KR20100113349A - Personal car six-wheel ground - Google Patents

Personal car six-wheel ground Download PDF

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Publication number
KR20100113349A
KR20100113349A KR1020090031868A KR20090031868A KR20100113349A KR 20100113349 A KR20100113349 A KR 20100113349A KR 1020090031868 A KR1020090031868 A KR 1020090031868A KR 20090031868 A KR20090031868 A KR 20090031868A KR 20100113349 A KR20100113349 A KR 20100113349A
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South Korea
Prior art keywords
wheel
wheel support
chain
shaft
main body
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KR1020090031868A
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Korean (ko)
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KR100994383B1 (en
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이정수
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이정수
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/44—Tracked vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/25—Track vehicles

Abstract

PURPOSE: A meat wheel earth private car. The joystick installed in the operating part is used. The advance or the backing operation of the traveling direction is facilitated. CONSTITUTION: The meat wheel earth private car. The front wheel support(2), chain belts, reducer(51), suprathermal electron clutch(53) and low speed electron clutch(54) are included. The front wheel support is connected to the peak portion of the behind wheel support to the connection shaft rod.

Description

육륜 접지 개인용 자동차{Personal car six-wheel ground}Personal car six-wheel ground}

본 발명은 좌대가 설치된 본체를 중앙부에 두고 본체 양측에 각각 설치되어 3개의 바퀴가 장착되도록 바퀴지지대가 장치되며 6개의 바퀴가 항상 지면에 접지되는 바퀴부와 바퀴지지대와 차체를 안정시키는 수평유지장치와 6개의 바퀴에 동력을 전달하고 중단하거나 역회전 시킬 수 있고 주행방향을 조정하는 구동장치와 조작장치부를 갖추어서 이루어지는 일인용 6륜접지 자동차에 관한 것인데 본 발명의 자동차는 노약자가 탑승하고 자신의 한쪽손으로 운전하여 안전한 운행이 이루어지도록 한 발명이다.The present invention is a horizontal support device for stabilizing the wheel portion and the wheel support and the vehicle body is installed on both sides of the main body is installed on both sides of the main body is installed in the center and the three wheels and the six wheels are always grounded to the ground And a six-wheeled grounded single-wheeled vehicle which can transmit power to six wheels and stop or reverse rotation, and is provided with a driving device and an operation unit for adjusting the driving direction. It is an invention to drive a safe driving by one hand.

종래에도 노약자가 혼자 탑승하고 안전한 운행을 하도록 개인용 자동차가 많이 개발되어 있고 그 중에는 바퀴가 궤도형상으로 되어 경사면을 오르고 내리는데 적응되게 한 궤도차를 비롯하여 4개의 바퀴로 구성된 것이 일인용 승용차가 사용되고 있으나 궤도차로 된 것은 사용이 불편하고 4개의 바퀴로 된 것은 사고의 위험이 많은 등의 불편이 있고, 특히 운전 조작이 불편하여 노약자가 사용하기에 어려움이 많은 결점이 있었다.Conventionally, many private cars have been developed to allow the elderly to ride alone and to drive safely. Among them, a four-wheeled passenger car is used, including a railroad car that is adapted to climb and descend a slope by turning the wheel into a track shape. It is inconvenient to use and the four wheels are inconvenient, such as a high risk of accidents, in particular, the operation operation is inconvenient, there was a lot of difficulties for the elderly to use.

본 발명은 좌대가 설치된 위와 같은 종래의 결점을 해소시킬 수 있도록 개발한 것이다.The present invention has been developed to solve the above-described drawbacks are installed.

본 발명은 직4각형틀로 된 본체부를 중앙부에 두고 양측에 각각 설치되며 크고 적은 "

Figure 112009022168204-PAT00002
" 형 바퀴지지대로 이루어져 앞뒤 바퀴지지대가 연결축봉으로 연결되고 하단부에 각각 바퀴가 장착되어 체인벨트로 결속되어 같은 방향으로 회전하는 3개의 바퀴가 양측에 설치된 바퀴를 통해 6개의 바퀴가 지면에 접촉되는 바퀴부와 3개의 바퀴부에 동력을 전달하고 중지하거나 역회전시킬 수 있고 바퀴의 주행 방향을 변경하도록 된 구동장치와 본체와 바퀴지지대 사이에 설치되어 본체의 평형을 유지하는 수평유지장치와 운전에 필요한 조향장치를 갖추어서 이루어진다.The present invention is installed on both sides with the main body of the rectangular frame in the center and small and "
Figure 112009022168204-PAT00002
"It consists of a type wheel support, the front and rear wheel supports are connected to the connecting shaft, and the wheels are mounted on the lower part, respectively, and the three wheels that are rotated in the same direction by rotating the chain belt are connected to the ground through the wheels installed on both sides. It is installed between the main body and the wheel support and the driving device which can transmit the power and stop or reverse the power to the wheel part and the three wheel parts, and change the driving direction of the wheel. This is achieved by having the necessary steering system.

이와 같이 된 본 발명은 본체부(1) 양측에 설치되는 바퀴지지대가 두개의 "

Figure 112009022168204-PAT00003
" 형 바퀴지지대(2)(2a)로 되어 앞뒤로 배치되어 앞쪽바퀴지지대(2)의 후미 측(201)이 뒤쪽바퀴지지대(2a)의 정점부에 연결축봉(3)으로 접속되어 앞뒤 지지대 하단측에 앞바퀴(210), 중간바퀴(211), 뒷바퀴(212)가 장착되어 체인벨트(230)(240)로 연결되어 같은 방향으로 구동되고 앞쪽바퀴지지대(2) 정점에 접속된 바퀴구동축(4)에 체인풀리가 부착되어 체인밸트(230)를 회전시키면 뒷쪽바퀴지지대(2a) 정점에 장치된 연결축봉(3)의 체인풀리를 통해 체인(240)을 구동시키게 되므로 3개의 바퀴가 같은 방향으로 구동이 되며 양측에 설치된 6개의 바퀴가 동시에 구동이 된다.In the present invention, the wheel support is installed on both sides of the main body (1) two "
Figure 112009022168204-PAT00003
&Quot; shaped wheel support (2) (2a) is arranged back and forth so that the rear side 201 of the front wheel support (2) is connected to the apex of the rear wheel support (2a) by the connecting shaft rod (3) The front wheel 210, the middle wheel 211, the rear wheel 212 is mounted on the wheel drive shaft (4) connected to the chain belt 230, 240 is driven in the same direction and connected to the front wheel support (2) apex When the chain pulley is attached to the chain belt 230 and rotates, the chain 240 is driven through the chain pulley of the connecting shaft bar 3 mounted on the rear wheel support 2a, so the three wheels are driven in the same direction. Six wheels installed on both sides are driven at the same time.

한편, 양측의 바퀴는 원동모터(5)에서 감속기(51)(52)를 거쳐 고속전자클러치(53)와 저속전자클러치(54)를 통해 차동장치(55)의 출력축에 전달되고 선택된 속도에 따라 바퀴구동축(4)을 회전시키므로 고속회전과 저속회전을 선택하여 6개의 바퀴를 구동시킬 수 있게 되고 원동모터(5)의 구동방향을 정역회전시키는 수단으로 정방향주행과 역방향주행(후진)이 이루어진다.On the other hand, the wheels on both sides are transmitted to the output shaft of the differential device 55 through the high speed electromagnetic clutch 53 and the low speed electromagnetic clutch 54 through the reduction gears 51 and 52 in the prime motor 5 and according to the selected speed. Since the wheel drive shaft 4 rotates, it is possible to drive the six wheels by selecting the high speed rotation and the low speed rotation, and the forward driving and the reverse driving (reverse) are performed as a means for forward and reverse rotation of the driving direction of the motor motor 5.

또, 본 발명은 뒷바퀴(212)와 중간바퀴(211) 사이에 바퀴각도를 변경시킬 수 있는 암이 연결되어서 조향모터(6)를 회전시켜서 암의 길이를 가변시킴에 따라 중간바퀴와 뒷바퀴의 각도를 변경시키는 수단으로 바퀴의 방향을 조정시켜 휘어진 도로에 맞도록 운행할 수 있게 방향조정 및 방향전환이 이루어지게 되므로 원하는 곳으로 주행이 이루어지게 되는 것이다.In addition, the present invention is connected between the rear wheel 212 and the middle wheel 211, the arm that can change the angle of the wheel is connected to rotate the steering motor 6 to vary the length of the arm according to the angle of the intermediate wheel and the rear wheel By adjusting the direction of the wheel to change the means to change the direction so that the driving can be adjusted to the curved road is made so that the driving is made to the desired place.

한편, 주행방향을 전진으로 하거나 후진으로 하거나 좌우로 회전시키는 조작은 운전부(7)에 장치된 조이스틱(8)으로 이루어지게 되며 원동모터(5) 작동은 원터치버튼으로 이루어지도록 구성되어 운전자의 한쪽손으로 조작이 가능하도록 된다.Meanwhile, the operation of moving the driving direction forward, backward, or rotating from side to side is performed by the joystick 8 mounted on the driving unit 7, and the driving motor 5 is configured to be made by one touch button. It can be operated by hand.

그리고, 본 발명의 바퀴지지대와 본체 사이에는 앞쪽바퀴지지대(2)의 상반부 표면에 형성시킨 원호상기어부(9)에 치합하는 회전기어(90) 회전축(91)에 부착한 체인풀리(92)와 본체부 외면에 장치한 수평유지장치용모터(10) 회전축(11)에 형성된 체인풀리(12)와 사이에 가설된 체인벨트(13)를 가설하여 평형을 유지시키고 흔들림을 방지하며 바퀴의 접지각에 따라 본체의 평형이 변경되면 자이로스코프센서(14)의 지시에 의하여 작동하는 수평유지장치용모터(10)가 작동하여 복원방향으로 수평유지장치용모터(10)의 체인벨트(13)가 회전하므로 회전기어(90)가 작동하여 바퀴지지대의 기울기에 관계없이 본체를 수평으로 유지시키게 되는 것이다.In addition, between the wheel support and the main body of the present invention and the chain pulley 92 attached to the rotary shaft 91 of the rotary gear 90 to be engaged with the circular arc upper gear portion 9 formed on the upper half surface of the front wheel support (2) and The chain pulley 12 formed on the rotating shaft 11 of the horizontal holding device motor 10 mounted on the outer surface of the main body and the chain belt 13 installed between the main body are installed to maintain equilibrium, prevent shaking, and ground angle of the wheel. When the balance of the main body is changed according to the gyroscope sensor 14 to operate the horizontal holding device motor 10 is operated to rotate the chain belt 13 of the horizontal holding device motor 10 in the restoration direction Therefore, the rotary gear 90 is operated to maintain the body horizontally regardless of the inclination of the wheel support.

이로 인하여 6개의 바퀴가 항상 지면에 닿으면서 좌대에 앉은 탑승지는 편안한 자세로 전진과 후진 그리고 좌로 우로 굽은 도로를 착오없이 주행할 수 있으며 경사로와 계단까지 오르고 내릴 수 있게 되는 효과를 얻을 수 있는 것이다.As a result, the six wheels always touch the ground, and the seat sitting on the base can comfortably move forward, backward, and left and right bent roads, and get up and down the ramps and stairs.

본 발명은 좌대가 설치된 본체부(1) 양측에 설치되며 형상이 "

Figure 112009022168204-PAT00004
" 형으로 되어 앞뒤로 배치되는 바퀴지지대(2)(2a)와 앞쪽바퀴지지대(2)의 후미측(201)이 뒷쪽바퀴지지대(2a)의 정점부에 연결축봉(3)으로 접속되어 앞뒤바퀴지지대 하단측에 앞바퀴(210), 중간바퀴(211), 뒷바퀴(212)가 장착되어 서로 간에 체인벨트(230)(240)로 연결되어 같은 방향으로 구동되고 앞쪽바퀴지지대(2)의 정점에 접속된 바퀴구동축(4)에 한쌍의 체인풀리가 부착되어 체인벨트(230)를 회전시키면 뒷 쪽바퀴지지대(2a)의 정점에 장치된 연결축봉(3)의 체인풀리를 통해 구동시키도록 되어 3개의 바퀴가 같은 방향으로 구동이 되며 양측에 설치된 6개의 바퀴가 같이 구동이 되게 한 바퀴부와 양측의 바퀴는 본체에 장치되어 정역회전기능을 가진 원동모터(5)에서 양측으로 배치되게 감속기(51)(52)를 장치하고 양측 감속기에서 전달되는 동력을 고속전자클러치(53)와 저속전자클러치(54)를 통해 차동장치(55)의 출력축을 구동시켜 바퀴구동축(4)을 회전시키는 원동부와 고속회전과 저속회전과 전후진과 굴곡전진을 관리하는 조이스틱이 장치된 운전부와 좌대가 부착된 본체부와 바퀴지지대(2) 상반부 표면에 형성시킨 원호상기어부(9)와 원호상의 기업부에 치합하는 회전기어(90)와 회전기어(90)의 회전축(91)에 부착된 체인풀리(92)와 본체부 외면에 장치한 수평유지장치용모터(10)의 회전축(11)에 설치된 체인풀리(12)와 체인벨트(13)로 가설되어 평행을 유지하고 평행을 감지하는 자이로스코프센서(14)의 신호에 따라 작동하는 수평유지장치용모터(10)가 회전기어(90)를 구동시켜 본체를 수평으로 유지시키는 수평유지부와 뒷바퀴(212)와 중간바퀴(211) 사이에 설치된 조향모터(6)의 회전축에 연결암을 연결하여 조향모터의 회전으로 중간바퀴와 뒷바퀴의 각도를 변경시키는 방향전환부를 구비하여 이루어지는 1인용 자동차이다.The present invention is installed on both sides of the body portion (1) in which the pedestal is installed, the shape is "
Figure 112009022168204-PAT00004
Wheel type (2) (2a) and the rear side 201 of the front wheel support (2), which is arranged back and forth, is connected to the apex of the rear wheel support (2a) by connecting shaft rods (3). The front wheel 210, the middle wheel 211, the rear wheel 212 is mounted on the lower side connected to each other by chain belts 230, 240 are driven in the same direction and connected to the apex of the front wheel support (2) When a pair of chain pulleys are attached to the wheel driving shaft 4 and the chain belt 230 is rotated, the three wheels are driven through the chain pulleys of the connecting shaft 3 mounted at the apex of the rear wheel support 2a. Is driven in the same direction, and the wheels and the wheels on both sides, which are driven to the six wheels installed on both sides, are mounted on the main body and are disposed on both sides of the prime mover motor 5 having a forward and reverse rotation function. 52) and the high-speed electromagnetic clutch (53) ) And a driving unit equipped with a driving unit for driving the output shaft of the differential device 55 to rotate the wheel drive shaft 4 through the low-speed electromagnetic clutch 54 and a joystick for managing high-speed rotation, low-speed rotation, forward and backward, and bending forward. And to the rotary shaft 91 of the rotary gear 90 and the rotary gear 90 which engage with the arc-shaped upper gear portion 9 formed on the upper half of the main body portion and the wheel support 2, and the arcuate portion of the wheel support, Chain pulley 92 and the chain pulley 12 and the chain belt 13 installed on the rotating shaft 11 of the horizontal holding device motor 10 mounted on the outer surface of the main body is installed to maintain parallel and detect the parallel The horizontal holding device motor 10, which operates according to the signal of the gyroscope sensor 14, drives the rotary gear 90 to maintain the body horizontally, and between the rear wheel 212 and the middle wheel 211. Of the steering motor by connecting the connecting arm to the rotating shaft of the steering motor (6) installed in the In a car for 1 formed by having direction changing unit for changing the angle of the intermediate wheel and the rear wheel.

도 1은 본 발명의 구성예시도1 is a configuration example of the present invention

도 2는 본 발명의 도 1의 측면도2 is a side view of FIG. 1 of the present invention;

도 3은 본 발명의도 1의 평면도3 is a plan view of FIG. 1 of the present invention;

도 4는 본 발명의 바퀴부 구성도4 is a block diagram of the present invention

도 5(a)(b)는 본 발명의 평행유지 장치부 측면도Figure 5 (a) (b) is a side view of the parallel holding device portion of the present invention

도 6은 본 발명의 바퀴구 구사 사시도Figure 6 is a perspective view of the wheel sphere of the present invention

도 7은 본 발명의 앞바퀴 구성도7 is a front wheel configuration of the present invention

도 8은 본 발명의 뒷바퀴 구성도8 is a rear wheel configuration of the present invention

도 9는 본 발명의 사용상태예시도이다.9 is an exemplary state of use of the present invention.

* 도면의 주요부분에 대한 부호설명* Explanation of symbols on the main parts of the drawings

1 : 본체부 2 : 앞바퀴지지대1 main body 2 front wheel support

2a : 뒷쪽바퀴지지대 3 : 축봉2a: rear wheel support 3: shaft

4 : 바퀴구동축 5 : 원동모터4: wheel drive shaft 5: motor

6 : 조향모터 7 : 운전부6: steering motor 7: driving unit

8 : 조이스틱 9 : 원호상기어부8 joystick 9 arc arcuate fisherman

10 : 수평유지모터 11 : 회전축10: horizontal maintenance motor 11: rotation axis

12 : 체인풀리 13 : 체인벨트12: chain pulley 13: chain belt

14 :자이로스코프센서 51,52 : 감속기14: gyroscope sensor 51, 52: reducer

53 : 고속전자클러치 54 : 저속전자클러치53: high speed electromagnetic clutch 54: low speed electromagnetic clutch

55 : 차동장치 90 : 회전기어55: differential device 90: rotary gear

91 : 회전축 92 : 체인풀리91: rotating shaft 92: chain pulley

92 : 뚜껑 201 : 후미측92: lid 201: rear side

210 : 앞바퀴 211 : 중간바퀴210: front wheel 211: middle wheel

212 : 뒷바퀴 230,240 : 체인벨트212: rear wheels 230, 240: chain belt

Claims (1)

좌대가 설치된 본체부(1) 양측에 설치되며 형상이 "
Figure 112009022168204-PAT00005
" 형으로 되어 앞뒤로 배치되는 바퀴지지대(2)(2a)와 앞쪽바퀴지지대(2)의 후미측(201)이 뒷쪽바퀴지지대(2a)의 정점부에 연결축봉(3)으로 접속되어 앞뒤바퀴지지대 하단측에 앞바퀴(210), 중간바퀴(211), 뒷바퀴(212)가 장착되어 서로 간에 체인벨트(230)(240)로 연결되어 같은 방향으로 구동되고 앞쪽바퀴지지대(2)의 정점에 접속된 바퀴구동축(4)에 한쌍의 체인풀리가 부착되어 체인벨트(230)를 회전시키면 뒷쪽바퀴지지대(2a)의 정점에 장치된 연결축봉(3)의 체인풀리를 통해 구동시키도록 되어 3개의 바퀴가 같은 방향으로 구동이 되며 양측에 설치된 6개의 바퀴가 같이 구동이 되게 한 바퀴부와 양측의 바퀴는 본체에 장치되어 정역회전기능을 가진 원동모터(5)에서 양측으로 배치되게 감속기(51)(52)를 장치하고 양측 감속기에서 전달되는 동력을 고속전자클러치(53)와 저속전자클러치(54)를 통해 차동장치(55)의 출력축을 구동시켜 바퀴구동축(4)을 회전시키는 원동부와 고속회전과 저속회전과 전후진과 굴곡전진을 관리하는 조이스틱이 장치된 운전부와 좌대가 부착된 본체부와 바퀴지지대(2) 상반부 표면에 형성시킨 원호상기어부(9)와 원호상의 기업부에 치합하는 회전기어(90)와 회전기어(90)의 회전축(91)에 부착된 체인풀리(92)와 본체부 외면에 장치한 수평유지장치용모터(10)의 회전축(11)에 설치된 체인풀리(12)와 체인벨트(13)로 가설되어 평행을 유지하고 평행을 감지하는 자이로스코프센서(14)의 신호 에 따라 작동하는 수평유지장치용모터(10)가 회전기어(90)를 구동시켜 본체를 수평으로 유지시키는 수평유지부와 뒷바퀴(212)와 중간바퀴(211) 사이에 설치된 조향모터(6)의 회전축에 연결암을 연결하여 조향모터의 회전으로 중간바퀴와 뒷바퀴의 각도를 변경시키는 방향전환부를 구비하여 이루어지는 육륜 접지 개인용 자동차 It is installed on both sides of the main body (1) on which the base is installed, and its shape is "
Figure 112009022168204-PAT00005
Wheel type (2) (2a) and the rear side 201 of the front wheel support (2), which is arranged back and forth, is connected to the apex of the rear wheel support (2a) by connecting shaft rods (3). The front wheel 210, the middle wheel 211, the rear wheel 212 is mounted on the lower side connected to each other by chain belts 230, 240 are driven in the same direction and connected to the apex of the front wheel support (2) When a pair of chain pulleys are attached to the wheel driving shaft 4 and the chain belt 230 is rotated, the three wheels are driven through the chain pulley of the connecting shaft bar 3 mounted at the top of the rear wheel support 2a. The wheel part and the wheels on both sides, which are driven in the same direction and the six wheels installed on both sides are driven together, are mounted on the main body and are disposed on both sides of the prime mover motor 5 having a forward and reverse rotation function. High speed electromagnetic clutch (53) And a driving unit equipped with a driving unit for rotating the wheel drive shaft 4 by driving the output shaft of the differential device 55 through the low-speed electromagnetic clutch 54, and a joystick for managing high speed rotation, low speed rotation, forward and backward, and bending forward. It is attached to the rotary gear 90 and the rotary shaft 91 of the rotary gear 90 to be fitted to the circular arc upper gear portion 9 formed on the upper half of the main body and the wheel support (2) attached to the base Gyro installed on the chain pulley 12 and the chain belt 13 installed on the rotating shaft 11 of the horizontal holding device motor 10 mounted on the outer surface of the main body portion and the chain pulley 92 to maintain parallelism and detect the parallelism The horizontal holding device motor 10, which operates according to the signal of the scope sensor 14, operates between the rear wheel 212 and the middle wheel 211 and the horizontal holding part for driving the rotary gear 90 to maintain the body horizontally. Connect the connecting arm to the rotating shaft of the installed steering motor (6) to rotate the steering motor. The intermediate wheel and the direction of changing the angle of the rear wheel and comprising a switch comprising a ground yukryun private car
KR1020090031868A 2009-04-13 2009-04-13 Personal car six-wheel ground KR100994383B1 (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102107685A (en) * 2011-01-12 2011-06-29 西南大学 Six-foot robot with eccentric wheel legs
CN102323823A (en) * 2011-07-06 2012-01-18 天津工业大学 Double-steering engine six-wheeled car controller
KR101309666B1 (en) * 2011-05-26 2013-09-17 이정수 Private car grounding six wheel
KR101309998B1 (en) * 2011-07-20 2013-09-24 이정수 car grounding six wheel
KR102590323B1 (en) * 2022-04-26 2023-10-17 (주)티라로보틱스 Pivot haft moving device and six wheel support vehicle equipped with this

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63207706A (en) 1987-02-21 1988-08-29 Okano Kosan Kk Off-road running vehicle
US6135220A (en) 1998-12-16 2000-10-24 Torvec Inc. Modular system for track-laying vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102107685A (en) * 2011-01-12 2011-06-29 西南大学 Six-foot robot with eccentric wheel legs
CN102107685B (en) * 2011-01-12 2012-09-26 西南大学 Six-foot robot with eccentric wheel legs
KR101309666B1 (en) * 2011-05-26 2013-09-17 이정수 Private car grounding six wheel
CN102323823A (en) * 2011-07-06 2012-01-18 天津工业大学 Double-steering engine six-wheeled car controller
KR101309998B1 (en) * 2011-07-20 2013-09-24 이정수 car grounding six wheel
KR102590323B1 (en) * 2022-04-26 2023-10-17 (주)티라로보틱스 Pivot haft moving device and six wheel support vehicle equipped with this

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