CN87212214U - Mechanical movement type walking wheel - Google Patents
Mechanical movement type walking wheel Download PDFInfo
- Publication number
- CN87212214U CN87212214U CN 87212214 CN87212214U CN87212214U CN 87212214 U CN87212214 U CN 87212214U CN 87212214 CN87212214 CN 87212214 CN 87212214 U CN87212214 U CN 87212214U CN 87212214 U CN87212214 U CN 87212214U
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- wheel
- leg
- walking
- eccentric
- eccentric wheel
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Abstract
The utility model relates to a walking wheel which is used on paddy tractor. The walking wheel has two upper freedom degree; when a wheel hub rotates and make a leg stride forwardly, the distance of the wheel center from the ground is kept constant within the whole span from the leg touching the ground to the leg leaving the ground. A tractor with the walking wheel has high running efficiency when running on soft and wet soil and has good ride comfort when running on hard ground.
Description
The invention belongs to a kind of traveling gear in the land vehicle.The vehicle subject matter that (as paddy field, marsh, tidal land ground etc.) travel under soft wet soil earth condition is that resistance is big, slip loss is many, thereby running efficiency is not high.How further improving crossing ability and the running efficiency of vehicle under this special soil condition is a difficult problem that does not also have fine solution in the land vehicle technology.
Existing paddy field tractor is various traveling geaies (comprising the paddy field impeller, raised-tread tire, boat tractor of various patterns etc.), though part has solved paddy field mechanized needs, its highest drawbar efficiency has only about 35%.The 77-78 Jilin Industry University has been developed a kind of paddy field wheel that does not have wheel rim, and it is not that ditch is removed that this wheel rolls across what stay behind the mellow soil, but acanthopore (footprint) one by one is referred to as semi walking wheel; It is less that it has resistance, the advantage that propulsive effort is bigger; But because its wheel leg is non-telescoping, the fluctuation up and down of core wheel is not only arranged when therefore travelling on hard road, but also there be laterally rocking when the left and right wheels leg is asynchronous to stride, to the people--machine causes very big vibration and can't apply, in fact also in various degree the similar situation of existence of other various paddy field wheels, thereby the comprehensive application of trac. and applicable area are restricted.
People recognize for a long time: vehicle replaces the mode of wheel continuous rolling to travel having the advantage that resistance is little, propulsive effort is big with legged mode under the mellow soil condition, this just in the land vehicle engineering field many scholars be devoted to one of reason of studying legged traveling gear.
Purpose of the present invention exactly under the situation that does not change existing vehicle form, realizes that with easy method the walking of trac. is travelled, and makes it both can improve the travel efficiency under soft wet soil earth condition, can adapt to the requirement of short-distance transport on the hard pavement again.
To achieve these goals, the invention provides a kind of telescopic mechanical transmission-type walking wheel of leg of taking turns, it mainly is by wheel hub, wheel leg and transmission device are formed, it is characterized in that transmission device is the gear ring fixing epicyclic transmission mechanism of a cover by pinion carrier (6) drive hub (1), sun gear (7) driving eccentric wheel (2), is equipped with a cover and makes wheel leg (4) produce eccentric wheel (2) mechanism of stretching in wheel hub (1).
Mechanical transmission-type walking wheel also has following feature: the fore and aft motion of wheel leg (4) is by hinged with it by an end, and the other end is realized with the connecting rod (3) that eccentric wheel (2) glues mutually.
When the wheel leg was more than 8 (comprise 8, but be even numbers), it was two opposed eccentric wheel that drive link makes two flexible eccentric wheel of wheel leg.
As follows to the such scheme enumeration in conjunction with the accompanying drawings:
The structure of this walking wheel is divided two parts, a part is the road wheel that eccentric mechanism (2) are housed in the wheel hub (1), it has two degree of freedom, and wheel leg (4) is stepped forth, and eccentric wheel (2) makes wheel leg (4) produce fore and aft motion when rotating.Another part is that road wheel is realized the planetary gear mechanism that two degree of freedom drive, its interior toothed ring gear (6) is fixed, pinion carrier (7) is used for drive hub (1), sun wheel (8) is used for the eccentric wheel (2) in the drive hub (1), and eccentric wheel (2) then makes wheel leg (4) produce fore and aft motion by connecting rod (3).Eccentric wheel (2) can adopt single or two, when adopting two eccentric wheel (2), their phase angle is necessary for π, be opposed installation, each eccentric wheel (2) can drive four or more leg number, and the speed ratio between eccentric wheel (2) and the wheel hub (1) must equal to take turns the leg number divided by the eccentric wheel number, therefore, when required leg number more for a long time, adopt double eccentric wheel can reduce the revolution of eccentric wheel (2), help reducing the internal losses of walking wheel.When implementing the walking wheel, at first to determine core wheel height overhead according to the size of required wheel, and determine the leg number according to required steplength, usually small step road wheel leg number is desirable 6～8, big walking wheel leg number is got 8～12, the size of eccentric wheel (2) eccentric throw depends on caster (5) from the liftoff required wheel leg stroke that lands, and its occurrence is relevant with the leg number with the size of walking wheel.The length of connecting rod (3) is relevant with the diameter of eccentric wheel (2), has in mind from driving efficiency, and connecting rod (3) length adds eccentric wheel (2) radius sum and should be advisable for 5 times greater than eccentric throw.The length overall of caster (5) that adds wheel leg (4) should satisfy overhead height of the required core wheel of this walking wheel.According to the requirement of core wheel height unmodified, above-mentioned parameter is carried out suitable correction at last with simple graphical means.
This telescopic mechanical transmission-type walking wheel of leg of taking turns provided by the present invention, can reach following effect: the leg fore and aft motion guarantees that walking wheel core wheel is overhead highly constant.Therefore, when the trac. that dress is taken turns with this walking travels,, not only there is not the fluctuation up and down of center of gravity, the vehicle body generation laterally rocked nor can stride because of walking wheel in both sides is asynchronous as common wheeled machine drawing.This has just solved walking tractor both can also guarantee the necessary ride comfort when walking tractor travels simultaneously with the effect of manner of walking acquisition raising travel efficiency on mellow soil on the hard pavement, make it to have the ability of short-distance transport.
The present invention is owing to adopt mechanical drive rather than hydrostatic drive to have following advantage: (1) is simple in structure, reliable operation; (2) the parts kind is few, and accuracy requirement is general, thereby easy to manufacture, and productive costs is not high; (3) whole walking wheel is complete parts, and is equipped convenient with existing trac..In addition, the present invention also can be used for other walking paddy field machine, and other special vehicle of travelling of hag face.And might utilize that striding travels and have good obstacle detouring and cross the characteristics that the rank ability is climbed on the ridge, for mountain area mechanization provides a kind of feasible walking scheme,
Description of drawings:
Fig. 1 is for adopting the road wheel structural representation of 8 leg double eccentric wheel mechanisms.
A kind of type of drive that Fig. 2 matches with planetary gear mechanism for road wheel.
Fig. 3 is the another kind of type of drive that road wheel cooperates with planetary gear mechanism.
Fig. 4 is the sealing means of Retractive leg.
(1) wheel hub in the accompanying drawing, (2) eccentric wheel, (3) connecting rod, (4) wheel leg, (5) caster, (6) interior toothed ring gear, (7) pinion carrier, (8) sun gear, (9) planetary wheel, (10) antifriction-bearing box, (11) scalable sealing shroud, (12) sealed chamber.
An embodiment among the present invention program is configured in 12 horsepowers of paddy field walking wheels on the small four-wheel tractor, adopts 8 leg double eccentric wheel mechanisms shown in Figure 1 and epicyclic gear transmission mode shown in Figure 2.Caster (5) adopts elastomeric material to make, and on the wheel leg (2) sealed chamber (12) is housed, and adopts flexible sealing shroud (11) sealing between sealed chamber and wheel hub, to prevent that sewage from contacting with wheel leg (4) leg (4) is got rusty.
The principal parameter of this walking wheel is:
Core wheel is height 450mm overhead
Eccentric wheel eccentric throw 30mm
Eccentric wheel diameter 130mm
Length of connecting rod 85mm
Wheel leg+caster length overall 330mm
The interior toothed ring gear number of teeth 54
The planetary wheel number of teeth 18
The sun gear number of teeth 18
Test results shows: this walking is taken turns the fluctuating quantity of the hour wheel heart height that travels less than 3mm on cement pavement, the drawbar efficiency on asphalt surface is suitable with the situation of tire, and the drawbar efficiency in saturated paddy field soil improves about 10% than existing paddy field impeller.
Claims (3)
1, a kind of mechanical transmission-type walking wheel, mainly form by wheel hub, wheel leg and transmission device, it is characterized in that transmission device is the gear ring fixing epicyclic transmission mechanism of a cover by pinion carrier (6) drive hub (1), sun wheel (7) driving eccentric wheel (2), is equipped with a cover and makes wheel leg (4) produce eccentric wheel (2) mechanism of stretching in wheel hub (1).
2, a kind of mechanical walking wheel according to claim 1, the fore and aft motion that it is characterized in that taking turns leg (4) be by by an end and its hinge joint, connecting rod (3) realization that the other end and eccentric wheel (2) are obedient mutually.
3, mechanical drive walking according to claim 1 wheel, it is characterized in that when the wheel leg be when (comprising 8, but being even numbers) more than 8, it is two opposed eccentric wheel that drive link makes the flexible eccentric wheel of wheel leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87212214 CN87212214U (en) | 1987-08-31 | 1987-08-31 | Mechanical movement type walking wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87212214 CN87212214U (en) | 1987-08-31 | 1987-08-31 | Mechanical movement type walking wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN87212214U true CN87212214U (en) | 1988-04-06 |
Family
ID=4826897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87212214 Expired - Lifetime CN87212214U (en) | 1987-08-31 | 1987-08-31 | Mechanical movement type walking wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN87212214U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2455172C1 (en) * | 2011-02-14 | 2012-07-10 | Государственное образовательное учреждение высшего профессионального образования "Южно-Российский государственный университет экономики и сервиса" (ГОУ ВПО "ЮРГУЭС") | Walking wheel of vehicle of increased cross-country capacity |
| CN105966481A (en) * | 2016-05-20 | 2016-09-28 | 上海交通大学 | Universal wheel type spherical carrying device and application method thereof |
-
1987
- 1987-08-31 CN CN 87212214 patent/CN87212214U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2455172C1 (en) * | 2011-02-14 | 2012-07-10 | Государственное образовательное учреждение высшего профессионального образования "Южно-Российский государственный университет экономики и сервиса" (ГОУ ВПО "ЮРГУЭС") | Walking wheel of vehicle of increased cross-country capacity |
| CN105966481A (en) * | 2016-05-20 | 2016-09-28 | 上海交通大学 | Universal wheel type spherical carrying device and application method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |