It is fixedly linked, described Rear frame rear right wheel shaft passes through Rear frame rear right hollow axle vertically in Rear frame rear right hollow axle, after The outer end of vehicle frame rear right wheel shaft is connected with the wheel hub of described Rear frame rear right wheel by Rear frame rear right terminal pad；
Before described Rear frame, the wheel hub of revolver is sleeved on Rear frame front left hollow axle by bearing, and Rear frame front left is hollow Axle is arranged along left and right horizontal direction, the inner end of Rear frame front left hollow axle and the left walking beam of the described Rear frame side wall positioned at outside It is fixedly linked, described Rear frame front left wheel shaft passes through Rear frame front left hollow axle vertically in Rear frame front left hollow axle, after The outer end of vehicle frame front left wheel shaft is connected with the wheel hub of revolver before described Rear frame by Rear frame front left terminal pad；
The wheel hub of described Rear frame revolver after is sleeved on Rear frame rear left hollow axle by bearing, and Rear frame rear left is hollow Axle is arranged along left and right horizontal direction, the inner end of Rear frame rear left hollow axle and the left walking beam of the described Rear frame side wall positioned at outside It is fixedly linked, described Rear frame rear left wheel shaft passes through Rear frame rear left hollow axle vertically in Rear frame rear left hollow axle, after The outer end of vehicle frame rear left wheel shaft is connected with the wheel hub of described Rear frame revolver after by Rear frame rear left terminal pad.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the power output shaft of wherein said Rear frame power transmission shaft and Rear frame change speed gear box Arrange along the longitudinal direction, the power output shaft of described front frame power transmission shaft and front frame change speed gear box is arranged along the longitudinal direction, front truck Frame power transmission shaft and described Rear frame power transmission shaft are cardan axis.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, the front of wherein said Rear frame is provided with upper cover plate, and the lower section of upper cover plate sets There is lower cover, the rear end of upper cover plate is connected using truss with the rear end of lower cover, and the rear end of truss is connected with the front portion of Rear frame, The top of described upper connecting shaft is installed with the middle part of upper cover plate and is connected, and the middle part of the bottom of described lower connecting shaft and lower cover is installed It is connected.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, wherein said upper connecting shaft is arranged in described sleeve pipe by Upper shaft sleeve, institute State lower connecting shaft to be arranged in described sleeve pipe by Lower shaft sleeve.
The eight hinged barrier-exceeding vehicles of wheel of the present invention, wherein said electromotor is Diesel engine, provides combustion to Diesel engine The fuel tank of material is arranged on the rear portion of described Rear frame.
The eight of the present invention take turns hinged barrier-exceeding vehicles when using, when certain wheel runs into obstacle or rugged road during advancing Duan Shi, because end and the middle part of corresponding walking beam of corresponding Driving axle housing are rotatably mounted connected, it is right to pass through The swing of the end around corresponding Driving axle housing for the middle part of the walking beam answered, to lift or to fall the wheel being extracted into obstruction, is entered And allow vehicle smoothly to surmount obstacles or rugged section, allow obstacle detouring articulator possess extremely strong obstacle climbing ability, thus can ensure that car Normally run on rugged road, and the long service life of related components, stable and reliable for performance.Therefore, the present invention The eight hinged barrier-exceeding vehicles of wheel have and can increase substantially the traffic capacity on rugged road for the vehicle and obstacle climbing ability, Allow vehicle can cross higher obstacle when running on rugged road, and the reliable and stable feature of obstacle performance.
Take turns hinged barrier-exceeding vehicle to the present invention eight below in conjunction with the accompanying drawings to be described further.
Brief description
Fig. 1 is the front view of the structural representation of the eight hinged barrier-exceeding vehicles of wheel of the present invention；
Fig. 2 is the main view profile of the structural representation of the eight hinged barrier-exceeding vehicles of wheel of the present invention；
The eight hinged barrier-exceeding vehicles of wheel for Fig. 1 for the Fig. 3 eliminate the top view of electromotor and hydraulic pump；
The front frame of the eight hinged barrier-exceeding vehicles of wheel of Fig. 4 present invention drives the structural representation of bridge portion；
Fig. 5 is the partial enlarged drawing of front frame front left wheel part in Fig. 4；
The Rear frame of the eight hinged barrier-exceeding vehicles of wheel of Fig. 6 present invention drives the axonometric chart of bridge portion；
Fig. 7 is the main view profile of the structural representation of frame connecting device of the eight hinged barrier-exceeding vehicles of wheel of the present invention；
Fig. 8 is the top view of Fig. 7；
Fig. 9 is the axonometric chart of the structural representation of frame connecting device of the eight hinged barrier-exceeding vehicles of wheel of the present invention.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the eight hinged barrier-exceeding vehicles of wheel of the present invention, including front frame 5, Rear frame 6 and peace It is contained in the electromotor 1 in front frame 5, the first half of front frame 5 is provided with driver's cabin and seat 55, and the latter half of of front frame 5 is provided with Hydraulic oil tank and hydraulic oil cooler, are connected by vehicle frame with the front center of Rear frame 6 in the middle part of the rear end of described front frame 5 Device is connected；
The power output shaft of electromotor 1 is connected with the power input shaft transmission of 2 hydraulic pumps 2, and the quantity of hydraulic pump 2 also may be used Be 1 or 3 or 4 or 5 or more, the hydraulic oil of hydraulic pump 2 output by the pipeline of hydraulic control system with front The oil-in of hydraulic motor 3 is connected with the oil-in of rear hydraulic motor 4, and front hydraulic motor 3 is arranged in front frame 5, rear hydraulic pressure Motor 4 is arranged in Rear frame 6；When using, start electromotor 1, the power output shaft of electromotor 1 can pass through hydraulic pump 2 Power input shaft allows all of hydraulic pump 2 to run, and outwards output can press oil as the high pressure liquid of power, when can be used as power High pressure liquid force feed is transported to front hydraulic motor 3 and rear hydraulic motor 4, front hydraulic motor 3 by the pipeline of hydraulic control system Power output shaft and the power output shaft of rear hydraulic motor 4 will rotate.
The power output shaft of front hydraulic motor 3 is connected with the power input shaft transmission of front frame change speed gear box 7, front frame speed change Case 7 is arranged in front frame 5, and the power output shaft of front frame change speed gear box 7 passes through front frame power transmission shaft 8 and front frame drive axle Front power input shaft 11 transmission is connected；When using, can be by the power output shaft of front hydraulic motor 3 by front frame drive axle Front power input shaft 11 rotates.
The power output shaft of rear hydraulic motor 4 is connected with the power input shaft transmission of Rear frame change speed gear box 9, Rear frame speed change Case 9 is arranged in Rear frame 6, and the power output shaft of Rear frame change speed gear box 9 passes through Rear frame power transmission shaft 10 and Rear frame drive axle Rear power input shaft 12 transmission be connected；When using, the power output shaft of rear hydraulic motor 4 can be passed through by Rear frame drive axle Rear power input shaft 12 rotate.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, front frame drive axle includes front power input shaft 11, left front output axle 14, front Right output shaft 15 and front frame Driving axle housing 13, left front output axle 14 is arranged on front frame driving axle housing along left and right horizontal direction Left side in body 13, front right output shaft 15 is arranged on the right side in front frame Driving axle housing 13 along left and right horizontal direction；Front dynamic Power input shaft 11 is connected with the inner end transmission of left front output axle 14 and front right output shaft 15 respectively；Current power input shaft 11 rotates When, left front output axle 14 can be dragged and front right output shaft 15 rotates.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, in the right-hand member of front frame Driving axle housing 13 and the right walking beam of front frame 16 Portion is rotatably mounted connected, and front right output shaft 15 extends right up in the right walking beam of front frame 16, and front right output shaft 15 is located at Shaft part in the right walking beam of front frame 16 pass through with front frame front right wheel shaft 17 and front frame rear right wheel shaft 18 respectively Chain conveyer or V belt translation or gear drive are connected, and front frame front right wheel shaft 17 is located at the front portion of front right output shaft 15, front frame rear right wheel shaft 18 Positioned at the rear portion of front right output shaft 15, the diameter parallel of the axis of front frame front right wheel shaft 17 and front frame rear right wheel shaft 18 is in front The axis of right output shaft 15, the outer end of front frame front right wheel shaft 17 is connected with front frame front right wheel 19 transmission, front frame rear right wheel The outer end of axle 18 is connected with front frame rear right wheel 20 transmission, and front frame front right wheel shaft 17 is installed in rotation on the right swing of front frame The front portion of beam 16, front frame rear right wheel shaft 18 is installed in rotation on the rear portion of the right walking beam of front frame 16；
When front right output shaft 15 rotates, front frame front right wheel shaft can be dragged by Chain conveyer or V belt translation or gear drive 17 and front frame rear right wheel shaft 18 rotate, the outer end of front frame front right wheel shaft 17 can drive front frame front right wheel 19 to rotate, front truck The outer end of frame rear right wheel shaft 18 can drive front frame rear right wheel 20 to rotate.Current vehicle frame front right wheel 19 or front frame rear right wheel 20 exist When running into obstacle or rugged section in traveling process, due to right-hand member and the right walking beam of front frame 16 of front frame Driving axle housing 13 Middle part be rotatably mounted connected, can be by the middle part of the right walking beam of front frame 16 around front frame Driving axle housing 13 right-hand member Swing lifting or to fall front frame front right wheel 19 and front frame rear right wheel 20, and then allow vehicle smoothly to surmount obstacles or rugged Section.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, in the left end of front frame Driving axle housing 13 and the left walking beam of front frame 21 Portion is rotatably mounted connected, and left front output axle 14 extends in the left walking beam of front frame 21 to the left, and left front output axle 14 is located at Shaft part in the left walking beam of front frame 21 pass through with front frame front left wheel shaft 22 and front frame rear left wheel shaft 23 respectively Chain conveyer or V belt translation or gear drive are connected, and front frame front left wheel shaft 22 is located at the front portion of left front output axle 14, front frame rear left wheel shaft 23 Positioned at the rear portion of left front output axle 14, the diameter parallel of the axis of front frame front left wheel shaft 22 and front frame rear left wheel shaft 23 is in front The axis of left output shaft 14, the outer end of front frame front left wheel shaft 22 is connected with revolver before front frame 24 transmission, front frame revolver after The outer end of axle 23 is connected with front frame revolver after 25 transmission, and front frame front left wheel shaft 22 is installed in rotation on front frame left swing and moves The front portion of beam 21, front frame rear left wheel shaft 23 is installed in rotation on the rear portion of the left walking beam of front frame 21；
When front left output shaft 14 rotates, front frame front left wheel shaft can be dragged by Chain conveyer or V belt translation or gear drive 22 and front frame rear left wheel shaft 23 rotate, before the outer end of front frame front left wheel shaft 22 can drive front frame, revolver 24 rotates, front truck The outer end of frame rear left wheel shaft 23 can drive front frame revolver after 25 to rotate.Current vehicle frame front left wheel 24 or front frame revolver after 25 exist When running into obstacle or rugged section in traveling process, due to left end and the left walking beam of front frame 21 of front frame Driving axle housing 13 Middle part be rotatably mounted connected, can be by the middle part of the left walking beam of front frame 21 around front frame Driving axle housing 13 left end Swing lifting or to fall revolver 24 and front frame revolver after 25 before front frame, and then allow vehicle smoothly to surmount obstacles or rugged Section.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, Rear frame drive axle include rear power input shaft 12, rear left output shaft 27, after Right output shaft 29 and Rear frame Driving axle housing 26, rear left output shaft 27 is arranged on Rear frame driving axle housing along left and right horizontal direction Left side in body 26, rear right output shaft 29 is arranged on the right side in Rear frame Driving axle housing 26 along left and right horizontal direction；After move Power input shaft 12 is connected with the inner end transmission of rear left output shaft 27 and rear right output shaft 29 respectively；When after power input shaft 12 rotate When, rear left output shaft 27 can be dragged and rear right output shaft 29 rotates.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, in the right-hand member of Rear frame Driving axle housing 26 and the right walking beam of Rear frame 28 Portion is rotatably mounted connected, and rear right output shaft 29 extends right up in the right walking beam of Rear frame 28, and rear right output shaft 29 is located at Shaft part in the right walking beam of Rear frame 28 pass through with Rear frame front right wheel shaft 30 and Rear frame rear right wheel shaft 31 respectively Chain conveyer or V belt translation or gear drive are connected, and Rear frame front right wheel shaft 30 is located at the front portion of rear right output shaft 29, Rear frame rear right wheel shaft 31 Positioned at the rear portion of rear right output shaft 29, the diameter parallel of the axis of Rear frame front right wheel shaft 30 and Rear frame rear right wheel shaft 31 is in rear The axis of right output shaft 29, the outer end of Rear frame front right wheel shaft 30 is connected with Rear frame front right wheel 32 transmission, Rear frame rear right wheel The outer end of axle 31 is connected with Rear frame rear right wheel 33 transmission, and Rear frame front right wheel shaft 30 is installed in rotation on the right swing of Rear frame The front portion of beam 28, Rear frame rear right wheel shaft 31 is installed in rotation on the rear portion of the right walking beam of Rear frame 28；
When rear right output shaft 29 rotates, Rear frame front right wheel shaft can be dragged by Chain conveyer or V belt translation or gear drive 30 and Rear frame rear right wheel shaft 31 rotate, the outer end of Rear frame front right wheel shaft 30 can drive Rear frame front right wheel 32 to rotate, rear car The outer end of frame rear right wheel shaft 31 can drive Rear frame rear right wheel 33 to rotate.When Rear frame front right wheel 32 or Rear frame rear right wheel 33 exist When running into obstacle or rugged section in traveling process, due to right-hand member and the right walking beam of Rear frame 28 of Rear frame Driving axle housing 26 Middle part be rotatably mounted connected, can be by the middle part of the right walking beam of Rear frame 28 around Rear frame Driving axle housing 26 right-hand member Swing lifting or to fall Rear frame front right wheel 32 and Rear frame rear right wheel 33, and then allow vehicle smoothly to surmount obstacles or rugged Section.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, in the left end of Rear frame Driving axle housing 26 and the left walking beam of Rear frame 34 Portion is rotatably mounted connected, and rear left output shaft 27 extends in the left walking beam of Rear frame 34 to the left, and rear left output shaft 27 is located at Shaft part in the left walking beam of Rear frame 34 pass through with Rear frame front left wheel shaft 35 and Rear frame rear left wheel shaft 36 respectively Chain conveyer or V belt translation or gear drive are connected, and Rear frame front left wheel shaft 35 is located at the front portion of rear left output shaft 27, Rear frame rear left wheel shaft 36 Positioned at the rear portion of rear left output shaft 27, the diameter parallel of the axis of Rear frame front left wheel shaft 35 and Rear frame rear left wheel shaft 36 is in rear The axis of left output shaft 27, the outer end of Rear frame front left wheel shaft 35 is connected with revolver before Rear frame 37 transmission, Rear frame revolver after The outer end of axle 36 is connected with Rear frame revolver after 38 transmission, and Rear frame front left wheel shaft 35 is installed in rotation on Rear frame left swing and moves The front portion of beam 34, Rear frame rear left wheel shaft 36 is installed in rotation on the rear portion of the left walking beam of Rear frame 34.
When rear left output shaft 27 rotates, Rear frame front left wheel shaft can be dragged by Chain conveyer or V belt translation or gear drive 35 and Rear frame rear left wheel shaft 36 rotate, before the outer end of Rear frame front left wheel shaft 35 can drive Rear frame, revolver 37 rotates, rear car The outer end of frame rear left wheel shaft 36 can drive Rear frame revolver after 38 to rotate.When before Rear frame, revolver 37 or Rear frame revolver after 38 exist When running into obstacle or rugged section in traveling process, due to left end and the left walking beam of Rear frame 34 of Rear frame Driving axle housing 26 Middle part be rotatably mounted connected, can be by the middle part of the left walking beam of Rear frame 34 around Rear frame Driving axle housing 26 left end Swing lifting or to fall revolver 37 and Rear frame revolver after 38 before Rear frame, and then allow vehicle smoothly to surmount obstacles or rugged Section.
As shown in Fig. 2, Fig. 3, Fig. 7, Fig. 8 and Fig. 9, the described frame connecting device of the present invention includes vertically arranging Sleeve pipe 61, the side wall at sleeve pipe 61 middle part is fixedly linked with the middle part of the rotating shaft set 62 arranging along anterior-posterior horizontal direction, rotating shaft Rotationally it is fitted with middle connecting shaft 63, the two ends of middle connecting shaft 63 stretch out the port of rotating shaft set 62, described set respectively in set 62 Top in pipe 61 is rotationally fitted with connecting shaft 64, and the top of upper connecting shaft 64 protrudes upward sleeve pipe 61, in sleeve pipe 61 Lower end be rotationally fitted with lower connecting shaft 65, the bottom of lower connecting shaft 65 extends downwardly from sleeve pipe 61, the side wall of sleeve pipe 61 with The middle part of course changing control beam 66 is fixedly linked, and course changing control beam 66 is arranged along left and right horizontal direction；
The left end of described course changing control beam 66 and the piston rod of left steering oil cylinder 59 are hinged and connected, the right side of course changing control beam 66 End is hinged and connected with the piston rod of right turn oil cylinder 58, and the cylinder body of the cylinder body of right turn oil cylinder 58 and left steering oil cylinder 59 is along level Direction is arranged, and the rear end of the cylinder body of the rear end of the cylinder body of right turn oil cylinder 58 and left steering oil cylinder 59 is hinged with Rear frame 6 respectively It is connected, pass through reinforcement gusset 67 between the lateral wall of described rotating shaft set 62 and sleeve pipe 61 lateral wall and be connected；When using, can pass through Right turn oil cylinder 58 and left steering oil cylinder 59 promote course changing control beam 6, and allow sleeve pipe 1 with respect to rotation by course changing control beam 6 Upper connecting shaft 4 and lower connecting shaft 5 rotate.Thus can further improve the cross-country power of vehicle.
When using, it can allow connected forward and backward vehicle frame make around anterior-posterior horizontal side to the frame connecting device of the present invention To circular-rotation and the circular-rotation around vertical direction, and then obstacle detouring articulator can be allowed to possess extremely strong obstacle climbing ability, Guarantee that vehicle normally runs on rugged road, and the long service life of related components, stable and reliable for performance.Therefore, The frame connecting device of the present invention has the long service life of related components, stable and reliable for performance, can increase substantially by The obstacle climbing ability of the forward and backward vehicle frame connecting is it is ensured that vehicle normal feature run on rugged road.
The bottom of the top of above-mentioned upper connecting shaft 64 and described lower connecting shaft 65 is fixedly linked with Rear frame 6 respectively.
The rear portion of above-mentioned front frame 5 has two crossbeams 57 being set up in parallel along left and right horizontal direction, two crossbeams 57 Two ends are connected as one with cant beam 56 respectively, and described middle connecting shaft 63 is connected with the middle part of two crossbeams 57.
As the improvement of the present invention, as shown in figure 1, the right walking beam of above-mentioned front frame 16, the left walking beam of front frame 21, rear car The right walking beam of frame 28 and the left walking beam of Rear frame 34 are middle height, the in front and back low arch in two ends or triangle, as Fig. 2 and Fig. 5 institute Show, the right walking beam of front frame 16, the left walking beam of front frame 21, the right walking beam of Rear frame 28 and the left walking beam of Rear frame 34 top Two sides are respectively equipped with maintenance observation panel in front and back, are respectively equipped with cover plate 39, each cover plate 39 is respectively adopted at each maintenance observation panel Bolt is fixed.Open cover plate 39 it is possible to front frame right walking beam 16, the left walking beam of front frame 21, the right walking beam of Rear frame 28 and the left walking beam of Rear frame 34 within Chain conveyer or V belt translation or gear train assembly keeped in repair.
As a further improvement on the present invention, as shown in figure 3, left section of above-mentioned front frame Driving axle housing 13 includes front truck The left outside sleeve pipe of frame 40, the inner end of the left outside sleeve pipe of front frame 40 is fixedly linked with the left end in front frame Driving axle housing 13 stage casing, front The left boss of front frame of annular is had on the lateral wall of outer end of the left outside sleeve pipe of vehicle frame 40, rotatable in the left outside sleeve pipe of front frame 40 Be fitted with the left inside sleeve pipe of front frame 41, the outer end of the left inside sleeve pipe of front frame 41 is provided with front frame left flange plate, the left method of front frame Left walking beam 21 side wall inwardly is affixed blue disk end face outwardly with front frame, and the lateral wall of the left outside sleeve pipe of front frame 40 is set with There is the left gland of front frame 42, the left gland of front frame 42 end face outwardly left boss and front frame left flange plate court with front frame respectively In end face be affixed, the left gland of front frame 42 using multiple through front frame left flange plate be bolted to front frame left swings move On beam 21 side wall inwardly；Above-mentioned unique structure design can be further assured that the long service life of related components, allows vehicle Cross-country ability highly stable, relatively reliable.
As shown in figure 3, the right section of inclusion right trocar sheath of front frame 43 of front frame Driving axle housing 13, the right trocar sheath of front frame 43 inner end is fixedly linked with the right-hand member in front frame Driving axle housing 13 stage casing, the lateral wall of the outer end of the right trocar sheath of front frame 43 On have annular the right boss of front frame, be rotationally fitted with the right inner sleeve of front frame 44 in the right trocar sheath of front frame 43, front The outer end of the right inner sleeve of vehicle frame 44 is provided with the right ring flange of front frame, the right ring flange of front frame end face outwardly and the right swing of front frame Beam 16 side wall inwardly is affixed, and the lateral wall of the right trocar sheath of front frame 43 is set with the right gland of front frame 45, the right pressure of front frame Right boss and the right ring flange of front frame end face inwardly is affixed lid 45 end faces outwardly with front frame respectively, the right gland of front frame 45 Using multiple being bolted on the right walking beam of front frame 16 side wall inwardly through the right ring flange of front frame；Above-mentioned uniqueness Structure design can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
As shown in Figure 2 and Figure 5, the left section of inclusion left outside sleeve pipe of Rear frame of Rear frame Driving axle housing 26, Rear frame is left outside The inner end of sleeve pipe is fixedly linked with the left end in Rear frame Driving axle housing 26 stage casing, the lateral wall of the outer end of the left outside sleeve pipe of Rear frame On have annular the left boss of Rear frame, be rotationally fitted with the left inside sleeve pipe of Rear frame, Rear frame in the left outside sleeve pipe of Rear frame The outer end of left inside sleeve pipe is provided with Rear frame left flange plate, Rear frame left flange plate end face outwardly and the left walking beam of Rear frame 34 court In side wall be affixed, the lateral wall of the left outside sleeve pipe of Rear frame is set with the left gland of Rear frame, the left gland of Rear frame end outwardly Left boss and Rear frame left flange plate end face inwardly is affixed with Rear frame respectively, after the left gland of Rear frame is using multiple passing through in face Being bolted on the left walking beam of Rear frame 34 side wall inwardly of vehicle frame left flange plate；Above-mentioned unique structure design can enter one Step guarantees the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
The right section of inclusion right trocar sheath of Rear frame, the inner end of the right trocar sheath of Rear frame and the rear car of Rear frame Driving axle housing 26 The right-hand member in frame Driving axle housing 26 stage casing is fixedly linked, and the lateral wall of outer end of the right trocar sheath of Rear frame has the rear car of annular The right boss of frame, is rotationally fitted with the right inner sleeve of Rear frame in the right trocar sheath of Rear frame, the outer end of the right inner sleeve of Rear frame sets There is the right ring flange of Rear frame, right walking beam 28 side wall inwardly is affixed the right ring flange of Rear frame end face outwardly with Rear frame, after The right gland of Rear frame is set with the lateral wall of the right trocar sheath of vehicle frame, the right gland of Rear frame end face outwardly is right with Rear frame respectively Boss and the right ring flange of Rear frame end face inwardly is affixed, and the right gland of Rear frame adopts multiple spiral shells through the right ring flange of Rear frame Bolt is fixed on the right walking beam of Rear frame 28 side wall inwardly.Above-mentioned unique structure design can be further assured that related components Long service life, make the cross-country ability of vehicle highly stable, relatively reliable.
As a further improvement on the present invention, as shown in figure 3, above-mentioned left front output axle 14 and the left inside sleeve pipe of front frame 41 Between inwall, between front right output shaft 15 and the inwall of the right inner sleeve of front frame 44, rear left output shaft 27 and the left inside set of Rear frame Between the inwall of pipe, between rear right output shaft 29 and the inwall of the right inner sleeve of Rear frame, it is respectively equipped with bearing.Above-mentioned unique knot Structure design can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
As a further improvement on the present invention, as shown in figure 3, the outer end of above-mentioned left front output axle 14 is arranged on by bearing The left walking beam of front frame 21 is located on the side wall in outside, and the outer end of front right output shaft 15 is arranged on the right swing of front frame by bearing Beam 16 is located on the side wall in outside, and the outer end of rear right output shaft 29 is arranged on the right walking beam of Rear frame 28 by bearing and is located at outside Side wall on, the outer end of rear left output shaft 27 is arranged on the left walking beam of Rear frame 34 by bearing and is located on the side wall in outside.On The structure design stating uniqueness can be further assured that the long service life of related components, allow vehicle cross-country ability highly stable, Relatively reliable.
As a further improvement on the present invention, as shown in Figure 3 and Figure 4, the wheel hub of above-mentioned front frame front right wheel 19 passes through axle Bearing sleeve is contained on front frame front right hollow axle 46, and front frame front right hollow axle 46 is arranged along left and right horizontal direction, front frame front right The side wall positioned at outside for the right walking beam 16 is fixedly linked with front frame for the inner end of hollow axle 46, and front frame front right wheel shaft 17 is vertically Pass through front frame front right hollow axle 46 in front frame front right hollow axle 46, front frame is passed through in the outer end of front frame front right wheel shaft 17 Front right terminal pad 47 is connected with the wheel hub of front frame front right wheel 19；Above-mentioned unique structure design can be further assured that related zero The long service life of part, makes the cross-country ability of vehicle highly stable, relatively reliable.
The wheel hub of front frame rear right wheel 20 is sleeved on front frame rear right hollow axle 48 by bearing, and front frame rear right is hollow Axle 48 is arranged along left and right horizontal direction, and the inner end of front frame rear right hollow axle 48 is located at the side in outside with the right walking beam of front frame 16 Wall is fixedly linked, and front frame rear right wheel shaft 18 passes through front frame rear right hollow axle vertically in front frame rear right hollow axle 48 48, the outer end of front frame rear right wheel shaft 18 is connected with the wheel hub of front frame rear right wheel 20 by front frame rear right terminal pad 49；On The structure design stating uniqueness can be further assured that the long service life of related components, allow vehicle cross-country ability highly stable, Relatively reliable.
Before front frame, the wheel hub of revolver 24 is sleeved on front frame front left hollow axle 50 by bearing, and front frame front left is hollow Axle 50 is arranged along left and right horizontal direction, and the inner end of front frame front left hollow axle 50 is located at the side in outside with the left walking beam of front frame 21 Wall is fixedly linked, and front frame front left wheel shaft 22 passes through front frame front left hollow axle vertically in front frame front left hollow axle 50 50, the outer end of front frame front left wheel shaft 22 is connected with the wheel hub of revolver before front frame 24 by front frame front left terminal pad 51；On The structure design stating uniqueness can be further assured that the long service life of related components, allow vehicle cross-country ability highly stable, Relatively reliable.
The wheel hub of front frame revolver after 25 is sleeved on front frame rear left hollow axle 52 by bearing, and front frame rear left is hollow Axle 52 is arranged along left and right horizontal direction, and the inner end of front frame rear left hollow axle 52 is located at the side in outside with the left walking beam of front frame 21 Wall is fixedly linked, and front frame rear left wheel shaft 23 passes through front frame rear left hollow axle vertically in front frame rear left hollow axle 52 52, the outer end of front frame rear left wheel shaft 23 is connected with the wheel hub of front frame revolver after 25 by front frame rear left terminal pad 53；On The structure design stating uniqueness can be further assured that the long service life of related components, allow vehicle cross-country ability highly stable, Relatively reliable.
The wheel hub of Rear frame front right wheel 32 is sleeved on Rear frame front right hollow axle by bearing, Rear frame front right hollow axle Along the setting of left and right horizontal direction, the side wall positioned at outside for the right walking beam 28 is fixed with Rear frame for the inner end of Rear frame front right hollow axle It is connected, Rear frame front right wheel shaft 30 passes through Rear frame front right hollow axle vertically in Rear frame front right hollow axle, before Rear frame The outer end of right wheel axle 30 is connected with the wheel hub of Rear frame front right wheel 32 by Rear frame front right terminal pad；Above-mentioned unique structure sets Meter can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
The wheel hub of Rear frame rear right wheel 33 is sleeved on Rear frame rear right hollow axle by bearing, Rear frame rear right hollow axle Along the setting of left and right horizontal direction, the side wall positioned at outside for the right walking beam 28 is fixed with Rear frame for the inner end of Rear frame rear right hollow axle It is connected, Rear frame rear right wheel shaft 31 passes through Rear frame rear right hollow axle vertically in Rear frame rear right hollow axle, after Rear frame The outer end of right wheel axle 31 is connected with the wheel hub of Rear frame rear right wheel 33 by Rear frame rear right terminal pad；Above-mentioned unique structure sets Meter can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
Before Rear frame, the wheel hub of revolver 37 is sleeved on Rear frame front left hollow axle by bearing, Rear frame front left hollow axle Along the setting of left and right horizontal direction, the side wall positioned at outside for the left walking beam 34 is fixed with Rear frame for the inner end of Rear frame front left hollow axle It is connected, Rear frame front left wheel shaft 35 passes through Rear frame front left hollow axle vertically in Rear frame front left hollow axle, before Rear frame The outer end of revolver axle 35 is connected with the wheel hub of revolver before Rear frame 37 by Rear frame front left terminal pad；Above-mentioned unique structure sets Meter can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
The wheel hub of Rear frame revolver after 38 is sleeved on Rear frame rear left hollow axle by bearing, Rear frame rear left hollow axle Along the setting of left and right horizontal direction, the side wall positioned at outside for the left walking beam 34 is fixed with Rear frame for the inner end of Rear frame rear left hollow axle It is connected, Rear frame rear left wheel shaft 36 passes through Rear frame rear left hollow axle vertically in Rear frame rear left hollow axle, after Rear frame The outer end of revolver axle 36 is connected with the wheel hub of Rear frame revolver after 38 by Rear frame rear left terminal pad.Above-mentioned unique structure sets Meter can be further assured that the long service life of related components, makes the cross-country ability of vehicle highly stable, relatively reliable.
As a further improvement on the present invention, the power output shaft of above-mentioned Rear frame power transmission shaft 10 and Rear frame change speed gear box 9 Arrange along the longitudinal direction, the power output shaft of front frame power transmission shaft 8 and front frame change speed gear box 7 is arranged along the longitudinal direction, front frame Power transmission shaft 8 and Rear frame power transmission shaft 10 are cardan axis.
As a further improvement on the present invention, the front of above-mentioned Rear frame 6 is provided with upper cover plate 69, and the lower section of upper cover plate 69 sets The rear end having lower cover 72, the rear end of upper cover plate 69 and lower cover 72 is connected using truss 73, the rear end of truss 73 and Rear frame 6 Front portion be connected, the middle part of the top of described upper connecting shaft 64 and upper cover plate 69 is installed and is connected, the bottom of described lower connecting shaft 65 Install with the middle part of lower cover 72 and be connected.
As a further improvement on the present invention, above-mentioned upper connecting shaft 64 is arranged in described sleeve pipe 61 by Upper shaft sleeve 70, Described lower connecting shaft 65 is arranged in described sleeve pipe 61 by Lower shaft sleeve 71.
As a further improvement on the present invention, above-mentioned electromotor 1 is Diesel engine, provides fuel to Diesel engine Fuel tank is arranged on the rear portion of described Rear frame 6.
Embodiment described above is only that the preferred embodiment of the present invention is described, the not model to the present invention Enclose and be defined, under the premise of without departing from design spirit of the present invention, this area ordinary skill technical staff is to the technology of the present invention side Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.

Claims (10)

1. the eight hinged barrier-exceeding vehicles of wheel it is characterised in that: include front frame (5), Rear frame (6) and being arranged in front frame (5) Electromotor (1), the first half of front frame (5) is provided with driver's cabin and seat (55), and the latter half of of front frame (5) is provided with hydraulic oil oil Case and hydraulic oil cooler, pass through frame connecting device with the front center of Rear frame (6) in the middle part of the rear end of described front frame (5) It is connected；
The power output shaft of described electromotor (1) is connected with the power input shaft transmission of more than one hydraulic pump (2), hydraulic pump (2) hydraulic oil exporting is by the oil-in of the pipeline of hydraulic control system and front hydraulic motor (3) and rear hydraulic motor (4) Oil-in is connected, and front hydraulic motor (3) is arranged in front frame (5), and described rear hydraulic motor (4) is arranged on described Rear frame (6) on；
The power output shaft of described front hydraulic motor (3) is connected with the power input shaft transmission of front frame change speed gear box (7), front frame Change speed gear box (7) is arranged in described front frame (5), and the power output shaft of front frame change speed gear box (7) passes through front frame power transmission shaft (8) It is connected with front power input shaft (11) transmission of front frame drive axle；
The power output shaft of described rear hydraulic motor (4) is connected with the power input shaft transmission of Rear frame change speed gear box (9), Rear frame Change speed gear box (9) is arranged in described Rear frame (6), and the power output shaft of Rear frame change speed gear box (9) passes through Rear frame power transmission shaft (10) it is connected with rear power input shaft (12) transmission of Rear frame drive axle；
Described front frame drive axle includes front power input shaft (11), left front output axle (14), front right output shaft (15) and front truck Frame Driving axle housing (13), left front output axle (14) is arranged on the left side in front frame Driving axle housing (13) along left and right horizontal direction Side, described front right output shaft (15) is arranged on the right side in front frame Driving axle housing (13) along left and right horizontal direction；Front power Input shaft (11) is connected with the inner end transmission of left front output axle (14) and front right output shaft (15) respectively；
The middle part of right-hand member walking beam right with front frame (16) of described front frame Driving axle housing (13) is rotatably mounted and is connected, Described front right output shaft (15) extends right up in the right walking beam of front frame (16), and front right output shaft (15) is located at the right pendulum of front frame Shaft part in dynamic beam (16) passes through Chain conveyer with front frame front right wheel shaft (17) and front frame rear right wheel shaft (18) respectively or band passes Dynamic or gear drive is connected, and front frame front right wheel shaft (17) is located at the front portion of front right output shaft (15), described front frame rear right wheel Axle (18) is located at the rear portion of front right output shaft (15), the axis of front frame front right wheel shaft (17) and front frame rear right wheel shaft (18) Diameter parallel is driven with front frame front right wheel (19) in the axis of front right output shaft (15), the outer end of front frame front right wheel shaft (17) It is connected, the outer end of front frame rear right wheel shaft (18) is connected with front frame rear right wheel (20) transmission, described front frame front right wheel shaft (17) it is installed in rotation on the front portion of the right walking beam of front frame (16), described front frame rear right wheel shaft (18) is rotatably mounted Rear portion in the right walking beam of front frame (16)；
The middle part of left end walking beam left with front frame (21) of described front frame Driving axle housing (13) is rotatably mounted and is connected, Described left front output axle (14) extends in the left walking beam of front frame (21) to the left, and left front output axle (14) is located at front frame left swing Shaft part in dynamic beam (21) passes through Chain conveyer with front frame front left wheel shaft (22) and front frame rear left wheel shaft (23) respectively or band passes Dynamic or gear drive is connected, and front frame front left wheel shaft (22) is located at the front portion of left front output axle (14), described front frame revolver after Axle (23) is located at the rear portion of left front output axle (14), the axis of front frame front left wheel shaft (22) and front frame rear left wheel shaft (23) In the axis of left front output axle (14), before the outer end of front frame front left wheel shaft (22) and front frame, revolver (24) is driven diameter parallel It is connected, the outer end of front frame rear left wheel shaft (23) is connected with front frame revolver after (25) transmission, described front frame front left wheel shaft (22) it is installed in rotation on the front portion of the left walking beam of front frame (21), described front frame rear left wheel shaft (23) is rotatably mounted Rear portion in the left walking beam of front frame (21)；
Described Rear frame drive axle includes rear power input shaft (12), rear left output shaft (27), rear right output shaft (29) and rear car Frame Driving axle housing (26), rear left output shaft (27) is arranged on the left side in Rear frame Driving axle housing (26) along left and right horizontal direction Side, described rear right output shaft (29) is arranged on the right side in Rear frame Driving axle housing (26) along left and right horizontal direction；Power afterwards Input shaft (12) is connected with the inner end transmission of rear left output shaft (27) and rear right output shaft (29) respectively；
The middle part of right-hand member walking beam right with Rear frame (28) of described Rear frame Driving axle housing (26) is rotatably mounted and is connected, Described rear right output shaft (29) extends right up in the right walking beam of Rear frame (28), and rear right output shaft (29) is located at the right pendulum of Rear frame Shaft part in dynamic beam (28) passes through Chain conveyer with Rear frame front right wheel shaft (30) and Rear frame rear right wheel shaft (31) respectively or band passes Dynamic or gear drive is connected, and Rear frame front right wheel shaft (30) is located at the front portion of rear right output shaft (29), described Rear frame rear right wheel Axle (31) is located at the rear portion of rear right output shaft (29), the axis of Rear frame front right wheel shaft (30) and Rear frame rear right wheel shaft (31) Diameter parallel is driven with Rear frame front right wheel (32) in the axis of rear right output shaft (29), the outer end of Rear frame front right wheel shaft (30) It is connected, the outer end of Rear frame rear right wheel shaft (31) is connected with Rear frame rear right wheel (33) transmission, described Rear frame front right wheel shaft (30) it is installed in rotation on the front portion of the right walking beam of described Rear frame (28), described Rear frame rear right wheel shaft (31) is rotationally It is arranged on the rear portion of the right walking beam of Rear frame (28)；
The middle part of left end walking beam left with Rear frame (34) of described Rear frame Driving axle housing (26) is rotatably mounted and is connected, Described rear left output shaft (27) extends in the left walking beam of Rear frame (34) to the left, and rear left output shaft (27) is located at Rear frame left swing Shaft part in dynamic beam (34) passes through Chain conveyer with Rear frame front left wheel shaft (35) and Rear frame rear left wheel shaft (36) respectively or band passes Dynamic or gear drive is connected, and Rear frame front left wheel shaft (35) is located at the front portion of rear left output shaft (27), described Rear frame revolver after Axle (36) is located at the rear portion of rear left output shaft (27), the axis of Rear frame front left wheel shaft (35) and Rear frame rear left wheel shaft (36) In the axis of rear left output shaft (27), before the outer end of Rear frame front left wheel shaft (35) and Rear frame, revolver (37) is driven diameter parallel It is connected, the outer end of Rear frame rear left wheel shaft (36) is connected with Rear frame revolver after (38) transmission, described Rear frame front left wheel shaft (35) it is installed in rotation on the front portion of the left walking beam of described Rear frame (34), described Rear frame rear left wheel shaft (36) is rotationally It is arranged on the rear portion of the left walking beam of Rear frame (34)；
Described frame connecting device includes the sleeve pipe (61) vertically arranging, on the side wall in the middle part of sleeve pipe (61) with edge in front and back The middle part of horizontally arranged rotating shaft set (62) is fixedly linked, and rotating shaft set is rotationally fitted with middle connecting shaft in (62) (63), the port of rotating shaft set (62) is stretched out at the two ends of middle connecting shaft (63) respectively, and the top in described sleeve pipe (61) is rotationally It is fitted with connecting shaft (64), the top of upper connecting shaft (64) protrudes upward sleeve pipe (61), and the lower end in sleeve pipe (61) is rotatable Be fitted with lower connecting shaft (65), the bottom of lower connecting shaft (65) extends downwardly from sleeve pipe (61), the side wall of sleeve pipe (61) and steering The middle part controlling beam (66) is fixedly linked, and course changing control beam (66) is arranged along left and right horizontal direction；
The left end of described course changing control beam (66) and the piston rod of left steering oil cylinder (59) are hinged and connected, course changing control beam (66) Right-hand member is hinged and connected with the piston rod of right turn oil cylinder (58), the cylinder of the cylinder body of right turn oil cylinder (58) and left steering oil cylinder (59) Body is horizontally disposed, the rear end of the cylinder body of the rear end of cylinder body of right turn oil cylinder (58) and left steering oil cylinder (59) respectively with Rear frame (6) is hinged and connected, and passes through to strengthen gusset (67) between the lateral wall of described rotating shaft set (62) and sleeve pipe (61) lateral wall It is connected；
The bottom of the top of described upper connecting shaft (64) and described lower connecting shaft (65) is fixedly linked with Rear frame (6) respectively, institute The rear portion stating front frame (5) has two crossbeams being set up in parallel along left and right horizontal direction (57), two ends of two crossbeams (57) It is connected as one with cant beam (56) respectively, described middle connecting shaft (63) is connected with the middle part of two crossbeams (57).
2. according to claim 1 eight take turns hinged barrier-exceeding vehicles it is characterised in that: the right walking beam (16) of described front frame, institute State the left walking beam of front frame (21), the right walking beam of described Rear frame (28) and the left walking beam of described Rear frame (34) be middle high, The low arch in two ends or triangle in front and back, the right walking beam of front frame (16), the left walking beam of front frame (21), the right walking beam of Rear frame (28) and Rear frame left walking beam (34) top before and after two sides be respectively equipped with maintenance observation panel, at each maintenance observation panel respectively It is provided with cover plate (39), each cover plate (39) is respectively adopted bolt and fixes.
3. according to claim 2 eight take turns hinged barrier-exceeding vehicles it is characterised in that: described front frame Driving axle housing (13) Left section includes the left outside sleeve pipe of front frame (40), the inner end of the left outside sleeve pipe of front frame (40) and front frame Driving axle housing (13) stage casing Left end be fixedly linked, the lateral wall of outer end of the left outside sleeve pipe of front frame (40) has annular the left boss of front frame, front truck Rotationally it is fitted with the left inside sleeve pipe of front frame (41), the outer end of the left inside sleeve pipe of front frame (41) is provided with the left outside sleeve pipe of frame (40) Front frame left flange plate, front frame left flange plate end face outwardly left walking beam (21) side wall phase inwardly with described front frame Patch, the lateral wall of the left outside sleeve pipe (40) of described front frame is set with the left gland of front frame (42), front frame left gland (42) court Left boss and front frame left flange plate end face inwardly is affixed outer end face with described front frame respectively, the left gland of front frame (42) Using multiple being bolted on the left walking beam of described front frame (21) side wall inwardly through front frame left flange plate；
The right section of inclusion right trocar sheath of front frame (43) of described front frame Driving axle housing (13), the right trocar sheath of front frame (43) Inner end is fixedly linked with the right-hand member in front frame Driving axle housing (13) stage casing, the lateral wall of the outer end of the right trocar sheath of front frame (43) On have annular the right boss of front frame, be rotationally fitted with the right inner sleeve of front frame in the right trocar sheath of front frame (43) (44), the outer end of the right inner sleeve of front frame (44) is provided with the right ring flange of front frame, the right ring flange of front frame end face outwardly and institute State the right walking beam of front frame (16) side wall inwardly to be affixed, the lateral wall of the right trocar sheath (43) of described front frame is set with front truck The right gland of frame (45), the right gland of front frame (45) end face outwardly right boss and the right ring flange of front frame with described front frame respectively End face inwardly is affixed, and the right gland of front frame (45) is bolted to described front truck using multiple through the right ring flange of front frame On the right walking beam of frame (16) side wall inwardly；
Left section of described Rear frame Driving axle housing (26) the inclusion left outside sleeve pipe of Rear frame, the inner end of the left outside sleeve pipe of Rear frame with after The left end in vehicle frame Driving axle housing (26) stage casing is fixedly linked, and the lateral wall of outer end of the left outside sleeve pipe of Rear frame has annular The left boss of Rear frame, is rotationally fitted with the left inside sleeve pipe of Rear frame, outside the left inside sleeve pipe of Rear frame in the left outside sleeve pipe of Rear frame End is provided with Rear frame left flange plate, Rear frame left flange plate end face outwardly side inwardly with the left walking beam (34) of described Rear frame Wall is affixed, and the lateral wall of the left outside sleeve pipe of described Rear frame is set with the left gland of Rear frame, the left gland of Rear frame end face outwardly Left boss and Rear frame left flange plate end face inwardly is affixed with described Rear frame respectively, and the left gland of Rear frame is passed through using multiple Being bolted on the left walking beam of described Rear frame (34) side wall inwardly of Rear frame left flange plate；
Right section of described Rear frame Driving axle housing (26) the inclusion right trocar sheath of Rear frame, the inner end of the right trocar sheath of Rear frame with after The right-hand member in vehicle frame Driving axle housing (26) stage casing is fixedly linked, and the lateral wall of outer end of the right trocar sheath of Rear frame has annular The right boss of Rear frame, is rotationally fitted with the right inner sleeve of Rear frame, outside the right inner sleeve of Rear frame in the right trocar sheath of Rear frame End is provided with the right ring flange of Rear frame, the right ring flange of Rear frame end face outwardly side inwardly with the right walking beam (28) of described Rear frame Wall is affixed, and the lateral wall of the right trocar sheath of described Rear frame is set with the right gland of Rear frame, the right gland of Rear frame end face outwardly Right boss and the right ring flange of Rear frame end face inwardly is affixed with described Rear frame respectively, and the right gland of Rear frame is passed through using multiple Being bolted on the right walking beam of described Rear frame (28) side wall inwardly of the right ring flange of Rear frame.
4. according to claim 3 eight take turns hinged barrier-exceeding vehicles it is characterised in that: described left front output axle (14) with described before Between the inwall of the left inside sleeve pipe of vehicle frame (41), the inwall of described front right output shaft (15) and the right inner sleeve (44) of described front frame it Between, between described rear left output shaft (27) and the inwall of the left inside sleeve pipe of described Rear frame, described rear right output shaft (29) with described It is respectively equipped with bearing between the inwall of the right inner sleeve of Rear frame.
5. according to claim 4 eight take turns hinged barrier-exceeding vehicles it is characterised in that: the outer end of described left front output axle (14) leads to Cross bearing and be arranged on the left walking beam of described front frame (21) on the side wall in outside, the outer end of described front right output shaft (15) leads to Cross bearing and be arranged on the right walking beam of described front frame (16) on the side wall in outside, the outer end of described rear right output shaft (29) leads to Cross bearing and be arranged on the right walking beam of described Rear frame (28) on the side wall in outside, the outer end of described rear left output shaft (27) leads to Cross bearing and be arranged on the left walking beam of described Rear frame (34) on the side wall in outside.
6. according to claim 5 eight take turns hinged barrier-exceeding vehicles it is characterised in that:
The wheel hub of described front frame front right wheel (19) is sleeved in front frame front right hollow axle (46) by bearing, front frame front right Hollow axle (46) is arranged along left and right horizontal direction, the inner end of front frame front right hollow axle (46) right walking beam with described front frame (16) the side wall being located at outside is fixedly linked, and described front frame front right wheel shaft (17) is vertically from front frame front right hollow axle (46) Interior through front frame front right hollow axle (46), the outer end of front frame front right wheel shaft (17) pass through front frame front right terminal pad (47) with The wheel hub of described front frame front right wheel (19) is connected；
The wheel hub of described front frame rear right wheel (20) is sleeved in front frame rear right hollow axle (48) by bearing, front frame rear right Hollow axle (48) is arranged along left and right horizontal direction, the inner end of front frame rear right hollow axle (48) right walking beam with described front frame (16) the side wall being located at outside is fixedly linked, and described front frame rear right wheel shaft (18) is vertically from front frame rear right hollow axle (48) Interior through front frame rear right hollow axle (48), the outer end of front frame rear right wheel shaft (18) pass through front frame rear right terminal pad (49) with The wheel hub of described front frame rear right wheel (20) is connected；
Before described front frame, the wheel hub of revolver (24) is sleeved in front frame front left hollow axle (50) by bearing, front frame front left Hollow axle (50) is arranged along left and right horizontal direction, the inner end of front frame front left hollow axle (50) left walking beam with described front frame (21) the side wall being located at outside is fixedly linked, and described front frame front left wheel shaft (22) is vertically from front frame front left hollow axle (50) Interior through front frame front left hollow axle (50), the outer end of front frame front left wheel shaft (22) pass through front frame front left terminal pad (51) with Before described front frame, the wheel hub of revolver (24) is connected；
The wheel hub of described front frame revolver after (25) is sleeved in front frame rear left hollow axle (52) by bearing, front frame rear left Hollow axle (52) is arranged along left and right horizontal direction, the inner end of front frame rear left hollow axle (52) left walking beam with described front frame (21) the side wall being located at outside is fixedly linked, and described front frame rear left wheel shaft (23) is vertically from front frame rear left hollow axle (52) Interior through front frame rear left hollow axle (52), the outer end of front frame rear left wheel shaft (23) pass through front frame rear left terminal pad (53) with The wheel hub of described front frame revolver after (25) is connected；
The wheel hub of described Rear frame front right wheel (32) is sleeved on Rear frame front right hollow axle by bearing, and Rear frame front right is hollow Axle is arranged along left and right horizontal direction, and right walking beam (28) is located at outside with described Rear frame for the inner end of Rear frame front right hollow axle Side wall is fixedly linked, and described Rear frame front right wheel shaft (30) passes through Rear frame front right empty vertically in Rear frame front right hollow axle Heart axle, the wheel hub of Rear frame front right terminal pad and described Rear frame front right wheel (32) is passed through in the outer end of Rear frame front right wheel shaft (30) It is connected；
The wheel hub of described Rear frame rear right wheel (33) is sleeved on Rear frame rear right hollow axle by bearing, and Rear frame rear right is hollow Axle is arranged along left and right horizontal direction, and right walking beam (28) is located at outside with described Rear frame for the inner end of Rear frame rear right hollow axle Side wall is fixedly linked, and described Rear frame rear right wheel shaft (31) passes through Rear frame rear right empty vertically in Rear frame rear right hollow axle Heart axle, the wheel hub of Rear frame rear right terminal pad and described Rear frame rear right wheel (33) is passed through in the outer end of Rear frame rear right wheel shaft (31) It is connected；
Before described Rear frame, the wheel hub of revolver (37) is sleeved on Rear frame front left hollow axle by bearing, and Rear frame front left is hollow Axle is arranged along left and right horizontal direction, and left walking beam (34) is located at outside with described Rear frame for the inner end of Rear frame front left hollow axle Side wall is fixedly linked, and described Rear frame front left wheel shaft (35) passes through Rear frame front left empty vertically in Rear frame front left hollow axle Heart axle, the wheel hub of revolver (37) before Rear frame front left terminal pad and described Rear frame is passed through in the outer end of Rear frame front left wheel shaft (35) It is connected；
The wheel hub of described Rear frame revolver after (38) is sleeved on Rear frame rear left hollow axle by bearing, and Rear frame rear left is hollow Axle is arranged along left and right horizontal direction, and left walking beam (34) is located at outside with described Rear frame for the inner end of Rear frame rear left hollow axle Side wall is fixedly linked, and described Rear frame rear left wheel shaft (36) passes through Rear frame rear left empty vertically in Rear frame rear left hollow axle Heart axle, the wheel hub of Rear frame rear left terminal pad and described Rear frame revolver after (38) is passed through in the outer end of Rear frame rear left wheel shaft (36) It is connected.
7. according to claim 6 eight take turns hinged barrier-exceeding vehicles it is characterised in that: described Rear frame power transmission shaft (10) and rear car The power output shaft of frame change speed gear box (9) is arranged along the longitudinal direction, described front frame power transmission shaft (8) and front frame change speed gear box (7) Power output shaft is arranged along the longitudinal direction, and front frame power transmission shaft (8) and described Rear frame power transmission shaft (10) are cardan axis.
8. according to claim 7 eight take turns hinged barrier-exceeding vehicles it is characterised in that: the front of described Rear frame (6) is provided with Cover plate (69), the lower section of upper cover plate (69) is provided with lower cover (72), and the rear end of the rear end of upper cover plate (69) and lower cover (72) is adopted With truss (73) be connected, the rear end of truss (73) is connected with the front portion of Rear frame (6), the top of described upper connecting shaft (64) with upper The middle part of cover plate (69) is installed and is connected, and the bottom of described lower connecting shaft (65) is installed with the middle part of lower cover (72) and is connected.
9. according to claim 8 eight take turns hinged barrier-exceeding vehicles it is characterised in that: described upper connecting shaft (64) pass through Upper shaft sleeve (70) it is arranged in described sleeve pipe (61), described lower connecting shaft (65) is arranged in described sleeve pipe (61) by Lower shaft sleeve (71).
10. according to claim 9 eight take turns hinged barrier-exceeding vehicles it is characterised in that: described electromotor (1) be diesel engine Machine, the fuel tank providing fuel to Diesel engine is arranged on the rear portion of described Rear frame (6).
CN201410806211.4A 2014-12-19 2014-12-19 Eight-wheel hinged obstacle crossing vehicle Expired - Fee Related CN104648500B (en)

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CN105292300A (en) * 2015-11-17 2016-02-03 北京自动化控制设备研究所 Wheel type travelling mechanism
CN109129392A (en) * 2018-07-26 2019-01-04 邢志平 A kind of cross-country obstacle removing robot
CN111098953B (en) * 2018-10-25 2021-11-02 湖南中车智行科技有限公司 Manufacturing method of multi-marshalling rubber-wheel intelligent rail electric car

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FR2602468B1 (en) * 1986-08-08 1991-02-08 Legueu Paul AUTOMOTIVE VEHICLE WITH WHEELS, OF THE ALL-TERRAIN TYPE WITH INTEGRAL TRANSMISSION
GB2200606B (en) * 1987-01-30 1991-01-30 Esarco Ltd Improved all-terrain vehicle
DE10317302A1 (en) * 2003-04-14 2004-10-28 Dtu Deutsche Traktoren Union Gmbh Agricultural tractor with articulated frame steering
CN1302958C (en) * 2004-08-13 2007-03-07 哈尔滨工业大学 Eight-wheel symmetrical suspension frame vehicle loading mechanism
LV13866B (en) * 2007-06-27 2009-05-20 Univ Rigas Tehniska Platform of mobile robot with eight wheels
CN102806845A (en) * 2011-06-02 2012-12-05 黄贤荣 Differential transmission system of full-time eight-wheel drive vehicle

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