CN1194222A - Walking vehicle - Google Patents

Abstract

The walking vehicle features that the extension mechanism of supporting leg has inclined supporting arm and leg-extending rope threaded from the upper arm to rope channel; the lower arm matches the crank arm capable of rotating horizontally and repositioning; the drivers have rotating and repositioning mechanism comprising lug, repositioning spring, pipe and supporting sleeve; and the steering knuckle or fork matches with steering shaft with the crank matching one spring control rod. The walking vehicle is suitable for use as toy or recreation and tranportation means.

Description

Walking vehicle

The present invention program relates to vehicle technology, particularly a kind of walking vehicle.Be applicable to toy, travel, traffic etc.

Though existing full mechanicalness step wise vehicle technology has been realized turning to and walking-function, most of supporting legs are straight column type, and the across obstacle height depends on the rotation maximum gauge of driver train and limited to.For example US2918738 " " and " the disposable pet toy car " of US4840242 adopts the two-way ram cylinder to make supporting leg and then causes complicated, the leg subject to damage of vehicle structure and the speed of a motor vehicle restricted land and water two handle walking vehicles.The supporting leg of " bionic vehicle with walking members " of Chinese patent 91110670.7 can be stretched by song, be made up of upper and lower arm, foot and flexible-extensible organization thereof, but imperfection, cross over and highly still to have limitation, and eccentric foot is not illustrated reset function.

Existing supporting leg all is not suitable for being used for the above long vehicle of eight legs, turns to because of being difficult for realization, especially during load-carrying.Existing full drive-type vehicle structure is difficult for realizing turning to and coordinating walking-function when being used for recessed leg formula vehicle fully.

The present invention program's purpose is to overcome the deficiency of above-mentioned existing walking vehicle technology and a kind of walking vehicle that big height, the speed of a motor vehicle are very fast, eight above long vehicles of leg easily turn to, trailer easily turns to of crossing over is provided.

The present invention program's purpose is achieved in that

The walking vehicle that has stepping mechanism and driver train thereof, converts by full drive-type vehicle structure.

(1) supporting leg is made up of upper and lower arm, foot, flexible-extensible organization, flexible-extensible organization by rope supporting arm, the rope of stretching one's legs, bent leg spring, help slide block, stretch one's legs bar and projection form, the rope supporting arm is skewed, and the rope supporting arm is 2/3rds to 3/4ths of a supporting leg upper arm length.Stretching one's legs restricts places and is connected in the underarm top of knee joint bearing pin front side from the logical rope race of leg upper arm rear side, and bent leg spring is connected in the front side of stretch one's legs bar bottom and upper arm upper side obliquely.

(2) the supporting leg lower end can reset and can connect with horizontally rotating and crank arm, and the lower end of cranking arm connects the universal joint foot again.

(3) in the driving system of existing full drive-type automobile, install one group between the axle side gear in each driver and limit rotatable Bringing-back mechanism, form by four groups of retracing springs, four projections, a pipe, a supporting sleeve.

(4) the steering swivel bearing pin is connected in series that steering shaft, steering swivel are fixed in steering shaft, there is crank on this top and cooperates a control operating rod, spring of end series connection of bar, and this bar and handle can be positioned at outside the car shell.If profile is the animal shape, overall width is less, and then crank and pull bar all are positioned at the operator's saddle front side.

(5) another embodiment of the supporting leg of car is made up of upper and lower arm, knee joint, foot and flexible-extensible organization, but flexible-extensible organization helps slide block, projection to form by oscillating arm mechanisms, the bar of stretching one's legs, the rope of stretching one's legs, bent leg spring; Oscillating arm mechanisms is by postbrachium, before, back minor axis, back plate is formed, postbrachium can swingingly cooperate the back minor axis backward, there is 3-5 tooth its upper end, separable again with several tooth engagements of upper arm upper end, the postbrachium lower end connects the rope of stretching one's legs, back plate is positioned at the upper arm inboard and helps the slide block outside, be fixed on front and back minor axis and the bolster, oscillating arm mechanisms also can cooperate one group and draw sufficient mechanism, by forearm, preceding minor axis, draw sufficient rope, spring is formed, and there is 3-5 tooth the forearm upper end, and is engageable separable again with the tooth of upper arm upper end, the forearm lower end connects the verge ring draw sufficient rope, this rope lower end to pass down facies lateralis brachii and following trailing flank and the connecting pin postlaminar part.A spring is connected in the anterior and underarm leading flank of sole.

(6) another embodiment of the supporting leg of car, by upper arm, underarm, knee joint, foot and flexible-extensible organization thereof are formed, but the upper arm upper semisection has guide rail hole, cooperate with the bolster of hold-down arm, there is the driving handle axis hole this below, hole, cooperate with driving handle, the flexible-extensible organization of leg is by the rope supporting arm, help bracer, dial handle, the bar of stretching one's legs, the rope of stretching one's legs, bent leg spring is formed, the bracer that helps that wherein is fixed in facies lateralis brachii has individual recess, does can shore again separable the cooperation with the bar top of stretching one's legs, and dials handle one end and is fixed in the driving handle outer end, the other end has bent head, along with drive rotate to the back terminated line time can stir the bar of stretching one's legs and break away from recess.

(7) another embodiment of the supporting leg of car, form by upper and lower arm, knee joint, foot and flexible-extensible organization thereof, but upper arm or underarm tandem connect the leg cylinder of one group of two-way ram cylinder formula, and cooperate with the hydraulic gear and the hydraulic power walking mechanism of hydraulic walking vehicle and (see Chinese patent: 95100751.3 " hydraulic walking vehicles ").All the other structures are same as described above.

(8) another embodiment of the supporting leg of car stretches mechanism by the supporting leg and a suite of one group of two-dimensional mechanism and cooperates and form.

(9) another embodiment of the supporting leg of car is the tortuous 90-120 of one-tenth of vertical cyclindrical shape leg degree angle, and the guide rail hole of upper arm and driving handle axis hole are positioned on the same horizon.

(10) line between the bolster of the axle drive shaft of stretching type supporting leg and hold-down arm, with bolster be 5-15 degree angle to the angle that the line of ground level closest range forms, promptly bolster is positioned at the axle drive shaft top of position partially afterwards.

(11) another embodiment of supporting leg is the tandem leg, and by upper arm, knee joint, second knee joint, second underarm, foot, two suites are stretched mechanism and formed.First suite is stretched mechanism and is helped bracer, bent leg spring, preceding rope supporting arm, pull bar rope, sliding rope bar, regulating spring to form by rope supporting arm, the bar of stretching one's legs, the rope of stretching one's legs, logical rope race, retracing spring, recess, tether axle, first; Second suite stretch mechanism by stretch down the leg rope, stretch down the leg bar, bent leg spring down, down help bracer, the bar rope of leaving behind, regulating spring, logical rope race, downslide rope bar, pull-rod spring are formed down.

(12) another embodiment of leg and flexible-extensible organization is the bent forward leg of stretching, on the said structure basis, knee joint and the bar of stretching one's legs oppositely installed and to be positioned at the inclined to one side front side of leg, bent leg spring is matched with upper and lower arm leading flank, before the projection deflection, the bar of stretching one's legs is combined with retracing spring.But should allow after the knee joint deflection, make the tortuous one-tenth 150 of upper and lower arm spend angles and be "＜" font.

(13) the 3rd embodiment of the rotatable Bringing-back mechanism of limit omits above-mentioned retracing spring and short pipe in the driving system, mechanism only is made up of the projection of supporting sleeve and projection and left and right half gear side, or two projections only being deviated from by diff inner planet gear axle side cooperate and form with the projection of left and right half gear side.

(14) length of sole and width can reach more than the 1-3 rice.

(15) in the driving system, if directly adopt the drive axle with diff, each group step drive mechanism is a double crank type, and inside and outside crank is arranged, and cooperates with inside and outside leg respectively, and cooperates inside and outside hold-down arm.If this mechanism is the single shank type, leg in only driving, inside and outside leg is connected and transmission mutually by the leg transmission device, connects planetary gear mechanism between for example inside and outside leg.And but inside and outside leg is the stretching type leg.

It is more perfect that the present invention program's advantage is that the song of supporting leg is stretched function, and the supporting leg that can bend and stretch can be crossed over big height, can keep bigger stepping rate again simultaneously, and eight above cars of leg turn to flexibly, trailer easily turns to or the like.Be specially adapted to toy, travel, traffic, carrying or the like.

The present invention program's structure is provided by the following drawings.

Fig. 1 is the side elevation in partial section of the present invention program's prototype supporting leg embodiment.

Fig. 2 is that the A of Fig. 1 is to scheme drawing.

Fig. 3 is the part sectional view of second embodiment.

Fig. 4 is the rotatable Bringing-back mechanism part sectional view of limit.

Fig. 5 is the A-A cutaway view of Fig. 4.

Fig. 6 is the B-B cutaway view of Fig. 4

Fig. 7 is that another limit is changeed the Bringing-back mechanism scheme drawing.

Fig. 8 is the simplified schematic diagram of steering hardware.

Fig. 9 is that the C-C of Fig. 8 is to simplified schematic diagram.

Figure 10 is that the A of double curved surface axis hole of supporting leg is to part sectional view.

Figure 11 is the double curved surface axis hole of another supporting leg and the partial schematic sectional view of another steering swivel system.

Figure 12 is the lateral plan of double curved surface axis hole.

Figure 13 is the lateral plan of another double curved surface axis hole.

Figure 14 is the 3rd an embodiment scheme drawing of supporting leg.

Figure 15 is that the local A of Figure 14 is to cutaway view.

Figure 16 is the 4th an embodiment partial schematic sectional view of supporting leg.

Figure 17 is that the C of Figure 16 is to partial schematic diagram.

Figure 18 is the partial schematic sectional view of the 5th embodiment of supporting leg.

Figure 19 is the D-D cutaway view of Figure 18.

Figure 20 is supporting leg the 6th an embodiment scheme drawing.

Figure 21 is the 8th an embodiment scheme drawing of supporting leg.

Figure 22 is the scheme drawing of traveling mechanism and driver train cooperation position.

Figure 23 is the 9th an embodiment scheme drawing of supporting leg.

Figure 24 is that the A of Figure 23 is to partial schematic diagram.

Figure 25 is the semi-sictional view A scheme drawing that rear driving axle, double bracing arm, double crank and inside and outside leg are worked in coordination.

Describe the present invention program's CONSTRUCTED SPECIFICATION and service condition in detail below in conjunction with accompanying drawing.

The present invention program is based on Chinese patent 91110670.7 and 91228871. * " bionic vehicle with walking members ", reference and quote and adopt existing corresponding mechanical technique to make.

(1), in the present invention program's the running device, supporting leg A is made up of upper arm 3, underarm 12, universal joint foot 15 and flexible-extensible organization thereof, the rope supporting arm 27 of flexible-extensible organization, the rope 22 of stretching one's legs, the bar 25 of stretching one's legs, helps slide block 1, projection 26, bent leg spring 5, tether hook 9 to form.Knee joint by the lower support 20 of upper arm, underarm go up 17, bearing pin 18, underarm lower surface 8 and underarm upper surface form, guarantee that upper arm and underarm can be around the bearing pin 18 composition legs and the activities of stretching one's legs, the angle that upper and lower arm forms when making bent leg is 30 degree, foot 15 can be done forward and swing backward, and can make horizontal and rotate.Rope supporting arm 27 is positioned at leg A inboard (also can be positioned at the outside that helps slide block 1), helps slide block to be positioned at the outside of leg A, be fixed in by bolt 28 on the bolster 2 of hold-down arm 30, and upper arm 3 can be around axle 2 swing.The fixing bearing pin 19 of upper support 17 lateral surfaces of bearing pin 18 rear sides, with cooperating that the bar 25 lower ends work of stretching one's legs can be swung, skewed bent leg spring 5 one ends are fixed in the bottom of this bar 25 and the other end is fixed in front side, the upper arm 3 upper semisections outside, projection 26 is fixed in the lateral surface of guide rail hole 4 rear sides, and effect is that shelves live by spring 5 to strain at the bar 25 of stretching one's legs to forward swing.Rope 22 the end of stretching one's legs is linked to the hole 24 of the lower end of rope supporting arm 27, and the other end is placed through the logical rope race 21 of upper arm 3 bottoms and the adapter sleeve collar 10 at the tether hook 9 of underarm 12 upper supports 17 front portions from leg A rear side; The collar 10 is positioned at recess 11, is covered by catch 7, and catch 7 is fixed in the underarm outside; Rope supporting arm 27 is skewed, and the angle α that forms with horizon is the 30-45 degree, and the length of arm 27 is 2/3rds to 3/4ths of upper arm.The bar 25 upper ends disengaging of stretching one's legs when guaranteeing leg A pendulum to back terminated line b helps sliding surface, bent leg spring 5 is straining at the bar 25 of stretching one's legs, and underarm 12 is swung backward around bearing pin 18, and leg A is flexion, upper and lower arm forms the angles of 30 degree, the activity that logical simultaneously rope race 21 does not hinder upper support 17 when putting behind underarm; And when guaranteeing the rotation of axle drive shaft 23, actuating arm 29, driving handle 6 supporting arm 27 of not restricted stops.Must guarantee that also leg A is driven handle 6 and promotes to forward swing during to preceding terminated line a, the rope 22 of stretching one's legs drawn termination, the tether hook 9 of leg A underarm 12 drawn, made simultaneously underarm 12 around bearing pin 18 to forward swing until the leg straight configuration.

Underarm 12 lower ends connect universal joint foot 15, but the fixing protruding handle 13 in the front side of underarm bottom, and handle 13 connects the left and right side that two retracing springs 14, springs connect foot 15 respectively, cooperate extension spring 16 between the downside behind foot 15 rear sides and the underarm.See Fig. 1,2.

(2) lower shaft 36, lower shaft are made and 38 the top armshaft 37 of cranking arm cooperates in straight column type supporting leg 32 lower ends with guide rail hole 31 and downside axis hole thereof, this is managed 37 outside faces and has circular groove 35, this groove cooperates two blocks of suspension hook plates 33, this plate by bolt in straight column type supporting leg 32 lower side, retracing spring 34 is respectively on connection pipe 37 upper side and the plate 33, guarantees to crank arm 38 can do to horizontally rotate and can be returned to original position.38 lower ends of cranking arm cooperate universal joint foot 15 simultaneously.Cranking arm, to can be made into Elastic Steel tabular for 38 stage casing, guaranteed buffer action.Perhaps the lower shaft 36 of the supporting leg that can bent stretch 38 cooperates with cranking arm.This leg should be used for the non-leg that turns to, as the car back leg.

When (3) directly adopting existing full drive-type vehicle structure, the diff of each main gear device 39 can be reequiped:, install one group and limit rotatable Bringing-back mechanism enlarging distance between the axle side gear 52,41 of left and right half 51,42 and between the planetary wheel 40,45.This mechanism is made up of 54,44,48,53, pipes of 49,50,55,56, four projections of four groups of retracing springs 43, a supporting sleeve 47, and one of them projection 44 is fixed on the inside face corresponding surface that circle centre position and two projections 48,54 are individually fixed in supporting sleeve 46 that departs from that right axle shaft gear 41,53 of projection are fixed in left half axle gear 52; Projection 44 is corresponding with 54, projection 48 is corresponding with 53.Retracing spring is a compression spring, two groups be matched with between projection 44 and 54 respectively, another group is matched with between projection 48 and 53, between pipe 43 and the supporting sleeve 47.Pipe is free shape, plays the supporting retracing spring, and the axle 46 of planetary wheel 40,45 is matched with on the supporting sleeve 47 simultaneously.During work, when left leg A2 ground connection and right leg A1 are earth-free, diff work and make left half axle 51 littler than the rotating speed of right axle shaft 42 and supporting sleeve 47 (or planetary wheel center cross 57), diff is done the rotation of N direction, supporting sleeve projection 48 compression reseting springs 50, but the gearing of planetary wheel 40,45 makes projection 44 compression reseting springs 49 of right axle shaft 42 rotating speeds greater than supporting sleeve 47 (or center cross 57), while right axle shaft gear 41 again.When right leg A1 ground connection and during left leg A2 built on stilts, right axle shaft 42 rotating speeds are less than left half axle 51 and supporting sleeve 47, supporting sleeve projection 54 compression reseting springs 55, projection 53 compression reseting springs 56 of left half axle gear 52, simultaneously, the projection 53 of retracing spring 50 meeting boosting left half axle gears resets left half axle 51.Like this, realize the coordination function of stepping, and be beneficial to and turn to.See Fig. 4-6.

When supporting sleeve repacked planetary wheel center cross 57 among Fig. 7, supporting sleeve 48,54 was individually fixed in center cross 57 near the left surface of planetary wheel 45 and the right flank of close planetary wheel 40, with cooperating two short pipes 58,59.

(4), steering shaft 60,64 is made in the steering hardware bearing pin of steering swivel 67,65, can make steering swivel turn to swing when guaranteeing to rotate steering shaft.The upper semisection of steering shaft is a crank 68, cooperates extension spring 61 of end series connection of a control operating rod 63, bar between the left and right crank 68, and pull bar 63 and crank 68 can be positioned at outside the outer or animal shape car shell 62 of car shell 62, but cooperate with the driver's seat.Guarantee left or the right side can promote control operating rod that can make crank, steering shaft 60,64, steering swivel 67,65 or turn right movingly, supporting leg A2, A1 realize turning to left.Steering shaft also can be directly connected on the fork handle of existing steering fork.Hand direct pull control operating rod is to realize turning to of car.

(5) another embodiment of steering swivel system is made up of a steering cylinder 78, leg telescoping cylinder 80, two hydraulic pipes 77,79 and tie rod arm, tierod, steering swivel, and wherein tie rod arm, tierod, steering swivel are the corresponding construction of existing automobile; Steering cylinder 78 is done a kind of deflector, adopts existing two-way ram cylinder, but its piston rod upper end closure dish 76, bar stage casing have screw thread, with the cylinder cap circle center hole in the screw-internal thread fit that has; This piston rod of steering wheel rotation makes M or the N direction moves.Leg telescoping cylinder 80 is that existing two-way ram cylinder is connected in series in the lower semisection of left front leg A2, and its piston-rod lower end connects foot 15.Two cylinders 78,80 are communicated with by pipe 77,79.Two cylinders 78,80 can all be the single action piston cylinders also, see the corresponding construction of Chinese patent 92110922.9 " the feet and wings car is arranged ".This scheme should be used for light-duty step wise vehicle.Guarantee that this leg is the most in short-term than all the other each short legs 1/10th to 2/10ths; When the longest, than all the other legs long 1/10th to 2/10ths.Or direct " hydraulic power steering system " (seeing volume " automobile construction " People's Transportation Press of Jilin Industry University automobile teaching and research room version in 1976) that adopts existing automobile, promptly form, constitute leg telescoping cylinder 80 with its power cylinder by oil pump, maneuvering valve, power cylinder, fuel accumulator and handling maneuver and transmission device.

During work, the piston of steering wheel rotation 76, leg telescoping cylinder 80 and piston rod make m or the n direction moves, and realizes shortening or the elongation of left front leg A2, and the distance between the leg of front and back relatively shortens or be elongated, thereby make steering swivel 67 inwardly pendulum or inside pendulum forward backward, car can be to the right or left-handed turning.See Figure 11.

(6) inside face of the support shaft holes 69 of rear support leg or driving delthyrium 81 is an alternate angle formula double curved surface 82, simultaneously, the equal tie spacer 70,72 in the outer end of the driving handle 6 of the bolster 2 of the hold-down arm 30 that cooperates with this hole or actuating arm 29 or 73,75, retracing spring 71 or 74.Its effect is to regulate the left side of back leg and the distance between the upper right side and help turning to.See Figure 10-13.

(7) the 3rd embodiment of supporting leg is its flexible-extensible organization by oscillating arm mechanisms, the rope 22 of stretching one's legs, the bar 25 of stretching one's legs, bent leg spring 5, helps slide block 1, tether hook 9, projection 26 to form.Oscillating arm mechanisms is formed arm 83 lower end connection cords 22 by postbrachium 83, back minor axis 84, preceding minor axis 89, back plate 87; Plate 87 has two, is positioned at upper arm 3 inboards and helps slide block 1 outside, and be fixed in axle 2,24,89.Postbrachium 83 1 ends are gear-like, but 3-5 tooth 85 only arranged, and upper arm 3 upper ends are gear-like but several teeth 86 are only arranged; The tooth 86 that guarantees upper arm can be worked in coordination with the tooth 85 of postbrachium, at upper arm 3 to forward swing during to preceding terminated line a, the tooth 86 of upper arm 3 is done the motion of N direction, with tooth 85 engagement of postbrachium 83 and make postbrachium 83 do the swing of M direction around axle 84, the same horizon to bolster 2 is put in arm 83 lower ends, and arm 83 elastic force stretching rope 22 simultaneously and that overcome spring 5 makes leg be straight configuration.

This leg also can cooperate one group of mechanism that transports persons or goods by cart, by being made up of forearm 90, the preceding minor axis 89 of tooth 88, the rope 96 of transporting persons or goods by cart, verge ring 95, front spring 91.Minor axis 89 before the forearm 90 identical with postbrachium 83 is connected in; Axle 89 is fixed in back plate 87, and arm 90 lower end connection cords 96, rope 96 lower ends are passed the verge ring 95 of underarm 12 sides and rear side and are connected in sole 92 rear portions, and spring 91 is connected in the following front side and sole 92 front portions of underarm 12.When guaranteeing that upper arm 3 is put back terminated line b, tooth 88 engagements of its tooth 86 and forearm also make arm 90 do the swing of M direction around preceding minor axis 89, and arm 90 lower ends are to the same horizon of bolster 2, and rope 96 is straightened and spurs sole 92 and pedals forward, does the swing of M direction.Its effect is to produce the effect of kicking one's legs, and the leg length short time is increased.But should guarantee each tooth 85,86,88 when making, each is restricted and 22,96 has high strength, adapts to heavy duty.Anterior minister Ying Bihou of sole 92 is more than two times.See Figure 15.

(8), the front and rear portions downside of sole 92 is fixed two groups of elastic gum tires 93,94 respectively.

(9) the 4th embodiment of supporting leg is made up of upper and lower arm, foot, knee joint and flexible-extensible organization, and the guide rail hole 4 of the upper semisection of upper arm 3 cooperates with the bolster 2 of hold-down arm 30, and the axis hole of this below, hole is connected with driving handle 6.Flexible-extensible organization by rope supporting arm 27, the rope 22 of stretching one's legs, the bar 25 of stretching one's legs, bent leg spring 5, help bracer 97, pull out handle 98, tether axle 103, recess 102 form.The bracer 97 that helps that is fixed on facies lateralis brachii has recess to cooperate with the upper end of the bar 25 of stretching one's legs, and this bar can shored this recess and leg can bently not bent when leg stretches, again can be when bent leg, and this bar separates with recess.One end of bent leg spring 5 is fixed in the lower semisection of the bar 25 of stretching one's legs or outer end, the other end of its bearing pin 19 is connected in the upper arm front side and is skewed; But this spring also two ends connects the rear side of upper and lower arm respectively but in addition the two ends of a retracing spring is connected stretch one's legs bar middle part and upper arm front side respectively.After helping the recess deflection of bracer 97, make bar 25 fall into the back and kept off, can not can make bar 25 break away from this recess when putting backward again more forward, allow spring 5 bring into play bent leg effect to forward swing.An end of dialling handle 98 is fixed in the outer end of driving handle 6, the other end is bent 99, can stirs the bar 25 of stretching one's legs.The logical rope race 21 (or hole) that the rope 22 of stretching one's legs of rope supporting arm 27 passes upper arm is connected with tether axle 103 in the cuboid recess 102 of underarm upper semisection front side.Guarantee that driving handle 6 rotates group handle 98 synchronously, when leg is put to back terminated line b, the song 99 of dialling handle 98 is stirred the bar 25 of stretching one's legs and is broken away from the recess that helps bracer until the upper end that makes bar, and the elastic force stretchy of bent leg spring 5 bar of stretching one's legs makes underarm 12 stay with one's parents in order to make them happy joint bearing pin 18 to post-buckling.See Figure 16,17.

(10) supporting leg the 5th embodiment is made up of leg cylinder 100, upper arm 3, underarm 12, knee joint, the foot 15 and the flexible-extensible organization thereof that can horizontally rotate.Leg cylinder 100 is a kind of two-way ram cylinder formula legs, sees the supporting leg of " hydraulic walking vehicle " that Chinese patent 95100751.3 proposes, and the lower end tandem of its piston rod 101 connects upper arm 3; Flexible-extensible organization by rope supporting arm 27, the rope 22 of stretching one's legs, help slide block 1, the bar 25 of stretching one's legs, bent leg spring 5, projection 26 form, identical with above-mentioned prototype embodiment, but its projection 26 is fixed in leg cylinder 100 first half lateral surfaces, and the two ends of bent leg spring 5 also can be matched with on stretch one's legs bar 25 and the piston rod 101.See Figure 18,19, leg cylinder 100 also can be connected in the lower end of underarm 2.Guarantee that leg cylinder 100 cooperates with the hydraulic power walking mechanism with relevant power hydraulic system cooperation and leg.

(11) the 6th embodiment of supporting leg is, two-dimensional mechanism formula supporting leg cooperates a suite to stretch mechanism, two-dimensional mechanism is made up of upper arm 3, underarm 12, knee joint, back bar 107, upper boom 110, active section 106,108,111, as drawing pantograph shape, flexible-extensible organization is by helping slide block 1, rope supporting arm 27, the rope 22 of stretching one's legs, the bar 25 of stretching one's legs, bent leg spring 109, projection 26, verge ring 104, tether ring 105, little spring 112 to form.That stretches one's legs that the lower end of bar 25 is matched with active section 108, upper arm 3 upper ends cooperates axis hole below stretch one's legs for guide rail hole 4, little spring 112 two ends are matched with bar middle part and last facies lateralis brachii with bolster.Verge ring 104 is fixed in front side, upper arm lower end, and tether ring 105 is fixed in front side, underarm upper end.Stretch one's legs the rope lower end pass verge ring 104 and be connected in tether ring 105.All the other structures are identical with prototype embodiment.See Figure 20.

(12) supporting leg the 7th embodiment is formed by the bending of straight column type leg, axis hole, upper semisection that upper semisection has guide rail hole 4, this below, hole to match for driving handle become angle β, are 90-120 degree angle with lower semisection 113 complications, the axis hole that the guide rail hole 4 of leg and driving handle 6 match is positioned on the same horizon C, and its advantage is that car can be crossed over and the close height of lower semisection 113 length.See Figure 21.

(13) the lateral plan relative position of bolster 2 and axle drive shaft 23 be bolster 2 when ground level perpendicular line e, axle drive shaft 23 is positioned at leg and begins on the grounding jumper d, line e and line d form angle r, be 5-15 degree angle, line e and afterwards terminated line b be the mean line of same angle.

(14) the 8th embodiment of supporting leg is the tandem leg, is stretched mechanism and is formed by upper arm 3, underarm 12, second underarm 114, two knee joints, two suites.Upper arm has the axis hole of guide rail hole 4 and driving handle 6, and first knee joint has that bearing pin 18, upper arm lower support 20, underarm upper support 17, first suite stretch that there are rope supporting arm 27, the bar 25 of stretching one's legs in mechanism, the rope 22 of stretching one's legs, logical rope race 21, retracing spring 118, recess, tether axle 103, first help bracer 97, bent leg spring 5, preceding rope supporting arm 114, pull bar rope 130, sliding rope bar 129, regulating spring 115.Before rope supporting arm 114 other end downward-sloping forward and that be fixed in bolster 2, front end cylinder lever connecting rod rope 130, this rope upper semisection tandem or parallel connection regulating spring 115, rope pass sliding rope bar 129 rear ends of being fixed in the upper arm trailing flank slidingly restrict the hole and connect the upper semisection of the bar 25 of stretching one's legs, help bracer 97 to be fixed in facies lateralis brachii, recess 131 is arranged, bar upper end cooperates with stretching one's legs, bent leg spring 5 is matched with the trailing flank of upper and lower arm 3,12, and retracing spring 118 1 ends connect the bar 25 of stretching one's legs, the other end connects the upper arm leading flank.Second flexible-extensible organization by stretch down leg rope 128, stretch down leg bar 125, bent leg spring 121 down, down help bracer 127, the bar rope 117 of leaving behind, regulating spring 116, logical rope race, downslide rope bar 126, pull-rod spring 119 are formed down; Second knee joint is made up of underarm 12 lower supports, the second underarm upper support 122, lower bearing pin 123, underarm lower surface and the second underarm upper surface, and structure is identical with the knee joint of prototype embodiment.Stretching down leg rope 128 upper end connection cord supporting arms 27, lower end passes the logical rope race of underarm 12 rear sides and connects tether axle 103 in second underarm, 120 recesses; Stretching down, the lower end of leg bar 125 is connected on the bearing pin 124 of the second underarm upper support, 122 rear sides, its upper end helps the recess 132 of bracer 127 to cooperate with following, this piece is fixed on the lateral surface of underarm 12, and these bar 125 first halves connect the leading flank of spring 119, this spring other end connection underarm 12; The bent two ends of leg spring 121 down connect the trailing flank of the underarm 12 and second underarm 120 respectively; The rope bar 126 that glides vertically connects the rear side of underarm 12 backward; Leave behind the upper end of bar rope 117 connect before rope supporting arm 114, upper end serial or parallel connection formula connect regulating spring 116,117 lower ends of restricting are passed the sliding rope hole of bar 126 and are connected and stretch leg bar 125 upper semisections down.Guarantee that regulating spring 115,116 is stretched when leg is put near back terminated line b, rope 130,117 slided through the sliding rope hole of bar 129,126 and pull lever 25,125 and pendulum and break away from recess 131,132 respectively backward when leg was put line b; When leg is put preceding terminated line a, rope 22,128 with underarm 12,120 pullings of second underarm make leg stretch spring 118,119 pull lever 25,125 reset, again just recess 131,132, and the elastic force of regulating spring 115,116 is greater than retracing spring 118,119.During work, when leg is put preceding terminated line a, rope 22,128 be straightened stop and pulling underarm 12, second underarm 120 respectively around bearing pin 18,123 to forward swing to the leg straight configuration; Simultaneously, spring 118,119 spurs 25,125 respectively and resets and head on recess 131,132 again; When leg is put back terminated line b, spring 115,116 on the rope 130,117 is stretched, this rope is drawn termination and pull lever 25,125 to put backward, this bar is separated with recess 131,132 respectively, or pendulum is to the terminated line b of back when liftoff behind the leg, and the elastic force of spring 115,116 directly makes rope 130,117 pull lever 25,125 put backward and breaks away from recess 131,132.The inclined to one side rear side that guarantees recess 131,132 allow bar 25,125 to swing in but can be stopped by the front side, this bar can shore and help bracer 118,119 simultaneously.See Figure 22-24.

(15) another embodiment of flexible-extensible organization makes leg stretching type forward, on the basis of the component part of the flexible-extensible organization of the various embodiments described above, the knee joint and the bar 25 of stretching one's legs are oppositely installed, before helping also oppositely installation of bracer 97, recess 131 deflections, retracing spring 118 two ends are matched with stretch one's legs bar 25 and upper arm trailing flank; Stretching down, leg rope 128 lower ends connect second underarm, 120 trailing flanks.Promptly be positioned at the leading flank that the inclined to one side front side of leg, bent leg spring 5 are matched with upper and lower arm, before the projection deflection.Rope 22 the lower end direct connection underarm trailing flank of stretching one's legs.When guaranteeing that leg is put preceding terminated line a, rope 22 stretches leg, be reset spring pulling of bar 25 resets, again head on and help helping sliding surface or helping recess 131, the leg of bracer 97 to put the back when stopping during line b of slide block 1, bar 25 slides into the tangent plane that helps slide block 1 to be separated with helping sliding surface, bent leg spring 5 is engaged in upper and lower arm leading flank, guarantees that leg can be to pre-buckling; But knee joint should form 150 degree angles to post-buckling, also is that upper arm and underarm form "＜" font angle.Upper and lower arm rear side has verge ring and tether ring to cooperate with the rope of stretching one's legs, and can stretch when making the leg forward swing to preceding terminated line a.Two groups of knee joints of tandem leg, the bar 25,125 of stretching one's legs, sliding rope bar 129,126, spring 5,121 is installed the deflection front side, promptly the upper and lower arm of Figure 23, second underarm and the flexible-extensible organization that is connected are thereon done oppositely to install, the former trailing flank of leg becomes leading flank conversely, but rope supporting arm 27, stretch one's legs rope 22,128, preceding rope supporting arm 114, pull bar rope 130,117 is constant.Guarantee that leg can make underarm 12, the second underarms 120 to pre-buckling when the terminated line b of back, when preceding terminated line a, can be the state of stretching by rope 22,128 pullings.

(16) the 3rd embodiment of the rotatable Bringing-back mechanism of limit is, in Fig. 4-7, omit spring 49,50,55 and short pipe 43,58,59 in the said structure, mechanism only is made up of the projection 44,53 on supporting sleeve 47 and projection 48,54 and the left and right half gear 41,52.Or form by the projection 44,53 of projection on the compensating-gear shaft 57 48,54 and left and right sides axle side gear.

(17) sole length and width reach more than the 1-3 rice, to adapt to high Oversize vehicle and soft property ground running.

(18) in the driving system, each vehicle bridge has main gear device 39, diff 134, axle housing 140 when all adopting the differential drive axle.Each group step drive mechanism is that double crank type for example connects inside crank 139 in semiaxis 42 outer ends, tandem connects outside crank 137 again, hold-down arm 133 in the inboard connection of inside crank, cooperate outer hold-down arm 135 between the interior outside crank, inside and outside hold-down arm 133,135 upper ends connect same bolster 134, inside crank 139 and bolster 134 cooperate with interior leg 138, and outside crank 137 and bolster 134 cooperate with outer leg 137.Interior outside crank is opposite towards each other.It is identical with this double crank type driver train that all the other respectively organize driver train.See Figure 25.

If every group of driver train has only an actuating arm and driving handle for the single formula, so inside and outside leg must cooperate one group of leg transmission device, the formula of for example restricting transmission device or planetary gear mechanism.Only cooperate by interior leg with driving handle.

Claims (13)

1, the walking vehicle that has stepping mechanism and driver train thereof and convert by existing full drive-type vehicle structure, it is characterized in that, cooperate the rotatable Bringing-back mechanism of limit in the diff of each driver of transmission system, this mechanism is made up of four projections, four groups of retracing springs, a pipe, a supporting sleeve, between the axle side gear and between the planetary wheel; Projection be fixed on that left half axle gear, another projection are fixed in the right axle shaft gear and in correspondence with each other and be positioned at its non-center of circle portion, supporting sleeve cooperates with planetary axle, the supporting sleeve inside face is fixed two projections and is positioned at face in correspondence with each other, simultaneously with the projection of left and right half gear in correspondence with each other; Retracing spring between axle side gear projection and supporting sleeve projection simultaneously between supporting sleeve and pipe.

2, a kind of limit relevant with walking vehicle changeed Bringing-back mechanism, it is characterized in that, fix a projection near a planetary center cross left surface in the diff, fix another projection near corresponding planetary center cross right flank, these two projections respectively with left and right half gear projection in correspondence with each other and cooperate, cooperate four groups of retracing springs and two short pipes respectively.

3, a kind of relevant supporting leg with walking vehicle, form by upper arm, underarm, foot and flexible-extensible organization thereof, flexible-extensible organization by the rope supporting arm, help slide block, the rope of stretching one's legs, the bar of stretching one's legs, bent leg spring form, it is characterized in that, the rope supporting arm is skewed, and bent leg both ends of the spring connects the inclined to one side leading flank of bar lower semisection and upper arm top of stretching one's legs respectively; The end of rope of stretching one's legs is placed through the logical rope race of upper arm rear side and is connected in the tether hook of inclined to one side front side, underarm top; The last facies lateralis brachii first half that is positioned at the guide rail hole rear side is fixed a projection.

4, a kind of supporting leg relevant with walking vehicle, be straight column type or can bent stretch, it is characterized in that the bottom of leg comprises that the lower semisection of underarm has a lower shaft, cooperates with cranking arm of can horizontally rotating; Lower shaft is connected in the central siphon on the top of cranking arm, and the outside face of central siphon has circular groove, and groove cooperates with two blocks of suspension hook plates, and this plate is fixed in the leg lower side; Retracing spring is matched with on suspension hook plate and the central siphon lateral surface; The lower end of cranking arm cooperates the universal joint foot.

5, a kind of supporting leg of walking vehicle, be made up of upper and lower arm, knee joint, foot and flexible-extensible organization, it is characterized in that, flexible-extensible organization is by oscillating arm mechanisms, stretch one's legs rope, the bar of stretching one's legs, bent leg spring, help slide block, projection to form, oscillating arm mechanisms is made up of postbrachium, front and back minor axis, back plate; Minor axis after the postbrachium upper end is pivotably connected, there is 3-5 tooth the inclined to one side front side of its upper end face, and its lower end connects the rope of stretching one's legs; There are several teeth upper arm upper end, the leg pendulum to the preceding terminated line can with the tooth engagement of postbrachium, make the postbrachium transmission during to preceding terminated line and put the horizon that is positioned at the back minor axis backward, guarantee that stretching one's legs rope of pulling makes leg be straight configuration; Help slide block to be fixed on the nearly outer end of bolster, the bar lower end bearing pin of underarm upper support of knee joint bearing pin rear side that is pivotably connected of stretching one's legs, guarantee can slip into when leg stretches and head on the sliding surface that helps that helps slide block, but kept off by projection, leg can slide into this piece tangent plane when putting to the back terminated line; Back plate is positioned at the upper arm inboard and helps the slide block outside, is fixed on forward and backward minor axis and the bolster; Oscillating arm mechanisms also cooperates one group to draw sufficient mechanism, by forearm, preceding minor axis, draw sufficient rope, spring to form; Minor axis before the axis hole of forearm upper end connects, there is 3-5 tooth its upper end rear side partially, and the lower end connects draws sufficient rope, and the rope lower end is passed the verge ring of the underarm outside and following trailing flank and is connected in the sole rear end, and a spring is matched with leading flank and sole front portion under the underarm.

6, a kind of supporting leg of walking vehicle, form by upper and lower arm, knee joint and flexible-extensible organization, the guide rail hole of upper arm cooperates with bolster, the axis hole of its below is connected with driving handle, it is characterized in that, flexible-extensible organization is by rope supporting arm, the rope of stretching one's legs, the bar of stretching one's legs, bent leg spring, help bracer, dial handle, tether axle, retracing spring, recess composition; The supporting arm of restricting is fixed on the bolster outer end of hold-down arm trailing flank or hold-down arm, skewed; The rope upper end connection cord supporting arm of stretching one's legs, lower end pass the recess of logical rope race and the inclined to one side front side of underarm and connect tether axle in this nest; Bent leg both ends of the spring is matched with upper and lower arm trailing flank; The bar lower end connection of stretching one's legs is positioned at the bearing pin of underarm upper support rear side lateral surface, the upper end is blocked after forward swing can slip into recess when stretching as leg with the recess that helps bracer, can be dialled the cooperation that handle be stirred pendulum backward, can separate with recess again when leg is put the back terminated line, this bar middle part connects retracing spring, this spring other end connects the upper arm leading flank, help bracer to be fixed in facies lateralis brachii, be positioned at around the driving handle axis hole, an end of dialling handle is vertically fixed on the driving handle outer end, and the other end has the bent head that can stir the bar of stretching one's legs.

7, a kind of supporting leg of walking vehicle has upper arm, knee joint, underarm, foot and flexible-extensible organization, but leg Qu Shenzhuan is characterized in that (1) upper arm tandem connects one group of leg cylinder; (2) the underarm tandem connects one group of leg cylinder; Guarantee that the leg cylinder cooperates with the hydraulic power walking mechanism with corresponding hydraulic gear and leg.

8, a kind of supporting leg of walking vehicle has two-dimensional mechanism and flexible-extensible organization, it is characterized in that, two-dimensional mechanism is made up of upper arm, knee joint, underarm, back bar, upper boom, three active sections, is drawing pantograph shape; Flexible-extensible organization is by helping slide block, rope supporting arm, the rope of stretching one's legs, the bar of stretching one's legs, bent leg spring, projection, verge ring, tether ring, little spring to form; The bar lower end upper boom that is pivotably connected of stretching one's legs is connected little spring with active section, the upper end that back bar bar is formed by connecting with helping slide block cooperation, middle part, and the other end of little spring is connected the upper arm leading flank; Bent leg spring one end connects the back bar, the other end connects the upper arm leading flank; The rope of stretching one's legs that is connected in the rope supporting arm passes the verge ring of upper arm, underarm leading flank and is connected in the tether ring of leading flank on the underarm; Projection is positioned at upper arm upper outside face, does to block this bar cooperating to forward swing with the leg bar.

9, a kind of supporting leg of walking vehicle is characterized in that, the tortuous angle that forms the 90-120 degree of the upper semisection of leg and lower semisection, and its guide rail hole and bolster bonded assembly axis hole are positioned on the same horizon; Or driving handle bonded assembly axis hole and guide rail hole are positioned on the same horizon.

10, a kind of supporting leg of walking vehicle, the guide rail hole of upper arm cooperates with bolster, and the axis hole of this below, hole cooperates with driving handle; It is characterized in that by upper arm, knee joint, underarm, second knee joint, second underarm, foot tandem are formed by connecting, and cooperate two suites to stretch mechanism; First suite is stretched mechanism and is helped bracer, bent leg spring, preceding rope supporting arm, pull bar rope, sliding rope bar, regulating spring to form by rope supporting arm, the bar of stretching one's legs, the rope of stretching one's legs, logical rope race, retracing spring, recess, tether axle, first; The rope supporting arm shape that recedes, hold-down arm or bolster are fixed in the upper end, and the lower end connects the rope of stretching one's legs, and this rope warp leads to rope race and connects tether axle in the recess; The axis hole of bar lower end of stretching one's legs is connected and fixed on the bearing pin of underarm upper support rear side lateral surface, the upper end be blocked after the recess that helps bracer that is fixed in upper arm middle and upper part lateral surface is done to slip into and the pendulum cooperation that can separate backward with recess; Retracing spring one end connects the bar middle part of stretching one's legs, and the other end connects the upper arm leading flank; Before the rope supporting arm shape that turns forward, hold-down arm leading flank or bolster are fixed in its upper end, lower end cylinder lever connecting rod rope, this rope lower end pass the sliding rope hole of the sliding rope bar that is fixed in the upper arm trailing flank and connect the bar middle and upper part of stretching one's legs, the parallel upper end that is connected in this rope of regulating spring; Second suite stretch mechanism by stretch down the leg rope, stretch down the leg bar, bent leg spring down, down help bracer, the bar rope of leaving behind, regulating spring, logical rope race, downslide rope bar, pull-rod spring and recess, tether axle are formed down; Second knee joint is made up of underarm lower support, the second underarm upper support, lower bearing pin, underarm lower surface and the second arm upper surface, and is identical with first group of knee joint; Stretch down leg rope upper end connection cord supporting arm, the lower end is passed the following logical rope race of underarm rear side and is connected tether axle in the recess of second underarm; The rope bar that glides is fixed on the underarm trailing flank; The lower end axis hole of leg bar is connected in the lower bearing pin of the second underarm upper support rear side lateral surface under stretching, the upper end be fixed in following facies lateralis brachii second help the recess of bracer do to slip into but to forward swing can be blocked, the disengaging recess cooperates in the time of can putting backward again, this bar middle part cylinder lever connecting rod spring, this spring other end connects the underarm leading flank; Bent leg both ends of the spring down connects the trailing flank of the underarm and second underarm respectively; Leave behind bar rope upper end connect before rope supporting arm and parallel connection regulating spring, a lower end pass the sliding rope hole of the rope rod rear end that glides and the bar first half of stretching one's legs under connecting; Assurance pull bar rope is drawn termination and spurs the bar of stretching one's legs with the bar rope of leaving behind when leg is put to the back terminated line first, second helps the recess of bracer with stretching leg bar upper end disengaging down, but before this, their regulating spring is the state that is stretched.

11, according to claim 3,5, one of 7 or 10 described supporting legs, it is characterized in that: the front side of (1) kneed bearing pin deflection leg comprises the front side of first, second the kneed bearing pin and the lower bearing pin deflection leg of tandem leg; The bar of stretching one's legs is positioned at the front side of bearing pin, comprises stretching the front side that following leg bar is positioned at lower bearing pin; Bent leg spring is positioned at upper and lower arm leading flank, comprises that bent leg spring down is positioned at the leading flank of the underarm and second underarm; Projection is positioned at the inclined to one side front side of facies lateralis brachii; (2) help the arm bracer, then help bracer to be positioned at the inclined to one side front side of facies lateralis brachii, before its recess deflection, help bracer to be positioned at the inclined to one side front side of facies lateralis brachii down comprising under, before its recess is partial to; Sliding rope bar comprises that the rope bar that glides is positioned at the leading flank of leg, and the pull bar rope comprises that the lower end of the bar rope of leaving behind connects the bar of stretching one's legs and comprises and stretch leg bar down in the front side of leg; One end of retracing spring and pull-rod spring is connected stretches one's legs bar and stretches following leg bar, the trailing flank of other end connection leg.

According to the described walking vehicle in one of claim 1 or 2, it is characterized in that 12, the rotatable Bringing-back mechanism of limit in the driver of driving system in the diff only is made up of the projection of supporting sleeve and projection and axle side gear side, the left and right sides; Only comprise by diff inner planet gear axle and be positioned at the projection that deviates from mutually on the side and the projection of axle side gear side, the left and right sides is formed.

13, the existing car transmissions of a kind of direct employing comprise the walking vehicle of diff, it is characterized in that (1) semiaxis or outer semiaxis bonded assembly step drive mechanism are double crank type, each group is by oppositely directed inside crank and outside crank tandem are formed by connecting each other, and cooperate inside and outside hold-down arm, cooperate with inside and outside leg simultaneously; (2) if semiaxis or outer semiaxis bonded assembly step drive mechanism are single-handle type, but then inside and outside leg is a stretching type, the axis hole of its upper end all with the bolster bonded assembly of the hold-down arm while, also cooperate one group of leg transmission device that makes the mutual transmission of inside and outside leg, comprise inside and outside leg bonded assembly planetary gear mechanism.

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