CN206606019U - It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis - Google Patents
It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis Download PDFInfo
- Publication number
- CN206606019U CN206606019U CN201720031442.1U CN201720031442U CN206606019U CN 206606019 U CN206606019 U CN 206606019U CN 201720031442 U CN201720031442 U CN 201720031442U CN 206606019 U CN206606019 U CN 206606019U
- Authority
- CN
- China
- Prior art keywords
- oil cylinder
- wheel
- vehicle
- rocker arm
- car body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model provides a kind of full landform wheeled vehicle of multiaxis for having wheel fast running, wheel foot walking obstacle detouring and many wheel carrying drivings concurrently, and the motor-driven and traffic capacity for raising border patrol, mountain operations, rescue and relief work vehicle is significant.The multiaxis wheeled atv, is made up of car body, oscillating oil cylinder, rocking arm, driving moment, hydraulic power unit, brake system, power-supply system, control system；Rocking arm equipped with driving moment can be achieved to swing and flexible under oscillating oil cylinder and telescopic oil cylinder effect, and many wheel cooperations can carry out gait walking and obstacle detouring；Vehicle level land straight is implemented by adjusting control driving moment rotary speed and direction, and Vehicular turn is realized by left and right sides difference in wheel speed, also can the drop resistance steering of lifting wheel；All-wheel drive braking, many wheel rocking arms are swung, the coordinated control of action of many wheel rocker telescopics, and the posture changing of vehicle, flexible and full landform can be achieved and passes through.
Description
Technical field：
The present invention relates to a kind of wheeled atv, foot is more particularly to driven and taken turns using wheel hub motor (or hydraulic motor)
The full landform wheeled vehicle of multiaxis of structure.
Background technology：
Current wheeled vehicle has level land fast running ability, but under MODEL OVER COMPLEX TOPOGRAPHY, the obstacle detouring traffic capacity is poor, unfavorable
Walked and flexible in mountain region and jungle area；And walking machine can walk in mountain region, but it is limited to its walking mechanism feature,
It is slow in action on level land, is unfavorable for the fast running on Plain and highway；And the sufficient car of wheel with walking function can be by two
Person organically combines, and has the performance that mountain region obstacle detouring is pacifically sailed soon concurrently；Meanwhile, many wheel carryings are conducive to improvement vehicle cross-country with driving
With the Terrain surface traffic capacity；Therefore, the wheeled vehicle for improve border patrol, mountain operations, rescue and relief work vehicle maneuver energy
Power is significant.
The content of the invention：
Therefore, it is an object of the invention to provide a kind of full landform machine for running at high speed and taking turns sufficient walking obstacle detouring with wheel
Moving platform, to improve the existing fast running maneuverability of existing vehicle, there is the fast obstacle traffic capacity again.
Specifically, the multiaxis wheeled atv in present example, by car body, oscillating oil cylinder, rocking arm, driving moment,
Hydraulic power unit, brake system, power-supply system, control system composition, it is characterized in that：
Car body, in tower structure, both sides are welded with inside and outside supporting and fixing plate, fixed plate by being respectively mounted interior outer shaft
Bearing, is supported and fixed many rocker arm shafts, and rocker arm shaft can be relative to car body rotation and symmetrical distribution, and rocker arm shaft is as shaking
An arm part is connected to be also equipped with pumping station system, brake system, power-supply system and manipulation system on rocking arm and driving moment, car body
System；
Driving moment, it is made up of motor (or hydraulic motor), wheel hub, tire, wheel shaft, can be that 6 wheels or 8 are taken turns,
And arrangement is left and right symmetrically arranged, motor (or hydraulic motor) is arranged in wheel hub, can be rotated around the not axis of a movable block, pass through electric wire
(or pipeline) provides the energy and control, realizes the advance, sternway and steering of vehicle, and the damping for being fixed on both sides by wheel shaft is stood
Tire is housed, motor (or hydraulic motor) side is fixed with brake disc on post lower end, wheel hub；
Rocking arm, is made up of rocker arm shaft, oscillating deck, rocker arm bracket, telescopic oil cylinder, guiding mechanism, lower fixed seat, damping column,
The fixed driving moment in its lower end, upper end is arranged on car body through rocker arm shaft, and driving moment can be driven to be realized relative to car body and put
It is dynamic；
Damping column, positioned at rocking arm bottom, is made up of piston rod and damper cylinder, two is equipped with each rocking arm, in bar
Damper is housed between cylinder, damping and guide function is had concurrently, two piston rod upper ends are fixed on lower fixed seat, two dampings
Cylinder lower end is fixed on the both sides of wheel hub, similarly hereinafter wide on two bars and two, wheel with wheel shaft relative to lower fixed seat can above and below
Resilient movement is come on damping, side damper cylinder to be further fixed on the lower pump that brakes, and the mechanical braking of wheel is realized with brake disc cooperation；
Lower fixed seat, for connecting telescopic oil cylinder, guiding mechanism and the two damping columns of lower section of top, by flexible oil
Cylinder piston rod, guiding mechanism guide rod and two damping column piston rods of lower section are fixed together, and can move integrally；
Telescopic oil cylinder, between rocker arm bracket and lower fixed seat, by the flexible adjustable rocking arm length of oil cylinder, so as to realize
Bidirectional hydraulic lock is also equipped with the adjustment of car appearance height, the oil cylinder, rocking arm length any position in oil cylinder stroke can be achieved
Locking；
Guiding mechanism, it is parallel with telescopic oil cylinder to install between rocker arm bracket and lower fixed seat, by guide rod, guide sleeve
With linear bearing composition, guide rod is fixed on lower fixed seat, and guide sleeve is fixed on rocker arm bracket built with linear bearing,
The two coaxial line is installed, scalable to be oriented to, and it coordinates with telescopic oil cylinder, can prevent lower fixed seat relative to the rotation of rocker arm bracket,
So as to which wheel direction is consistent with car body when ensure that rocker telescopic；
Rocker arm bracket is located at rocking arm upper end, rocker arm shaft one end is fixed on, for connecting rocker arm axle, telescopic oil cylinder and Guiding machine
Structure, rocker arm shaft, telescopic oil cylinder cylinder body, guiding mechanism guide sleeve are fixed together, can integral-rotation；
Rocker arm shaft, it by interior outer bearing carrier be arranged on car body on, one end stretch out the fixed rocker arm bracket of car body, can band shake
Arm is rotated, the fixed oscillating deck in inner side, and bearing pin is provided with oscillating deck, is connected with the oscillating bearing of oscillating oil cylinder piston rod pin-and-hole
Connect, through oscillating oil cylinder oscillating deck and rocker arm shaft can be driven to rotate, so as to realize the large angle pendulum of rocking arm；
Oscillating oil cylinder, its cylinder barrel one end is hinged on the bearing of car body, other end piston rod pin-and-hole and oscillating deck upper pin
It is hinged, so, oscillating oil cylinder is flexible can to drive oscillating deck and rocker arm shaft to rotate, so as to realize the large angle pendulum of rocking arm；The oil
Bidirectional hydraulic lock is also equipped with cylinder, the locking of rocking arm swing angle any position in oil cylinder stroke can be achieved；
Hydraulic power unit is oscillating oil cylinder, telescopic oil cylinder provides power source, to the vehicle equipped with fluid motor-driven wheel,
Power can be provided for it；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, driving moment brake
The compositions such as disk, the lower pump of brake, realize mechanical braking and the parking of vehicle；
Power-supply system, is made up of storage battery and power-supply management system, is vehicle and the vehicle equipped with wheel-hub motor driven vehicle wheel
Power source is provided；
Control system, is made up of machinery or remote operation mechanism, electrical apparatus control system, hydraulic control system, realizes to pendulum
Dynamic oil cylinder, telescopic oil cylinder, driving moment motor or the coordination control of hydraulic motor operation, the traveling and obstacle detouring of effective guarantee vehicle
The traffic capacity；
In present example, vehicle flat ground is up sail when, advance with sternway be by adjust control driving car
Motor or motor rotary speed and direction in wheel are implemented, its many wheels are synchronous can be by motor or hydraulic motor with anti-slip function
Electric-control system realize；
It is diverted through left and right sides difference in wheel speed in present example, in traveling to realize, when ground steering drag
When larger or during pivot stud, before and after being rotated by oscillating oil cylinder rocker arm shaft come lifting wheel, realize in the middle of two-axle car rotation
To can also realize the steering of center no-radius in situ；Also can lifting one end wheel (front or rear), realize three axle wheel steerings；
In present example, by controlling oscillating oil cylinder and telescopic oil cylinder, and in driving moment braking and driving condition
Under cooperation, the walking of vehicle gait and obstacle detouring function are realized；
In present example, vehicle-state can be relied on to perceive and electric-control system, by controlling telescopic oil cylinder and swinging oil
Vehicle height off the ground can be automatically adjusted in the action of cylinder, traveling and car body horizontal attitude is kept；
In present example, by control oscillating oil cylinder can lifting wheel to car body baseplane above position, the tailstock is again
Install after outboard motor, may be implemented in ship type navigation function in water；
Described above is only the general introduction of technical solution of the present invention and performance, in order to be better understood upon the skill of the present invention
Art means, and content that can be to specifications is practiced, and in order to which the present invention can become apparent, below especially exemplified by compared with
Good embodiment.
Brief description of the drawings：
Fig. 1 is 8 × 8 full landform wheeled vehicle axonometric drawings that the present invention is embodied.
Fig. 2 is 8 × 8 full landform wheeled vehicle three-view diagrams that the present invention is embodied.
Fig. 3 is 8 × 8 full landform wheeled vehicle single-wheel structure charts that the present invention is embodied.
Fig. 4 is 8 × 8 full landform wheeled vehicle Double-wheel structure figures that the present invention is embodied.
Fig. 5 is 8 × 8 full landform wheeled vehicle lifting rear axle mappings that the present invention is embodied.
Fig. 6 is three-view diagram behind 8 × 8 full landform wheeled vehicle lift tops that the present invention is embodied.
Fig. 7 is three-view diagram when 8 × 8 full landform wheeled vehicle front and back wheel liftings that the present invention is embodied are turned to.
Fig. 8 is three-view diagram after 8 × 8 full landform wheeled vehicle rocking arms that the present invention is embodied are swung.
Embodiment：
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Multiaxis wheeled atv in present example, by car body, oscillating oil cylinder, rocking arm, driving moment, hydraulic pump
Stand, brake system, power-supply system, control system are constituted, and refer to Fig. 1, Fig. 2 and Fig. 3, it is characterized in that：
Car body 2, in tower structure, both sides are welded with inside and outside supporting and fixing plate 33, fixed plate in by being respectively mounted
Bearing block 1 and outer bearing carrier 6, are supported and fixed many rocker arm shafts (7,20,23,27), bearing block is provided with cone bearing 36, can
The radial and axial power from rocker arm shaft is born, rocker arm shaft can rotate and symmetrical distribution, rocker arm shaft conduct relative to car body 2
A rocking arm part is connected on rocking arm and driving moment, car body be also equipped with pumping station system 30, brake system, power-supply system and behaviour
Control system 31；
Driving moment, it is made up of motor (or hydraulic motor) 16, wheel hub 44, tire 17, wheel shaft 43, can be 6
Wheel or 8 wheels, and arrangement is left and right symmetrically arranged, motor (or hydraulic motor) 16 is arranged in wheel hub 44, can be around the not axis of a movable block
43 rotations, provide the energy and control by electric wire (or pipeline), realize the advance, sternway and steering of vehicle, and pass through wheel shaft 43
It is fixed on the damping column lower end of both sides, wheel hub 44 and tire is housed, the side of motor (or hydraulic motor) 16, which is fixed with, stops
Hull 15；
Rocking arm, by rocker arm shaft (7,20,23,27), oscillating deck (5,22,24,27), rocker arm bracket 8, telescopic oil cylinder 11, guiding
Mechanism 10, lower fixed seat 12, damping column 13 are constituted, the fixed driving moment in its lower end, and upper end is arranged on car body 2 through rocker arm shaft
On, driving moment can be driven to be realized relative to car body 2 and swung；
Damping column 13, positioned at rocking arm bottom, is made up of piston rod 41 and damper cylinder 42, and two are equipped with each rocking arm
It is individual, damper is housed between bar and cylinder, damping and guide function is had concurrently, two upper ends of piston rod 41 are fixed on lower fixed seat 12
On, two damper cylinder lower ends are fixed on the both sides of wheel hub 43, similarly hereinafter wide on two bars and two, wheel with wheel shaft 43 relative to
Lower fixed seat 12 resilient movement can be further fixed on the lower pump 14 that brakes on damping, side damper cylinder up and down, coordinate with brake disc 15
To realize the mechanical braking of wheel；
Lower fixed seat 12, for connecting telescopic oil cylinder 11, guiding mechanism 10 and the two damping columns 13 of lower section of top,
Two damping column piston rods 41 of telescopic oil cylinder piston rod 39, guiding mechanism guide rod 35 and lower section are fixed together, can
Move integrally；
Telescopic oil cylinder 11, between rocker arm bracket 8 and lower fixed seat 12, rocking arm length is can adjust by the way that oil cylinder is flexible, from
And the adjustment of car appearance height is realized, bidirectional hydraulic lock 9 is also equipped with the oil cylinder, rocking arm length can be achieved any in oil cylinder stroke
The locking of position；
Guiding mechanism 10, it is parallel with telescopic oil cylinder 11 to install between rocker arm bracket 8 and lower fixed seat 12, by guide rod
35th, guide sleeve 32 and linear bearing composition, guide rod 35 is fixed on lower fixed seat, guide sleeve 32 built with linear bearing, and
It is fixed on rocker arm bracket 8, the two coaxial line is installed, scalable to be oriented to, it coordinates with telescopic oil cylinder 11, can prevent lower fixed seat 12
Relative to the rotation of rocker arm bracket 8, so as to ensure that wheel direction is consistent with car body during rocker telescopic；
Rocker arm bracket 8 is located at rocking arm upper end, is fixed on rocker arm shaft one end, for connecting rocker arm axle, telescopic oil cylinder 11 and guiding
Mechanism 10, rocker arm shaft, telescopic oil cylinder cylinder body 34, guiding mechanism guide sleeve 32 are fixed together, can integral-rotation；
Rocker arm shaft (7,20,23,27), has 8, and it is arranged on car body by interior outer bearing carrier, and car body is stretched out in one end
Fixed rocker arm bracket 8, can be rotated with motion rocker arm, the fixed oscillating deck in inner side (5,22,24,27), and pin is provided with oscillating deck
Axle, with oscillating oil cylinder (oscillating bearing of piston rod pin-and-hole is connected, and through oscillating oil cylinder oscillating deck and rocker arm shaft can be driven to rotate, from
And realize the large angle pendulum of rocking arm；
Oscillating oil cylinder (4,18,25,26), its cylinder barrel one end is hinged on the bearing of car body (3,21), other end piston rod
Pin-and-hole is hinged with oscillating deck (5,22,24,27) upper pin, so, and oscillating oil cylinder is flexible can to drive oscillating deck and rocker arm shaft to revolve
Turn, so as to realize the large angle pendulum of rocking arm；Bidirectional hydraulic lock 19 is also equipped with the oil cylinder, rocking arm swing angle can be achieved in oil
The locking of any position in cylinder stroke；
Pumping station system 30 is oscillating oil cylinder, telescopic oil cylinder provides power source, to the vehicle equipped with fluid motor-driven wheel,
Or it provides power；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, driving moment brake
The compositions such as disk 15, the lower pump 14 of brake, realize mechanical braking and the parking of vehicle；
Power-supply system, is made up of storage battery 29 and power-supply management system, is vehicle electric element equipment and equipped with In-wheel motor driving
The vehicle of wheel provides power source；
Control system 31, is made up of systems such as mechanical handling, electrical equipment control, hydraulic controls, realizes to oscillating oil cylinder, stretches
The coordination control of oil cylinder, driving moment motor or hydraulic motor operation, the traveling and the obstacle detouring traffic capacity of effective guarantee vehicle；
In present example, vehicle flat ground is up sail when, advance with sternway be by adjust control driving car
Motor or motor rotary speed and direction in wheel are implemented, its many wheels are synchronous can be by motor or hydraulic motor with anti-slip function
Electric-control system realize；
In present example, referring to Fig. 7, be diverted through left and right sides difference in wheel speed to realize in traveling, it is local
When face steering drag is larger or during pivot stud, can by rocker arm shaft before and after rotation come lifting wheel, realize in the middle of two-axle car wheel
Turn to, center no-radius steering can be also realized in situ；Also can lifting one end wheel (front or rear), realize that three axle wheels turn
To；
In present example, referring to Fig. 8, by controlling oscillating oil cylinder and telescopic oil cylinder, and in driving moment braking
Under coordinating with driving condition, the walking of vehicle gait and obstacle detouring function are realized；
In present example, Fig. 5 and Fig. 8 are referred to, vehicle-state can be relied on to perceive and electric-control system, is stretched by control
Vehicle height off the ground can be automatically adjusted in the action of contracting oil cylinder and oscillating oil cylinder, traveling and car body horizontal attitude is kept；
In present example, referring to Fig. 6, by control oscillating oil cylinder can lifting wheel to car body baseplane with upper
Put, the tailstock is installed after outboard motor again, may be implemented in ship type navigation function in water；
Other embodiments of the invention also include the various embodiments described above in technical characteristic be mutually combined to be formed can
The technical scheme of implementation.
In Fig. 1, left side rocker arm shaft has 4, is an axle 7, two axles 20, three axles 23, four axles 27 respectively；Four pieces of oscillating deck, point
It is not an axle 5, two axles 22, three axles 24, four axles 28, head and the tail connect cylinder piston rod upward during initial position, and middle connects down
Connect, it is front and rear symmetrical；Four sets of oscillating oil cylinder, is an axle 4, two axles 18, three axles 25, four axles 26, an axle 4, the cylinder of four axle 26 respectively
Body is fixed on lower car body, and two axles 18, the cylinder body of three axle 25 are fixed on vehicle body upper portion, front and rear symmetrical and non-interference；Right side
It is identical with left side number, and be arranged symmetrically.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
1. it is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：The car is by car body, swing
Oil cylinder, rocking arm, driving moment, pumping station system, brake system, power-supply system, control system composition；
Car body, in tower structure, both sides are welded with inside and outside supporting and fixing plate, fixed plate by being respectively mounted interior outer bearing
Seat, is supported and fixed many rocker arm shafts, and rocker arm shaft can be connected to shake relative to car body rotation and symmetrical distribution, rocker arm shaft
Pumping station system, brake system, power-supply system and control system are also equipped with arm and driving moment, car body；
Driving moment, it is made up of motor or hydraulic motor, wheel hub, tire, wheel shaft, can be that 6 wheels or 8 are taken turns, and left and right
Arrangement is symmetrically installed, motor or hydraulic motor are arranged in wheel hub, can rotate, be carried by electric wire or pipeline around the not axis of a movable block
Energy supply source and control, realize the advance, sternway and steering of vehicle, and are fixed on the damping column lower end of both sides by wheel shaft, wheel
Tire is housed, motor or hydraulic motor side are fixed with brake disc on hub；
Rocking arm, is made up of rocker arm shaft, oscillating deck, rocker arm bracket, telescopic oil cylinder, guiding mechanism, lower fixed seat, damping column, under it
Fixed driving moment is held, upper end is arranged on car body through rocker arm shaft, driving moment can be driven to be realized relative to car body and swung；
Damping column, positioned at rocking arm bottom, is made up of piston rod and damper cylinder, two is equipped with each rocking arm, in bar and cylinder
Between be equipped with damper, have damping and guide function concurrently, two piston rod upper ends are fixed on lower fixed seat, under two damper cylinders
End is fixed on the both sides of wheel hub, similarly hereinafter wide on two bars and two, and wheel can elasticity up and down relative to lower fixed seat with wheel shaft
Movement comes on damping, side damper cylinder to be further fixed on the lower pump that brakes, and the mechanical braking of wheel is realized with brake disc cooperation；
Lower fixed seat, for connecting telescopic oil cylinder, guiding mechanism and the two damping columns of lower section of top, telescopic oil cylinder is lived
Stopper rod, guiding mechanism guide rod and two damping column piston rods of lower section are fixed together, and can move integrally；
Telescopic oil cylinder, between rocker arm bracket and lower fixed seat, by the flexible adjustable rocking arm length of oil cylinder, so as to realize car appearance
Bidirectional hydraulic lock is also equipped with the adjustment of height, the oil cylinder, the locking of rocking arm length any position in oil cylinder stroke can be achieved；
Guiding mechanism, it is parallel with telescopic oil cylinder to install between rocker arm bracket and lower fixed seat, by guide rod, guide sleeve and straight
Bobbin holds composition, and guide rod is fixed on lower fixed seat, and guide sleeve is fixed on rocker arm bracket built with linear bearing, the two
Coaxial line is installed, scalable to be oriented to, and it coordinates with telescopic oil cylinder, can prevent lower fixed seat relative to the rotation of rocker arm bracket, so that
Wheel direction is consistent with car body when ensure that rocker telescopic；
Rocker arm bracket is located at rocking arm upper end, is fixed on rocker arm shaft one end, for connecting rocker arm axle, telescopic oil cylinder and guiding mechanism, will
Rocker arm shaft, telescopic oil cylinder cylinder body, guiding mechanism guide sleeve are fixed together, can integral-rotation；
Rocker arm shaft, it is arranged on car body by interior outer bearing carrier, and the fixed rocker arm bracket of car body is stretched out in one end, can be revolved with motion rocker arm
Turn, the fixed oscillating deck in inner side, bearing pin is installed on oscillating deck, is connected with the oscillating bearing of oscillating oil cylinder piston rod pin-and-hole, pass through
Oscillating oil cylinder can drive oscillating deck and rocker arm shaft to rotate, so as to realize the large angle pendulum of rocking arm；
Oscillating oil cylinder, its cylinder barrel one end is hinged on the bearing of car body, and other end piston rod pin-and-hole is hinged with oscillating deck upper pin,
So, oscillating oil cylinder is flexible can drive oscillating deck and rocker arm shaft to rotate, so as to realize the large angle pendulum of rocking arm；On the oil cylinder also
Equipped with bidirectional hydraulic lock, the locking of rocking arm swing angle any position in oil cylinder stroke can be achieved；
Hydraulic power unit is oscillating oil cylinder, telescopic oil cylinder provides power source, to the vehicle equipped with fluid motor-driven wheel, or
It provides power；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, the brake disc of driving moment,
The compositions such as the lower pump of brake, realize mechanical braking and the parking of vehicle；
Power-supply system, is made up of storage battery and power-supply management system, is provided for vehicle with the vehicle equipped with wheel-hub motor driven vehicle wheel
Power source；
Control system, is made up of machinery or remote operation mechanism, electrical apparatus control system, hydraulic control system, realizes to swinging oil
Cylinder, telescopic oil cylinder, driving moment motor or the coordination control of hydraulic motor operation, the traveling and obstacle detouring of effective guarantee vehicle are passed through
Ability.
2. have according to claim 1 can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：Institute
State vehicle flat ground is up sail when, advance with sternway be by adjust control driving moment in motor or motor rotation speed
Spend with direction to implement, it takes turns synchronous and anti-slip function by electric control system or hydraulic motor control system come in fact more
It is existing.
3. have according to claim 1 can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：Institute
State and be diverted through left and right sides difference in wheel speed to realize in vehicle traveling, when ground steering drag is larger or during pivot stud,
Rocker arm shaft realizes that middle two-axle car is rotated in can also realizing in situ come lifting wheel before and after being rotated by oscillating oil cylinder
Heart no-radius are turned to；Also can a lifting front end or rear end wheel, realize three axle wheel steerings.
4. have according to claim 1 can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：Institute
Vehicle is stated by controlling oscillating oil cylinder and telescopic oil cylinder, and in the case where driving moment braking and driving condition coordinate, realizes that vehicle is walked
State is walked and obstacle detouring function.
5. have according to claim 1 can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：Institute
Stating vehicle can rely on vehicle-state to perceive and electric-control system, by the way that control can in the action of telescopic oil cylinder and oscillating oil cylinder, traveling
Automatically adjust vehicle height off the ground and keep car body horizontal attitude.
6. have according to claim 1 can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis, it is characterized in that：Institute
State vehicle by control oscillating oil cylinder can lifting wheel to car body baseplane above position, the tailstock is installed after outboard motor again, can be real
Ship type navigation function in present water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720031442.1U CN206606019U (en) | 2017-01-12 | 2017-01-12 | It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720031442.1U CN206606019U (en) | 2017-01-12 | 2017-01-12 | It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206606019U true CN206606019U (en) | 2017-11-03 |
Family
ID=60172758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720031442.1U Withdrawn - After Issue CN206606019U (en) | 2017-01-12 | 2017-01-12 | It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206606019U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN108297636A (en) * | 2017-01-12 | 2018-07-20 | 中国人民解放军装甲兵工程学院 | It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis |
-
2017
- 2017-01-12 CN CN201720031442.1U patent/CN206606019U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297636A (en) * | 2017-01-12 | 2018-07-20 | 中国人民解放军装甲兵工程学院 | It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis |
| CN108297636B (en) * | 2017-01-12 | 2023-08-22 | 中国人民解放军陆军装甲兵学院 | Multi-shaft all-terrain wheeled vehicle with swing arm telescopic wheel foot structure |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2570184C2 (en) | Variable-track vehicle | |
| CN108297636A (en) | It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis | |
| CN208452767U (en) | A kind of high motor platform based on controllable balance swing arm suspension | |
| CN108327498A (en) | A kind of high motor platform based on controllable balance swing arm suspension | |
| CA2728419A1 (en) | Improvements in or relating to amphibians | |
| JP2006264510A (en) | Automobile | |
| CN106114114A (en) | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System | |
| CN206606019U (en) | It is a kind of have can the sufficient structure of swinging arm extension wheel the full landform wheeled vehicle of multiaxis | |
| CN205951653U (en) | Independent linkage of four -wheel and AC drive system of combined tractor | |
| CN106347049A (en) | Wheel position changing device of electric vehicle and flying-driving electric vehicle | |
| CN204821881U (en) | Cross -country balance car with shock mitigation system | |
| CN109911055A (en) | Unmanned barrier-exceeding vehicle | |
| CN206049911U (en) | A kind of device of active control double-front wheel tricycle body sway | |
| CN108025782A (en) | Vehicle with inclined steering spindle | |
| CN106427555A (en) | Conversion device for omni-bearing steering of wheels of electric vehicle and electric vehicle capable of achieving omni-bearing steering | |
| CN104417634B (en) | Pure electric vehicle tractor and the vehicle suitable for being transported in field | |
| CN106184538A (en) | A kind of device actively controlling double-front wheel tricycle body sway | |
| CN104118505B (en) | Battery-driven car | |
| CN203818974U (en) | Novel vehicle suspension mechanism and vehicle | |
| CN204452708U (en) | A kind of foot control recreation and body-building battery-driven car | |
| CN207089491U (en) | A kind of omni-directional wheel roller bears type AGV | |
| KR20170021251A (en) | Chassis for vehicle | |
| CN112319160A (en) | Single-layer-propeller electric flying motorcycle capable of rapidly switching ground-air state during traveling | |
| CN103693149A (en) | Cushioning device for leisure vehicle for ride instead of walk | |
| CN206528518U (en) | The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 21 dujiakan courtyard, Changxindian, Fengtai, Beijing 100072 Patentee after: ARMY ACADEMY OF ARMORED FORCES OF PLA Address before: No. 21 dujiakan courtyard, Changxindian, Fengtai, Beijing 100072 Patentee before: Chinese People's Liberation Army Armored Forces Engineering College |
|
| CP01 | Change in the name or title of a patent holder | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171103 Effective date of abandoning: 20230822 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171103 Effective date of abandoning: 20230822 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |