CN201729202U - Legged vehicle - Google Patents
Legged vehicle Download PDFInfo
- Publication number
- CN201729202U CN201729202U CN2010202140009U CN201020214000U CN201729202U CN 201729202 U CN201729202 U CN 201729202U CN 2010202140009 U CN2010202140009 U CN 2010202140009U CN 201020214000 U CN201020214000 U CN 201020214000U CN 201729202 U CN201729202 U CN 201729202U
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- oil
- valve
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- hydraulic
- motor
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- Expired - Fee Related
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Abstract
The utility model relates to a legged vehicle, which belongs to the field of transportation. The legged vehicle is characterized in that at least four support legs are arranged on a support, each support leg is provided with a hydraulic oil cylinder, the top of each hydraulic oil cylinder is fixedly connected with the support, the bottom of each hydraulic oil cylinder is connected with an oscillatory oil motor, an output shaft of each oscillatory oil motor is fixedly connected with a right-angle support board, an oil motor is arranged on a side board of each right-angle support board, and an output shaft of each oil motor is provided with wheels. A prime motor is arranged on the support and connected with an oil pump, the oil pump is respectively connected with the hydraulic oil cylinders, the oscillatory oil motors and the oil motors, a weighted hydraulic balance valve is arranged among the oil pump and the hydraulic oil cylinders, and a hydraulic follower servo valve is arranged among the oil pump and the oscillatory oil motors. The legged vehicle is simple in structure, is confortable to ride, can realize driving, double-steering and translation, omits complicated differential and swing rod type steering systems, is completely shock-proof, adopts hydraulic overflow telescopic bumpers on the periphery, can climb upstairs and downstairs, uphill and downhill, and cross door sills since the wheels are provided with crawlers, and is safe and convenient.
Description
Technical field
The utility model relates to a kind of leg formula car, belongs to traffic and transport field.
Background technology
The existing technology of vehicle market is maked rapid progress, and development is quite perfect.But ubiquitous problem is all to adopt bull wheel, and a large amount of volumes that not only account for seem very huge, trac. especially, and cost is also high certainly, and damping property is poor, needs to slow down, speed change, and the lock casing is long-pending huge.
Summary of the invention
It is simple in structure that the purpose of this utility model is to provide, the leg formula car that productive costs is low.
Technical solution: the utility model fluid pressure type leg formula car, comprise support, at least be provided with four supporting legs on the support, each supporting leg is provided with a hydraulic ram, captive joint with support in the hydraulic ram top, the hydraulic ram bottom is connected with the swing oil motor, and the output shaft of swing oil motor is captiveed joint with the right angle stay bearing plate, the side plate of right angle stay bearing plate is provided with oil motor, and the output shaft of oil motor is provided with wheel; Described support is provided with primary mover, primary mover is connected with oil pump, oil pump is connected with governor valve, governor valve is connected with the commutation brake activation valve, the commutation brake activation valve respectively with two clutch convertible valves in succession, a clutch convertible valve is connected with the first side oil motor by flow regulating valve, and another clutch convertible valve is connected with the opposite side oil motor by flow regulating valve; Oil pump is connected with weight hammer type hydraulically balanced valve and hydraulic follow-up servovalve respectively by energy storage, and the hydraulic follow-up servovalve is connected with the swing oil motor by flow regulating valve, and the weight hammer type hydraulically balanced valve is connected with hydraulic ram.
Support is a rectangle, is provided with bumper/spoiler around the support, and support is connected by hydraulic ram with bumper/spoiler.
Hydraulic ram on the bumper/spoiler is connected with by pass valve, and by pass valve is connected with oil pump by on-off valve.
Bumper/spoiler is provided with support wheel.
Support is provided with operator's compartment, and the operator's compartment window frame is provided with hydraulic ram, and hydraulic ram is connected with oil pump by change-over valve.
Crawler belt is housed on the wheel.
Described hydraulic follow-up servovalve, comprise housing, housing is provided with oil pump bonded assembly input oilhole and output oil hole and reaches and oscillating oil cylinder bonded assembly input oilhole and output oil hole, being connected input oilhole and output oil hole with oil pump is symmetrical arranged with respect to central axis, become 100-120 angle to be symmetrical arranged with output oil hole with respect to the oil pump upper oil hole with oscillating oil cylinder bonded assembly input oilhole, be provided with rotary plate in the housing, rotary plate is provided with and oscillating oil cylinder bonded assembly input oilhole and corresponding two guiding valves of output oil hole, also be provided with the input oilhole and corresponding two cavitys of output oil hole that are connected with oil pump on the rotary plate, housing is provided with seal cover cap.
Described weight hammer type hydraulically balanced valve; comprise: valve body; valve body is provided with four holes at least; guiding valve is housed in the hole; guiding valve is connected with the oil pipe of hydraulic ram, and the guiding valve epicoele is connected with fuel tank, and the guiding valve cavity of resorption is connected with oil pump by energy storage; spring is housed on the slide valve rod, and the slide valve rod end is protected all the time with support and is contacted.
The machinery of the utility model leg formula car, comprise support, support lower surface middle part is provided with the clutch steering hardware, first finishing bevel gear cuter in the clutch steering hardware is fixedly mounted on the support lower surface, and first finishing bevel gear cuter is provided with axle, and axle is provided with the middle tap gear, the vertex of a cone of middle tap gear is provided with radial bearing, captiveing joint with bearing seat in the radial bearing outer ring, is installed with axle on the bearing seat, and the axis of axle is by the middle tap gear vertex of a cone; Finishing bevel gear cuter engagement on middle tap gear and the motor, motor shaft is provided with brake; The first finishing bevel gear cuter periphery is provided with four finishing bevel gear cuters at least, at least four supporting legs on the support, supporting leg adopts hollow tubular, supporting leg is by thrust baring and hollow support rails sliding block joint, and the hollow support rails that is positioned at the thrust baring below is provided with sprocket wheel, and the sprocket wheel below is provided with damping spring, be provided with transmission shaft in the hollow support rails, transmission shaft is connected by bearing with hollow support rails, and the transmission shaft upper/lower terminal is respectively equipped with finishing bevel gear cuter, upper end finishing bevel gear cuter and support epicone gear mesh; The transmission shaft bottom is provided with axletree, and axletree is provided with finishing bevel gear cuter, the finishing bevel gear cuter engagement of finishing bevel gear cuter and transmission shaft lower end, and axletree is connected by bearing with hollow support rails, and axletree is provided with wheel.
The utility model oil pump is connected with the commutation brake activation valve by governor valve, and commutation brake activation valve and two clutch convertible valves can realize that speed governing, ahead and astern, brake, clutch turn in succession, the drive wheels running.
This practical trapezoidal oil pump is connected with hydraulic ram by energy storage, weight hammer type hydraulically balanced valve, can make support remain level, realizes complete shock-absorbing.
Oil pump is connected with the swing oil motor by energy storage, hydraulic follow-up servovalve, flow regulating valve, can realize that translation turns to.
The support thick stick of insuring is connected with oil pump by hydraulic ram, by pass valve, on-off valve, realizes cushioning and insures.
Operator's compartment upper glass window is connected with oil pump by the hydraulic ram change-over valve realizes automatic lifting.
Crawler belt is housed on the wheel or realizes upper and lower step.
The utility model primary mover can be motor or combustion engine, takes turns for a short time, and at a high speed, the primary mover rotating speed directly spread out of with 1: 1, need not slow down, and is simple in structure, ride comfort.Weight hammer type hydraulically balanced valve suspension system is climbed big slope and the time can be made weight hammer type hydraulically balanced valve meta, pins equilibrium function.May be used on all vehicles, as automobile, utility van, bulk production, bus, train, loader etc.Each is taken turns all and drives, turns to, and car is translation, and the both sides clutch turns to (car rotation) dual rotation, saves complicated differential and oscillating rod type steering swivel system, but mechanical type, fluid pressure type, and every leg is identical and independent, is convenient in enormous quantities, scale, standardized production.Wheel is partly simplified, outstanding main useful part.Can adopt flat, Hino's formula.And complete shock-absorbing, vehicle body remains level.Adopt the flexible buffering insurance of hydraulic pressure overflow all around, bumper/spoiler is collapsible, divides into bogie wheel anti-front and back rollover, and is collapsible.Load onto crawler belt energy stair activity, uphill/downhill on the wheel, cross threshold, safe ready.
Obstructed valve position of the utility model oil motor or motor terminal brake.Can be designed to many people, can many legs.But rotating, driver's (operator's saddle) changes 180 ° of reversings.But driving engine, Hydraulic Double speed governing.Add operator's compartment, collapsible, also can adopt modern advanced.Other adopts ready-made ripe pioneering technology as back mirror, lamp, lock, music, loudspeaker, steering indicating light, luggage carrier, case, heating air conditioner etc.Also can develop automatic navigation, driving, shellproof, disappear and heavily wait pioneering technology.The utility model is without the lock case, need not axle, and steamboat need not slow down, and without bearing circle, cost is low, shock-absorbing, insures, turns to significant improvement is all arranged, once put into practice, can cause the revolution of car circle.
How unshielded existing fight of army is, hidden by blindage, fortification etc., has only simple protector such as steel helmet, and most of infantry that marches runs by the people.For this reason, I chat on the basis last, add that rocket type keeps flat shell and invented individual soldier's tank.Add omniscope, servo-actuated sighting system and superior power and obstacle performance and modern science and technology, can equip an army that sharp march strengthens manoevreability.Strengthen tamper-proof and anti-prisoner of war's ability.Can effectively prevent head injuries and put on steel helmet on the present battlefield, thereby the present invention there is good safeguard function.Also can replace running chair, recumbency, mechanical property and traveling comfort are better.Can dig soil and go into ground, increase disguised.
The many sheep raisings in area, Inner Mongol are put sheep out to pasture to the step race, and are very arduous.I have designed the car of putting sheep out to pasture for this reason, and class is run sedan-chair, the wheeled crawler belt pawl of class stair climbing formula obstacle detouring.Need long-time continuation of the journey one day, can slow down, as use little displacement pump.Add send out a bullet, propaganda directed to communicate, sunshade, band meal etc.Market is arranged in the Inner Mongol very much.
Train also can adopt technology such as this leg formula wheel hydro-cushion.Head turns to, and one-sided clutch economizes switch, and wheel all initiatively.For anti-side force, can consider cylinder intensity, special cylinder seat, cylinder side handle.
Description of drawings
Fig. 1 is the utility model hydraulic schematic diagram;
Fig. 2 is the utility model fluid pressure type structural representation;
Fig. 3 is the birds-eye view of Fig. 2;
Fig. 4 is the utility model hydraulic ram structural representation;
Fig. 5 is the utility model counterbalanced weight hammer valve front view;
Fig. 6 is the birds-eye view of Fig. 5
Fig. 7 is the utility model hydraulic follow-up servovalve front view;
Fig. 8 is the birds-eye view of this Fig. 7;
Fig. 9 is the front view of a kind of embodiment of the utility model operator's compartment;
Figure 10 is the left view of Fig. 9;
Figure 11 is the structural representation of the utility model band Athey wheel;
Figure 12 is the birds-eye view of Figure 11;
Figure 13 is the utility model mechanical structure scheme drawing;
Figure 14 is the birds-eye view of Figure 13;
Figure 15 is a mechanical type clutch steering hardware structural representation.
The specific embodiment
The utility model is a fluid pressure type leg formula car, comprise support 1, support 1 is provided with four supporting legs 2, each supporting leg 2 is provided with a hydraulic ram 3, captive joint with support 1 in hydraulic ram 3 tops, the bottom is connected with swing oil motor 4, and the output shaft of swing oil motor 4 is captiveed joint with right angle stay bearing plate 5, the side plate of right angle stay bearing plate 5 is provided with oil motor 6, and the output shaft of oil motor 6 is provided with wheel 7; Described support 1 is provided with primary mover, primary mover is a combustion engine, combustion engine is connected with oil pump 8, oil pump 8 logical governor valves 9 are connected with commutation brake activation valve 10, commutation brake activation valve 10 respectively with the first clutch convertible valve 11 and the second clutch convertible valve 12 in succession, the first clutch convertible valve 11 is connected with a side oil motor 6 by flow regulating valve, and the second clutch convertible valve 12 is connected with opposite side oil motor 6 by flow regulating valve; Oil pump 8 is connected with weight hammer type hydraulically balanced valve 14 and hydraulic follow-up servovalve 15 respectively by energy storage 13, hydraulic follow-up servovalve 15 is connected with swing oil motor 4 by flow regulating valve, hydraulic follow-up servovalve 15, comprise housing 22, be provided with spool 27 in the housing 22, spool 27 is provided with guiding valve 28 and guiding valve 29 and cavity 30 and cavity 31, housing 22 is provided with oil pump 8 bonded assemblys input oilhole 23 and output oil hole 24 and reaches and oscillating oil cylinder 4 bonded assemblys input oilhole 25 and output oil hole 26, input oilhole 25 and output oil hole 26 are on the same straight line, input oilhole 23 and output oil hole 24 place input oilhole 25 both sides, input oilhole 23 is corresponding with guiding valve 28 and guiding valve 29 respectively with output oil hole 24, and input oilhole 25 is corresponding with cavity 30 and cavity 31 respectively with output oil hole 26.Housing 22 is provided with seal cover cap 32.Weight hammer type hydraulically balanced valve 14 is connected with hydraulic ram 3; weight hammer type hydraulically balanced valve 14 comprises valve body 33; valve body 33 is provided with four holes 34 at least; guiding valve 35 is housed in the hole 34; guiding valve 35 is connected with the oil pipe of hydraulic ram 3, and guiding valve 35 epicoeles are connected with oil pump 8 by energy storage 13, and guiding valve 35 cavity of resorptions are connected with fuel tank 40; spring 36 is housed on the guiding valve 35, and guiding valve 35 ends are protected all the time with support 1 and are contacted.Support 1 is a rectangle, is provided with bumper/spoiler 16 around the support 1, and support 1 is connected by hydraulic ram 17 with bumper/spoiler 16.Hydraulic ram 17 on the bumper/spoiler 16 is connected with by pass valve 18, by pass valve 18 is connected with oil pump 8 by on-off valve 19, on each bumper/spoiler 16 support wheel 20 is installed all, support 1 bottom is provided with fuel tank 36, and fuel tank 36 is connected with oil pump 8 by oil filter, and by pass valve 37 is installed on the oil pump 8, support 1 top is provided with operator's compartment 21, be provided with driver seat in the operator's compartment 21, operator's compartment 21 window frames are provided with hydraulic ram 38, and hydraulic ram 38 is connected with oil pump 8 by change-over valve 39.
The utility model primary mover internal-combustion engine drives oil pump 8 makes fluid arrive oil distributor through oil filter with certain pressure and flow, and a part of fluid arrives each road binders motor 6 through governor valve 9 loops, and powered vehicle is advanced, each oil motor 6 rotating speed unanimity of throttle valve adjustment.While both sides oil motor 6 paths, the first clutch convertible valve 11 and the second clutch convertible valve, 12 control oil motors, 6 break-makes realize that clutch turns to.Part pressure oil rotary plate 27 in hydraulic follow-up servovalve 15 arrives swing oil motor 4 and realizes that translation turns to.Part pressure oil arrives weight hammer type hydraulically balanced valve 14 and arrives each hydraulic ram 3 through energy storage 13, thus control vehicle balance shock-absorbing.Slide block 35 moves up and down the height of each hydraulic ram 3 of scalable in the weight hammer type hydraulically balanced valve 14.Part pressure oil to each hydraulic ram 17, can through by pass valve 18 be realized buffering insurance after being hit through on-off valve 19, recovers multiple shape through on-off valve 19, and bumper/spoiler 16 is collapsible.Rollover before and after the four-wheel supporting prevention.Other as steering indicating light like common vehicle.Operator'ies compartment etc. increase travelling comfort.
Weight hammer type hydraulically balanced valve 14 working processs: valve body 33 is vertical, weight hammer type hydraulically balanced valve 14 valve face levels, and when support 1 level, guiding valve 35 cuts out, and keeps balance.When seat was high on certain valve, guiding valve 35 rose, and the downside oil pocket is connected draining, the hydraulic stem withdrawal, and then seat descends, and during to horizontal surface, guiding valve 35 cuts out.When seat on certain valve was low, guiding valve 35 descended, and the upside oil pocket is connected oil-filled, and hydraulic stem stretches out, and then seat rises, and during to horizontal surface, guiding valve 35 cuts out.Each guiding valve is same, and then seat remains level.Shock absorbing on the root.
The working process of hydraulic follow-up servovalve 15: when hydraulic follow-up servovalve 15 is in midway location (zero-bit), four oilholes are promptly on the hydraulic follow-up servovalve 15: with oil pump 8 bonded assemblys inputs oilhole 23 and output oil hole 24 and with all close (spool 27 convex shoulder width equate with the oilhole width) with oscillating oil cylinder 4 bonded assemblys input oilhole 25 and output oil hole 26, hydraulic follow-up servovalve 15 does not have flow output, and oil motor 6 is motionless.Give 27 1 inputs of spool angle, for example make spool 27 turning clockwise θ
i, then importing oilhole 25 and output oil hole 26 has a corresponding opening amount θ
v, pressure oil enters swing oil motor 4 right chambeies through input oilhole 25, promotes 4 right-hand rotations of swing oil motor; Swing oil motor 4 left chamber fluid are discharged through output oil hole 26.In 4 right-hand rotations of swing oil motor, drive valve body 22 and also turn right, the opening amount of hydraulic follow-up servovalve 15 is reduced, i.e. θ
v=θ
i-θ
pEqual spool 27 input angle θ when promoting swing oil motor 4 Shaft angles
iThe time, hydraulic follow-up servovalve 15 opening amount θ
v=0, the delivery rate of hydraulic follow-up servovalve 15 is zero, and swing oil motor 4 stop motions (ignoring leakage) are on the new balance position, thereby has finished the accompany movement of swing oil motor 4 output angles to spool 27 input angles.As make spool 27 counter motions, then swing also oppositely accompany movement of oil motor 4.In this system, the action (system outlet) that the swing oil motor is 4 can reappear the action (system's input) of spool 27 rapidly, exactly, so it is an automatic tracking system, also claims follow-up system.Five swing oil motors 4 are identical, so corner is identical, thereby realize that translation turns to.Throttle valve adjustment is respectively swung oil motor 5 corner unanimities.
Stair climbing is realized working process: axle 61 is installed on the centre hole of the utility model wheel 7, on the axle 61 synchronous pulley 62 is installed, axle 61 is connected with crawler belt support 64 1 sides by bearing 63, the opposite side of crawler belt support 64 is connected with another synchronous pulley 66 by bearing 65, synchronous pulley 62 and synchronous pulley 66 are by being with 67 to connect synchronously, step belt wheel 67 outside faces are provided with anti-skidding ripple, being with 67 bottoms to contact with stairway step synchronously takes on two steps, along with being with 67 to rotate synchronously, step by step, balanced system makes support 1 maintenance level.
The utility model mechanical type leg formula car, comprise support 1, support lower surface middle part is provided with the clutch steering hardware, first finishing bevel gear cuter 41 in the clutch steering hardware is fixedly mounted on the support lower surface, and first finishing bevel gear cuter 41 is provided with axle 42, and axle 42 is provided with middle tap gear 43, the vertex of a cone of middle tap gear 43 is provided with radial bearing 44, captiveing joint with bearing seat 45 in radial bearing 44 outer rings, is installed with axle 47 on the bearing seat 45, and the axis of axle 47 is by middle tap gear 43 vertex of a cones; Finishing bevel gear cuter 46 engagements on middle tap gear 43 and the motor, motor shaft is provided with brake; First finishing bevel gear cuter, 41 peripheries are provided with four finishing bevel gear cuters 48, support 1 is provided with four supporting legs 2, supporting leg 2 adopts hollow tubular, supporting leg is by thrust baring 49 and hollow support rails 50 sliding block joints, the hollow support rails 50 that is positioned at thrust baring 49 belows is provided with sprocket wheel 51, sprocket wheel 51 belows are provided with damping spring 52, be provided with transmission shaft 53 in the hollow support rails 50, transmission shaft 53 is connected by bearing 54 with hollow support rails 50, transmission shaft 53 upper/lower terminals are respectively equipped with finishing bevel gear cuter 55 and finishing bevel gear cuter 56, finishing bevel gear cuter 57 engagements on upper end finishing bevel gear cuter 55 and the support; Transmission shaft 53 bottoms are provided with axletree 58, and axletree 58 is provided with finishing bevel gear cuter 59, and finishing bevel gear cuter 59 meshes with the finishing bevel gear cuter 56 of transmission shaft 53 lower ends, and axletree 58 is connected by bearing 60 with hollow support rails 50, and axletree 58 is provided with wheel 7.
Claims (9)
1. leg formula car, comprise support, at least be provided with four supporting legs on the support, it is characterized in that: each supporting leg is provided with a hydraulic ram, captive joint with support in the hydraulic ram top, the hydraulic ram bottom is connected with the swing oil motor, and the output shaft of swing oil motor is captiveed joint with the right angle stay bearing plate, the side plate of right angle stay bearing plate is provided with oil motor, and the output shaft of oil motor is provided with wheel; Described support is provided with primary mover, primary mover is connected with oil pump, oil pump is connected with governor valve, governor valve is connected with the commutation brake activation valve, the commutation brake activation valve respectively with two clutch convertible valves in succession, a clutch convertible valve is connected with the first side oil motor by flow regulating valve, and another clutch convertible valve is connected with the opposite side oil motor by flow regulating valve; Oil pump is connected with weight hammer type hydraulically balanced valve and hydraulic follow-up servovalve respectively by energy storage, and the hydraulic follow-up servovalve is connected with the swing oil motor by flow regulating valve, and the weight hammer type hydraulically balanced valve is connected with hydraulic ram.
2. leg formula car according to claim 1 is characterized in that: support is a rectangle, is provided with bumper/spoiler around the support, and support is connected by hydraulic ram with bumper/spoiler.
3. leg formula car according to claim 2, it is characterized in that: the hydraulic ram on the bumper/spoiler is connected with by pass valve, and by pass valve is connected with oil pump by on-off valve.
4. leg formula car according to claim 3, it is characterized in that: bumper/spoiler is provided with support wheel.
5. leg formula car according to claim 1 and 2, it is characterized in that: support is provided with operator's compartment, and the operator's compartment window frame is provided with hydraulic ram, and hydraulic ram is connected with oil pump by change-over valve.
6. leg formula car according to claim 1, it is characterized in that: on the centre hole of wheel axle is installed, on the axle synchronous pulley is installed, axle is connected with crawler belt support one side by bearing, the opposite side of crawler belt support is connected with another synchronous pulley by bearing, and synchronous pulley and synchronous pulley are by band connection synchronously.
7. leg formula car according to claim 1, it is characterized in that: the hydraulic follow-up servovalve, comprise housing, be provided with spool in the housing, spool is provided with two guiding valves and two cavitys, housing is provided with oil pump bonded assembly input oilhole and output oil hole and reaches and oscillating oil cylinder bonded assembly input oilhole and output oil hole, input oilhole and output oil hole are on the same straight line, place the both sides of importing oilhole with the oscillating oil cylinder bonded assembly with oil pump bonded assembly input oilhole and output oil hole, corresponding with two guiding valves respectively with oil pump bonded assembly input oilhole and output oil hole, corresponding with two cavitys respectively with oscillating oil cylinder bonded assembly input oilhole and output oil hole; Housing is provided with seal cover cap.
8. leg formula car according to claim 1; it is characterized in that: the weight hammer type hydraulically balanced valve; comprise: valve body; valve body is provided with four holes at least, and guiding valve is housed in the hole, and guiding valve is connected with the oil pipe of hydraulic ram; the guiding valve epicoele is connected with fuel tank; the guiding valve cavity of resorption is connected with oil pump by energy storage, and spring is housed on the slide valve rod, and the slide valve rod end is protected all the time with support and contacted.
9. leg formula car, comprise support, it is characterized in that: support lower surface middle part is provided with the clutch steering hardware, first finishing bevel gear cuter in the clutch steering hardware is fixedly mounted on the support lower surface, and first finishing bevel gear cuter is provided with axle, and axle is provided with the middle tap gear, the vertex of a cone of middle tap gear is provided with radial bearing, captiveing joint with bearing seat in the radial bearing outer ring, is installed with axle on the bearing seat, and the axis of axle is by the middle tap gear vertex of a cone; Finishing bevel gear cuter engagement on middle tap gear and the motor, motor shaft is provided with brake; The first finishing bevel gear cuter periphery is provided with four finishing bevel gear cuters at least, at least four supporting legs on the support, supporting leg adopts hollow tubular, supporting leg is by thrust baring and hollow support rails sliding block joint, and the hollow support rails that is positioned at the thrust baring below is provided with sprocket wheel, and the sprocket wheel below is provided with damping spring, be provided with transmission shaft in the hollow support rails, transmission shaft is connected by bearing with hollow support rails, and the transmission shaft upper/lower terminal is respectively equipped with finishing bevel gear cuter, upper end finishing bevel gear cuter and support epicone gear mesh; The transmission shaft bottom is provided with axletree, and axletree is provided with finishing bevel gear cuter, the finishing bevel gear cuter engagement of finishing bevel gear cuter and transmission shaft lower end, and axletree is connected by bearing with hollow support rails, and axletree is provided with wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202140009U CN201729202U (en) | 2010-05-23 | 2010-05-23 | Legged vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202140009U CN201729202U (en) | 2010-05-23 | 2010-05-23 | Legged vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201729202U true CN201729202U (en) | 2011-02-02 |
Family
ID=43520359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202140009U Expired - Fee Related CN201729202U (en) | 2010-05-23 | 2010-05-23 | Legged vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201729202U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN105752181A (en) * | 2016-03-24 | 2016-07-13 | 李永飞 | Pneumatic leg type car |
| CN112896357A (en) * | 2021-03-30 | 2021-06-04 | 郑州宇通重工有限公司 | Wheel-foot composite movable mechanical equipment and hydraulic system thereof |
-
2010
- 2010-05-23 CN CN2010202140009U patent/CN201729202U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN105752181A (en) * | 2016-03-24 | 2016-07-13 | 李永飞 | Pneumatic leg type car |
| CN112896357A (en) * | 2021-03-30 | 2021-06-04 | 郑州宇通重工有限公司 | Wheel-foot composite movable mechanical equipment and hydraulic system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110202 Termination date: 20130523 |