CN114771685B - Additional leg type walking device suitable for all-wheel drive vehicle and control method - Google Patents
Additional leg type walking device suitable for all-wheel drive vehicle and control method Download PDFInfo
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- CN114771685B CN114771685B CN202210464401.7A CN202210464401A CN114771685B CN 114771685 B CN114771685 B CN 114771685B CN 202210464401 A CN202210464401 A CN 202210464401A CN 114771685 B CN114771685 B CN 114771685B
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- forty
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 117
- 208000032369 Primary transmission Diseases 0.000 claims abstract description 25
- 208000032370 Secondary transmission Diseases 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 93
- 210000000689 upper leg Anatomy 0.000 claims description 48
- 210000002414 leg Anatomy 0.000 claims description 47
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 230000005021 gait Effects 0.000 abstract description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses an additional leg type walking device suitable for a full-drive vehicle and a control method. The full-drive vehicle wheels provide power for the device, the power is transmitted through a primary transmission device, a secondary transmission device and a tertiary transmission device in the walking device, the clutch is engaged or separated through control signals, and all parts of the walking module are controlled to rotate or lock in different directions, so that the walking gait of the leg-type walking device is controlled.
Description
Technical Field
The invention relates to the technical field of travelling mechanisms, in particular to an additional leg type travelling device suitable for a full-drive vehicle.
Background
The leg walking device has good ground adaptability and excellent operability, and is often applied to a special-purpose carrying platform. The existing leg type walking device is mainly driven by electricity and hydraulic pressure, and the energy of the existing leg type walking device is derived from a power device carried by the carrying platform. Because of the limitation of the power output and the driving mode of the carrying platform, the design redundancy of the power system and the control system of the carrying platform is larger, and the flexibility, the practicability and the application range of the leg-type walking device are restricted. Therefore, innovative designs of a driving mode, a transmission mechanism and a walking control operation method of the leg-type walking device become a research hot spot in the technical field of the walking mechanism.
Disclosure of Invention
In order to solve the problems, the invention provides an additional leg type walking device and a control method suitable for a full-drive vehicle, wherein the walking device is connected with a longitudinal connecting module and a transverse connecting module through a walking module and is driven to perform leg type walking by providing power for wheels of the full-drive vehicle, so that the functions of bearing and walking of the vehicle are realized.
The invention provides an additional leg type walking device suitable for a full-drive vehicle, which comprises a walking module, a longitudinal connecting module and a transverse connecting module;
the number of the traveling modules is equal to the number of the wheels of the vehicle borne by the traveling device, and a plurality of groups of traveling modules form a bearing platform through longitudinal connecting modules and transverse connecting modules;
the walking module comprises a support frame, a roller unit, a rubber elastic coupling, a primary transmission device, a leg unit and a swinging rotating shaft;
two roller units are arranged on the support frame, and the wheels are supported between the two roller units;
one end of the rubber elastic coupling is connected with an input shaft of the primary transmission device, and the other end of the rubber elastic coupling is connected with the center of the wheel;
an output shaft of the primary transmission device is connected with the leg unit;
the leg units are hinged with the supporting frame through the swing rotating shaft;
the leg unit comprises a base section, a thigh rod, a shank rod, a secondary transmission device and a tertiary transmission device.
Preferably:
the roller unit comprises a roller, a roller shaft, a ratchet wheel, a pawl and a connecting key;
the roller is arranged on the roller shaft and rotates around the roller shaft;
the ratchet wheel is circumferentially fixed with the roller through a connecting key;
the pawl is installed on the support frame, the pawl contacts with the ratchet, and according to the direction of rotation, the forward unlocking and the reverse locking are achieved.
Preferably:
the base section is hinged with the support frame through a swing rotating shaft;
one end of the thigh rod is hinged with the base joint, and the other end of the thigh rod is hinged with the shank rod;
the secondary transmission device is arranged on the base joint and drives the thigh rod;
the three-stage transmission device is arranged on the thigh rod and drives the shank rod.
Preferably:
the primary transmission device is provided with an input shaft I, an intermediate shaft II, an output shaft I, an output shaft II and a transmission shaft I;
the first input shaft is provided with a first gear and a second gear;
the intermediate shaft I is provided with a locking device III, a gear IV, a gear V and a gear VI, and is also provided with a clutch I and a clutch II, wherein the clutch I is arranged between the locking device III and the gear IV, and the clutch II is arranged between the gear V and the gear VI;
a gear seven and a gear eight are arranged on the intermediate shaft II;
the output shaft I is provided with a gear nine and a bevel gear thirteen;
the second output shaft is a hollow shaft, is coaxial with the first output shaft and is sleeved on the first output shaft;
a gear ten, a gear eleven and a bevel gear twelve are arranged on the output shaft II;
the transmission shaft VI is arranged on the base section, and the transmission shaft VI is provided with a bevel gear fourteen, a bevel gear fifteen and a gear sixteen;
the gear I is meshed with the gear nine, the gear II is meshed with the gear four, the gear five is meshed with the gear ten, the gear six is meshed with the gear seven, the gear eight is meshed with the gear eleven, the bevel gear fourteen is meshed with the bevel gear thirteenth, the bevel gear fifteen is meshed with the bevel gear twelve, and the bevel gear fifteen is fixed on the base section.
Preferably:
the secondary transmission device is provided with: the transmission device comprises an input shaft II, an intermediate shaft III, an intermediate shaft IV, an intermediate shaft V, an intermediate shaft VI, an output shaft III, an output shaft IV, a transmission shaft II and a transmission shaft III;
a seventeen gear, a twenty-one gear and a twenty-two gear are arranged on the second input shaft;
a gear eighteen and a bevel gear nineteen are arranged on the intermediate shaft three;
the intermediate shaft IV is provided with twenty-three gears, twenty-four gears and twenty-five gears of a bevel gear;
the intermediate shaft five is provided with a locking device twenty-six, a gear twenty-seven, a gear twenty-eight and a gear twenty-nine, and is also provided with a clutch three and a clutch four, wherein the clutch three is arranged between the locking device twenty-six and the gear twenty-seven, and the clutch four is arranged between the gear twenty-eight and the gear twenty-nine;
the intermediate shaft six is fixed on the transmission device box body, and a gear thirty-one are arranged on the shaft;
the output shaft III is provided with a bevel gear thirty-two and a synchronous pulley thirty-three, the synchronous pulley thirty-three is connected with the synchronous pulley thirty-four through a synchronous belt I, the synchronous pulley thirty-four is arranged on a transmission shaft II, and the transmission shaft II is connected with a thigh rod through a key;
the output shaft IV is provided with a bevel gear twenty and a synchronous pulley thirty-five, the synchronous pulley thirty-five is connected with the synchronous pulley thirty-six through a synchronous belt II, and the synchronous pulley thirty-six is arranged on a transmission shaft III;
the transmission shaft III is arranged in the thigh rod shaft hole and freely rotates in the thigh rod shaft hole, and a synchronous belt wheel thirty-seven is arranged on the transmission shaft III;
the thigh rod is hinged with the base section through a transmission shaft II and a transmission shaft III;
the seventeen gears are meshed with the sixteenth gears, the eighteen gears are meshed with the twenty-first gears, the nineteenth gears are meshed with the twenty-first gears, the twenty-second gears are meshed with the twenty-seventh gears, the twenty-third gears are meshed with the twenty-eighth gears, the twenty-fourth gears are meshed with the thirty-first gears, the twenty-fifth gears are meshed with the thirty-second gears, and the twenty-ninth gears are meshed with the thirty-second gears.
Preferably:
the three-stage transmission device is provided with: an input shaft III, an intermediate shaft seven, an output shaft five and a transmission shaft IV;
the input shaft III is provided with a synchronous pulley thirty-eight, a gear thirty-nine and a gear forty;
gears forty-one and gears forty-two are arranged on the intermediate shaft seven;
the output shaft is provided with a gear forty-three, a gear forty-four, a locking device forty-five and a synchronous pulley forty-sixteen, and is simultaneously provided with a clutch five and a clutch six, wherein the clutch five is arranged between the gear forty-three and the gear forty-four, and the clutch six is arranged between the gear forty-four and the locking device forty-five;
thirty-eight synchronous pulleys are connected with thirty-seven synchronous pulleys through a synchronous belt III, gears are meshed with a gear forty-one, gears are meshed with a gear forty-four, and gears are meshed with a gear forty-three;
the transmission shaft IV is provided with a synchronous pulley forty-seven which is connected with the synchronous pulley forty-six through a synchronous belt IV;
the transmission shaft IV is connected with a shank rod, the shank rod rotates along with the transmission shaft IV, and the shank rod is hinged with a thigh rod through the transmission shaft IV.
The invention also provides a control method of the additional leg type walking device suitable for the full-drive vehicle, which is characterized in that:
(1) The first clutch is controlled to be engaged with the fourth gear, and the second clutch is controlled to be engaged with the fifth gear, so that the base joint rotates forwards;
the first clutch is controlled to be engaged with the fourth gear, and the second clutch is controlled to be engaged with the sixth gear, so that the base joint rotates backwards;
the first control clutch is engaged with the locking device, and the second control clutch is engaged with the gear six, so that the base joint is locked.
(2) Controlling the third clutch to be engaged with the twenty-seventh gear, and controlling the fourth clutch to be engaged with the twenty-eighth gear so as to enable the thigh rod to rotate downwards;
controlling the clutch III to be engaged with the gear twenty-seventh, and the clutch IV to be engaged with the gear twenty-ninth, so that the thigh rod rotates upwards;
and controlling the clutch III to be engaged with the locking device twenty-six, and controlling the clutch IV to be engaged with the gear twenty-nine so as to lock the thigh rod.
(3) Controlling the fifth clutch to be engaged with the forty-fourth gear so as to enable the shank to rotate inwards;
controlling the fifth clutch to be engaged with the forty-third gear so as to enable the shank to rotate outwards;
controlling the fifth clutch to be disconnected from the forty-third gear and the forty-fourth gear, and controlling the sixth clutch to be engaged with the locking device forty-fifth to lock the shank.
Compared with the prior art, the invention has the beneficial effects that:
1. the additional leg type walking device suitable for the full-drive vehicle provided by the invention takes the rotation of the wheels of the full-drive vehicle driving on the leg type walking device as a power source to provide driving force for the leg type walking device, and can be matched with the full-drive vehicle with different wheel diameters by adjusting the positions of the supporting rollers.
2. The additional leg type walking device suitable for the all-wheel drive vehicle is simple in walking control operation, and can control the walking gait of the leg type walking device by controlling the on-off of the power transmission of the transmission system; the walking speed of the leg-type walking device is controlled by controlling the opening degree of the accelerator of the full-drive vehicle.
3. The additional leg type walking device suitable for the full-drive vehicle provided by the invention adopts a modularized design, and can be transversely and longitudinally expanded to adapt to the full-drive vehicles with different outline sizes and different wheel numbers.
4. The invention has simple structure, convenient and flexible use and can be transported on the vehicle after the modules of the leg type walking device are disassembled.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic view of the overall structure shown in accordance with an embodiment of the present invention;
fig. 2 is a schematic view of a walking module according to an embodiment of the present invention;
fig. 3 is a schematic view of a support frame structure in a walking module according to an embodiment of the present invention;
fig. 4-1 is a schematic view showing a structure of a roller unit in a traveling module according to an embodiment of the present invention;
FIG. 4-2 is a cross-sectional view A-A of FIG. 4-1;
FIG. 5-1 is a schematic view showing the structure of a leg unit in a walking module according to an embodiment of the present invention;
FIG. 5-2 is a cross-sectional view B-B of FIG. 5-1;
FIG. 5-3 is a cross-sectional view of C-C of FIG. 5-1;
FIG. 5-4 is a D-D sectional view of FIG. 5-1;
FIG. 6 is a schematic diagram of a transmission according to an embodiment of the present invention;
fig. 7 is a schematic view of a longitudinal connection module structure according to an embodiment of the present invention;
FIG. 8 is a schematic view of a lateral expansion module according to an embodiment of the present invention;
fig. 9 is a schematic view showing a running gear structure suitable for a 4×4 vehicle according to an embodiment of the present invention;
fig. 10 is a schematic view showing an initial posture and a standing posture of a leg-type walker according to an embodiment of the present invention.
In the figure:
1-a walking module; 2-a longitudinal connection module; 3-a transverse connection module; 4-connecting pins; 5-wheels; and 6-fixing bolts.
1.1-supporting frames; 1.2-a roller unit; 1.3-primary transmission; 1.4-rubber elastic coupling; 1.5-leg units; 1.6-swinging rotating shaft.
1.1.1-roller shaft holes; 1.1.2-pawl fixing holes; 1.1.3-base knot fixing holes; 1.1.4-first-stage transmission fixing holes; 1.1.5-transverse connectors; 1.1.6-transverse fixation pin holes; 1.1.7-longitudinal fixation pin holes; 1.1.8-auxiliary ramp.
1.2.1-roller shafts; 1.2.2-idler wheels; 1.2.3-ratchet; 1.2.4-linkages; 1.2.5-pawl.
1.5.1-yl section; 1.5.2-two-stage transmission; 1.5.3-thigh bars; 1.5.4 three-stage transmission device; 1.5.5-shank; 1.5.6-side covers.
I-input shaft I; II, an intermediate shaft I; III, an intermediate shaft II; IV, an output shaft I; v-output shaft II.
VII-an input shaft II; VIII-intermediate shaft III; IX-intermediate shaft IV; x-intermediate shaft five; XI-intermediate shaft six; XII-an output shaft III; and XIII-output shaft IV.
XVI-input shaft three; XVII-intermediate shaft seven; x VIII-output shaft five.
VI, a first transmission shaft; IV, a transmission shaft II; x V-drive shaft III; x IX-drive shaft IV.
2.1-longitudinal connecting holes; 2.2-longitudinal connecting pin holes; 3.1-transverse connecting holes; 3.2-transverse connecting pin holes.
G1-gear I; g2-gear II; g3-a locking device III; g4-gear four; g5-gear five; g6-gear six; g7-gear seven; g8—gear eight; g9-gear nine; g10-gear ten; g11-gear eleven; g12-twelve bevel gears; g13-bevel gear thirteen; g14-bevel gear fourteen; g15-fifteen bevel gears; g16-gear sixteen; g17-gear seventeen; g18-gear eighteen; g19-nineteen bevel gears; g20-twenty bevel gears; g21-gear twenty-one; g22—gear twenty-two; g23-gear twenty-three; g24—gear twenty-four; g25-twenty-five bevel gears; g26—twenty-six locking means; g27-twenty-seven gears; g28-gear twenty-eight; g29—gear twenty-nine; g30—gear thirty; g31-gear thirty-one; g32-bevel gear thirty-two; g33-a synchronous pulley thirty-three; g34-synchronous pulley thirty-four; g35—thirty-five synchronous pulleys; g36-thirty-six synchronous pulleys; g37-thirty-seven synchronous pulleys; g38-thirty-eight synchronous pulleys; g39-gear thirty-nine; g40-gear forty; g41-gear forty-one; g42-gears forty-two; g43-gear forty-three; g44—gears forty-four; g45-forty-five locking devices; g46-forty-six synchronous pulleys; g47-synchronous pulley forty-seventeen.
B1-synchronous belt I; b2-synchronous belt II; b3-synchronous belt III; and B4-synchronous belt IV.
C1-clutch one; c2-clutch II; c3-clutch three; c4-clutch four; c5-clutch five; c6-clutch six.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
The invention provides an additional leg type walking device suitable for a full-drive vehicle, which is shown in fig. 1 and comprises a walking module 1, a longitudinal connecting module 2, a transverse connecting module 3, a connecting pin 4, wheels 5 and fixing bolts 6.
The walking modules 1 are connected with the longitudinal expansion modules 2 and the transverse expansion modules 3 through connecting pins 4 to form a bearing platform, and the number of the walking modules 1 is equal to that of the wheels 5; the wheels 5 are wheels of a bearing full-drive vehicle, the wheels 5 are connected with the walking module 1 through fixing bolts 6, the wheels 5 of the full-drive vehicle provide power for the walking module 1, and the walking gait of the leg-type walking device is controlled by controlling the connection or disconnection of power transmission of a transmission system, so that the smooth walking of the bearing vehicle is ensured. By connecting a plurality of groups of walking modules 1, the vehicle can adapt to various vehicle types such as 4 multiplied by 4, 6 multiplied by 6 and the like.
Walking module 1
As shown in fig. 2, the walking module 1 comprises a supporting frame 1.1, a roller unit 1.2, a primary transmission device 1.3, a rubber elastic coupling 1.4, a leg unit 1.5 and a swinging rotating shaft 1.6.
Two roller units 1.2 are arranged on the support frame 1.1, and wheels 5 of the full-drive vehicle are supported between the two roller units 1.2.
The primary transmission device 1.3 is arranged on the support frame 1.1.
One end of the rubber elastic coupling 1.4 is connected to the input shaft of the primary transmission device 1.3, and the other end is connected with the center of the wheel 5 through a fixing bolt 6. The rubber elastic coupling 1.4 has the functions of adapting to the condition that the wheel is not coaxial with the input shaft of the primary transmission device and resisting vibration, and can ensure the flexibility of power transmission when the wheel 5 is not coaxial with the input shaft of the primary transmission device 1.3.
The leg unit 1.5 is hinged with the support frame 1.1 through a swinging rotating shaft 1.6.
Support frame 1.1
As shown in fig. 3, the supporting frame 1.1 is provided with a roller shaft hole 1.1.1, a pawl fixing hole 1.1.2, a base section fixing hole 1.1.3, a primary transmission device fixing hole 1.1.4, a transverse connector 1.1.5, a transverse fixing pin hole 1.1.6, a longitudinal fixing pin hole 1.1.7 and an auxiliary ramp 1.1.8.
Roller unit 1.2
As shown in fig. 4-1 and 4-2, the roller unit 1.2 includes a roller shaft 1.2.1, a roller 1.2.2, a ratchet 1.2.3, a connecting key 1.2.4 and a pawl 1.2.5.
The roller shaft hole 1.1.1 is used for installing a roller shaft 1.2.1.
The pawl fixing hole 1.1.2 is used for installing the pawl 1.2.5.
The base section fixing holes 1.1.3 are used for installing swing rotating shafts 1.6, and the leg units 1.5 and the supporting frames 1.1 are connected through the swing rotating shafts 1.6.
The primary transmission fixing holes 1.1.4 are used for fixing the primary transmission 1.3.
The transverse connection 1.1.5 is connected to a transverse connection module 3.
The transverse fixing pin holes 1.1.6 and the longitudinal fixing pin holes 1.1.7 are used for mounting the connecting pin 4.
The auxiliary ramp 1.1.8 is used for assisting a vehicle to run on an upper leg type walking device.
The support frame 1.1 is provided with a plurality of groups of roller shaft holes 1.1.1 and pawl fixing holes 1.1.2, so that the position of the roller shaft 1.2.1, namely the installation position of the roller unit 1.2, namely the distance between the two roller units 1.2, can be adjusted to adapt to the wheels with different sizes.
As shown in fig. 4-1, the roller shaft 1.2.1 is installed in the roller shaft hole 1.1.1 of the support frame 1.1 and is fixed on the support frame 1.1 through bolts.
The roller 1.2.2 is arranged on the roller shaft 1.2.1 and can rotate around the roller shaft 1.2.1. The roller is designed into a spindle shape, and the position of the wheel is limited, so that the wheel rolls on the roller in situ.
The ratchet wheel 1.2.3 is fixed in the circumferential direction through the connecting key 1.2.4 and the roller wheel 1.2.2.
The pawl 1.2.5 is arranged on the pawl fixing hole 1.1.2 of the supporting frame 1.1, the pawl 1.2.5 clamps the ratchet wheel 1.2.3 and is reversely locked, so that the ratchet wheel 1.2.3 can only move unidirectionally, and the roller 1.2.2 can only rotate unidirectionally as the ratchet wheel 1.2.3 because the roller 1.2.2 and the ratchet wheel 1.2.3 are circumferentially fixed.
When the wheel 5 rotates in the forward direction, the wheel 5 drives the rollers 1.2.2 of the two roller units 1.2 to rotate, the rotation direction of the rollers 1.2.2 is opposite to that of the wheel 5, and the wheel 5 rotates in situ between the two rollers 1.2.2.
When the wheel 5 rotates reversely, the coaxial roller 1.2.2 cannot rotate due to the limitation of the pawl 1.2.5, so that the wheel 5 cannot rotate in situ, and the vehicle can only drive out of the travelling device.
Primary drive 1.3
As shown in fig. 2 and 6, the primary transmission 1.3 is provided with: input shaft I, jackshaft II III, output shaft IV, output shaft V, transmission shaft VI.
The first input shaft I is provided with a first gear G1 and a second gear G2.
The intermediate shaft I II is provided with a locking device III G3, a gear IV G4, a gear V G5 and a gear V G6, and is also provided with a clutch I C1 and a clutch II C2, wherein the clutch I C1 is arranged between the locking device III G3 and the gear V G4, and the clutch II C2 is arranged between the gear V G5 and the gear V G6. The locking device in the invention refers to a stop block fixed on the transmission device box body, and is similar to a fixed gear.
And a gear seven G7 and a gear eight G8 are arranged on the intermediate shaft II III.
And the output shaft IV is provided with a gear nine G9 and a bevel gear thirteen G13.
The output shaft II V is a hollow shaft, is coaxial with the output shaft IV and is sleeved on the output shaft IV.
The output shaft II V is provided with a gear ten G10, a gear eleven G11 and a bevel gear twelve G12.
The transmission shaft VI is arranged on the base section and is provided with a bevel gear fourteen G14, a bevel gear fifteen G15 and a gear sixteen G16.
Gear one G1 is meshed with gear nine G9, gear two G2 is meshed with gear four G4, gear five G5 is meshed with gear ten G10, gear six G6 is meshed with gear seven G7, and gear eight G8 is meshed with gear eleven G11.
The bevel gear fourteen G14 is meshed with the bevel gear thirteenth G13, the bevel gear fifteen G15 is meshed with the bevel gear twelve G12, and the bevel gear fifteen G15 is fixed on the base joint 1.5.1.
Leg unit 1.5
As shown in fig. 5-1 to 5-4, the leg unit 1.5 includes a base section 1.5.1, a secondary transmission 1.5.2, a thigh bar 1.5.3, a tertiary transmission 1.5.4, a shank bar 1.5.5, and a side cover 1.5.6.
The base section 1.5.1 is hinged with the support frame 1.1 through a swinging rotating shaft 1.6.
The secondary transmission device 1.5.2 is fixed on the base joint 1.5.1 and drives the thigh rod 1.5.3.
The thigh bar 1.5.3 is articulated with the base section 1.5.1.
The three-stage transmission device 1.5.4 is fixed on the thigh rod 1.5.3 and drives the shank rod 1.5.5.
The shank bar 1.5.5 is hinged with the thigh bar 1.5.3.
The side cover 1.5.6 is fixed to the base section 1.5.1 by bolts.
Two-stage transmission 1.5.2
As shown in fig. 6, the two-stage transmission 1.5.2 is provided with: input shaft II VII, intermediate shaft III, intermediate shaft IV, intermediate shaft five X, intermediate shaft six XI, output shaft III, output shaft IV, transmission shaft II IV and transmission shaft III XV. The input shaft twenty-first is provided with a seventeen G17 gear, a twenty-first G21 gear and a twenty-first G22 gear.
The intermediate shaft III is provided with a gear eighteen G18 and a bevel gear nineteen G19.
The intermediate shaft IV is provided with a gear twenty-three G23, a gear twenty-four G24 and a bevel gear twenty-five G25.
The intermediate shaft fifty X is provided with a locking device twenty-six G26, a gear twenty-seven G27, a gear twenty-eight G28 and a gear twenty-nine G29, and is simultaneously provided with a clutch tri-C3 and a clutch tetra-C4, wherein the clutch tri-C3 is arranged between the locking device twenty-six G26 and the gear twenty-seven G27, and the clutch tetra-C4 is arranged between the gear twenty-eight G28 and the gear twenty-nine G29.
The intermediate shaft hexaXI is fixed on the box body, and a gear thirty G30 and a gear thirty G31 are arranged on the shaft.
And the output shaft trisI is provided with a bevel gear thirty-two G32 and a synchronous pulley thirty-three G33. The synchronous pulley thirty-three G33 is connected with the synchronous pulley thirty-four G34 through a synchronous belt one B1, the synchronous pulley thirty-four G34 is arranged on a transmission shaft two XIV, and the transmission shaft two XIV is connected with the thigh rod 1.5.3 through a key.
And the output shaft IV III is provided with a bevel gear twenty G20 and a synchronous pulley thirty-five G35. The thirty-five G35 of the synchronous pulley is connected with the thirty-six G36 of the synchronous pulley through the synchronous belt B2. The thirty-six G36 synchronous pulley is arranged on a transmission shaft three XV, the transmission shaft three XV is arranged in a shaft hole of the thigh rod 1.5.3, is free to circumferentially rotate in the shaft hole of the thigh rod 1.5.3 along with the thigh rod 1.5.3, and the transmission shaft three XV is also provided with a thirty-seven G37 synchronous pulley.
The thigh rod 1.5.3 is hinged with the base section through a transmission shaft two XIV and a transmission shaft three XV.
The gear seventeen G17 is meshed with the gear sixteen G16, the gear eighteen G18 is meshed with the gear twenty-one G21, the bevel gear nineteen G19 is meshed with the bevel gear twenty-one G20, the gear twenty-two G22 is meshed with the gear twenty-seven 27, the gear twenty-three G23 is meshed with the gear twenty-two eight G28, the gear twenty-four G24 is meshed with the gear thirty-one G31, the bevel gear twenty-five G25 is meshed with the bevel gear thirty-two G32, and the gear twenty-three G29 is meshed with the gear thirty-two G30.
Three-stage transmission 1.5.4
As shown in fig. 6, the three-stage transmission 1.5.4 is provided with: three X VI of input shaft, seven X VII of intermediate shaft, five X VIII of output shaft, four X IX of transmission shaft.
The input shaft three X VI is provided with a synchronous pulley thirty-eight G38, a gear thirty-nine G39 and a gear forty G40.
The intermediate shaft seven XVII is provided with a gear forty-one G41 and a gear forty-two G42.
The output shaft penta-VIII is provided with a gear forty-three G43, a gear forty-four G44, a locking device forty-five G45 and a synchronous pulley forty-sixteen G46, a clutch penta-C5 and a clutch hexa-C6 are simultaneously arranged, the clutch penta-C5 is arranged between the gear forty-three G43 and the gear forty-four G44, and the clutch hexa-C6 is arranged between the gear forty-four G44 and the locking device forty-five G45.
The thirty-eighth G38 of the synchronous pulley on the input shaft three X VI is connected with the thirty-seventh G37 of the synchronous pulley through the synchronous belt three B3, the thirty-ninth G39 of the gear is meshed with the forty-eleventh G41 of the gear, the forty-fourth G40 of the gear is meshed with the forty-fourth G44 of the gear, and the forty-fourth G42 of the gear is meshed with the forty-third G43 of the gear.
The transmission shaft IV X IX is provided with a synchronous pulley IV seventy-seven G47, and the synchronous pulley IV seventy-seven G47 is connected with the synchronous pulley IV sixteen G46 through a synchronous belt IV B4.
The transmission shaft IV is connected with the shank rod 1.5.5, the shank rod 1.5.5 can rotate along with the transmission shaft IV, and the shank rod 1.5.5 is hinged with the thigh rod 1.5.3 through the transmission shaft IV.
The side cover 1.5.6 is used to mask the propeller shaft bixiv and propeller shaft trixv from the side.
Principle of power transmission
The clutch is controlled to be disconnected or connected with the gear/locking device by a control signal, so that the components of the leg unit are controlled to rotate or lock in different directions.
As shown in fig. 6:
(1) When the first clutch C1 is engaged with the fourth gear G4 and the second clutch C2 is engaged with the fifth gear G5, the power transmission path for forward rotation of the base section 1.5.1 is: wheel 5- & gt rubber elastic coupling 1.4- & gt input shaft I- & gt gear II G2- & gt gear IV G4- & gt intermediate shaft II- & gt gear five G5- & gt gear ten G10- & gt output shaft V- & gt bevel gear twelve G12- & gt bevel gear fifteen G15- & gt base joint 1.5.1 on the primary transmission 1.3.
(2) When the first clutch C1 is engaged with the fourth gear G4 and the second clutch C2 is engaged with the sixth gear G6, the power transmission route for the rearward rotation of the base section 1.5.1 is: wheel 5- & gt rubber elastic coupling 1.4- & gt input shaft I- & gt gear II G2- & gt gear IV G4- & gt intermediate shaft II- & gt gear six G6- & gt gear seven G7- & gt intermediate shaft II- & gt gear eight G8- & gt gear eleven G11- & gt output shaft V- & gt bevel gear twelve G12- & gt bevel gear fifteen G15- & gt base joint 1.5.1 on the primary transmission 1.3.
(3) When the first clutch C1 is engaged with the locking device G3 and the second clutch C2 is engaged with the sixth gear G6, the power transmission route of the lock-up of the base joint 1.5.1 is: three G3, one II of intermediate shaft, six G6 of gear, seven G7 of gear, two III of intermediate shaft, eight G8 of gear, eleven G11 of gear, two V of output shaft, twelve G12 of bevel gear, fifteen G15 of bevel gear and 1.5.1 of base joint.
(4) The power transmission path of the wheels 5 through the primary transmission 1.3 to the secondary transmission 1.5.2 is: wheel 5- & gt rubber elastic coupling 1.4- & gt input shaft I of primary transmission 1.3- & gt gear one G1- & gt gear nine G9- & gt output shaft one IV- & gt bevel gear thirteen G13- & gt bevel gear fourteen G14- & gt transmission shaft one VI- & gt gear sixteen G16- & gt gear seventeen G17- & gt input shaft two VII of secondary transmission 1.5.2.
The process is not influenced by the first clutch C1 and the second clutch C2 in the first-stage transmission device 1.3, and the on-off of the clutch in the second-stage transmission device 1.5.2 only controls the rotation of the thigh rod 1.5.3, namely, the power of the wheel 5 can be continuously transmitted to the thigh rod 1.5.3, and the action of the thigh rod 1.5.3 is not influenced by the action of the base joint 1.5.1.
(4.1) when clutch three C3 is engaged with gear twenty-seven G27 and clutch four C4 is engaged with gear twenty-eight G28, the power transmission path for downward rotation of thigh lever 1.5.3 is: wheel 5- & gt rubber elastic coupling 1.4- & gt input shaft I- & gt gear G1- & gt gear nine G9- & gt output shaft IV- & gt bevel gear thirteen G13- & gt bevel gear fourteen G14- & gt transmission shaft VI- & gt gear sixteen G16- & gt gear seventeen G17- & gt input shaft twenty-two G22- & gt gear twenty-seven G27- & gt intermediate shaft fifty X- & gt gear twenty-eight G28- & gt gear twenty-three G23- & gt intermediate shaft IV- & gt bevel gear twenty-five G25- & gt bevel gear thirty-two G32- & gt output shaft three XII- & gt synchronous pulley thirty-three G33- & gt synchronous belt one B1- & gt gear thirty-four G34- & gt transmission shaft two XIV and thigh pole 1.5.3.
(4.2) when the clutch three C3 is engaged with the gear twenty-seven G27 and the clutch four C4 is engaged with the gear twenty-nine G29, the power transmission route of upward rotation of the thigh lever 1.5.3 is: wheel 5, rubber elastic coupling 1.4, input shaft I, gear G1, gear nine G9, output shaft IV, bevel gear thirteen G13, bevel gear fourteen G14, transmission shaft VI, gear sixteen G16, gear seventeen G17, input shaft twenty-two VII, gear twenty-two G22, gear twenty-seven G27, intermediate shaft five X, gear twenty-nine G29, gear thirty-two G30, intermediate shaft six XI, gear twenty-four G24, intermediate shaft four IX, bevel gear twenty-five G25, bevel gear thirty-two G32, output shaft three XII, synchronous pulley thirty-three G33, synchronous belt one B1, gear thirty-four G34, transmission shaft two XIV and thigh rod 1.5.3.
(4.3) when the clutch three C3 is engaged with the lockup device twenty-six G26 and the clutch four C4 is engaged with the gear twenty-nine G29, the power transmission route of the thigh lever 1.5.3 lockup is: sixteenth G26 of a locking device, a middle shaft five X, a gear twenty-nine G29, a gear thirty G30, a middle shaft six XI, a gear twenty-four G24, a middle shaft four IX, a bevel gear twenty-five G25, a bevel gear thirty-two G32, an output shaft three XII, a synchronous pulley thirty-three G33, a synchronous belt one B1, a gear thirty-four G34, a transmission shaft two XIV and a thigh rod 1.5.3.
(5) The transmission route of the power of the wheels 5 through the primary transmission 1.3 and the secondary transmission 1.5.2 to the tertiary transmission 1.5.4 is as follows: wheel 5- & gt rubber elastic coupling 1.4- & gt input shaft I- & gt gear one G1- & gt gear nine G9- & gt output shaft IV- & gt bevel gear thirteen G13- & gt bevel gear fourteen G14- & gt transmission shaft VI- & gt gear sixteen G16- & gt gear seventeen G17- & gt input shaft two VII- & gt gear eighteen G18- & gt bevel gear nineteen G19- & gt bevel gear twenty G20- & gt output shaft four XIII of two-stage transmission 1.5.2- & gt synchronous pulley thirty-five G35- & gt synchronous belt two B2- & gt synchronous pulley thirty-sixteen G36- & gt transmission shaft three XV- & gt synchronous pulley thirty-seventeen G37- & gt synchronous belt three B3- & gt synchronous pulley thirty-eighteen G38- & gt input shaft three X VI on three-stage transmission 1.5.4.
The process is not influenced by the first clutch C1 and the second clutch C2 in the first-stage transmission device 1.3 and the third clutch C3 and the fourth clutch C4 in the second-stage transmission device 1.5.2, the power of the wheels 5 can be continuously transmitted to the third-stage transmission device 1.5.4, and the closing and the breaking of the clutches in the second-stage transmission device 1.5.2 only control the rotation of the shank 1.5.5, and the rotation of the shank 1.5.5 is not influenced by the rotation of the base joint 1.5.1 and the thigh 1.5.3.
(5.1) when the clutch pentac 5 is engaged with the gear forty-four G44, the power transmission route for the inward rotation of the shank 1.5.5 is: wheel 5, rubber elastic coupling 1.4, input shaft I, gear G1, gear nine G9, output shaft IV, bevel gear thirteen G13, bevel gear fourteen G14, transmission shaft VI, gear sixteen G16, gear seventeen G17, input shaft II VII, gear eighteen G18, bevel gear nineteen G19, bevel gear twenty G20, output shaft four X III, synchronous pulley thirty-five G35, synchronous belt II B2, synchronous pulley thirty-six G36, transmission shaft three X V, synchronous pulley thirty-seven G37, synchronous belt three B3, synchronous pulley thirty-eight G38, input shaft three X VI, gear forty G40, gear forty-four G44, output shaft five X VIII, synchronous pulley forty-six G46, synchronous belt four B4, transmission shaft four X IX and shank 1.5.5.
(5.2) when the clutch pentac 5 is engaged with the gear forty-three G43, the power transmission route for the shank 1.5.5 to rotate to the outside is: wheel 5, rubber elastic coupling 1.4, input shaft I, gear G1, gear nine G9, output shaft IV, bevel gear thirteen G13, bevel gear fourteen G14, transmission shaft VI, gear sixteen G16, gear seventeen G17, input shaft II VII, gear eighteen G18, bevel gear nineteen G19, bevel gear twenty G20, output shaft four X III, synchronous pulley thirty-five G35, synchronous belt II B2, synchronous pulley thirty-six G36, transmission shaft thirty-five G37, synchronous pulley three B3, synchronous pulley thirty-eight G38, input shaft three X VI, gear thirty-nine G39, gear forty-one G41, gear forty-three G43, output shaft five X VIII, synchronous pulley forty-six G46, synchronous belt four B4, transmission shaft four X IX and shank 1.5.5.
(5.3) when the clutch pentac 5 is disengaged from both the gear forty-three G43 and the gear forty-four G44, and the clutch hexa-C6 is engaged with the lockup device forty-five G45, the power transmission route for the shank 1.5.5 lockup is: forty-five G45 locking devices, five XVIII output shafts, forty-sixteen G46 synchronous pulleys, four B4 synchronous belts, four X IX transmission shafts and 1.5.5 shank bars.
Longitudinal connecting module 2 and transverse connecting module 3
As shown in fig. 7, the longitudinal connecting module 2 is provided with a longitudinal connecting hole 2.1 and a longitudinal connecting pin hole 2.2. The longitudinal connecting hole 2.1 is connected with the walking module 1, and the longitudinal connecting pin hole 2.2 is aligned with the longitudinal fixing pin hole 1.1.7 of the walking module 1 through the connecting pin 4, so that the longitudinal connecting module 2 and the walking module 1 are locked.
As shown in fig. 8, the transverse connection module 3 is provided with a transverse connection hole 3.1 and a transverse connection pin hole 3.2. The transverse connecting hole 3.1 is connected with the walking module 1, and the transverse connecting pin hole 3.2 is aligned with the transverse fixing pin hole 1.1.6 of the walking module 1 through the connecting pin 4, so that the transverse connecting module 2 and the walking module 1 are locked.
The length and number of the longitudinal connecting modules 2 and the transverse connecting modules 3 can be changed, so that the transverse and longitudinal distances between the walking modules 1, namely the transverse length and the longitudinal width of the walking device, are adjusted to adapt to vehicles with different profile parameters.
As shown in fig. 9, the 4×4 all-wheel drive vehicle is combined with a leg type walking device, and the leg type walking device drives each leg unit to move by rotation of wheels, thereby realizing leg type walking. By connecting a plurality of groups of walking modules, the vehicle can adapt to various vehicle types such as 4 multiplied by 4, 6 multiplied by 6 and the like.
Working principle of leg type walking device
As shown in fig. 10, in the initial state of the leg-type walking device, all leg units are in an initial position, at this time, the bottom surface of the leg-type walking device is close to the ground, the vehicle runs on the leg-type walking device through an auxiliary ramp, the wheels are stopped between two roller units, the wheels are fixed with the rubber elastic coupling, the vehicle drives the wheels to rotate forward by using the forward gear, power is provided for the walking module, the movement of the leg units of the walking module is controlled by controlling the on-off of the power transmission system, the leg-type walking device is adjusted to a standing posture, and further the walking movement of the walking device is controlled by controlling the on-off of the power transmission system, so that the walking movement of the walking device is controlled.
After the leg type running gear works, the leg type running gear is adjusted to an initial posture, the connection between the wheels and the rubber elastic coupling is disconnected, the vehicle drives the wheels to reversely rotate by using the reverse gear, and the vehicle drives away from the running gear.
The connection between the wheels and the traveling module of the all-wheel drive vehicle takes the rubber elastic coupling as an example, and other connecting devices which adapt to the condition that the wheels are not coaxial with the input shaft of the primary transmission device and have the anti-vibration function, such as a tire coupling, can be adopted.
The circumferential fixing of the gear and the shaft in the invention takes the key connection as an example, and other connection modes, such as spline connection and the like, can also be adopted.
Claims (6)
1. An additional leg type walking device suitable for a full-drive vehicle is characterized in that: the device comprises a walking module, a longitudinal connecting module and a transverse connecting module;
the number of the traveling modules is equal to the number of the wheels of the vehicle borne by the traveling device, and a plurality of groups of traveling modules form a bearing platform through longitudinal connecting modules and transverse connecting modules;
the walking module comprises a support frame, a roller unit, a rubber elastic coupling, a primary transmission device, a leg unit and a swinging rotating shaft;
two roller units are arranged on the support frame, and the wheels are supported between the two roller units;
one end of the rubber elastic coupling is connected with an input shaft of the primary transmission device, and the other end of the rubber elastic coupling is connected with the center of the wheel;
an output shaft of the primary transmission device is connected with the leg unit;
the leg units are hinged with the supporting frame through the swing rotating shaft;
the leg unit comprises a base section, a thigh rod, a shank rod, a secondary transmission device and a tertiary transmission device;
the primary transmission device is provided with an input shaft I, an intermediate shaft II, an output shaft I, an output shaft II and a transmission shaft I;
the first input shaft is provided with a first gear and a second gear;
the intermediate shaft I is provided with a locking device III, a gear IV, a gear V and a gear VI, and is also provided with a clutch I and a clutch II, wherein the clutch I is arranged between the locking device III and the gear IV, and the clutch II is arranged between the gear V and the gear VI;
a gear seven and a gear eight are arranged on the intermediate shaft II;
the output shaft I is provided with a gear nine and a bevel gear thirteen;
the second output shaft is a hollow shaft, is coaxial with the first output shaft and is sleeved on the first output shaft;
a gear ten, a gear eleven and a bevel gear twelve are arranged on the output shaft II;
the first transmission shaft is arranged on the base section, and is provided with a bevel gear fourteen, a bevel gear fifteen and a gear sixteen;
the gear I is meshed with the gear nine, the gear II is meshed with the gear four, the gear five is meshed with the gear ten, the gear six is meshed with the gear seven, the gear eight is meshed with the gear eleven, the bevel gear fourteen is meshed with the bevel gear thirteenth, the bevel gear fifteen is meshed with the bevel gear twelve, and the bevel gear fifteen is fixed on the base section;
the secondary transmission device is provided with: the transmission device comprises an input shaft II, an intermediate shaft III, an intermediate shaft IV, an intermediate shaft V, an intermediate shaft VI, an output shaft III, an output shaft IV, a transmission shaft II and a transmission shaft III;
a seventeen gear, a twenty-one gear and a twenty-two gear are arranged on the second input shaft;
a gear eighteen and a bevel gear nineteen are arranged on the intermediate shaft three;
the intermediate shaft IV is provided with twenty-three gears, twenty-four gears and twenty-five gears of a bevel gear;
the intermediate shaft five is provided with a locking device twenty-six, a gear twenty-seven, a gear twenty-eight and a gear twenty-nine, and is also provided with a clutch three and a clutch four, wherein the clutch three is arranged between the locking device twenty-six and the gear twenty-seven, and the clutch four is arranged between the gear twenty-eight and the gear twenty-nine;
the intermediate shaft six is fixed on the transmission device box body, and a gear thirty-one are arranged on the shaft;
the output shaft III is provided with a bevel gear thirty-two and a synchronous pulley thirty-three, the synchronous pulley thirty-three is connected with the synchronous pulley thirty-four through a synchronous belt I, the synchronous pulley thirty-four is arranged on a transmission shaft II, and the transmission shaft II is connected with a thigh rod through a key;
the output shaft IV is provided with a bevel gear twenty and a synchronous pulley thirty-five, the synchronous pulley thirty-five is connected with the synchronous pulley thirty-six through a synchronous belt II, and the synchronous pulley thirty-six is arranged on a transmission shaft III;
the transmission shaft III is arranged in the thigh rod shaft hole and freely rotates in the thigh rod shaft hole, and a synchronous belt wheel thirty-seven is arranged on the transmission shaft III;
the thigh rod is hinged with the base section through a transmission shaft II and a transmission shaft III;
the seventeen gears are meshed with the sixteenth gears, the eighteen gears are meshed with the twenty-first gears, the nineteenth gears are meshed with the twenty-first gears, the twenty-second gears are meshed with the twenty-seventh gears, the twenty-third gears are meshed with the twenty-eighth gears, the twenty-fourth gears are meshed with the thirty-first gears, the twenty-fifth gears are meshed with the thirty-second gears, and the twenty-ninth gears are meshed with the thirty-second gears;
the three-stage transmission device is provided with: an input shaft III, an intermediate shaft seven, an output shaft five and a transmission shaft IV;
the input shaft III is provided with a synchronous pulley thirty-eight, a gear thirty-nine and a gear forty;
gears forty-one and gears forty-two are arranged on the intermediate shaft seven;
the output shaft is provided with a gear forty-three, a gear forty-four, a locking device forty-five and a synchronous pulley forty-sixteen, and is simultaneously provided with a clutch five and a clutch six, wherein the clutch five is arranged between the gear forty-three and the gear forty-four, and the clutch six is arranged between the gear forty-four and the locking device forty-five;
thirty-eight synchronous pulleys are connected with thirty-seven synchronous pulleys through a synchronous belt III, gears are meshed with a gear forty-one, gears are meshed with a gear forty-four, and gears are meshed with a gear forty-three;
the transmission shaft IV is provided with a synchronous pulley forty-seven which is connected with the synchronous pulley forty-six through a synchronous belt IV;
the transmission shaft IV is connected with a shank rod, the shank rod rotates along with the transmission shaft IV, and the shank rod is hinged with a thigh rod through the transmission shaft IV.
2. The additional leg walker apparatus as claimed in claim 1 wherein:
the roller unit comprises a roller, a roller shaft, a ratchet wheel, a pawl and a connecting key;
the roller is arranged on the roller shaft and rotates around the roller shaft;
the ratchet wheel is circumferentially fixed with the roller through a connecting key;
the pawl is installed on the support frame, the pawl contacts with the ratchet, and according to the direction of rotation, the forward unlocking and the reverse locking are achieved.
3. The additional leg walker apparatus as claimed in claim 1 wherein:
the base section is hinged with the support frame through a swing rotating shaft;
one end of the thigh rod is hinged with the base joint, and the other end of the thigh rod is hinged with the shank rod;
the secondary transmission device is arranged on the base joint and drives the thigh rod;
the three-stage transmission device is arranged on the thigh rod and drives the shank rod.
4. A control method of an additional leg walker apparatus suitable for all-drive vehicles as claimed in claim 1 wherein:
the first clutch is controlled to be engaged with the fourth gear, and the second clutch is controlled to be engaged with the fifth gear, so that the base joint rotates forwards;
the first clutch is controlled to be engaged with the fourth gear, and the second clutch is controlled to be engaged with the sixth gear, so that the base joint rotates backwards;
the first control clutch is engaged with the locking device, and the second control clutch is engaged with the gear six, so that the base joint is locked.
5. A control method of an additional leg walker apparatus suitable for all-drive vehicles as claimed in claim 1 wherein:
controlling the third clutch to be engaged with the twenty-seventh gear, and controlling the fourth clutch to be engaged with the twenty-eighth gear so as to enable the thigh rod to rotate downwards;
controlling the clutch III to be engaged with the gear twenty-seventh, and the clutch IV to be engaged with the gear twenty-ninth, so that the thigh rod rotates upwards;
and controlling the clutch III to be engaged with the locking device twenty-six, and controlling the clutch IV to be engaged with the gear twenty-nine so as to lock the thigh rod.
6. A control method of an additional leg walker apparatus suitable for all-drive vehicles as claimed in claim 1 wherein:
controlling the fifth clutch to be engaged with the forty-fourth gear so as to enable the shank to rotate inwards;
controlling the fifth clutch to be engaged with the forty-third gear so as to enable the shank to rotate outwards;
controlling the fifth clutch to be disconnected from the forty-third gear and the forty-fourth gear, and controlling the sixth clutch to be engaged with the locking device forty-fifth to lock the shank.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022104553342 | 2022-04-24 | ||
| CN202210455334 | 2022-04-24 |
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| CN114771685A CN114771685A (en) | 2022-07-22 |
| CN114771685B true CN114771685B (en) | 2023-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210464401.7A Active CN114771685B (en) | 2022-04-24 | 2022-04-29 | Additional leg type walking device suitable for all-wheel drive vehicle and control method |
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| US20100307850A1 (en) * | 2009-06-09 | 2010-12-09 | Charlie Allen | Wheelchair Drive Base Platform |
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