CN104175796A - Traveling device with balanced rocker arm suspension and deformable wheels - Google Patents
Traveling device with balanced rocker arm suspension and deformable wheels Download PDFInfo
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- CN104175796A CN104175796A CN201410430930.0A CN201410430930A CN104175796A CN 104175796 A CN104175796 A CN 104175796A CN 201410430930 A CN201410430930 A CN 201410430930A CN 104175796 A CN104175796 A CN 104175796A
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Abstract
The invention discloses a traveling device with a balanced rocker arm suspension and deformable wheels. The traveling device comprises a hull type vehicle, a vehicle frame, an engine, a transmission, a transmission shaft, a transfer case, leg cases, a ground clearance adjusting mechanism, a brake apparatus, a wheel gear case, steering devices, a balance mechanism, the deformable wheels and a water injection boost pump. The hull type vehicle is connected with the vehicle frame by bolts, the engine and the transmission are mounted on the vehicle frame via bolts, the left side and the right side of the transfer case are connected with the hull type vehicle by bolts, two ends of the balance mechanism are connected with the transfer case by hinge pins, the middle of the balance mechanism is connected to the vehicle frame by hinge pins, the leg cases are connected with the transfer case by hinge pins, two ends of the ground clearance adjusting mechanism are respectively connected onto the transfer case and the leg cases by hinge pins, the front end of each leg case is connected with the wheel gear case, one end of each steering device is connected with the corresponding leg case by a lug, the other end of each steering device is fixedly connected with the wheel gear case, the wheel gear case is connected with the deformable wheels by bolts, the transmission shaft is provided with the brake apparatus, the brake apparatus is fixed to the vehicle frame, and the water injection boost pump is connected with the vehicle frame by bolts.
Description
Technical field
The present invention relates to a kind of multi-mode means of delivery of dwelling more, specifically, relate to a kind of running gear that balancing rocker arm suspension and deformable wheel are installed.Belong to technical field of engineering machinery.
Background technology
On the earth, approximately having 50% region is that conventional vehicles (vehicle of wheel or creeper undercarriage is housed) cannot normally travel, as desert, marsh, beach, snowfield etc., greatly limited the mankind's action radius, the water barriers such as while rivers and lakes are also the natural cover for defenses of Vehicle Driving Cycle, development along with technology, integrate land amphibious vehicle motor-driven and motor-driven advantage waterborne and occur, expanded the maneuvering range of vehicle, in military, economic dispatch field, be with a wide range of applications.
From the World War I, people just notice wheel and track-type limitation, start for specific region exploitation actv. traveling gear, as spiral, walking is wheeled, buoyancy tank crawler belt examination etc.China from the seventies, invented boat tractor, without wheel flange wheel and paddy field blade wheel etc., solved the farming problem in southern paddy field.But these extraordinary traveling gear majorities can only adapt to specific surface condition, can not meet the operating needs of dwelling more, limited action radius and brought greatly and had inconvenient traffic.As just walked on the hard pavement of highway and relatively flat again when shifting without wheel flange wheel and paddy field blade wheel, need more wheel change.
Amphibious vehicle was come out the twenties in last century, was for military purposes the earliest.During the Second World War, United States Navy has produced the amphibious jeep of GPA, becomes in the world amphibious vehicle truly the earliest.Each state has all strengthened the research of this respect after this, has also occurred civilian amphibious vehicle simultaneously.Land and water vehicle is all had place to show one's prowess in many industries of national economy, as oil geology department, environmental administration, coastal waters and the freshwater aquiculture of water conservancy and hydropower department, flood control department, field exploration or operation at sea and transport by surface department, water tourism industry etc.
Summary of the invention
1, the object of this invention is to provide a kind of running gear that balancing rocker arm suspension and deformable wheel are installed, two trailing wheels of this running gear are deformable wheel.Deformable wheel can be in different geographical condition actv. operation, is a kind of good selection of under-carriage of dwelling more.By control make wheel have wheel rim and without wheel flange wheel between change, on soft terrain, can improve crossing ability, reduce rolling resistance, increase propulsive effort; In waters and shoal area use hull formula vehicle body, prevent the depression of vehicle; This running gear, guaranteeing, under the prerequisite of common wheel undercarriage higher motion speed, to have the function of adjusting attitude, changing ground gap and entirely take turns fluid-link steering concurrently, has improved the obstacle climbing ability of vehicle and has passed through performance.
2, a kind of running gear that balancing rocker arm suspension and deformable wheel are installed of the present invention, see Fig. 1, by hull formula vehicle body, vehicle frame, driving engine, change speed gear box, transmission shaft, auxiliary gear box, leg case, gap adjusting mechanism, brake equipment, wheel heel teeth roller box, steering hardware, equalizing gear, deformable wheel and water jet propulsion pump etc. partly form.Position annexation between them is: together with hull formula vehicle body is bolted with vehicle frame, driving engine, change speed gear box is arranged on vehicle frame by bolt, auxiliary gear box left and right is bolted with hull formula vehicle body, equalizing gear two ends are connected with auxiliary gear box with bearing pin, centre is connected on vehicle frame with bearing pin, leg case is connected by bearing pin with auxiliary gear box, gap adjusting mechanism two ends, ground are connected on auxiliary gear box and leg case by bearing pin respectively, leg case front end fifth wheel heel teeth roller box, one end of steering hardware is connected with leg case by ear seat, the other end is connected with wheel heel teeth roller box, together with wheel heel teeth roller box is bolted with deformable wheel, transmission shaft is provided with brake equipment, brake equipment is fixed on vehicle frame, water jet propulsion pump is connected with vehicle frame by bolt.
Described hull formula vehicle body is to make hull formula structure by glass-felt plastic, sees Fig. 2 a-c, is divided into four parts, parts vehicle body on the left side, parts vehicle body on the right side, main vehicle body and upper vehicle body.In each vehicle body, be embedded with bolt for connecting, between each several part, with bolt, connect, and be coated with sealant in junction.
Described vehicle frame is to be formed by connecting by channel-section steel, see Fig. 3 a-b, its skeleton is mainly comprised of two longerons and three crossbeams, and wherein front cross rail and after cross member are arranged symmetrically with at the front and back position of vehicle frame, center member is at the midway location of vehicle frame, and left-hand stringer and right-hand stringer are equidistantly arranged in the bottom of main vehicle body.Vehicle frame is connected by pre-embedded bolt with main vehicle body.
Described driving engine and change speed gear box are commercial, driving engine as propulsion source by CVT or belt by power transmission to change speed gear box, change speed gear box again by transmission of power to left and right two transmission shafts.
Described transmission shaft one end is connected with speed changing box power output shaft, and the other end is the conical gear engagement in conical gear and auxiliary gear box, and power is reached in auxiliary gear box.
Described auxiliary gear box is single-stage conical gear auxiliary gear box, see Fig. 4 a-b, by left and right riser, forward and backward riser, top board and base plate, be formed by connecting, the bevel pinion shaft that it is inner and the engagement of the conical gear on transmission shaft, the forward and backward riser of auxiliary gear box is stretched out at the two ends of this axle, by transmission of power to leg case.
Described leg case, see Fig. 5 a-b, by the left and right riser of leg case, leg roof box, leg box plate, Rzeppa joint, leg case connection bearing pin and leg case transmission shaft, formed, the left and right riser of leg case and leg roof box link together, leg box plate is connected to form box typed structure by bolt and the left and right riser of leg case, and Rzeppa joint and leg case transmission shaft are arranged in box typed structure.Leg case connects bearing pin and passes through the left and right riser of leg case.
Described ground gap adjusting mechanism, see Fig. 6, by cylinder body bearing pin, gudgeon pin shaft, cylinder body ear seat, piston ear seat and ground gap, adjusting oil cylinder forms, cylinder body ear seat is fixed on auxiliary gear box, gudgeon pin shaft passes piston ear seat and is connected on leg case, ground gap is adjusted oil cylinder two ends respectively by gudgeon pin shaft and cylinder body bearing pin connection leg case and auxiliary gear box, and the flexible drive leg case that ground gap is adjusted oil cylinder rotates around bearing pin, thereby realizes the variation of car load ground Clearance.
Described brake equipment is two plate disc brakies, sees Fig. 7, and wherein brake disc and transmission shaft are connected, similar with common vehicle, and brake clamp compresses brake disc and realizes car load braking.
Described steering hardware is comprised of steering cylinder, steering yoke bolt, spindle arm, jam nut, steering cylinder cylinder body bearing pin, steering cylinder gudgeon pin shaft, steering cylinder ear seat and wheel heel teeth roller box, see Fig. 8, Fig. 9, wherein, spindle arm is connected on steering yoke bolt, and steering yoke bolt is connected on wheel heel teeth roller box.Wheel heel teeth roller box is connected with wheel hub by bolt, and wheel heel teeth roller box is connected with leg case end.Steering cylinder is arranged on leg cover plate top, and one end is by minor axis and relatively turnable connection of ear seat being connected on leg cover plate, and the other end is connected by minor axis and spindle arm are relatively turnable.This steering cylinder is commercial that chooses on demand; This steering yoke bolt is cylinder axis, and end is connected with location end face, and is connected with wheel heel teeth roller box; This spindle arm one end is connected with steering cylinder, the other end directly and steering yoke bolt link together; This is taken turns heel teeth roller box and is divided into upper and lower two drop-gear boxs, upper drop-gear box and leg case are connected, lower drop-gear box and wheel hub are connected, between upper and lower drop-gear box, can relatively rotate, by steering yoke bolt and jam nut, locate, in upper and lower drop-gear box, respectively there is one-level conical gear to slow down, can be by transmission of power to wheel place.
Described equalizing gear, is shown in Figure 10, an equilibrium arm, two connecting rods, a middle bearing pin and four ball pivots etc., consists of.Relation is therebetween: the front portion that is laterally arranged on vehicle frame in the middle of equilibrium arm by middle bearing pin, ball pivot is passed through on both sides---and be first, second ball pivot, join with left and right small end respectively, connecting rod lower end, by the 3rd, the 4th ball pivot, is connected to the rear end of left and right auxiliary gear box.This equilibrium arm is an analog-U shaped cuboid member, and two ends are processed with the slotted eye that ball pivot is installed, and midsection size is bigger, and is processed with the axis hole that middle bearing pin is installed; The centre of this left and right connecting rod is cylindrical polished rod, and ring set is processed at two ends, so that ball pivot to be installed; This centre bearing pin is that end is connected with the cylinder optical axis that end face is installed; This ball pivot is commercial that chooses on demand.
Described deformable wheel (this structure is separately applied for a patent), seeing Figure 11, is that common solid tyre is divided into six part rubber tyre, drives its rotation respectively by six pairs of worm and gears, the anglec of rotation regulates by controlling the rotation of semiaxis, thereby realizes wheel from there being wheel rim to become without wheel rim.Figure 12 is shown in by wheel and leg case johning knot composition.
Described water jet propulsion pump is city's member, is connected to realize rotates by belt or sprocket wheel with driving engine, and it carries and turns to and reverse gear.
The invention has the advantages that:
1, amphibious: this car has the ability that common vehicle is travelled on hardstand.Hull formula vehicle body and deformable wheel are housed, it can be travelled at soft terrains such as marsh, beach.Water jet propulsion pump can make it pass through waters.
2, become ground gap: by the variation of angle between the rocking arm of front and back, can adjust the ground Clearance on chassis, make vehicle obtain better obstacle climbing ability and hill climbing ability, improve ride comfort and the crossing ability of vehicle.
3, ground is adaptable: because left and right leg case can relatively rotate, can guarantee that four wheels all can land on various road surfaces simultaneously, simultaneously, by changing the angle between leg case on the same group, can realize and horizontally on slope keep the horizontality of vehicle body when walking or working, thereby improve crossing ability and the stable operational capability of vehicle.
4, attitude is adjustable: by the effect of equalizing gear, can guarantee that vehicle body plane is positioned on two leg clamp angular bisectors all the time, play the effect that body gesture is adjusted, keep the stable of vehicle body, prevent that vehicle from turning on one's side, the riding comfort of raising vehicle.
5, turn to flexibly: the feature that four-wheel independent steering is realized and being turned to flexibly, turn radius is little.
6, applied range: all kinds of frock accessories can be installed on it, as farming equipment, exploration equipment, rescue outfit etc., can be used for the aspects such as agricultural tillage, geoexploration, rescue.
Accompanying drawing explanation
Fig. 1 is engineering machine balancing rocker arm wheel undercarriage running gear birds-eye view of the present invention;
Fig. 2 a is that the present invention parts body structure figure on the right side;
Fig. 2 b is the left body structure figure of the present invention;
Fig. 2 c is vehicle body and main body structure figure in the present invention;
Fig. 2 d is that the present invention parts vehicle body birds-eye view on the left side;
Fig. 2 e is that the present invention parts vehicle body birds-eye view on the right side;
Fig. 2 f is vehicle body and main vehicle body birds-eye view in the present invention;
Fig. 3 a is vehicle frame skeleton front view in the present invention;
Fig. 3 b is vehicle frame skeleton birds-eye view in the present invention;
Fig. 4 a is auxiliary gear box front view in the present invention;
Fig. 4 b is auxiliary gear box birds-eye view in the present invention;
Fig. 5 a is leg case front view in the present invention;
Fig. 5 b is leg case birds-eye view in the present invention;
Fig. 6 be in the present invention gap adjusting mechanism constructional drawing;
Fig. 7 is brake device structure figure in the present invention;
Fig. 8 turns to structure drawing of device in the present invention;
Fig. 9 takes turns side gear box structure figure in the present invention;
Figure 10 is equalizing gear constructional drawing in the present invention;
Figure 11 is deformable rolling hitch composition of the present invention;
Figure 12 is that the present invention takes turns limit johning knot composition.
In figure, nomenclature is as follows:
1-hull formula vehicle body 101-parts vehicle body 102-on the left side and parts the upper vehicle body of the main vehicle body 104-of vehicle body 103-on the right side
2-vehicle frame 201 (a, b)-longeron 202 (a, b, c)-crossbeam 203-bracing frame 204-erecting frame
3-driving engine 4-change speed gear box 5-transmission shaft
The right riser 603-of the left riser 602-of 6-auxiliary gear box 601-front vertical plate 604-back vertical plate 605-top board
606-base plate 607-bevel pinion shaft
The right riser 703-of 7-leg case 701-leg case left riser 702-leg case leg roof box 704-leg box plate
705-Rzeppa joint 706-leg case transmission shaft 707-leg case connects bearing pin
8-ground gap adjusting mechanism 801-cylinder body bearing pin 802-gudgeon pin shaft 803-cylinder body ear seat 804-piston ear seat
805-ground gap is adjusted oil cylinder
9-brake equipment 901-brake disc 902-brake clamp
Drop-gear box 1003-drop-gear box conical gear under the upper drop-gear box 1002-of 10-wheel heel teeth roller box 1001-
11-steering hardware 1101-steering cylinder 1102-steering yoke bolt 1103-spindle arm 1104-jam nut
1105a-steering cylinder cylinder body bearing pin 1105b-steering cylinder gudgeon pin shaft 1106-steering cylinder ear seat
Bearing pin in the middle of the left connecting rod 1202b-of 12-equalizing gear 1201-equilibrium arm 1202a-right connecting rod 1203-
1204a-first ball pivot 1204b-the second ball pivot 1204c-the 3rd ball pivot
1204d-the 4th ball pivot 1205 (a, b)-equalizing gear bearing pin
13-changeable type wheel 1301 (a, b, c, d, e, f)-rubber tyre 1302-wheel hub 1303-semiaxis
14-water jet propulsion pump
The specific embodiment
As shown in Figure 1, the present invention is a kind of is provided with the running gear of balancing rocker arm suspension and deformable wheel, by hull formula vehicle body 1, vehicle frame 2, driving engine 3, change speed gear box 4, transmission shaft 5, auxiliary gear box 6, leg case 7, gap adjusting mechanism 8, brake equipment 9, wheel heel teeth roller box 10, steering hardware 11, equalizing gear 12, deformable wheel 13 and water jet propulsion pump 14 etc. partly form.Wherein transmission shaft 5, auxiliary gear box 6, leg case 7, gap adjusting mechanism 8, brake equipment 9, wheel heel teeth roller box 10, steering hardware 11 be symmetrical.
Together with hull formula vehicle body 1 is bolted with vehicle frame 2, driving engine 3, change speed gear box 4 is arranged on vehicle frame 2 by bolt, auxiliary gear box 6 left and right and hull formula vehicle body 1 are bolted, equalizing gear bearing pin 1205 (a for equalizing gear 12 two ends, b) be connected with auxiliary gear box 6, centre is connected on vehicle frame 2 with middle bearing pin 1203, leg case 7 is connected bearing pin 707 with auxiliary gear box 6 by leg case and connects, ground gap is adjusted oil cylinder 805 two ends respectively by cylinder body bearing pin 801, gudgeon pin shaft 802 and cylinder body ear seat 803, piston ear seat 804 is connected on auxiliary gear box 6 and leg case 7, leg case 7 front end fifth wheel heel teeth roller boxs 10, one end of steering hardware 11 is connected with leg case 7 by steering cylinder ear seat 1106, the other end is connected with wheel heel teeth roller box 10, wheel heel teeth roller box 10 is bolted together with deformable wheel 13, transmission shaft 5 is provided with brake equipment 9, brake equipment 9 is fixed on vehicle frame 2, water jet propulsion pump 14 is connected with vehicle frame 2 by bolt.
As shown in Fig. 2 a-f, hull formula vehicle body 1 is to make hull formula structure by glass-felt plastic, sees Fig. 2 a-f, is divided into four parts, parts vehicle body 101 on the left side, parts vehicle body 102 on the right side, main vehicle body 103 and upper vehicle body 104.Wherein the bottom of main vehicle body will thicken, and front end is curved.In vehicle body, be embedded with bolt for connecting, between each several part, with bolt, connect, and be coated with sealant in junction.
As shown in Fig. 3 a-b, vehicle frame 2 is to be welded by channel-section steel, its skeleton main two longeron 201a, 201b and three crossbeam 202a, 202b, 202c form, wherein front cross rail 202a and after cross member 202c are arranged symmetrically with at the front and back position of main vehicle body 103, center member 202b is at the midway location of main vehicle body 103, and left-hand stringer 201a and right-hand stringer 201b equidistantly arrange in the bottom of main vehicle body 103.The bracing frame 203 that should be furnished with driving engine 3 and change speed gear box 4 on vehicle frame 2, the concrete form of bracing frame 203 is determined by the concrete model of selected driving engine 3 and change speed gear box 4.On vehicle frame 2, leave equalizing gear 12 desired positions are installed, by middle bearing pin 1203, be connected with equalizing gear 12.Also has the erecting frame 204 with water jet propulsion pump 14 simultaneously.Vehicle frame 2 is connected with main vehicle body 103 bolt that buries.
As shown in the figure, driving engine 3 be commercial with change speed gear box 4, driving engine 3 as propulsion source pass through CVT or belt by power transmission to change speed gear box 4, change speed gear box 4 again by transmission of power to left and right two transmission shafts 5.
As shown in Fig. 4 a-b, transmission shaft 5 one end are connected with change speed gear box 4 power take-off shafts, and the other end is bevel pinion shaft 607 engagements in conical gear and auxiliary gear box 6, and power is reached in auxiliary gear box 6.Auxiliary gear box 6 is single-stage conical gear auxiliary gear box, by left riser 601, right riser 602, front vertical plate 603, back vertical plate 604, top board 605 and base plate 606, be welded, on top board 605, be welded with cylinder body ear seat 803, its inner bevel pinion shaft 607 meshes with the conical gear on transmission shaft 5, the forward and backward riser of auxiliary gear box 6 is stretched out at its two ends, by transmission of power to leg case 7.
As shown in Fig. 5 a-b, car load has four leg casees as can be seen from Figure, respectively called after left front leg case, left back leg case, RAT case and right rear leg case.Four leg box structures are identical, now only describe one of them in detail.Left back leg case is by the left riser 701 of leg case, the right riser 702 of leg case, leg roof box 703, leg box plate 704, Rzeppa joint 705 and leg case transmission shaft 706 form, left, right riser 701, 702 and top board 703 weld togethers, base plate 704 is by bolt and a left side, right riser 701, 702 are connected to form box typed structure, cross section is rectangle, concrete size determines according to actual conditions, Rzeppa joint 705 is arranged in box typed structure with leg case transmission shaft 706, power is passed to Rzeppa joint 705 by the bevel pinion shaft 607 in auxiliary gear box 6, be passed to again leg case transmission shaft 706, whole left back leg case connects bearing pin 707 by two leg casees and is connected with auxiliary gear box 6, and can rotate around bearing pin.On top board 703, be welded with leg case and adjust oil cylinder piston ear seat 804 and steering cylinder ear seat 1106.
As shown in Figure 6, ground gap adjusting mechanism 8 is comprised of ground gap adjustment oil cylinder 805, cylinder body bearing pin 801, gudgeon pin shaft 802, cylinder body ear seat 803, piston ear seat 804, and ground gap is adjusted oil cylinder 805 two ends and connected respectively on auxiliary gear box 6 and leg case 7 by cylinder body bearing pin 801, gudgeon pin shaft 802.Cylinder body ear seat 803 and auxiliary gear box 6 welding, piston ear seat 804 rotates around gudgeon pin shaft 802 with leg case 7 welding, the flexible drive leg case 7 that ground gap is adjusted oil cylinder 805, thereby realizes the variation of car load ground Clearance.It is commercial that ground gap is adjusted oil cylinder 805, according to actual service condition, selects.
As shown in Figure 7, brake equipment 9 is comprised of brake disc 901 and brake clamp 902, and wherein brake disc 901 is connected with transmission shaft 5, and brake clamp 902 is connected with vehicle frame 2, similar with common vehicle, and brake clamp 902 compresses brake disc and realizes car load braking.
As shown in Figure 9, wheel heel teeth roller box 10 is comprised of upper drop-gear box 1001, lower drop-gear box 1002, drop-gear box conical gear 1003.Upper drop-gear box 1001 and leg case 7 weld togethers, the conical gear engagement on the upper end of drop-gear box conical gear 1003 and leg case transmission shaft 706, the conical gear on the lower end of drop-gear box conical gear 1003 and semiaxis 1303 meshes, by transmission of power to wheel.
As shown in Figure 8, steering hardware 11 is comprised of steering cylinder 1101, steering yoke bolt 1102, spindle arm 1103, jam nut 1104, steering cylinder cylinder body bearing pin 1105a, steering cylinder gudgeon pin shaft 1105b and steering cylinder ear seat 1106 etc., wherein, spindle arm 1103 is connected on steering yoke bolt 1102 by spline, and steering yoke bolt 1102 is connected on lower drop-gear box 1002 by bolt.Lower drop-gear box 1002 is connected with wheel hub 1302 by bolt, one end of steering cylinder 1101 is arranged on steering cylinder ear seat 1106 by steering cylinder cylinder body bearing pin 1105a, and the other end is connected with spindle arm 1103 is relatively turnable by steering cylinder gudgeon pin shaft 1105b.This steering cylinder 1101 is commercial that chooses on demand; This steering yoke bolt 1102 is cylinder axis, and end is welded with location end face, and is connected by bolt with lower drop-gear box 1002; These spindle arm 1103 one end are connected with steering cylinder 1101, the other end directly and steering yoke bolt 1102 link together; The flexible drive spindle arm 1103 of steering cylinder 1101 rotates, and steering yoke bolt 1102 rotates with spindle arm 1103, drives lower drop-gear box 1002 to rotate simultaneously, thereby realizes vehicle wheel rotation.
As shown in figure 10, equalizing gear 12 is mainly comprised of equilibrium arm 1201, left connecting rod 1202a, right connecting rod 1202b, middle bearing pin 1203 and the first ball pivot 1204a, the second ball pivot 1204b, the 3rd ball pivot 1204c, the 4th ball pivot 1204d etc.Equilibrium arm 1201, at midway location, is laterally arranged on the front portion of vehicle frame 2 by middle bearing pin 1203, middle bearing pin 1203 directly inserts from the place ahead, and is fixed by bolts on vehicle frame 2, and equilibrium arm 1201 can swing around middle bearing pin 1203.The both sides, two ends of equilibrium arm 1201 join with left connecting rod 1202a, right connecting rod 1202b upper end by the first ball pivot 1204a, the second ball pivot 1204b respectively, and left connecting rod 1202a, right connecting rod 1202b lower end are connected to respectively the front end of left auxiliary gear box 6a, right auxiliary gear box 6b by the 3rd ball pivot 1204c, the 4th ball pivot 1204d.This equilibrium arm 1201 is analog-U shaped cuboid members, and two ends are processed with the slotted eye that 4 ball pivots are installed, and midsection size is bigger, and is processed with the axis hole that middle bearing pin 1203 is installed; This left connecting rod 1202a is identical with right connecting rod 1202b, in the middle of it, is cylindrical polished rod, and ring set is processed at two ends, so that 4 ball pivots to be installed; This centre bearing pin 1203 is that end is welded with the cylinder optical axis that end face is installed; These 4 ball pivots the first ball pivot 1204a, the second ball pivot 1204b, the 3rd ball pivot 1204c, the 4th ball pivot 1204d are commercial that chooses on demand.
As shown in Figure 11,12, deformable wheel 13 is comprised of six lobe rubber tyre 1301a, 1301b, 1301c, 1301d, 1301e, 1301f, wheel hub 1302, semiaxis 1303.Adopt suitable method to realize the distortion of wheel, make wheel from there being wheel flange wheel to become without wheel flange wheel.The anglec of rotation regulates by controlling the rotation of semiaxis 1303.
As shown in Figure 1, water jet propulsion pump 14Wei city member, is connected with driving engine 3 to realize by belt or sprocket wheel and rotates, and it carries and turns to and reverse gear.
For concrete road conditions, be introduced below:
When 1, travel in normal hard pavement, adjust oil cylinder 805 locked, ground gap adjusting mechanism 8, in off position, without relative motion, connects bearing pin 707 by leg case and is fixed on auxiliary gear box 6 between two leg casees of homonymy.When vehicle passes through uneven road surface, auxiliary gear box 6 and leg case 7 can together swing around transmission shaft 5 along with road surface rises and falls, thereby guarantee that all wheels can land all the time simultaneously.Vehicle when needs change the ground Clearance in order to adapt to different condition of road surfaces, is adjusted oil cylinder 805 work, promotes leg case and around leg case, connects bearing pin 707 and rotate, thereby change the angle between former and later two leg casees of homonymy, reaches the object of adjusting ground gap.As can be seen here, when this vehicle is advanced on rugged road surface, can remain that four-wheel lands simultaneously, simultaneously, can also be by changing the ground Clearance on chassis, obtain the good ride comfort on crossing ability higher on rugged road surface and hard pavement, have advantages of that other various vehicles is incomparable, there is very high ground adaptive capacity.
When vehicle is when potted road surface travels, there is rotation relatively in left and right leg case, drive left connecting rod 1202a, right connecting rod 1202b motion, make the 3rd ball pivot 1204c and the 4th ball pivot 1204d produce space motion, path of motion overlaps with the path of motion at the two ends of equilibrium arm 1201, equilibrium arm 1201 lifts vehicle frame 2 by middle middle bearing pin 1203, and the amplitude of lifting is half of leg clamp angle, left and right.This keeps the stable of vehicle body, prevents that vehicle from toppling, and improves the performance of passing through of vehicle.
2, when the soft surfaces such as beach travel, adjust oil cylinder 805 work, drive two leg casees around bearing pin 707 rotations, until whole front and rear wheel closes in hull formula vehicle body 1.Then make deformable wheel 13 be out of shape, after distortion finishes, adjust oil cylinder 805 work, drive leg case around bearing pin 707 rotations, until trailing wheel reaches correct position, now car load supports by vehicle body, and propulsive effort is provided by deformable wheel.Because the area of contact of ground and vehicle is large, the bearing force providing is large, therefore car load sink, the degree of depth reduces, and can pass through smoothly.
While 3, travelling, adjust oil cylinder 805 work in water, drive leg case around bearing pin 707 rotations, until whole front and rear wheel closes in vehicle body 1.Vehicle relies on water to float on the water surface the buoyancy of vehicle body 1, connects the power of water jet propulsion pump 14, can realize that vehicle advances, retreats, turns in water etc.
Claims (1)
1. the running gear that balancing rocker arm suspension and deformable wheel is installed, is characterized in that: it by hull formula vehicle body, vehicle frame, driving engine, change speed gear box, transmission shaft, auxiliary gear box, leg case, gap adjusting mechanism, brake equipment, wheel heel teeth roller box, steering hardware, equalizing gear, deformable wheel and water jet propulsion pump form, together with hull formula vehicle body is bolted with vehicle frame, driving engine, change speed gear box is arranged on vehicle frame by bolt, auxiliary gear box left and right is bolted with hull formula vehicle body, equalizing gear two ends are connected with auxiliary gear box with bearing pin, centre is connected on vehicle frame with bearing pin, leg case is connected by bearing pin with auxiliary gear box, gap adjusting mechanism two ends, ground are connected on auxiliary gear box and leg case by bearing pin respectively, leg case front end fifth wheel heel teeth roller box, one end of steering hardware is connected with leg case by ear seat, the other end is connected with wheel heel teeth roller box, together with wheel heel teeth roller box is bolted with deformable wheel, transmission shaft is provided with brake equipment, brake equipment is fixed on vehicle frame, water jet propulsion pump is connected with vehicle frame by bolt,
Described hull formula vehicle body is to make hull formula structure by glass-felt plastic, is divided into four parts, parts vehicle body on the left side, parts vehicle body on the right side, main vehicle body and upper vehicle body; In each vehicle body, be embedded with bolt for connecting, between each several part, with bolt, connect, and be coated with sealant in junction;
Described vehicle frame is to be formed by connecting by channel-section steel, its skeleton is comprised of two longerons and three crossbeams, wherein front cross rail and after cross member are arranged symmetrically with at the front and back position of vehicle frame, center member is at the midway location of vehicle frame, left-hand stringer and right-hand stringer equidistantly arrange in the bottom of main vehicle body, and vehicle frame is connected with pre-embedded bolt with main vehicle body;
Described driving engine as propulsion source by CVT or belt by power transmission to change speed gear box, change speed gear box again by transmission of power to left and right two transmission shafts;
Described transmission shaft one end is connected with speed changing box power output shaft, and the other end is the conical gear engagement in conical gear and auxiliary gear box, and power is reached in auxiliary gear box;
Described auxiliary gear box is single-stage conical gear auxiliary gear box, to be formed by connecting by left and right riser, forward and backward riser, top board and base plate, the engagement of the bevel pinion shaft that it is inner and the conical gear on transmission shaft, the forward and backward riser of auxiliary gear box is stretched out at the two ends of this axle, by transmission of power to leg case;
Described leg case, by the left and right riser of leg case, leg roof box, leg box plate, Rzeppa joint, leg case connection bearing pin and leg case transmission shaft, formed, the left and right riser of leg case and leg roof box link together, leg box plate is connected to form box typed structure by bolt and the left and right riser of leg case, Rzeppa joint and leg case transmission shaft are arranged in box typed structure, and leg case connects bearing pin and passes through the left and right riser of leg case;
Described ground gap adjusting mechanism, by cylinder body bearing pin, gudgeon pin shaft, cylinder body ear seat, piston ear seat and ground gap, adjusting oil cylinder forms, cylinder body ear seat is fixed on auxiliary gear box, gudgeon pin shaft passes piston ear seat and is connected on leg case, ground gap is adjusted oil cylinder two ends respectively by gudgeon pin shaft and cylinder body bearing pin connection leg case and auxiliary gear box, the flexible drive leg case that ground gap is adjusted oil cylinder rotates around bearing pin, thereby realizes the variation of car load ground Clearance;
Described brake equipment is two plate disc brakies, and wherein brake disc and transmission shaft are connected, similar with common vehicle, and brake clamp compresses brake disc and realizes car load braking;
Described steering hardware is comprised of steering cylinder, steering yoke bolt, spindle arm, jam nut, steering cylinder cylinder body bearing pin, steering cylinder gudgeon pin shaft, steering cylinder ear seat and wheel heel teeth roller box, wherein, spindle arm is connected on steering yoke bolt, steering yoke bolt is connected on wheel heel teeth roller box, wheel heel teeth roller box is connected with wheel hub by bolt, and wheel heel teeth roller box is connected with leg case end; Steering cylinder is arranged on leg cover plate top, and one end is by minor axis and relatively turnable connection of ear seat being connected on leg cover plate, and the other end is connected by minor axis and spindle arm are relatively turnable; This steering yoke bolt is cylinder axis, and end is connected with location end face, and is connected with wheel heel teeth roller box; This spindle arm one end is connected with steering cylinder, the other end directly and steering yoke bolt link together; This is taken turns heel teeth roller box and is divided into upper and lower two drop-gear boxs, upper drop-gear box and leg case are connected, lower drop-gear box and wheel hub are connected, between upper and lower drop-gear box, can relatively rotate, by steering yoke bolt and jam nut, locate, in upper and lower drop-gear box, respectively have one-level conical gear to slow down, by transmission of power to wheel place;
Described equalizing gear, by an equilibrium arm, two connecting rods, a middle bearing pin and four ball pivots, formed, in the middle of equilibrium arm, by middle bearing pin, be laterally arranged on the front portion of vehicle frame, ball pivot is passed through on both sides---and be first, second ball pivot, join with left and right small end respectively, connecting rod lower end, by the 3rd, the 4th ball pivot, is connected to the rear end of left and right auxiliary gear box; This equilibrium arm is an analog-U shaped cuboid member, and two ends are processed with the slotted eye that ball pivot is installed, and midsection size is bigger, and is processed with the axis hole that middle bearing pin is installed; The centre of this left and right connecting rod is cylindrical polished rod, and ring set is processed at two ends, so that ball pivot to be installed; This centre bearing pin is that end is connected with the cylinder optical axis that end face is installed;
Described deformable wheel, is that common solid tyre is divided into six part rubber tyre, drives its rotation respectively by six pairs of worm and gears, and the anglec of rotation regulates by controlling the rotation of semiaxis, thereby realizes wheel from there being wheel rim to become without wheel rim;
Described water jet propulsion pump is connected with driving engine and is realized rotation by belt or sprocket wheel, and it carries and turns to and reverse gear.
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| CN107455031A (en) * | 2017-08-08 | 2017-12-12 | 彭广平 | A kind of rolling walked frame of big driving torque |
| CN107953937A (en) * | 2017-12-01 | 2018-04-24 | 北京履坦科技有限公司 | A kind of structure-improved of stride combined mobile robot running gear |
| CN109435686A (en) * | 2018-10-29 | 2019-03-08 | 苏州履坦智能科技有限公司 | A kind of novel chain transmission type four-wheel drive wheel-leg combined type vehicle of automatically controlled shift |
| CN109552036A (en) * | 2018-10-29 | 2019-04-02 | 苏州履坦智能科技有限公司 | A kind of multistage chain-drive mechanism of wheeled vehicle |
| CN113950883A (en) * | 2021-11-17 | 2022-01-21 | 湖南秀林机械有限公司 | Environment-friendly paddy field tractor-ploughing boat |
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| CN109435686A (en) * | 2018-10-29 | 2019-03-08 | 苏州履坦智能科技有限公司 | A kind of novel chain transmission type four-wheel drive wheel-leg combined type vehicle of automatically controlled shift |
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| CN109552036B (en) * | 2018-10-29 | 2021-07-06 | 苏州履坦智能科技有限公司 | Multistage chain transmission mechanism for wheeled vehicle |
| CN109435686B (en) * | 2018-10-29 | 2021-10-15 | 苏州履坦智能科技有限公司 | Novel chain-drive four-wheel-drive wheel leg combined vehicle with electric control gear shifting |
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| CN113950883B (en) * | 2021-11-17 | 2022-06-03 | 湖南秀林机械有限公司 | Environment-friendly paddy field tractor-ploughing boat |
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| CN104175796B (en) | 2016-06-22 |
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