CN208760762U - A kind of wheel of full landform six mobile mechanism - Google Patents
A kind of wheel of full landform six mobile mechanism Download PDFInfo
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- CN208760762U CN208760762U CN201821569912.0U CN201821569912U CN208760762U CN 208760762 U CN208760762 U CN 208760762U CN 201821569912 U CN201821569912 U CN 201821569912U CN 208760762 U CN208760762 U CN 208760762U
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Abstract
The utility model relates to field of special robots, specifically a kind of full landform six takes turns mobile mechanism, including vehicle body, preceding torsion spring device, preceding boom device, first side torsion spring device, first curb girder device, second side torsion spring device and second side boom device, preceding boom device is set to body structure, and rotatable front axle is equipped in the middle part of preceding boom device, preceding torsion spring device is equipped with preceding torsional spring, and the preceding torsional spring passes through the front axle, first curb girder device and second side boom device are symmetrically set in vehicle body two sides, rotatable first side axle is equipped in the middle part of the first curb girder device, rotatable second side axle is equipped in the middle part of second side boom device, first side torsion spring device and second side torsion spring device are symmetrically set in body rear end, and first side torsion spring device is equipped with the first side torsional spring and passes through first side axle, second side torsion spring device is equipped with Second side torsional spring passes through second side axle.The utility model improves mechanism running stability, adaptive landform ability and power distributing uniformity.
Description
Technical field
The utility model relates to field of special robots, specifically a kind of full landform six takes turns mobile mechanism.
Background technique
For most six traditional wheel mobile mechanism's specialized robots, the rear four-wheel of general mechanism is all made of cantilever beam
Mechanism, the preceding two-wheeled of mechanism are driving mechanism, and Ye You mechanism is in such a way that six wheels independently drive.If for some recessed
The terrain environment of convex injustice, above-mentioned six traditional wheel mobile mechanisms exist always runs unstable, adaptive landform scarce capacity
Non-uniform problem is distributed with power.
Utility model content
The purpose of this utility model is to provide a kind of full landform six to take turns mobile mechanism, and preceding two-wheeled passes through preceding boom device phase
Company forms cantilever beam structure, and passively distributes power by the preceding torsional spring in preceding torsion spring device, is located at ipsilateral two in rear four-wheel
A wheel is connected by corresponding curb girder device, and passively distributes power by the side torsional spring in corresponding torsion spring device, is improved
The uniformity of mechanism traveling comfort, adaptive landform ability and power distribution.
The purpose of this utility model is achieved through the following technical solutions:
A kind of full landform six takes turns mobile mechanism, including vehicle body, preceding torsion spring device, preceding boom device, the first side torsion spring device, the
Side boom device, second side torsion spring device and second side boom device, the preceding boom device are set to vehicle along vehicle-body width direction
Body front end, and described preceding boom device or so end is equipped with front hub motor, middle part is equipped with rotatable front axle, the preceding torsional spring dress
Preceding torsional spring is installed, and the preceding torsional spring passes through the front axle, the first curb girder device and second side boom device are symmetrically set in vehicle body
Two sides, the first curb girder device front and back end are equipped with the first side hub motor, and second side boom device front and back end is equipped with
Second side hub motor, the front hub motor, the first side hub motor, second side hub motor are axially parallel, and described first
It is equipped with rotatable first side axle in the middle part of curb girder device, is equipped with rotatable second side axle, institute in the middle part of second side boom device
It states the first side torsion spring device and second side torsion spring device is symmetrically set in body rear end, and first side torsion spring device is equipped with first
Side torsional spring passes through first side axle, and second side torsion spring device is equipped with second side torsional spring and passes through second side axle.
The preceding torsion spring device includes preceding torsional spring upper bracket, preceding torsional spring and preceding torsional spring undersetting, and the preceding one end of torsional spring is logical
Cross the preceding torsional spring upper bracket and preceding torsional spring undersetting grip, described front axle one end be equipped with preceding torsional spring lid, and it is described before
The torsional spring other end is connected after passing through the front axle with the preceding torsional spring lid.
The preceding boom device includes front-axle beam, front axle, front axle upper bracket, front axle undersetting, the first front-end bearing pedestal, the second front axle
Seat, preceding shaft-cup and preceding torsional spring lid are held, described front axle one end is gripped by the front axle upper bracket and front axle undersetting, in institute
It states side in the middle part of front-axle beam and is equipped with the first front-end bearing pedestal, the other side is equipped with the second front-end bearing pedestal, and the front axle is by the front-axle beam middle part
It passes through and is supported by first front-end bearing pedestal and the second front-end bearing pedestal, the front axle other end is equipped with preceding shaft-cup, and described
Preceding shaft-cup is fixed on the inside of the preceding torsional spring lid, and the preceding torsional spring lid, the first front-end bearing pedestal, front-axle beam and the second front-end bearing pedestal pass through
Preceding fixing bolt and front nut are fixed together.
Described preceding boom device or so end is equipped with front hub motor, and the motor shaft of the front hub motor is inserted into preceding beam-ends
Portion is simultaneously fixed by front motor baffle and bolt.
First side torsion spring device includes the first side torsional spring upper bracket, the first side torsional spring and the first side torsional spring undersetting,
First side one end of torsional spring is gripped by the first side torsional spring upper bracket and the first side torsional spring undersetting, and described first
The first side axle in the middle part of curb girder device is equipped with the first side torsional spring lid far from one end of the first side torsional spring upper bracket, and described first
The side torsional spring other end is connected after passing through first side axle with the first side torsional spring lid.
The first curb girder device include the first curb girder, the first side axle, the first side axle upper bracket, the first side axle undersetting,
First bearing seat, second bearing seat, the first side axle lid and the first side torsional spring lid, first side axle one end pass through first side
Axis upper bracket and the first side axle undersetting grip, and side is equipped with first bearing seat, the other side in the middle part of first curb girder
Equipped with second bearing seat, first side axle in the middle part of first curb girder by passing through and by the first bearing seat and the second axis
Seat bearing is held, the first side axle other end is equipped with the first side axle lid, and the first side axle lid is fixed on the first side torsion
On the inside of spring lid, the first side torsional spring lid, first bearing seat, the first curb girder and second bearing seat pass through the first fixing bolt and the
One nut is fixed together.
The first curb girder device front and back end is equipped with the first side hub motor, and the motor of first side hub motor
Axis is inserted into the first curb girder end along the direction perpendicular to the first curb girder and is fixed by the first side motor baffle and bolt.
Second side torsion spring device includes second side torsional spring upper bracket, second side torsional spring and second side torsional spring undersetting,
Second side one end of torsional spring is gripped by second side torsional spring upper bracket and second side torsional spring undersetting, and described second
The second side axle in the middle part of curb girder device is equipped with second side torsional spring lid far from one end of second side torsional spring upper bracket, and described second
The side torsional spring other end is connected after passing through second side axle with second side torsional spring lid.
Second side boom device include the second curb girder, the second side axle, the second side axle upper bracket, the second side axle undersetting,
3rd bearing seat, fourth bearing seat, second side shaft-cup and second side torsional spring lid, second side axle one end pass through described second side
Axis upper bracket and the second side axle undersetting grip, and side is equipped with 3rd bearing seat, the other side in the middle part of second curb girder
Equipped with fourth bearing seat, second side axle in the middle part of second curb girder by passing through and by the 3rd bearing seat and the 4th axis
Seat bearing is held, the second side axle other end is equipped with second side shaft-cup, and second side shaft-cup is fixed on second side torsion
On the inside of spring lid, second side torsional spring lid, 3rd bearing seat, the second curb girder and fourth bearing seat pass through the second fixing bolt and the
Two nuts are fixed together.
Second side boom device front and back end is equipped with second side hub motor, and the motor of second side hub motor
Axis is inserted into second side beam end along the direction perpendicular to the second curb girder and is fixed by second side motor baffle and bolt.
The advantages of the utility model and good effect are as follows:
1, two-wheeled by preceding boom device is connected to form cantilever beam structure before the utility model, and by preceding torsion spring device
Preceding torsional spring passively distributes power, and two ipsilateral wheels are located in rear four-wheel and are connected by corresponding curb girder device, and passes through pair
It answers the side torsional spring in torsion spring device passively to distribute power, improves mechanism traveling comfort, adaptive landform ability and power
The uniformity of distribution.
2, the utility model eliminates the structures such as gear drive, so that knot using each wheel rotation of In-wheel motor driving
Structure greatly simplifies, while also greatly improving the flexibility and mobile efficiency of mechanism, and reduce power consumption.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model,
Fig. 2 is the bottom view of the utility model in Fig. 1,
Fig. 3 is the structural schematic diagram of the preceding torsion spring device and preceding boom device in Fig. 2,
Fig. 4 is the preceding torsion spring device schematic diagram in Fig. 3,
Fig. 5 is the preceding torsion spring device perspective view of the explosion in Fig. 4,
Fig. 6 is the front-axle beam device explosion schematic diagram in Fig. 3,
Fig. 7 is another angle schematic diagram of preceding boom device in Fig. 3,
Fig. 8 is the first curb girder device and the first side torsion spring device schematic diagram in Fig. 2,
Fig. 9 is second side boom device and second side torsion spring device schematic diagram in Fig. 2.
Wherein, 1 is vehicle body, and 2 be preceding torsion spring device, and 201 be preceding torsional spring upper bracket, and 202 be preceding torsional spring, and 203 be preceding torsional spring
Undersetting, 3 be preceding boom device, and 301 be front hub motor, and 302 be front motor baffle, and 303 be front-axle beam, and 304 be front axle upper bracket,
305 be front axle undersetting, and 306 be front axle, and 307 be the first front-end bearing pedestal, and 308 be the second front-end bearing pedestal, and 309 be preceding shaft-cup, 310
It is preceding fixing bolt for preceding torsional spring lid, 311,312 be front nut, and 4 be second side torsion spring device, and 401 be to prop up under second side torsional spring
Seat, 402 be second side torsional spring upper bracket, and 403 be second side torsional spring, and 5 be second side boom device, and 501 be the second side axle upper bracket,
502 be the second side axle undersetting, 503 be the second side axle, 504 be second side hub motor, 505 be second side motor baffle, 506
It is second side torsional spring lid for second side shaft-cup, 507,508 be 3rd bearing seat, and 509 be the second curb girder, and 510 be fourth bearing seat,
511 be the second fixing bolt, and 512 be the second nut, and 6 be the first side torsion spring device, and 601 be the first side torsional spring upper bracket, and 602 are
First side torsional spring, 603 be the first side torsional spring undersetting, and 7 be the first curb girder device, and 701 be the first side axle upper bracket, and 702 be the
One side axle undersetting, 703 be the first side axle, and 704 be the first side hub motor, and 705 be the first side motor baffle, and 706 be first
Side axle lid, 707 be the first side torsional spring lid, and 708 be first bearing seat, and 709 be the first curb girder, and 710 be second bearing seat, and 711 are
First fixing bolt, 712 be the first nut.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in figure 1-9, the utility model includes vehicle body 1, preceding torsion spring device 2, preceding boom device 3, the first side torsion spring device
6, the first curb girder device 7, second side torsion spring device 4 and second side boom device 5, the preceding boom device 3 is along 1 width direction of vehicle body
It is arranged and is set to 1 front end of vehicle body, before the preceding end of boom device 3 or so is equipped with front hub motor 301, middle part is equipped with rotatably
Axis 306, the preceding torsion spring device 2 are set to middle side part under 1 front end of vehicle body, and the preceding torsion spring device 2 is equipped with preceding torsional spring 202, and
The preceding torsional spring 202 passes through the front axle 306, and the first curb girder device 7 and second side boom device 5 are set along 1 length direction of vehicle body
1 two sides of vehicle body are set and are symmetrically set in, 7 front and back end of the first curb girder device is equipped with axial and 301 axis of front hub motor
To the first parallel side hub motor 704,5 front and back end of second side boom device is equipped with the axial and front hub motor
301 axial parallel second side hub motors 504, are equipped with rotatable first side axle in the middle part of the first curb girder device 7
703, rotatable second side axle 503, first side torsion spring device 6 and second are equipped in the middle part of second side boom device 5
Side torsion spring device 4 is symmetrically set in middle side part under 1 rear end of vehicle body, and first side torsion spring device 6 is equipped with the first side torsional spring 602 and wears
First side axle 703 is crossed, second side torsion spring device 4 is equipped with second side torsional spring 403 and passes through second side axle 503.
As seen in figures 3-5, the preceding torsion spring device 2 includes propping up under preceding torsional spring upper bracket 201, preceding torsional spring 202 and preceding torsional spring
Seat 203, wherein preceding 202 both ends of torsional spring are regular polygon, and the regular polygon part of described 202 one end of preceding torsional spring is described in
Preceding torsional spring upper bracket 201 and preceding torsional spring undersetting 203 grip, and preceding 201 upper end of torsional spring upper bracket is installed in vehicle body 1
On, the preceding torsional spring undersetting 203 is connected by bolt and preceding torsional spring upper bracket 201, the front axle at preceding 3 middle part of boom device
306 one end far from the preceding torsional spring upper bracket 201 be equipped with preceding torsional spring lid 310, preceding 202 other end of torsional spring pass through it is described before
After axis 306, regular polygon part is chimeric with the polygonal hole at preceding 310 middle part of torsional spring lid.
As shown in Figure 3 and Figure 6, the preceding boom device 3 includes under front-axle beam 303, front axle 306, front axle upper bracket 304, front axle
Support 305, the first front-end bearing pedestal 307, the second front-end bearing pedestal 308, preceding shaft-cup 309 and preceding torsional spring lid 310, the front axle 306 1
End is gripped by the front axle upper bracket 304 and front axle undersetting 305, and 304 upper end of front axle upper bracket is installed in vehicle
On body 1, front axle undersetting 305 is connected by bolt and front axle upper bracket 304, is equipped with first in the 303 middle part side of front-axle beam
Front-end bearing pedestal 307, the other side are equipped with the second front-end bearing pedestal 308, and the front axle 306 is by passing through and passing through in the middle part of the front-axle beam 303
First front-end bearing pedestal 307 and the second front-end bearing pedestal 308 support, in the present embodiment, first front-end bearing pedestal 307 and second
Angular contact bearing is equipped in front-end bearing pedestal 308,306 other end of front axle is equipped with preceding shaft-cup 309, and the preceding shaft-cup 309
It is fixed on 310 inside of preceding torsional spring lid, the preceding torsional spring lid 310, the first front-end bearing pedestal 307, front-axle beam 303 and the second fore bearing
Seat 308 is fixed together by preceding fixing bolt 311 and front nut 312.
As shown in figs. 6-7, the end of preceding boom device 3 or so is equipped with front hub motor 301, and the front hub motor
301 motor shaft insertion 303 end of front-axle beam is simultaneously fixed by front motor baffle 302 and bolt.When device works, the front hub
The motor shaft partial turn of motor 301 drives motor body rotation, and motor body is then connected with hub for vehicle wheel, the front hub
Motor 301 is techniques well known.
As shown in Figure 2 and Figure 8, first side torsion spring device, 6 structure is similar with preceding torsion spring device 2, and first side is turned round
Spring device 6 includes the first side torsional spring upper bracket 601, the first side torsional spring 602 and the first side torsional spring undersetting 603, the first side torsional spring
602 both ends are regular polygon, and the regular polygon part of first side torsional spring, 602 one end passes through on the torsional spring of first side
Support 601 and the first side torsional spring undersetting 603 grip, and 601 upper end of the first side torsional spring upper bracket is installed in vehicle body 1
On, the first side torsional spring undersetting 603 is connected by bolt and the first side torsional spring upper bracket 601, the first curb girder device 7
First side axle 703 at middle part is equipped with the first side torsional spring lid 707 far from one end of the first side torsional spring upper bracket 601, and described the
After torsional spring 602 other end in side passes through first side axle 703, in regular polygon part and the first side torsional spring lid 707
The polygonal hole in portion is chimeric.
As shown in Figure 2 and Figure 8,7 structure of the first curb girder device is similar with preceding boom device 3, including the first curb girder 709,
First side axle 703, the first side axle upper bracket 701, the first side axle undersetting 702, first bearing seat 708, second bearing seat 710,
First side axle lid 706 and the first side torsional spring lid 707, described first side axle, 703 one end pass through 701 He of the first side axle upper bracket
First side axle undersetting 702 grips, and 701 upper end of the first side axle upper bracket is installed on vehicle body 1, props up under the first side axle
Seat 702 is connected by bolt and the first side axle upper bracket 701, is equipped with first bearing seat in the 709 middle part side of the first curb girder
708, the other side is equipped with second bearing seat 710, and first side axle 703 in the middle part of first curb girder 709 by passing through and passing through institute
It states first bearing seat 708 and second bearing seat 710 supports, in the present embodiment, the first bearing seat 708 and second bearing seat
Angular contact bearing is equipped in 710,703 other end of the first side axle is equipped with the first side axle lid 706, and the first side axle lid
706 are fixed on 707 inside of the first side torsional spring lid, the first side torsional spring lid 707, first bearing seat 708, the first curb girder
709 and second bearing seat 710 be fixed together by the first fixing bolt 711 and the first nut 712.
As shown in figure 8,7 front and back end of the first curb girder device is equipped with the first side hub motor 704, and first side
The motor shaft of hub motor 704 is inserted into 709 end of the first curb girder along the direction perpendicular to the first curb girder 709 and passes through the first side
Motor baffle 705 and bolt are fixed.First side hub motor, 704 structure and working method and the front hub motor 301
It is identical.
As shown in Figure 2 and Figure 9,4 structure of second side torsion spring device is similar with preceding torsion spring device 2, and described second side is turned round
Spring device 4 includes second side torsional spring upper bracket 402, second side torsional spring 403 and second side torsional spring undersetting 401, second side torsional spring
403 both ends are regular polygon, and the regular polygon part of described 403 one end of second side torsional spring passes through on second side torsional spring
Support 402 and second side torsional spring undersetting 401 grip, and 402 upper end of second side torsional spring upper bracket is installed in vehicle body 1
On, second side torsional spring undersetting 401 is connected by bolt and second side torsional spring upper bracket 402, second side boom device 5
Second side axle 503 at middle part is equipped with second side torsional spring lid 507 far from one end of second side torsional spring upper bracket 402, and described the
After two side torsional springs, 403 other end passes through second side axle 503, in regular polygon part and second side torsional spring lid 507
The polygonal hole in portion is chimeric.
As shown in Figure 2 and Figure 9,5 structure of second side boom device is similar with preceding boom device 3, second side boom device 5
Including the second curb girder 509, the second side axle 503, the second side axle upper bracket 501, the second side axle undersetting 502,3rd bearing seat
508, fourth bearing seat 510, second side shaft-cup 506 and second side torsional spring lid 507, described second side axle, 503 one end pass through described
Second side axle upper bracket 501 and the second side axle undersetting 502 grip, and 501 upper end of the second side axle upper bracket is installed in
On vehicle body 1, the second side axle undersetting 502 is connected by bolt and the second side axle upper bracket 501, in second curb girder 509
Portion side is equipped with 3rd bearing seat 508, and the other side is equipped with fourth bearing seat 510, and second side axle 503 is by second curb girder
509 middle parts pass through and are supported by the 3rd bearing seat 508 and fourth bearing seat 510, in the present embodiment, the 3rd bearing
Angular contact bearing is equipped in seat 508 and fourth bearing seat 510,503 other end of the second side axle is equipped with second side shaft-cup
506, and second side shaft-cup 506 is fixed on 507 inside of second side torsional spring lid, second side torsional spring lid 507, third
Bearing block 508, the second curb girder 509 and fourth bearing seat 510 are connected in one by the second fixing bolt 511 and the second nut 512
It rises.
As shown in figure 9,5 front and back end of second side boom device is equipped with second side hub motor 504, and described second side
The motor shaft of hub motor 504 is inserted into 509 end of the second curb girder along the direction perpendicular to the second curb girder 509 and passes through second side
Motor baffle 505 and bolt are fixed.504 structure of second side hub motor and working method and the front hub motor 301
It is identical.
The working principle of the utility model are as follows:
When the utility model movement, six wheels of mechanism passively can adapt to bumps not simultaneously with ground face contact
Flat terrain environment, wherein the preceding two-wheeled in the utility model is connected to form by preceding boom device 3 similar to cantilever beam structure, and
By the passively distributor gear power of the preceding torsional spring 202 in preceding torsion spring device 2, in the rear four-wheel in the utility model, it is located at same
Two wheels of side are one group and are connected by being located at ipsilateral curb girder device, and are turned round by the side in respective side torsion spring device
Spring passively distributor gear power, compared to the form that traditional rear four-wheel is all made of cantilever beam mechanism, preceding two-wheeled is active with
And six forms for independently driving of wheel, the utility model can effectively ensure that power is evenly distributed, improve mechanism operation
Stationarity and adaptive landform ability.
Claims (10)
1. a kind of full landform six takes turns mobile mechanism, it is characterised in that: including vehicle body (1), preceding torsion spring device (2), preceding boom device
(3), the first side torsion spring device (6), the first curb girder device (7), second side torsion spring device (4) and second side boom device (5), it is described
Preceding boom device (3) is arranged along vehicle body (1) width direction and is set to vehicle body (1) front end, and the preceding boom device (3) left and right end is equal
Rotatable front axle (306) are equipped with equipped with front hub motor (301), middle part, the preceding torsion spring device (2) is equipped with preceding torsional spring
(202), and the preceding torsional spring (202) passes through the front axle (306), and the first curb girder device (7) and second side boom device (5) are symmetrical
Set on vehicle body (1) two sides, the first curb girder device (7) front and back end is equipped with the first side hub motor (704), described second side
Boom device (5) front and back end is equipped with second side hub motor (504), the front hub motor (301), the first side hub motor
(704), second side hub motor (504) is axial parallel, and rotatable first side axle is equipped in the middle part of the first curb girder device (7)
(703), rotatable second side axle (503), first side torsion spring device (6) are equipped in the middle part of second side boom device (5)
It is symmetrically set in vehicle body (1) rear end with second side torsion spring device (4), and first side torsion spring device (6) is equipped with the first side torsional spring
(602) first side axle (703) is passed through, second side torsion spring device (4) is equipped with second side torsional spring (403) and passes through described the
Two side axles (503).
2. full landform six according to claim 1 takes turns mobile mechanism, it is characterised in that: the preceding torsion spring device (2) includes
Preceding torsional spring upper bracket (201), preceding torsional spring (202) and preceding torsional spring undersetting (203), described preceding torsional spring (202) one end pass through described
Preceding torsional spring upper bracket (201) and preceding torsional spring undersetting (203) grip, and are equipped with preceding torsional spring lid in the front axle (306) one end
(310), and preceding torsional spring (202) other end passes through the front axle (306) and is connected afterwards with the preceding torsional spring lid (310).
3. full landform six according to claim 1 or 2 takes turns mobile mechanism, it is characterised in that: the preceding boom device (3) includes
Before front-axle beam (303), front axle (306), front axle upper bracket (304), front axle undersetting (305), the first front-end bearing pedestal (307), second
Bearing block (308), preceding shaft-cup (309) and preceding torsional spring lid (310), described front axle (306) one end pass through the front axle upper bracket
(304) it gripping with front axle undersetting (305), side is equipped with the first front-end bearing pedestal (307) in the middle part of the front-axle beam (303),
The other side is equipped with the second front-end bearing pedestal (308), and the front axle (306) is by passing through in the middle part of the front-axle beam (303) and by described the
One front-end bearing pedestal (307) and the second front-end bearing pedestal (308) bearing, front axle (306) other end are equipped with preceding shaft-cup (309), and
The preceding shaft-cup (309) is fixed on the inside of the preceding torsional spring lid (310), the preceding torsional spring lid (310), the first front-end bearing pedestal
(307), front-axle beam (303) and the second front-end bearing pedestal (308) are fixed together by preceding fixing bolt (311) and front nut (312).
4. full landform six according to claim 3 takes turns mobile mechanism, it is characterised in that: preceding boom device (3) the left and right end
It is equipped with front hub motor (301), and motor shaft insertion front-axle beam (303) end of the front hub motor (301) and before passing through
Motor baffle (302) and bolt are fixed.
5. full landform six according to claim 1 takes turns mobile mechanism, it is characterised in that: first side torsion spring device (6)
Including the first side torsional spring upper bracket (601), the first side torsional spring (602) and the first side torsional spring undersetting (603), first side is turned round
Spring (602) one end is gripped by the first side torsional spring upper bracket (601) and the first side torsional spring undersetting (603), described
The first side axle (703) in the middle part of first curb girder device (7) is equipped with first far from one end of the first side torsional spring upper bracket (601)
Side torsional spring lid (707), first side torsional spring (602) other end pass through first side axle (703) and turn round afterwards with first side
Spring lid (707) is connected.
6. full landform six takes turns mobile mechanism according to claim 1 or 5, it is characterised in that: the first curb girder device (7)
Including the first curb girder (709), the first side axle (703), the first side axle upper bracket (701), the first side axle undersetting (702), first
Bearing block (708), second bearing seat (710), the first side axle lid (706) and the first side torsional spring lid (707), first side axle
(703) one end is gripped by the first side axle upper bracket (701) and the first side axle undersetting (702), described first
Side is equipped with first bearing seat (708) in the middle part of curb girder (709), and the other side is equipped with second bearing seat (710), first side axle
(703) by passing through in the middle part of first curb girder (709) and being propped up by the first bearing seat (708) and second bearing seat (710)
Hold, the first side axle (703) other end is equipped with the first side axle lid (706), and the first side axle lid (706) be fixed on it is described
On the inside of first side torsional spring lid (707), the first side torsional spring lid (707), first bearing seat (708), the first curb girder (709) and the
Two bearing bracket (710) is fixed together by the first fixing bolt (711) and the first nut (712).
7. full landform six according to claim 6 takes turns mobile mechanism, it is characterised in that: before the first curb girder device (7)
Rear end is equipped with the first side hub motor (704), and the motor shaft of first side hub motor (704) is along perpendicular to first
Direction insertion the first curb girder (709) end of curb girder (709) is simultaneously fixed by the first side motor baffle (705) and bolt.
8. full landform six according to claim 1 takes turns mobile mechanism, it is characterised in that: second side torsion spring device (4)
Including second side torsional spring upper bracket (402), second side torsional spring (403) and second side torsional spring undersetting (401), described second side is turned round
Spring (403) one end is gripped by second side torsional spring upper bracket (402) and second side torsional spring undersetting (401), described
The second side axle (503) in the middle part of second side boom device (5) is equipped with second far from one end of second side torsional spring upper bracket (402)
Side torsional spring lid (507), second side torsional spring (403) other end pass through second side axle (503) and turn round afterwards with described second side
Spring lid (507) is connected.
9. full landform six according to claim 1 or 8 takes turns mobile mechanism, it is characterised in that: second side boom device (5)
Including the second curb girder (509), the second side axle (503), the second side axle upper bracket (501), the second side axle undersetting (502), third
Bearing block (508), fourth bearing seat (510), second side shaft-cup (506) and second side torsional spring lid (507), second side axle
(503) one end is gripped by the second side axle upper bracket (501) and the second side axle undersetting (502), described second
Side is equipped with 3rd bearing seat (508) in the middle part of curb girder (509), and the other side is equipped with fourth bearing seat (510), second side axle
(503) by passing through in the middle part of second curb girder (509) and being propped up by the 3rd bearing seat (508) and fourth bearing seat (510)
Hold, the second side axle (503) other end is equipped with second side shaft-cup (506), and second side shaft-cup (506) be fixed on it is described
On the inside of second side torsional spring lid (507), second side torsional spring lid (507), 3rd bearing seat (508), the second curb girder (509) and the
Four bearing blocks (510) are fixed together by the second fixing bolt (511) and the second nut (512).
10. full landform six according to claim 9 takes turns mobile mechanism, it is characterised in that: before second side boom device (5)
Rear end is equipped with second side hub motor (504), and the motor shaft of second side hub motor (504) is along perpendicular to second
Direction insertion the second curb girder (509) end of curb girder (509) is simultaneously fixed by second side motor baffle (505) and bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821569912.0U CN208760762U (en) | 2018-09-26 | 2018-09-26 | A kind of wheel of full landform six mobile mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203302A (en) * | 2019-07-09 | 2019-09-06 | 王瑞 | Six wheel six of one kind drives full terrain traveling vehicle |
| CN110949565A (en) * | 2018-09-26 | 2020-04-03 | 中国科学院沈阳自动化研究所 | All-terrain six-wheel moving mechanism |
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2018
- 2018-09-26 CN CN201821569912.0U patent/CN208760762U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949565A (en) * | 2018-09-26 | 2020-04-03 | 中国科学院沈阳自动化研究所 | All-terrain six-wheel moving mechanism |
| CN110203302A (en) * | 2019-07-09 | 2019-09-06 | 王瑞 | Six wheel six of one kind drives full terrain traveling vehicle |
| CN110203302B (en) * | 2019-07-09 | 2023-12-15 | 王瑞 | Six-wheel all-terrain walking vehicle |
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