CN209126845U - A kind of wheel shoe alternative expression all-terrain vehicle - Google Patents
A kind of wheel shoe alternative expression all-terrain vehicle Download PDFInfo
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- CN209126845U CN209126845U CN201821941502.4U CN201821941502U CN209126845U CN 209126845 U CN209126845 U CN 209126845U CN 201821941502 U CN201821941502 U CN 201821941502U CN 209126845 U CN209126845 U CN 209126845U
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Abstract
The utility model discloses a kind of wheels to carry out alternative expression all-terrain vehicle, belongs to all-terrain vehicle technical field.The purpose of the utility model is to overcome the respective deficiencies of the all-terrain vehicle of the all-terrain vehicle of wheeled construction and track structure, propose a kind of wheel shoe alternative expression all-terrain vehicle for taking into account movement velocity and obstacle climbing ability.In the utility model on the basis of the all-terrain vehicle of track structure, four lifting wheels are increased, using link design lifting wheel elevating movement mechanism, is driven by stepper motor, can be realized the lifting of four lifting wheels, realize that wheel carries out alternating or cooperating.When all-terrain vehicle passes through muddy soil and desert, four triangle crawler belts are operated alone；When Crossing ditch, speeling stairway and step, the lifting wheel of four triangle crawler belts and two rears is driven；Four lifting wheel travelings are operated alone in flat road surface.The all-terrain vehicle is more suitable for landform complicated and changeable, practical.
Description
Technical field
The utility model belongs to all-terrain vehicle technical field.
Background technique
The difference of all-terrain vehicle application field and application demand, there is also sizable differences for structure type.Usually
Wheeled atv, sufficient formula all-terrain vehicle, tracked ATV can be divided into.Sufficient formula all-terrain vehicle compares wheeled atv,
The advantage is that the requirement to landform is low, can light across obstacle, the Special Roads such as sand ground of passing by, marsh, but the disadvantage is that control
System processed is extremely complex, and the development cycle is long.Wheeled atv then movement velocity and efficiency with higher, while controlling driving
Device is relatively easy, and radius of action is also far more than sufficient formula all-terrain vehicle.Thus there is wider application prospect.In practical application
In, with the diversification of demand, there is the motion construction of many different type wheeled atvs, this include wheel number and
Type, installation site of wheel etc..But wheeled atv is difficult through the severe road environment such as sand ground, beach, ice and snow.Crawler belt
Formula all-terrain vehicle obstacle performance is good, passability is strong, can be well adapted for the incompetent sand ground of wheeled atv, beach,
The severe road environment such as ice and snow, the disadvantage is that travel speed is lower, mobility is poor.
Summary of the invention
The purpose of the utility model is to overcome the all-terrain vehicle of the all-terrain vehicle of above-mentioned wheeled construction and track structure is each
From deficiency, propose a kind of wheel for taking into account movement velocity and obstacle climbing ability and carry out alternative expression all-terrain vehicle.The all-terrain vehicle is being carried out
The mobile phase co-conversion and cooperation between wheel type mobile of belt so that all-terrain vehicle have the high maneuverability on normal road surface with
And the cross-country traveling ability when Crossing ditch, climbing slope, crossing step or encounter the complex road surfaces such as king-sized side slope.
Technical solution used by the utility model is as follows:
A kind of wheel shoe alternative expression all-terrain vehicle, specifically includes that four triangle crawler belts 7, triangle track driving mechanism and car body
3；Triangle track driving mechanism is connect with four triangle crawler belts 7, for driving four walkings of triangle crawler belt 7 and turning to；
In addition, the all-terrain vehicle further include: four lifting wheels 6, lifting wheel elevating movement mechanism, elevating movement driving mechanism
10 and lifting actuation, wherein elevating movement driving mechanism is mounted in car body 3, elevating movement driving mechanism 10 and rise
The connection of Jiang Lun elevating movement mechanism, and quantity is two sets, respectively drives two pairs of front and back lifting wheel 6 and carries out elevating movement；Lifting
Actuation is connect with four lifting wheels 6 respectively, for driving the walking and steering of four lifting wheels 6；
The Jiang Lun elevating movement mechanism is by connecting rod I 11, connecting rod II 9, connecting rod III 8, connecting rod IV 1, connecting rod V 2, connecting rod
VI 4 and guide passage plate 5 form；V 2 one end of connecting rod is fixed on the side of car body 3, the upper end of the other end and connecting rod VI 4 by fixed pin
Hingedly, and hinge joint is fixed on car body 3；VI 4 lower end of connecting rod is connect with a lifting wheel 6, and VI 4 middle part of connecting rod is provided with translot,
One end of connecting rod IV 1 is mounted in the translot, and is fixed by the positioning pin of IV 1 end of connecting rod, and IV 1 other end of connecting rod is provided with cross
Slot, middle part are equipped with bending, hingedly fixed in bending point and car body 3；Guide passage plate 5 is separately mounted to the left and right of front and back end below car body
Two sides are provided with translot on guide passage plate 5；Connecting rod III 8, the both ends of connecting rod III 8 are separately installed in two translots of front-end and back-end
Pass through positioning pin connection with the translot of IV 1 end of connecting rod respectively；III 8 middle part of connecting rod is hinged by fixed block and II 9 one end of connecting rod,
II 9 other end of connecting rod and connecting rod I 11 are hinged, and I 11 other end of connecting rod is connect with elevating movement driving mechanism 10；The lifting fortune
Dynamic driving mechanism 10 is stepper motor, and the output shaft of the stepper motor is connect with I 11 spline of connecting rod.
The lifting actuation is hub motor, and each hub motor is connect with a lifting wheel 6 respectively；It is described
Triangle track driving mechanism include precursor motor, rear-guard motor and steering motor, precursor motor and steering motor are mounted on vehicle
3 front of body, rear-guard motor are mounted on 3 rear portion of car body；
The triangle crawler belt includes driving wheel 18, rubber belt track 19, rocker 17, directive wheel 16 and support wheel 20；Driving
It takes turns and is equipped with axletree at 18 centers, driving wheel 18 is fixedly connected with axletree, and driving wheel 18 and rubber belt track 19 pass through gear teeth
The connection of item pair；Four directive wheels and six support wheels are fixedly connected on five follower shafts, what follower shaft can be opened in rocker
It is rotated in through-hole, two follower shafts of directive wheel are located at the both ends of rocker, and three follower shafts of support wheel are located at rocker
Lower end；It is smoothly connected on the inside of four directive wheels and six support wheels and rubber belt track.The course of work of the triangle crawler belt is as follows: vehicle
Wheel shaft rotation drives driving wheel rotation, and driving wheel drives rubber belt track to move by rack-and-pinion, and support wheel is borrowed with directive wheel
The frictional force helped between rubber belt track moves.By the above process, the movement of triangle crawler belt is realized.
Precursor motor and rear-guard motor are sequentially connected with driving wheel 18 in triangle pedrail mechanism respectively, to drive triangle to carry out
The walking and steering of band.
Steering motor 14 is by turning to driving lever 22, steering link 23 drives steering rocking bar 21 to swing, and turns to and dials
Bar 24 is connected with triangle crawler belt 7, turns to rocking bar 21 and is indirectly connected by turning to driving lever 24 with triangle crawler belt 7, passes through steering motor
Left and right turn is realized in positive and negative rotation.
It further include control system in the utility model, the control system is by controller I, controller II, controller III, control
Device IV and controller V processed.Controller I and controller II are respectively used to the switch of two stepper motors of control；Controller III is used for
Control triangle track driving mechanism；Controller IV is used to control the hub motor switch on two lifting wheels in front, controller V
For controlling the switch of the hub motor on the lifting wheel of two, rear.
The output shaft of stepper motor rotates, and connecting rod I 11 is driven to rotate, and connecting rod I 11 drives connecting rod II 9 to make plane motion, even
The movement of bar II 9 drives connecting rod III 8 to carry out linear reciprocating motion；The rotary motion of stepper motor is converted into the reciprocal of connecting rod III 8
The purpose of linear motion；One end of connecting rod III 8 drives connecting rod IV 1 to swing, and connecting rod IV 1 drives connecting rod VI by fixed pin thereon
4 make plane motion, and connecting rod VI 4 drives connecting rod V 2 to swing, and the swing of connecting rod V 2 drives connecting rod VI 4 to do lifting fortune in turn again
Dynamic, connecting rod VI 4 drives lifting wheel 6 to realize elevating movement.
Compared with the prior art, the utility model has the following advantages:
Complex form is carried out using wheel and replaces traditional four-wheel and six wheels, and traditional wheel-type and triangle crawler belt are combined,
Comprehensively utilize the advantage that traditional wheel-type travel speed is fast and triangle crawler belt obstacle climbing ability is strong.
Four lifting wheels in outside can be according to different Operating condition adjustments to leaving ground, together with the triangle crawler belt of inside
It is attached to ground and supports vehicle body and be separately attached to three kinds of ground posture, flexibility is high.
Suitable for various working.Four lifting wheels on the outside of only driving on flat road surface, travel speed are fast；Cross miriness
Or marsh road surface is operated alone four triangle crawler belts, the contact area of the contact area on triangle crawler belt and ground than wheel and ground
Greatly, grounding pressure is small, and walking muddy or marsh road surface will not sag；Four triangle crawler belts are driven when speeling stairway and slope simultaneously
And lifting wheel, stability are higher；Inside triangle crawler belt and the cooperation of outside lifting wheel carry out when Crossing ditch, wider across gully,
Obstacle climbing ability is strong.
It to sum up tells, the utility model can realize that wheel carries out alternating and cooperating, take into account travel speed and obstacle climbing ability, fit
It is practical for various working.
Detailed description of the invention
Fig. 1 is the utility model lifting wheel and the state two when triangle crawler belt works at the same time is with reference to figure.
Fig. 2 is lifting wheel and the bottom view of state when triangle crawler belt works at the same time.
Fig. 3 is the triangle crawler belt schematic diagram of the utility model.
Fig. 4 is that the utility model lifting wheel is detached from ground, and the state one when triangle crawler belt works is with reference to figure.
The bottom view of state one when Fig. 5 is the work of the utility model triangle crawler belt.
Fig. 6 be the utility model lifting wheel work, triangle crawler belt be detached from ground when state four with reference to figure.
The bottom view of state four when Fig. 7 is triangle crawler belt disengaging ground.
Fig. 8 is the left view of the state two when triangle crawler belt works at the same time.
Fig. 9 is the right view of the state two when triangle crawler belt works at the same time.
Figure 10 is the schematic diagram of steering mechanism.
Appended drawing reference is as follows:
1 --- connecting rod IV, 2 --- connecting rod V, 3 --- car body, 4 --- connecting rod VI, 5 --- guide passage plate, 6 --- lifting
Wheel, 7 --- triangle crawler belt, 8 --- connecting rod III, 9 --- connecting rod II, 10 --- lifting actuation, 11 --- connecting rod I,
12 --- shop bolt, 13 --- precursor motor, 14 --- steering motor, 15 --- rear-guard motor, 16 --- directive wheel,
17 --- rocker, 18 --- driving wheel, 19 --- rubber belt track, 20 --- support wheel, 21 --- steering rocking bar, 22 --- it turns to
Driving lever, 23 --- steering link, 24 --- turn to driving lever.
Specific embodiment
As shown in Figure 1, a kind of wheel shoe alternative expression all-terrain vehicle in the present embodiment, specifically includes that four triangle crawler belts 7, three
Angle track driving mechanism and car body 3；Triangle track driving mechanism is connect with four triangle crawler belts 7, for driving four triangles to carry out
The walking of band 7 and steering；
In addition, the all-terrain vehicle further include: four lifting wheels 6, lifting wheel elevating movement mechanism, elevating movement driving mechanism
10 and lifting actuation, wherein elevating movement driving mechanism is mounted in car body 3, elevating movement driving mechanism 10 and rise
The connection of Jiang Lun elevating movement mechanism, and quantity is two sets, respectively drives two pairs of front and back lifting wheel 6 and carries out elevating movement；Lifting
Actuation is connect with four lifting wheels 6 respectively, for driving the walking and steering of four lifting wheels 6；
The Jiang Lun elevating movement mechanism is by connecting rod I 11, connecting rod II 9, connecting rod III 8, connecting rod IV 1, connecting rod V 2, connecting rod
VI 4 and guide passage plate 5 form；V 2 one end of connecting rod is fixed on the side of car body 3, the upper end of the other end and connecting rod VI 4 by fixed pin
Hingedly, and hinge joint is fixed on car body 3；VI 4 lower end of connecting rod is connect with a lifting wheel 6, and VI 4 middle part of connecting rod is provided with translot,
One end of connecting rod IV 1 is mounted in the translot, and is fixed by the positioning pin of IV 1 end of connecting rod, and IV 1 other end of connecting rod is provided with cross
Slot, middle part are equipped with bending, hingedly fixed in bending point and car body 3；Guide passage plate 5 is separately mounted to the left and right of front and back end below car body
Two sides are provided with translot on guide passage plate 5；Connecting rod III 8, the both ends of connecting rod III 8 are separately installed in two translots of front-end and back-end
Pass through positioning pin connection with the translot of IV 1 end of connecting rod respectively；III 8 middle part of connecting rod is hinged by fixed block and II 9 one end of connecting rod,
II 9 other end of connecting rod and connecting rod I 11 are hinged, and I 11 other end of connecting rod is connect with elevating movement driving mechanism 10；The lifting fortune
Dynamic driving mechanism 10 is stepper motor, and the output shaft of the stepper motor is connect with I 11 spline of connecting rod.
The output shaft of stepper motor rotates, and connecting rod I 11 is driven to rotate, and connecting rod I 11 drives connecting rod II 9 to make plane motion, even
The movement of bar II 9 drives connecting rod III 8 to carry out linear reciprocating motion；The rotary motion of stepper motor is converted into the reciprocal of connecting rod III 8
The purpose of linear motion；One end of connecting rod III 8 drives connecting rod IV 1 to swing, and connecting rod IV 1 drives connecting rod VI by fixed pin thereon
4 make plane motion, and connecting rod VI 4 drives connecting rod V 2 to swing, and the swing of connecting rod V 2 drives connecting rod VI 4 to do lifting fortune in turn again
Dynamic, connecting rod VI 4 drives lifting wheel 6 to realize elevating movement.
The lifting actuation is hub motor, and each hub motor is connect with a lifting wheel 6 respectively；It is described
Triangle track driving mechanism include precursor motor, rear-guard motor and steering motor, precursor motor and steering motor are mounted on vehicle
3 front of body, rear-guard motor are mounted on 3 rear portion of car body；
The triangle crawler belt includes driving wheel 18, rubber belt track 19, rocker 17, directive wheel 16 and support wheel 20；Driving
It takes turns and is equipped with axletree at 18 centers, driving wheel 18 is fixedly connected with axletree, and driving wheel 18 and rubber belt track 19 pass through gear teeth
The connection of item pair；Four directive wheels 16 and six support wheels 20 are fixedly connected on five follower shafts, and follower shaft can be in rocker
It is rotated in the through-hole opened, two follower shafts of directive wheel 16 are located at the both ends of rocker, and three follower shafts of support wheel 20 are set
In the lower end of rocker；It is smoothly connected on the inside of four directive wheels 16 and six support wheels 20 and rubber belt track 19.
The course of work of triangle crawler belt is as follows: axletree rotation drives driving wheel rotation, and driving wheel passes through rack-and-pinion
Rubber belt track movement is driven, support wheel and directive wheel are moved by the frictional force between rubber belt track.
Precursor motor and rear-guard motor are sequentially connected with driving wheel 18 in triangle crawler belt respectively, to drive triangle crawler belt
Walking and steering.
Steering motor 14 is by turning to driving lever 22, steering link 23 drives steering rocking bar 21 to swing, and turns to and dials
Bar 24 is connected with triangle crawler belt 7, turns to rocking bar 21 and is indirectly connected by turning to driving lever 24 with triangle crawler belt 7, passes through steering motor
Left and right turn is realized in positive and negative rotation.
It further include control system in the utility model, the control system is by controller I, controller II, controller III, control
Device IV and controller V processed.Controller I and controller II are respectively used to the switch of two stepper motors of control；Controller III is used for
Control triangle track driving mechanism；Controller IV is used to control the hub motor switch on two lifting wheels in front, controller V
For controlling the switch of the hub motor on the lifting wheel of two, rear.
In embodiment, four lifting wheels in outside can be elevated to different positions according to different operating conditions, to realize
Four kinds of postures of all-terrain vehicle:
One: four triangle crawler belt of posture lands；
Posture two: subsequent two lifting wheels land simultaneously with four triangle crawler belts；
Three: four lifting wheels of posture land simultaneously with four triangle crawler belts；
Four: four lifting wheels of posture individually land.
Assuming that all-terrain vehicle original state is posture one, two groups of stepper motors are made by controller I and controller II at this time
It rotates forward simultaneously, drives two connecting rods I 11 to rotate in the forward direction respectively, so that two connecting rods II 9 be driven to do plane motion, and then drive two
One end of a III 8 back movement of connecting rod, connecting rod III 8 drives connecting rod IV 1 to swing, and connecting rod IV 1 is driven by fixed pin thereon to be connected
Bar VI 4 makees plane motion, and connecting rod VI 4 drives connecting rod V 2 to swing, and the swing of connecting rod V 2 drives connecting rod VI 4 to decline in turn again；
Connecting rod VI 4 drives lifting wheel 6 to decline, and four lifting wheels reach ground simultaneously, and are just in same level with triangle crawler belt,
Posture three is reached at this time.
Continue aforesaid operations, is gradually reduced at this time in face of the holding power of triangle crawler belt.When triangle crawler belt is detached from ground,
Reach posture four at this time.Operation contrary to the above is carried out, may return to posture one.
Also controller I or controller II be can be used alone, one group of stepper motor is operated alone, makes all-terrain vehicle by posture
One reaches posture two.
In embodiment, excessively muddy soil, desert when, using posture one, crawler belt is big with contact area of ground, grounding pressure
It is small, it is not easy to sink；When Crossing ditch, when climbing step, stair and slope, using posture two, it is more easier to pass through；Excessively rugged
When hill path, using posture three, realization is smoothly passed；When all-terrain vehicle traveling in flat road surface, using posture four, may be implemented
High-speed motion.
Above embodiments are only the cases of the utility model, any replacement done according to the spirit of the present invention or each reality
The combination applied between example should be understood as without departing from the protection scope of the utility model.
Claims (4)
1. a kind of wheel carries out alternative expression all-terrain vehicle, four triangle crawler belts (7), triangle track driving mechanism and car body are specifically included that
(3)；Triangle track driving mechanism is connect with four triangle crawler belts (7), for driving four triangle crawler belt (7) walkings and turning to；
It is characterized in that,
The all-terrain vehicle further include: four lifting wheels (6), lifting wheel elevating movement mechanism, elevating movement driving mechanism (10) and
Go up and down actuation, wherein elevating movement driving mechanism is mounted in car body (3), elevating movement driving mechanism (10) and liter
The connection of Jiang Lun elevating movement mechanism, and quantity is two sets, respectively drives two pairs of front and back lifting wheel (6) and carries out elevating movement；It rises
Drop actuation is connect with four lifting wheels (6) respectively, for driving the walking and steering of four lifting wheels (6)；
The Jiang Lun elevating movement mechanism is by connecting rod I (11), connecting rod II (9), connecting rod III (8), connecting rod IV (1), connecting rod V
(2), connecting rod VI (4) and guide passage plate (5) composition；Connecting rod V (2) one end is fixed on the side of car body (3) by fixed pin, another
End is hinged with the upper end of connecting rod VI (4), and hinge joint is fixed on car body (3)；Connecting rod VI (4) lower end and a lifting wheel (6)
Connection, connecting rod VI (4) middle part are provided with translot, and one end of connecting rod IV (1) is mounted in the translot, and passes through connecting rod IV (1) end
Positioning pin fix, connecting rod IV (1) other end is provided with translot, and middle part is equipped with bending, hingedly fixed in bending point and car body (3)；
Guide passage plate (5) is separately mounted to the left and right sides of front and back end below car body, and guide passage plate is provided with translot on (5)；Front-end and back-end
Connecting rod III (8) is separately installed in two translots, it is fixed that the both ends of connecting rod III (8) pass through with the translot of connecting rod IV (1) end respectively
Position pin connection；It is hinged by fixed block and connecting rod II (9) one end in the middle part of connecting rod III (8), connecting rod II (9) other end and connecting rod I
(11) hingedly, connecting rod I (11) other end is connect with elevating movement driving mechanism (10)；The elevating movement driving mechanism (10)
Output shaft for stepper motor, the stepper motor is connect with connecting rod I (11) spline.
2. wheel according to claim 1 carries out alternative expression all-terrain vehicle, which is characterized in that the lifting actuation is
Hub motor, each hub motor are connect with a lifting wheel (6) respectively；The triangle track driving mechanism includes forerunner's electricity
Machine, rear-guard motor and steering motor, precursor motor and steering motor are mounted on car body (3) front, and rear-guard motor is mounted on car body
(3) rear portion.
3. wheel according to claim 1 carries out alternative expression all-terrain vehicle, which is characterized in that the triangle crawler belt includes driving
Take turns (18), rubber belt track (19), rocker (17), directive wheel (16) and support wheel (20)；Wheel is equipped at driving wheel (18) center
Axis, driving wheel (18) are fixedly connected with axletree, and driving wheel (18) is connected with rubber belt track (19) by rack-and-pinion；Four
Directive wheel and six support wheels are fixedly connected on five follower shafts, and follower shaft can rotate in the through-hole that rocker is opened, and are led
The both ends of rocker are located to two follower shafts of wheel, three follower shafts of support wheel are located at the lower end of rocker；Four guiding
It is smoothly connected on the inside of wheel and six support wheels and rubber belt track；
Precursor motor and rear-guard motor are sequentially connected with driving wheel (18) in triangle pedrail mechanism respectively, to drive triangle crawler belt
Walking and steering；
Steering motor (14) drives steering rocking bar (21) to swing by steering driving lever (22), steering link (23), turns
It is connected to driving lever (24) with triangle crawler belt (7), turns to rocking bar (21) by turning to driving lever (24) and triangle crawler belt (7) indirect phase
Even, by steering motor positive and negative rotation, left and right turn is realized.
4. wheel according to claim 1 carries out alternative expression all-terrain vehicle, which is characterized in that the all-terrain vehicle further includes control system
System, the control system is by controller I, controller II, controller III, controller IV and controller V；Controller I and controller
II is respectively used to the switch of two stepper motors of control；Controller III is for controlling triangle track driving mechanism；Controller IV is used
Hub motor switch on two lifting wheels in control front, controller V are used to control the wheel hub electricity on the lifting wheel of two, rear
Machine switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821941502.4U CN209126845U (en) | 2018-11-23 | 2018-11-23 | A kind of wheel shoe alternative expression all-terrain vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821941502.4U CN209126845U (en) | 2018-11-23 | 2018-11-23 | A kind of wheel shoe alternative expression all-terrain vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN209126845U true CN209126845U (en) | 2019-07-19 |
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ID=67246509
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821941502.4U Expired - Fee Related CN209126845U (en) | 2018-11-23 | 2018-11-23 | A kind of wheel shoe alternative expression all-terrain vehicle |
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| CN (1) | CN209126845U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334793A (en) * | 2018-11-23 | 2019-02-15 | 吉林大学 | A kind of wheel shoe alternative expression all-terrain vehicle |
| CN110789626A (en) * | 2019-10-21 | 2020-02-14 | 陈迎高 | Foldable magnetic adsorption wall climbing detection device and detection method thereof |
-
2018
- 2018-11-23 CN CN201821941502.4U patent/CN209126845U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334793A (en) * | 2018-11-23 | 2019-02-15 | 吉林大学 | A kind of wheel shoe alternative expression all-terrain vehicle |
| CN109334793B (en) * | 2018-11-23 | 2024-02-09 | 吉林大学 | Wheel-track alternating all-terrain vehicle |
| CN110789626A (en) * | 2019-10-21 | 2020-02-14 | 陈迎高 | Foldable magnetic adsorption wall climbing detection device and detection method thereof |
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Granted publication date: 20190719 Termination date: 20211123 |