CN1302958C - Eight-wheel symmetrical suspension frame vehicle loading mechanism - Google Patents
Eight-wheel symmetrical suspension frame vehicle loading mechanism Download PDFInfo
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- CN1302958C CN1302958C CNB2004100438012A CN200410043801A CN1302958C CN 1302958 C CN1302958 C CN 1302958C CN B2004100438012 A CNB2004100438012 A CN B2004100438012A CN 200410043801 A CN200410043801 A CN 200410043801A CN 1302958 C CN1302958 C CN 1302958C
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- wheel
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- rocker
- rocking arm
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Abstract
The present invention discloses an eight-wheel symmetrical suspension frame type vehicle loading mechanism which relates to a suspension frame type vehicle loading mechanism. Two single side independent suspension frame mechanisms (20) of the present invention are arranged at the left side and the right side of a main vehicle body (30). The lower end of the front side of an auxiliary rocking arm (5) is hinged with a middle front wheel (2), and the lower end of the rear side of the auxiliary rocking arm (5) is hinged with a middle rear wheel (3). The front end of a front main rocking arm (8) is hinged with a front wheel (1), and the rear end of the front main rocking arm (8) is hinged with the front side of the auxiliary rocking arm (5). The front end of the rear main rocking arm (7) is hinged with the rear side of the auxiliary rocking arm (5), and the rear end of the rear main rocking arm (7) is hinged a rear wheel (4). The integral structure of driving, transmission and a wheel body is adopted by a wheel system structure of the present invention. The main vehicle body is arranged on two pairs of main rocking arms in a hinging mode. Gravity is uniformly allocated on each wheel, and the maximum drive efficiency of a motor in a driving transmission device can exert. Eight wheels automatically adapt topographical change in the process of moving at rugged topography, and have good obstacle detouring performance. The main vehicle body is supported by two transverse shafts. The present invention has the advantages of high intensity and stable posture in the process of movement.
Description
Technical field:
The present invention relates to a kind of suspension frame type vehicular mechanism.
Background technology:
Existing moving vehicle (comprising the moon, planetary detection car) adopts many wheel parallel types vehicle-carrying mechanism mostly, though these vehicle-carrying mechanisms have the ability of certain obstacle climbing ability and adaptation to the ground, but this ability also has certain limitation, vehicle-carrying mechanism is on the concavo-convex rugged face of land, mobile attitude is steady not enough, at obstacle climbing ability, adaptation to the ground, move that aspect such as steady remains further to be improved and perfect.
Summary of the invention:
The purpose of this invention is to provide a kind of eight and take turns symmetrical suspension frame type vehicular mechanism, it has compact conformation, car body good stability, adapts to that the complex-terrain ability is strong, obstacle performance good automatically, attitude pulsation-free characteristics in the moving process.The present invention is made up of two one-sided independent suspension mechanisms 20, main car bodies 30, and two one-sided independent suspension mechanisms 20 are arranged on the left and right sides of main car body 30, and two one-sided independent suspension mechanisms 20 are connected with main car body 30.Two one-sided independent suspension mechanisms 20 are made up of front-wheel 1, middle front-wheel 2, middle trailing wheel 3, trailing wheel 4, secondary-rocker 5, preceding master rocker 8, back master rocker 7 respectively, the lower end, front side and the middle front-wheel 2 of secondary-rocker 5 are hinged, the rear side lower end and the middle trailing wheel 3 of secondary-rocker 5 are hinged, the front end and the front-wheel 1 of preceding master rocker 8 are hinged, the rear end of preceding master rocker 8 and the front side of secondary-rocker 5 are hinged, the rear side of the front end of back master rocker 7 and secondary-rocker 5 is hinged, and the rear end of back master rocker 7 and trailing wheel 4 are hinged.Main car body 30 is made up of main car body frame 6 and connecting rod 9, the front end of the upper end of connecting rod 9 and main car body frame 6 is hinged, the both sides of connecting rod 9 lower ends respectively with two one-sided independent suspension mechanisms 20 in preceding master rocker 8 hinged, the both sides, lower end of main car body frame 6 respectively with two one-sided independent suspension mechanisms 20 in back master rocker 7 hinged.Front-wheel 1, middle front-wheel 2, middle trailing wheel 3 or trailing wheel 4 are by wheel body 1-1, two bearing 1-2, drive transmission 1-3, drive transmission support sleeve 1-4, wheel hub 1-5, adapter sleeve 1-6 forms, drive transmission support sleeve 1-4 is located in the wheel body 1-1, be fixed with two bearing 1-2 between drive transmission support sleeve 1-4 and the wheel body 1-1, drive transmission 1-3 is fixed in the drive transmission support sleeve 1-4, wheel hub 1-5 is fixed on the outside of wheel body 1-1, the mouth of drive transmission 1-3 is captiveed joint with wheel hub 1-5, adapter sleeve 1-6 is fixed on the inboard of wheel body 1-1, adapter sleeve 1-6 respectively with preceding master rocker 8, secondary-rocker 5 and back master rocker 7 are hinged.The present invention adopts eight modes of taking turns individual drive, front and back four-wheel independent steering to move.Wheel train structure adopts driving, transmission, the incorporate structure of wheel body.Main car body is contained on two pairs of master rockers by articulated manner, and gravity is distributed uniform on each wheel, can bring into play the maximum drive efficient of motor in the drive transmission.In the accidental relief moving process, eight take turns deformationization adaptively, and obstacle performance is good.Main car body is supported by two transverse axis, the intensity height, and attitude is steady in the moving process.Suspension fork mechanism of the present invention has good expansion, not only can be used as the vehicle-carrying mechanism of the moon or planetary detection car, also can be by changing its physical dimension parameter, as the vehicle-mounted travel mechanism or the toy car of complex-terrain moving vehicle.
Description of drawings:
Fig. 1 is a front view of the present invention, and Fig. 2 is a birds-eye view of the present invention, and Fig. 3 is the structural representation of front-wheel 1, middle front-wheel 2, middle trailing wheel 3 or trailing wheel 4.
The specific embodiment:
The specific embodiment one: (referring to Fig. 1-Fig. 3) present embodiment is made up of two one-sided independent suspension mechanisms 20, main car bodies 30, two one-sided independent suspension mechanisms 20 are arranged on the left and right sides of main car body 30, and two one-sided independent suspension mechanisms 20 are connected with main car body 30.Two one-sided independent suspension mechanisms 20 are made up of front-wheel 1, middle front-wheel 2, middle trailing wheel 3, trailing wheel 4, secondary-rocker 5, preceding master rocker 8, back master rocker 7 respectively, the lower end, front side and the middle front-wheel 2 of secondary-rocker 5 are hinged, the rear side lower end and the middle trailing wheel 3 of secondary-rocker 5 are hinged, the front end and the front-wheel 1 of preceding master rocker 8 are hinged, the rear end of preceding master rocker 8 and the front side of secondary-rocker 5 are hinged, the rear side of the front end of back master rocker 7 and secondary-rocker 5 is hinged, and the rear end of back master rocker 7 and trailing wheel 4 are hinged.Main car body 30 is made up of main car body frame 6 and connecting rod 9, the front end of the upper end of connecting rod 9 and main car body frame 6 is hinged, the both sides of connecting rod 9 lower ends respectively with two one-sided independent suspension mechanisms 20 in preceding master rocker 8 hinged, the both sides, lower end of main car body frame 6 respectively with two one-sided independent suspension mechanisms 20 in back master rocker 7 hinged.Front-wheel 1, middle front-wheel 2, middle trailing wheel 3 or trailing wheel 4 are by wheel body 1-1, two bearing 1-2, drive transmission 1-3, drive transmission support sleeve 1-4, wheel hub 1-5, adapter sleeve 1-6 forms, drive transmission support sleeve 1-4 is located in the wheel body 1-1, be fixed with two bearing 1-2 between drive transmission support sleeve 1-4 and the wheel body 1-1, drive transmission 1-3 is fixed in the drive transmission support sleeve 1-4, wheel hub 1-5 is fixed on the outside of wheel body 1-1, the mouth of drive transmission 1-3 is captiveed joint with wheel hub 1-5, adapter sleeve 1-6 is fixed on the inboard of wheel body 1-1, adapter sleeve 1-6 respectively with preceding master rocker 8, secondary-rocker 5 and back master rocker 7 are hinged.
Principle of work:
Because this vehicle-carrying mechanism introduced secondary-rocker and two breast wheels, when running into obstacle, can be by the rotation of secondary-rocker, and adjust the distribution of gravity at each wheel by wheels in the middle of two, to improve the stability and the obstacle climbing ability of car body.Front-wheel 1 can rotate relative to preceding master rocker 8 and back master rocker 7 with trailing wheel 4, and by turning to motor to realize the rotation of wheel around its vertical axis in the drive transmission.8 equal individual drive of wheel of this vehicle-carrying mechanism, 4 the wheel independent steerings in front and back can be realized multiple motor functions such as advancing, retreat and turn to.
Claims (2)
1, eight take turns symmetrical suspension frame type vehicular mechanism, it is by two one-sided independent suspension mechanisms (20), main car body (30) is formed, two one-sided independent suspension mechanisms (20) are arranged on the left and right sides of main car body (30), two one-sided independent suspension mechanisms (20) are connected with main car body (30), two one-sided independent suspension mechanisms (20) are respectively by front-wheel (1), middle front-wheel (2), middle trailing wheel (3), trailing wheel (4), secondary-rocker (5), preceding master rocker (8), back master rocker (7) is formed, the lower end, front side of secondary-rocker (5) and middle front-wheel (2) are hinged, the rear side lower end of secondary-rocker (5) and middle trailing wheel (3) are hinged, the front end and the front-wheel (1) of preceding master rocker (8) are hinged, the rear end of preceding master rocker (8) and the front side of secondary-rocker (5) are hinged, the rear side of the front end of back master rocker (7) and secondary-rocker (5) is hinged, the rear end of back master rocker (7) and trailing wheel (4) are hinged, it is characterized in that front-wheel (1), middle front-wheel (2), middle trailing wheel (3) or trailing wheel (4) are by wheel body (1-1), two bearings (1-2), drive transmission (1-3), drive transmission support sleeve (1-4), wheel hub (1-5), adapter sleeve (1-6) is formed, drive transmission support sleeve (1-4) is located in the wheel body (1-1), be fixed with two bearings (1-2) between drive transmission support sleeve (1-4) and the wheel body (1-1), drive transmission (1-3) is fixed in the drive transmission support sleeve (1-4), wheel hub (1-5) is fixed on the outside of wheel body (1-1), the mouth of drive transmission (1-3) is captiveed joint with wheel hub (1-5), adapter sleeve (1-6) is fixed on the inboard of wheel body (1-1), adapter sleeve (1-6) respectively with preceding master rocker (8), secondary-rocker (5) and back master rocker (7) are hinged.
2, according to claim 1 eight take turns symmetrical suspension frame type vehicular mechanism, it is characterized in that main car body (30) is made up of main car body frame (6) and connecting rod (9), the front end of the upper end of connecting rod (9) and main car body frame (6) is hinged, the both sides of connecting rod (9) lower end respectively with two one-sided independent suspension mechanisms (20) in preceding master rocker (8) hinged, the both sides, lower end of main car body frame (6) respectively with two one-sided independent suspension mechanisms (20) in back master rocker (7) hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100438012A CN1302958C (en) | 2004-08-13 | 2004-08-13 | Eight-wheel symmetrical suspension frame vehicle loading mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100438012A CN1302958C (en) | 2004-08-13 | 2004-08-13 | Eight-wheel symmetrical suspension frame vehicle loading mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1597416A CN1597416A (en) | 2005-03-23 |
| CN1302958C true CN1302958C (en) | 2007-03-07 |
Family
ID=34665457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100438012A Expired - Fee Related CN1302958C (en) | 2004-08-13 | 2004-08-13 | Eight-wheel symmetrical suspension frame vehicle loading mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1302958C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100372702C (en) * | 2006-04-26 | 2008-03-05 | 哈尔滨工业大学 | Eight wheel differential acting, torsion bar spring suspension frame type vehicular mechanism |
| CN101870312B (en) * | 2010-06-29 | 2011-12-28 | 王龙 | Terrain self-adaptive detection and rescue walking platform |
| CN104260607B (en) * | 2014-09-04 | 2017-02-15 | 管中林 | Wheel type armoured eight-wheel-interconversion damping device |
| CN104590420B (en) * | 2014-12-19 | 2016-11-09 | 贾克 | Obstacle detouring articulator eight wheel drive system |
| CN104648500B (en) * | 2014-12-19 | 2017-02-01 | 贾克 | Eight-wheel hinged obstacle crossing vehicle |
| CN105292300A (en) * | 2015-11-17 | 2016-02-03 | 北京自动化控制设备研究所 | Wheel type travelling mechanism |
| CN109693811B (en) * | 2018-12-17 | 2022-08-02 | 西北工业大学 | Differential rear-mounted mars vehicle moving mechanism |
| CN110562344A (en) * | 2019-09-27 | 2019-12-13 | 核星核电科技(海盐)有限公司 | Magnetic adsorption type wall-climbing robot |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2105421U (en) * | 1991-09-17 | 1992-05-27 | 殷建新 | Balance suspension |
| CN2441705Y (en) * | 2000-07-06 | 2001-08-08 | 东风汽车工业联营公司新疆汽车厂 | Self balance double connection suspending frame |
| CN2507683Y (en) * | 2001-08-31 | 2002-08-28 | 泰安特种车制造厂 | Fuel gas spring balance suspension device for multi-axle super heavy-duty cross-country car |
-
2004
- 2004-08-13 CN CNB2004100438012A patent/CN1302958C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2105421U (en) * | 1991-09-17 | 1992-05-27 | 殷建新 | Balance suspension |
| CN2441705Y (en) * | 2000-07-06 | 2001-08-08 | 东风汽车工业联营公司新疆汽车厂 | Self balance double connection suspending frame |
| CN2507683Y (en) * | 2001-08-31 | 2002-08-28 | 泰安特种车制造厂 | Fuel gas spring balance suspension device for multi-axle super heavy-duty cross-country car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1597416A (en) | 2005-03-23 |
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Granted publication date: 20070307 |