CN105644648B - A kind of deformable chassis of multiple degrees of freedom - Google Patents
A kind of deformable chassis of multiple degrees of freedom Download PDFInfo
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- CN105644648B CN105644648B CN201610009730.7A CN201610009730A CN105644648B CN 105644648 B CN105644648 B CN 105644648B CN 201610009730 A CN201610009730 A CN 201610009730A CN 105644648 B CN105644648 B CN 105644648B
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- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention discloses a kind of deformable chassis of multiple degrees of freedom, including pedestal and control device, the pedestal extend outward multiple engaging lugs；Supporting leg includes that hinged disk component, the first telescopic component, supporting arm assembly, vehicle wheel component and the second telescopic component, wherein hinged disk component and the engaging lug are hinged；First telescopic component is hinged with hinged disk component and pedestal respectively；Supporting arm assembly is hinged with hinged disk component and vehicle wheel component respectively；Second telescopic component is hinged with hinged disk component and supporting arm assembly respectively；The vehicle wheel component includes the multiple wheels being arranged in chassis front and back position, and the supporting arm assembly makes multiple wheels of vehicle wheel component individually or simultaneously carry out up and down motion or side-to-side movement by the impetus of the first telescopic component and the second telescopic component.Thereby, the deformable chassis of multiple degrees of freedom of the invention is adapted to full landform work, has excellent avoidance ability.
Description
Technical field
The present invention relates to a kind of engineering machinery, especially a kind of deformable chassis of the multiple degrees of freedom of engineering truck.
Background technology
Important mechanical equipment of the engineering truck in engineering construction, in communications and transportation, civil buildings, mining and municipal administration
The places such as engineering are used widely, and are common a kind of important engineering machinery in various earth and rock works.Work used at present
It is wheeled engineering truck that journey vehicle, which has a kind of, and running gear carries out operation, grounding pressure small with contact area of ground using rubber-tyred
Greatly, therefore in marsh, wetland operation tire incision depth of soil is deeper, is unfavorable for walking.
To solve the problems, such as the walking that is unfavorable for of wheeled engineering truck, there is a kind of tracked engineering vehicle again at present, China
Number of patent application 201410055232.7, publication date in May, 2014 No. 21, a kind of entitled tracked engineering vehicle of invention, packet
Include excavating gear, operating room, crawler unit and transmission system, transmission system drives engineering truck work and crawler belt row
The operation of walking apparatus, excavating gear include cantilever by HYDRAULIC CONTROL SYSTEM and the installation that an one end is mounted on operating room side
Scraper bowl on the cantilever other end is provided with tensioning buffer gear in the crawler unit.But due to crawler type work
The limitation of journey bassinet structure, cannot safely and effectively the operation of rate, transhipment be made in the complicated landforms such as rugged bent, precipitous or tall and big barrier
Industry can only manually or motorcycle is consigned.
For the problems of above-mentioned conventional construction point.How a kind of multiple degrees of freedom deformable chassis is developed, to
It is adapted to different landform operations, becomes related practitioner and makes great efforts the target that research and development are broken through.
Invention content
It above-mentioned exist in the prior art insufficient and a kind of multiple degrees of freedom is provided present invention solves the technical problem that being to overcome
Deformable chassis.
In order to solve the above technical problems, present invention employs following technical measures：A kind of deformable chassis of multiple degrees of freedom, packet
Pedestal and control device are included, the pedestal extends outward multiple engaging lugs；Supporting leg include hinged disk component, first flexible group
Part, supporting arm assembly, vehicle wheel component and the second telescopic component, wherein hinged disk component are set in engaging lug, and with the company
Lug is hinged；First telescopic component is connected between hinged disk component and pedestal, and is carried out respectively with hinged disk component and pedestal
It is hinged；Supporting arm assembly is connected between hinged disk component and vehicle wheel component, and its respectively with hinged disk component and vehicle wheel component
It is hinged；Second telescopic component is connected between hinged disk component and supporting arm assembly, and its respectively with hinged disk component and
Supporting arm assembly is hinged；The vehicle wheel component includes the multiple wheels being arranged in chassis front and back position, and the supporting arm assembly is logical
The impetus for crossing the first telescopic component and the second telescopic component makes multiple wheels of vehicle wheel component individually or simultaneously carry out
Lower movement or side-to-side movement.
The present invention can also be further perfect by following technical measures：
As a further improvement, the pedestal is rectangle, and it is extended with preceding engaging lug and is rearward extended with forwards
Engaging lug afterwards, and there is the preceding engaging lug vertical hinge hole, the rear engaging lug to have lateral hinge hole, left and right two
Side is respectively provided with accommodating cavity；The hinged disk component includes the preceding hinged disk being arranged in front of pedestal and is arranged at pedestal rear
Hinged disk afterwards, the preceding hinged disk have the vertical hinge hole through upper and lower side, being laterally hinged with hole, set through interior lateral surface
In leading flank be laterally hinged with seat and set on the vertical hinged seat of lateral surface, the vertical hinge hole of the preceding hinged disk with it is described before
The vertical hinge hole of engaging lug is hinged by axis pin；Hinged disk has the vertical hinge hole through upper and lower side, runs through after described
Interior lateral surface is laterally hinged with hole and the seat that is laterally hinged with set on upper side, and the Kong Yuhou that is laterally hinged with of the rear engaging lug is hinged
The hole that is laterally hinged with of disk is hinged by axis pin；First telescopic component includes front steering oil cylinder and rear lifting cylinder, front steering
Oil cylinder is arranged in accommodating cavity, and its cylinder barrel end and pedestal are hinged, and the vertical hinged seat of tailpiece of the piston rod and preceding hinged disk is hinged；
Lifting cylinder is set to the top of pedestal after described, and cylinder barrel end is hinged with pedestal, the transverse direction of tailpiece of the piston rod and rear hinged disk
Hinged seat is hinged；For hinged disk around axis pin side-to-side movement, the rear lifting cylinder is hinged after pushing before the front steering oil cylinder pushing
Axis pin is coiled to move up and down.
As a further improvement, the supporting arm assembly include be set to pedestal in front of front support arm and be set to pedestal rear
Rear support arm, the head end of the front support arm and the hole that is laterally hinged with of preceding hinged disk be hinged by axis pin, and end has
There are the first hinge hole, the second hinge hole and axle sleeve；The rear support arm includes the first rear support arm and the second rear support arm, described
The head end of first rear support arm and the vertical hinge hole of rear hinged disk are hinged by axis pin, end and the second rear support arm
Head end be hinged by vertically arranged axis pin；The end of second rear support arm is equipped with axle sleeve, the vehicle wheel component
Including tire, wheel hub and wheel motor, described wheel motor one end is sheathed in axle sleeve, and the other end is arranged in the hub.
As a further improvement, second telescopic component includes preceding lifting cylinder and rear steering oil cylinder, lifted before described
The cylinder barrel end of oil cylinder and the seat that is laterally hinged with of preceding hinged disk are hinged by axis pin, tailpiece of the piston rod and the first of front support arm end
Hinge hole is hinged by axis pin, and the preceding lifting cylinder pushes axis pin of the front support arm around cylinder barrel end to move up and down；It is described
Rear steering oil cylinder is connected between pedestal and the first rear support arm, and is respectively articulated with pedestal and the first rear support arm, rear steering
Axis pin side-to-side movement of the first rear support arm of oil cylinder pushing between rear hinged disk and the first rear support arm.
As a further improvement, further comprising that the second rear steering oil cylinder is connected to the hinged seat and of the first rear support arm
Between the hinged seat of two rear support arms, the second rear support arm of the second rear steering oil cylinder pushing is around the first rear support arm and second
Axis pin side-to-side movement between rear support arm.
As a further improvement, further comprise the second front support arm, the second hinge of head end and the end of front support arm
It is hinged to connect hole, end has hinge hole and axle sleeve, and the cylinder barrel end of the second lifting cylinder is articulated with the head of the second front support arm
End, tailpiece of the piston rod are articulated with the hinge hole of the end of the second front support arm.
As a further improvement, the cylinder barrel end of second lifting cylinder, which has, extends ear, before the extension ear muff is located at
The both sides of first hinge hole of the end of support arm, one ships and resell on another market be interspersed in the front support arm the first hinge hole, preceding lifting oil
The extension ear of the piston rod of cylinder and the second lifting cylinder.
As a further improvement, further comprise ground lug, the ground lug include W-shaped lug tooth for grabbing ground and
Connecting shaft at lug tooth rear is set, and the connecting bushing is located in the axle sleeve of the second front support arm.
As a further improvement, further comprising that inhaling ground pawl is arranged in the lower section of pedestal, suction ground pawl includes mounting base
And multiple suction pawls being hinged in mounting base, the suction pawl can be opened with respect to mounting base or promptly, third lifting cylinder connects
In pedestal and mounting base and push the opposite pedestal up and down motion of the suction ground pawl.
As a further improvement, the deformable chassis of multiple degrees of freedom include left front supporting leg, right anterior branch leg, left back supporting leg,
Right rear support leg, and each supporting leg includes hinged disk, support arm, the first extensible member, the second extensible member and wheel, and it is located at pedestal
The supporting leg in front and symmetrical before and after the supporting leg at pedestal rear, the supporting leg positioned at pedestal left and the supporting leg positioned at pedestal right
It is symmetrical.
As a result of the above technical measures, the present invention at least has following advantageous effects：
1, caterpillar chassis in the prior art made into the chassis of supporting leg type, and each supporting leg include hinged disk,
Support arm, steering cylinder, lifting cylinder and wheel push support arm to drive respectively by steering cylinder and lifting cylinder
The up and down motion or side-to-side movement of wheel, to when engineering truck encounters narrow landform, be pushed by steering cylinder and be located at bottom
The left and right supporting leg of seat both sides inwardly moves so that wheelspan becomes smaller to pass through.And in level terrain, and can be wide by adjusting
Wheelspan increases the stability of vehicle operation, keeps operation safer.When encountering mountain terrain or barrier, by lifting oil
Cylinder push pedestal front and back supporting leg raise so that wheel act arrive the upper surface of barrier, facilitate it is feasible, securely and reliably.And in descending
When, and can be by the decline of front leg strut, so that front leg strut can first land so that complete machine can be moved down along slope, gentle
Ground.
2, add ground lug in front of front leg strut, and by the second lifting cylinder can independent control ground lug fortune up and down
It is dynamic, then pass through the rotation of rotating mechanism realization ground lug.It can be in the support for increasing vehicle and ground, to increase by ground lug
Add the avoidance ability and descending safety of engineering truck.Ground lug has W-shaped lug tooth, and the sharp journey of difference that lug tooth may include
The tooth head of degree, so as to adapt to soft forest floor, can also soil property rub larger muddy ground ground, even it is rugged not
The work on flat mountainous region ground.
3, multiple hinged places are integrated on hinged disk so that chassis, steering cylinder, lifting cylinder and support arm with hinge
It connects disk to be hinged so that entire motion transmission structure is compacter in mechanism, and when movement, more flexible, ensures to turn to
With being smoothed out for elevating movement.
4, increase in the lower section of pedestal and inhale ground pawl, and inhale ground pawl and independent can move up and down.When engineering truck pinpoints work
When, the suction pawl that suction ground pawl can adsorb ground under the driving of third lifting cylinder, and inhale ground pawl can carry out promptly moving with opening
Make, enhance the intensity for inhaling ground, substantially increases stability when engineering truck work.
5, the movement between four supporting legs can also can simultaneously be operated with independent operation.Specially four supporting legs can be with
Being carried out at the same time up and down motion, either side-to-side movement can also carry out up and down motion or side-to-side movement respectively, it is possible thereby to ensure
Engineering truck carries out operation in different landform, increases the flexibility of operation.
Description of the drawings
Fig. 1 is the general assembly drawing on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 2 is the explosive view on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 3 is the preceding hinged disk schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 4 is the rear hinged disk schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 5 is the front support arm schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 6 is the first rear support arm schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 7 is the second rear support arm schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 8 is the second front support arm schematic diagram on the deformable chassis of multiple degrees of freedom of the present invention.
Fig. 9 is the schematic diagram of the deformable chassis front leg strut lifting status of multiple degrees of freedom of the present invention.
The schematic diagram of deformable chassis of Figure 10 figures multiple degrees of freedom of the present invention or so supporting leg state close to each other.
Specific implementation mode
Further details of elaboration is done to the present invention below in conjunction with attached drawing.
Such as attached drawing 1 to the deformable chassis of a kind of multiple degrees of freedom of the invention shown in Figure 10, including pedestal 1 and control device,
Pedestal 1 extends outward multiple engaging lugs；Supporting leg includes hinged disk component, the first telescopic component, supporting arm assembly, vehicle wheel component
And second telescopic component, wherein hinged disk component are set in engaging lug, and it is hinged with engaging lug；First telescopic component is connected to
Between hinged disk component and pedestal, and it is hinged respectively with hinged disk component and pedestal；Supporting arm assembly is connected to hinged disk
Between component and vehicle wheel component, and it is hinged with hinged disk component and vehicle wheel component respectively；Second telescopic component is connected to
Between hinged disk component and supporting arm assembly, and it is hinged with hinged disk component and supporting arm assembly respectively；Vehicle wheel component includes
Multiple wheels 5 in chassis front and back position, the promotion that supporting arm assembly passes through the first telescopic component and the second telescopic component are set
Effect is so that multiple wheels 5 of vehicle wheel component individually or simultaneously carry out up and down motion or side-to-side movement.
In the present embodiment, supporting leg includes left front supporting leg, right anterior branch leg, left back supporting leg, right rear support leg, and each supporting leg packet
Hinged disk, support arm, the first extensible member, the second extensible member and wheel are included, and positioned at the left front supporting leg and right anterior branch in 1 front of pedestal
Leg is symmetrical structure, and it is symmetrical structure to be located at the left back supporting leg at 1 rear of pedestal and right rear support leg.And four branch
Movement between leg can also can simultaneously be operated with independent operation.Specially four supporting legs are realized simultaneously by control device
Carrying out up and down motion, either side-to-side movement can also carry out up and down motion or side-to-side movement respectively, it is possible thereby to ensure engineering
Vehicle carries out operation in different landform, increases the flexibility of operation.
As shown in Figures 1 and 2, after pedestal 1 is rectangle, and it is extended with preceding engaging lug 11 and is rearward extended with forwards
Engaging lug 12, and there is preceding engaging lug 11 vertical hinge hole, rear engaging lug 12 to have lateral hinge hole, the left and right sides point
It Ju You not accommodating cavity 13.
As shown in Figures 2 and 3, hinged disk component includes being arranged in the preceding hinged disk 21 in 1 front of pedestal and setting in pedestal 1
The rear hinged disk 22 at rear, preceding hinged disk 21 have the vertical hinge hole 211 through upper and lower side, through the transverse direction of interior lateral surface
Hinge hole 212, set on leading flank be laterally hinged with seat 213 and set on the vertical hinged seat 214 of lateral surface, preceding hinged disk 21 it is perpendicular
It is hinged by axis pin to the vertical hinge hole of hinge hole 211 and preceding engaging lug 11.
As shown in Figures 2 and 4, rear hinged disk 22 has the vertical hinge hole 221 through upper and lower side, runs through interior lateral surface
Be laterally hinged with hole 222 and be laterally hinged with seat 223 set on upper side, rear engaging lug 12 is laterally hinged with Kong Yuhou hinged disks 22
To be laterally hinged with hole 222 hinged by axis pin；First telescopic component includes front steering oil cylinder 31 and rear lifting cylinder 32, front steering
Oil cylinder 31 is arranged in accommodating cavity 13, and its cylinder barrel end and pedestal 1 are hinged, and tailpiece of the piston rod is vertical hinged with preceding hinged disk 21
Seat 214 is hinged；Lifting cylinder 32 is set to the top of pedestal 1 afterwards, and cylinder barrel end is hinged with pedestal 1, tailpiece of the piston rod and rear hinge
The seat 223 that is laterally hinged with for connecing disk 22 is hinged；Hinged disk 21 is around axis pin side-to-side movement, rear lifting cylinder before front steering oil cylinder 31 pushes
Hinged disk 22 moves up and down around axis pin after 32 promotions.
As shown in Figure 1, Figure 2 and shown in Fig. 5, supporting arm assembly includes being set to the front support arm 41 in 1 front of pedestal and being set to pedestal 1
The rear support arm at rear, the head end of front support arm 41 and the hole 212 that is laterally hinged with of preceding hinged disk 21 are hinged by axis pin,
End has the first hinge hole 411, the second hinge hole 412 and axle sleeve 413.
As shown in Figure 1, Figure 2, shown in Fig. 6 and Fig. 7, rear support arm includes the first rear support arm 421 and the second rear support arm 422,
The head end of first rear support arm 421 is hinged with the vertical hinge hole 221 of rear hinged disk 22 by axis pin, end and second
The head end of rear support arm 422 is hinged by vertically arranged axis pin；The end of second rear support arm 422 is equipped with axle sleeve
4221, vehicle wheel component includes tire 51, wheel hub 52 and wheel motor 53.The wheel motor 53 1 of wheel 5 in front of pedestal
End cap is set in the axle sleeve 413 of 41 end of front support arm, and the other end is set in wheel hub 52.Wheel 5 positioned at pedestal rear
53 one end of wheel motor is set in the axle sleeve 4221 of the end of the second rear support arm 422, and the other end is set in wheel hub 52.The
Two rear steering oil cylinders are connected between the hinged seat of the first rear support arm 421 and the hinged seat 4222 of the second rear support arm 422, the
Axis pin of two the second rear support arms of rear steering oil cylinder pushing 422 between the first rear support arm 421 and the second rear support arm 422 is left
Right movement.
Second telescopic component includes preceding lifting cylinder 33 and rear steering oil cylinder, the cylinder barrel end of preceding lifting cylinder 33 with it is preceding hinged
The seat 213 that is laterally hinged with of disk 21 is hinged by axis pin, and tailpiece of the piston rod and the first hinge hole of 41 end of front support arm pass through pin
Axis is hinged, and preceding lifting cylinder 33 pushes axis pin of the front support arm 41 around cylinder barrel end to move up and down；Rear steering oil cylinder is connected to
Between pedestal 1 and the first rear support arm 421, and it is respectively articulated with pedestal 1 and the first rear support arm 421, rear steering oil cylinder pushing
Axis pin side-to-side movement of first rear support arm 421 between rear hinged disk 22 and the first rear support arm 421.
As shown in Figure 1, Figure 2 and shown in Fig. 8, the second front support arm 6, the second hinge hole of head end and the end of front support arm 41
412 is hinged, and end has hinge hole and axle sleeve 62, and the cylinder barrel end of the second lifting cylinder 7 is articulated with the head of the second front support arm 6
End, tailpiece of the piston rod are articulated with the hinge hole of the end of the second front support arm 6.The cylinder barrel end of second lifting cylinder 7, which has, to be extended
Ear 71, extension ear 71 are set in the both sides of the first hinge hole 411 of the end of front support arm 41, and one, which ships and resell on another market, is interspersed in front support arm
The extension ear 71 of 41 the first hinge hole 411, the piston rod of preceding lifting cylinder 33 and the second lifting cylinder 7.
The front of second front support arm 6 is additionally provided with ground lug 8, and the ground lug 8 includes the W-shaped lug tooth for grabbing ground
81 and connecting shaft 82 at 81 rear of lug tooth is set, connecting shaft 82 is set in the axle sleeve 62 of the second front support arm 6.Thereby,
Add ground lug 8 in front of left front supporting leg and right anterior branch leg, and can independent control ground lug 8 by the second lifting cylinder 7
It moves up and down, it can be in the support for increasing vehicle and ground, to increase the avoidance ability and descending of engineering truck by ground lug 8
Safety.Ground lug 8 has W-shaped lug tooth 81, and the tooth head of different acuities that lug tooth 81 may include, so as to suitable
Answer soft forest floor, can also the soil property muddy ground ground, even rugged mountainous region ground that rub larger work.
As shown in Figure 1 and Figure 2, it inhales ground pawl to be arranged in the lower section of pedestal 1, including mounting base 91 and multiple is hinged on mounting base
Suction pawl 92 on 91, inhaling pawl 92 can open or firmly grasp with respect to mounting base 91, and third lifting cylinder 10 is connected to pedestal 1 and installation
Seat 91 simultaneously pushes the suction ground pawl 9 to move up and down with respect to pedestal 1.Thereby, increase in the lower section of pedestal 1 and inhale ground pawl, and inhale ground pawl
It independent can move up and down.When engineering truck pinpoints work, ground can be adsorbed under the driving of third lifting cylinder by inhaling ground pawl,
And the suction pawl 92 for inhaling ground pawl can carry out promptly and expansion action enhancing the intensity for inhaling ground, substantially increase engineering truck work
When stability.
As shown in figure 9, the schematic diagram of the deformable chassis front leg strut lifting status of multiple degrees of freedom of the present invention.When engineering truck encounters
When mountain terrain or barrier, the front leg strut of pedestal 1 is pushed to raise by preceding lifting cylinder 33 so that wheel 5, which is lifted, arrives obstacle
The upper surface of object then controls rear support leg by rear lifting cylinder again and raising, to complete to go up a slope or avoidance, facilitate it is feasible,
Securely and reliably.Similarly, in engineering truck descending, and the decline of the front leg strut of pedestal 1 can be pushed by preceding lifting cylinder 33, with
Front leg strut is first landed, the lifting of rear support leg is then controlled by rear lifting cylinder so that complete machine can be moved down along slope,
Gently land.In addition, when engineering truck encounters mountain terrain or barrier, since ground lug 8 can pass through the second lifting oil
The promotion of cylinder 7 and opposite front leg strut part independently moves up and down, therefore vehicle and ground can be increased by ground lug 8
Support, to increase the avoidance ability and descending safety of engineering truck.
Shown in Figure 10 figures, the schematic diagram of deformable chassis of multiple degrees of freedom of the present invention or so supporting leg state close to each other.Work as work
When journey vehicle encounters narrow landform, the left and right supporting leg positioned at 1 both sides of pedestal is pushed inwardly to move by front and back steering cylinder so that wheel
Away from becoming smaller to pass through.Similarly, when engineering truck walking in level terrain, and vehicle can be increased by adjusting wide wheelspan
The stability of operation keeps operation safer.In addition, due in rear support leg, rear steering oil cylinder can push the first rear support arm 421
Axis pin side-to-side movement between rear hinged disk 22 and the first rear support arm 421, and the second rear steering oil cylinder pushing can also push away
Dynamic axis pin side-to-side movement of second rear support arm 422 between the first rear support arm 421 and the second rear support arm 422.Therefore, after
Supporting leg has dual turning function relative to front leg strut, can further widen or reduce the wheelspan of rear support leg.
In other embodiments, left front supporting leg, right anterior branch leg, left back supporting leg, right rear support leg can also be full symmetric
Structure, that is to say, that each supporting leg include the structure of hinged disk, support arm, the first extensible member, the second extensible member and wheel all
It is identical.
In other embodiments, ground lug can also add rotating mechanism, and the rotation of ground lug is realized by rotating mechanism
With control ground lug grab ground angle, to improve the stability of the avoidance ability and climb and fall of engineering truck constantly.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (8)
1. a kind of deformable chassis of multiple degrees of freedom, including pedestal and control device, it is characterised in that：The pedestal extends outward
Multiple engaging lugs；Supporting leg includes hinged disk component, the first telescopic component, supporting arm assembly, vehicle wheel component and the second telescopic component,
Wherein hinged disk component is set in engaging lug, and hinged with the engaging lug；First telescopic component is connected to hinged disk component
Between pedestal, and it is hinged respectively with hinged disk component and pedestal；Supporting arm assembly is connected to hinged disk component and wheel
Between component, and it is hinged with hinged disk component and vehicle wheel component respectively；Second telescopic component is connected to hinged disk component
Between supporting arm assembly, and it is hinged with hinged disk component and supporting arm assembly respectively；The vehicle wheel component includes that setting exists
Multiple wheels of chassis front and back position, the impetus that the supporting arm assembly passes through the first telescopic component and the second telescopic component
So that multiple wheels of vehicle wheel component individually or simultaneously carry out up and down motion or side-to-side movement；The pedestal be rectangle, and its to
Front is extended with preceding engaging lug and is rearward extended with rear engaging lug, and the preceding engaging lug has vertical hinge hole, described
There is engaging lug lateral hinge hole, the left and right sides to be respectively provided with accommodating cavity afterwards；The hinged disk component includes being arranged the bottom of at
The preceding hinged disk in seat front and rear hinged disk at pedestal rear is set, the preceding hinged disk has through the vertical of upper and lower side
Hinge hole, being laterally hinged with hole, be laterally hinged with seat and set on the vertical hinged of lateral surface set on leading flank through interior lateral surface
Seat, the vertical hinge hole of the preceding hinged disk and the vertical hinge hole of the preceding engaging lug are hinged by axis pin；It is hinged after described
Disk has the vertical hinge hole through upper and lower side, is laterally hinged with hole and being laterally hinged with set on upper side through interior lateral surface
The hole that is laterally hinged with for being laterally hinged with Kong Yuhou hinged disks of seat, the rear engaging lug is hinged by axis pin；Described first flexible group
Part includes front steering oil cylinder and rear lifting cylinder, and front steering oil cylinder is arranged in accommodating cavity, and its cylinder barrel end and pedestal are hinged,
The vertical hinged seat of tailpiece of the piston rod and preceding hinged disk is hinged；Lifting cylinder is set to the top of pedestal after described, cylinder barrel end with
Pedestal is hinged, and the seat that is laterally hinged with of tailpiece of the piston rod and rear hinged disk is hinged；Hinged disk is around pin before the front steering oil cylinder pushing
Axis side-to-side movement, hinged disk moves up and down around axis pin after the rear lifting cylinder pushes；
The supporting leg includes that left front supporting leg, right anterior branch leg, left back supporting leg, right rear support leg, and each supporting leg include hinged disk, branch
Brace, the first extensible member, the second extensible member and wheel, the left front supporting leg, right anterior branch leg, left back supporting leg, right rear support leg have been
Holosymmetric structure.
2. the deformable chassis of multiple degrees of freedom according to claim 1, which is characterized in that the supporting arm assembly includes being set to
Front support arm in front of pedestal and the rear support arm set on pedestal rear, the transverse direction of the head end and preceding hinged disk of the front support arm
Hinge hole is hinged by axis pin, and end has the first hinge hole, the second hinge hole and axle sleeve；The rear support arm includes
First rear support arm and the second rear support arm, the head end of first rear support arm pass through pin with the vertical hinge hole of rear hinged disk
Axis is hinged, and end and the head end of the second rear support arm are hinged by vertically arranged axis pin；It is propped up after described second
The end of brace is equipped with axle sleeve, and the vehicle wheel component includes tire, wheel hub and wheel motor.
3. the deformable chassis of multiple degrees of freedom according to claim 2, which is characterized in that before second telescopic component includes
Lifting cylinder and rear steering oil cylinder, the cylinder barrel end of the preceding lifting cylinder are cut with scissors with the seat that is laterally hinged with of preceding hinged disk by axis pin
It connects, tailpiece of the piston rod and the first hinge hole of front support arm end are hinged by axis pin, and the preceding lifting cylinder pushes front support
Axis pin of the arm around cylinder barrel end moves up and down；The rear steering oil cylinder is connected between pedestal and the first rear support arm, and with
Pedestal is respectively articulated with the first rear support arm, and the first rear support arm of rear steering oil cylinder pushing is around rear hinged disk and the first rear support arm
Between axis pin side-to-side movement.
4. the deformable chassis of multiple degrees of freedom according to claim 2, which is characterized in that further comprise the second rear steering oil
Cylinder is connected between the hinged seat of the first rear support arm and the hinged seat of the second rear support arm, the second rear steering oil cylinder pushing
Axis pin side-to-side movement of second rear support arm between the first rear support arm and the second rear support arm.
5. the deformable chassis of multiple degrees of freedom according to claim 3, which is characterized in that further comprise the second front support
Arm, head end and the second hinge hole of the end of front support arm are hinged, and end has hinge hole and axle sleeve, the second lifting cylinder
Cylinder barrel end be articulated with the head end of the second front support arm, tailpiece of the piston rod is articulated with being hinged for the end of the second front support arm
Hole.
6. the deformable chassis of multiple degrees of freedom according to claim 5, which is characterized in that the cylinder barrel of second lifting cylinder
End, which has, extends ear, and the extension ear muff is located at the both sides of the first hinge hole of the end of front support arm, and one, which ships and resell on another market, is interspersed in institute
State the extension ear of the first hinge hole of front support arm, the piston rod of preceding lifting cylinder and the second lifting cylinder.
7. the deformable chassis of multiple degrees of freedom according to claim 6, which is characterized in that further comprise ground lug, it is described
Ground lug includes W-shaped lug tooth for grabbing ground and is arranged connecting shaft at lug tooth rear, and the connecting bushing is located at the
In the axle sleeve of two front support arms.
8. the deformable chassis of multiple degrees of freedom according to claim 5, which is characterized in that further comprise that inhaling ground pawl setting exists
The lower section of pedestal, suction ground pawl include mounting base and multiple suction pawls being hinged in mounting base, and the suction pawl can opposite installation
Seat opens or promptly, and third lifting cylinder is connected to pedestal and mounting base and pushes the opposite pedestal of the suctions ground pawl or more fortune
It is dynamic.
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| CN105644648B true CN105644648B (en) | 2018-07-31 |
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| CN106247081B (en) * | 2016-09-08 | 2019-08-13 | 肇庆市小凡人科技有限公司 | A kind of pipe robot |
| CN106647440A (en) * | 2016-10-20 | 2017-05-10 | 江苏大学镇江流体工程装备技术研究院 | Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof |
| CN107150668A (en) * | 2017-05-17 | 2017-09-12 | 湖南金松汽车有限公司 | Band rear support leg self-discharging semitrailer |
| CN107414785A (en) * | 2017-09-14 | 2017-12-01 | 智造未来（北京）机器人系统技术有限公司 | Chassis structure and the robot for including it |
| CN107792218B (en) * | 2017-11-30 | 2024-05-28 | 三峡大学 | Engineering vehicle running gear capable of crossing obstacle |
| CN114208430B (en) * | 2021-11-19 | 2023-04-28 | 太原科技大学 | Agricultural all-terrain walking type deformable chassis device and ascending and descending method |
| CN114407052A (en) * | 2022-03-15 | 2022-04-29 | 重庆大学 | Strong adaptability both arms heavy load operation robot |
| CN114775720A (en) * | 2022-04-24 | 2022-07-22 | 江苏徐工工程机械研究院有限公司 | Emergency rescue vehicle and installation method thereof |
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