CN108297636A - It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis - Google Patents
It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis Download PDFInfo
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- CN108297636A CN108297636A CN201710019699.XA CN201710019699A CN108297636A CN 108297636 A CN108297636 A CN 108297636A CN 201710019699 A CN201710019699 A CN 201710019699A CN 108297636 A CN108297636 A CN 108297636A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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Abstract
It is a kind of have can swinging arm extension wheel foot structure the full landform wheeled vehicle of multiaxis.The present invention provides a kind of full landform wheeled vehicle of multiaxis for having both wheel fast running, wheel foot walking obstacle detouring and more wheels and carrying driving, is of great significance for the motor-driven and traffic capacity of raising border patrol, mountain operations, rescue and relief work vehicle.The multiaxis wheeled atv is made of car body, oscillating oil cylinder, rocking arm, driving wheel, hydraulic power unit, brake system, power-supply system, control system；Rocking arm equipped with driving wheel can be achieved to swing and stretch under oscillating oil cylinder and telescopic oil cylinder effect, and more wheel cooperations can carry out gait walking and obstacle detouring；Vehicle level land straight drives vehicle wheel rotational speeds and direction to implement by adjusting control, and Vehicular turn is realized by left and right sides difference in wheel speed, can also be lifted wheel drop resistance and turn to；All-wheel drive braking, more wheel rocking arms are swung, the coordinated control of action of more wheel rocker telescopics is, it can be achieved that the posture changing of vehicle, flexible and full landform are passed through.
Description
Technical field：
The present invention relates to a kind of wheeled atvs, more particularly to wheel hub motor (or hydraulic motor) is used to drive and take turns foot
The full landform wheeled vehicle of multiaxis of structure.
Background technology：
Wheeled vehicle has level land fast running ability at present, but under MODEL OVER COMPLEX TOPOGRAPHY, the obstacle detouring traffic capacity is poor, unfavorable
In mountainous region and jungle area walking and it is flexible；And walking machine can walk in mountainous region, but it is limited to its walking mechanism feature,
It is slow in action on level land, the fast running being unfavorable on Plain and highway；And the wheel foot vehicle with walking function can be by two
Person organically combines, and has both the performance that mountainous region obstacle detouring is pacifically sailed soon；Meanwhile with driving to be conducive to improvement vehicle cross-country for more wheel carryings
With the Terrain surface traffic capacity；Therefore, the wheeled vehicle for improve border patrol, mountain operations, rescue and relief work vehicle maneuver energy
Power is of great significance.
Invention content：
Therefore, the purpose of the present invention is to provide a kind of full landform machines for running at high speed and take turns sufficient walking obstacle detouring with wheel
Moving platform to improve the existing fast running maneuverability of existing vehicle, and has the fast obstacle traffic capacity.
Specifically, the multiaxis wheeled atv in present example, by car body, oscillating oil cylinder, rocking arm, driving wheel,
Hydraulic power unit, brake system, power-supply system, control system composition, it is characterized in that：
Car body, is in tower structure, and both sides are welded with inside and outside supporting and fixing plate, by installing interior outer shaft respectively in fixed plate
Bearing, supports and fixed more rocker arm shafts, rocker arm shaft can be used as and shake relative to car body rotation and symmetrical distribution, rocker arm shaft
An arm part is connected to rocking arm and driving wheel, and pumping station system, brake system, power-supply system and manipulation system are also equipped on car body
System；
Wheel is driven, it is made of driving motor (or hydraulic motor), wheel hub, tire, wheel shaft, can be that 6 wheels or 8 are taken turns,
And it is left and right symmetrically arranged arrangement, driving motor (or hydraulic motor) is mounted in wheel hub, can be rotated around motionless wheel shaft, be passed through electric wire
(or pipeline) provides energy and control, realizes the advance, sternway and steering of vehicle, and the damping for being fixed on by wheel shaft both sides is vertical
Column lower end is equipped with tire on wheel hub, and driving motor (or hydraulic motor) side is fixed with brake disc；
Rocking arm is made of rocker arm shaft, oscillating deck, rocker arm bracket, telescopic oil cylinder, guiding mechanism, lower fixed seat, damping column,
The fixed driving wheel in its lower end, upper end are installed on the car body through rocker arm shaft, and driving wheel can be driven to be realized relative to car body and put
It is dynamic；
Damping column is located at rocking arm bottom, is made of piston rod and damper cylinder, on each rocking arm there are two dresses, in bar
Damper is housed between cylinder, has both damping and guide function, two piston rod upper ends are fixed on lower fixed seat, two dampings
Cylinder lower end is fixed on the both sides of wheel hub, and similarly hereinafter wide on two bars and two, wheel can be upper and lower relative to lower fixed seat with wheel shaft
Resilient movement carrys out damping, and the lower pump of brake is further fixed on the damper cylinder of side, the mechanical braking of wheel is realized with brake disc cooperation；
Lower fixed seat, for connecting telescopic oil cylinder, guiding mechanism and the two damping columns of lower section of top, by flexible oil
Cylinder piston rod, guiding mechanism guide rod and two damping column piston rods of lower section are fixed together, and can move integrally；
Mounted between rocker arm bracket and lower fixed seat rocking arm length is adjusted by the way that oil cylinder is flexible, to realize in telescopic oil cylinder
The adjustment of vehicle appearance height is also equipped with bidirectional hydraulic lock, it can be achieved that rocking arm length any position in oil cylinder stroke on the oil cylinder
Locking；
Guiding mechanism, between rocker arm bracket and lower fixed seat, installation parallel with telescopic oil cylinder, by guide rod, guide sleeve
It being formed with linear bearing, guide rod is fixed on lower fixed seat, linear bearing is housed, and be fixed on rocker arm bracket in guide sleeve,
The two coaxial line is installed, scalable guiding, it coordinates with telescopic oil cylinder, and lower fixed seat can be prevented relative to the rotation of rocker arm bracket,
Wheel direction is consistent with car body when to ensure that rocker telescopic；
Rocker arm bracket is located at rocking arm upper end, is fixed on rocker arm shaft one end, is used for connecting rocker arm axis, telescopic oil cylinder and Guiding machine
Rocker arm shaft, telescopic oil cylinder cylinder body, guiding mechanism guide sleeve are fixed together, can rotate integrally by structure；
Rocker arm shaft, it by interior outer bearing carrier be mounted on car body on, one end stretch out the fixed rocker arm bracket of car body, can band shake
Arm rotates, the fixed oscillating deck in inside, and axis pin is equipped on oscillating deck, connects with the oscillating bearing of oscillating oil cylinder piston rod pin hole
It connects, oscillating deck and rocker arm shaft can be driven to rotate through oscillating oil cylinder, to realize the large angle pendulum of rocking arm；
Oscillating oil cylinder, cylinder barrel one end are hinged on the bearing of car body, other end piston rod pin hole and oscillating deck upper pin
It is hinged, oscillating deck and rocker arm shaft can be driven to rotate in this way, oscillating oil cylinder is flexible, to realize the large angle pendulum of rocking arm；The oil
Be also equipped with bidirectional hydraulic lock on cylinder, it can be achieved that rocking arm swing angle any position in oil cylinder stroke locking；
Hydraulic power unit is oscillating oil cylinder, telescopic oil cylinder provides power source, to driving the vehicle of wheel equipped with hydraulic motor,
Power can be provided for it；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, the brake for driving wheel
The compositions such as disk, the lower pump of brake, realize mechanical braking and the parking of vehicle；
Power-supply system is made of storage battery and power-supply management system, is vehicle and the vehicle equipped with wheel-hub motor driven vehicle wheel
Power source is provided；
Control system is made of systems such as mechanical handling, electrical equipment control, hydraulic controls, is realized to oscillating oil cylinder, flexible oil
The coordination control of cylinder, driving wheel electrical machine or hydraulic motor operation, the traveling and the obstacle detouring traffic capacity of effective guarantee vehicle；
In present example, vehicle on a flat ground when driving, advances and sternway is to drive vehicle by adjusting control
Motor or motor rotation speed and direction in wheel are implemented, and more wheels are synchronous can be by motor or hydraulic motor with anti-slip function
Electric-control system realize；
In present example, left and right sides difference in wheel speed is diverted through in traveling to realize, when ground steering drag
When larger or when pivot stud, front and back rocker arm shaft can be rotated by oscillating oil cylinder to be lifted wheel, realize intermediate two-axle car rotation
To can also be achieved center no-radius in situ and turn to；Also it can be only lifted one end wheel (front or rear), realize three axis wheel steerings；
In present example, by controlling oscillating oil cylinder and telescopic oil cylinder, and in driving wheel braking and driving condition
Under cooperation, the walking of vehicle gait and obstacle detouring function are realized；
In present example, vehicle-state perception and electric-control system can be relied on, is passed through and is controlled telescopic oil cylinder and swing oily
The action of cylinder can automatically adjust vehicle height off the ground in traveling and keep car body horizontal attitude；
In present example, wheel can be lifted to the above position in car body baseplane by controlling oscillating oil cylinder, the tailstock is again
, it can be achieved that ship type navigates by water function in water after installation outboard motor；
Above description is only the general introduction of technical solution of the present invention and performance, in order to be better understood upon the skill of the present invention
Art means, and content that can be to specifications is practiced, and in order to which the present invention can be clearer and more comprehensible, below it is special lift compared with
Good embodiment.
Description of the drawings：
Fig. 1 is 8 × 8 full landform wheeled vehicle axonometric drawings that the present invention is embodied.
Fig. 2 is 8 × 8 complete four views of landform wheeled vehicle that the present invention is embodied.
Fig. 3 is 8 × 8 full landform wheeled vehicle single-wheel structure charts that the present invention is embodied.
Fig. 4 is 8 × 8 full landform wheeled vehicle Double-wheel structure figures that the present invention is embodied.
Fig. 5 is that 8 × 8 full landform wheeled vehicles that the present invention is embodied promote rear axle mapping.
Fig. 6 is four views behind 8 × 8 full landform wheeled vehicle lift tops that the present invention is embodied.
Fig. 7 is four views when 8 × 8 full landform wheeled vehicle front and back wheel liftings that the present invention is embodied turn to.
Fig. 8 is four views after 8 × 8 full landform wheeled vehicle rocking arms that the present invention is embodied are swung.
Specific implementation mode：
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Multiaxis wheeled atv in present example, by car body, oscillating oil cylinder, rocking arm, driving wheel, hydraulic pump
It stands, brake system, power-supply system, control system composition, please refers to Fig.1, Fig. 2 and Fig. 3, it is characterized in that：
Car body 2, is in tower structure, and both sides are welded with inside and outside supporting and fixing plate 33, by installing respectively in fixed plate
Bearing block 1 and outer bearing carrier 6, bearing and fixed more rocker arm shafts (7,20,23,27), bearing block is equipped with cone bearing 36, can
The radial and axial power from rocker arm shaft is born, rocker arm shaft can be rotated relative to car body 2 and symmetrical distribution, rocker arm shaft conduct
A rocking arm part is connected to rocking arm and driving wheel, and pumping station system 30, brake system, power-supply system and behaviour are also equipped on car body
Control system 31；
Wheel is driven, it is made of driving motor (or hydraulic motor) 16, wheel hub 44, tire 17, wheel shaft 43, can be 6
Wheel or 8 wheels, and it is left and right symmetrically arranged arrangement, driving motor (or hydraulic motor) 16 is mounted in wheel hub 44, can be around motionless wheel shaft
43 rotations provide the energy and control by electric wire (or pipeline), realize the advance, sternway and steering of vehicle, and pass through wheel shaft 43
It is fixed on the damping column lower end of both sides, tire is housed on wheel hub 44,16 side of driving motor (or hydraulic motor) is fixed with brake
Hull 15；
Rocking arm by rocker arm shaft (7,20,23,27), oscillating deck (5,22,24,27), rocker arm bracket 8, telescopic oil cylinder 11, is oriented to
Mechanism 10, lower fixed seat 12, damping column 13 form, and the fixed driving wheel in lower end, upper end is mounted on car body 2 through rocker arm shaft
On, driving wheel can be driven to be realized relative to car body 2 and swung；
Damping column 13 is located at rocking arm bottom, is made of piston rod 41 and damper cylinder 42, and two are equipped on each rocking arm
It is a, damper is housed between bar and cylinder, has both damping and guide function, two 41 upper ends of piston rod are fixed on lower fixed seat 12
On, two damper cylinder lower ends are fixed on the both sides of wheel hub 43, similarly hereinafter wide on two bars and two, wheel with wheel shaft 43 relative to
Lower fixed seat 12 resilient movement can carry out damping up and down, and the lower pump 14 of brake is further fixed on the damper cylinder of side, is coordinated with brake disc 15
To realize the mechanical braking of wheel；
Lower fixed seat 12, for connecting telescopic oil cylinder 11, guiding mechanism 10 and the two damping columns 13 of lower section of top,
Two damping column piston rods 41 of telescopic oil cylinder piston rod 39, guiding mechanism guide rod 35 and lower section are fixed together, it can
It moves integrally；
Rocking arm length is adjusted by the way that oil cylinder is flexible mounted between rocker arm bracket 8 and lower fixed seat 12 in telescopic oil cylinder 11, from
And realize the adjustment of vehicle appearance height, bidirectional hydraulic lock 9 is also equipped on the oil cylinder, it can be achieved that rocking arm length is any in oil cylinder stroke
The locking of position；
Guiding mechanism 10, between rocker arm bracket 8 and lower fixed seat 12, installation parallel with telescopic oil cylinder 11, by guide rod
35, guide sleeve 32 and linear bearing composition, guide rod 35 are fixed on lower fixed seat, and linear bearing is housed in guide sleeve 32, and
It is fixed on rocker arm bracket 8, the installation of the two coaxial line, scalable guiding, it coordinates with telescopic oil cylinder 11, can prevent lower fixed seat 12
Relative to the rotation of rocker arm bracket 8, wheel direction is consistent with car body when to ensure that rocker telescopic；
Rocker arm bracket 8 is located at rocking arm upper end, is fixed on rocker arm shaft one end, is used for connecting rocker arm axis, telescopic oil cylinder 11 and is oriented to
Rocker arm shaft, telescopic oil cylinder cylinder body 34, guiding mechanism guide sleeve 32 are fixed together, can rotate integrally by mechanism 10；
Rocker arm shaft (7,20,23,27), shares 8, it is mounted on by interior outer bearing carrier on car body, and car body is stretched out in one end
Fixed rocker arm bracket 8 can drive rocking arm to rotate, the fixed oscillating deck in inside (5,22,24,27), and axis pin is equipped on oscillating deck,
(oscillating bearing of piston rod pin hole is connect, and oscillating deck and rocker arm shaft can be driven to rotate through oscillating oil cylinder, to real with oscillating oil cylinder
The large angle pendulum of existing rocking arm；
Oscillating oil cylinder (4,18,25,26), cylinder barrel one end are hinged on the bearing (3,21) of car body, other end piston rod
Pin hole and oscillating deck (5,22,24,27) upper pin are hinged, oscillating deck and rocker arm shaft can be driven to rotate in this way, oscillating oil cylinder is flexible,
To realize the large angle pendulum of rocking arm；Bidirectional hydraulic lock 19 is also equipped on the oil cylinder, it can be achieved that rocking arm swing angle is in oil cylinder
The locking of any position in stroke；
Pumping station system 30 is oscillating oil cylinder, telescopic oil cylinder provides power source, to driving the vehicle of wheel equipped with hydraulic motor,
Or it provides power；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, the brake for driving wheel
The compositions such as pump 14, realize mechanical braking and the parking of vehicle under disk 15, brake；
Power-supply system is made of storage battery 29 and power-supply management system, and for vehicle electric element equipment and In-wheel motor driving is housed
The vehicle of wheel provides power source；
Control system 31 is made of systems such as mechanical handling, electrical equipment control, hydraulic controls, is realized to oscillating oil cylinder, is stretched
The coordination control of oil cylinder, driving wheel electrical machine or hydraulic motor operation, the traveling and the obstacle detouring traffic capacity of effective guarantee vehicle；
In present example, vehicle on a flat ground when driving, advances and sternway is to drive vehicle by adjusting control
Motor or motor rotation speed and direction in wheel are implemented, and more wheels are synchronous can be by motor or hydraulic motor with anti-slip function
Electric-control system realize；
In present example, it is realized referring to Fig. 7, being diverted through left and right sides difference in wheel speed in traveling, it is local
When face steering drag is larger or when pivot stud, it can be lifted wheel by rocker arm shaft before and after rotation, realize intermediate two-axle car wheel
It turns to, can also be achieved center no-radius in situ and turn to；Also can only lifting one end wheel (front or rear), three axis wheels of realization turn
To；
In present example, referring to Fig. 8, by controlling oscillating oil cylinder and telescopic oil cylinder, and in driving wheel braking
Under coordinating with driving condition, the walking of vehicle gait and obstacle detouring function are realized；
In present example, Fig. 5 and Fig. 8 are please referred to, vehicle-state perception and electric-control system can be relied on, stretched by control
The action of contracting oil cylinder and oscillating oil cylinder can automatically adjust vehicle height off the ground in traveling and keep car body horizontal attitude；
In present example, referring to Fig. 6, wheel can be lifted to car body baseplane with upper by controlling oscillating oil cylinder
It sets, the tailstock is installed again after outboard motor, it can be achieved that ship type navigation function in water；
Other embodiments of the invention further include that be formed by can for technical characteristic intercombination in the various embodiments described above
The technical solution of implementation.
In Fig. 1, left side rocker arm shaft has 4, is an axis 7, two axis 20, three axis 23, four axis 27 respectively；Four pieces of oscillating deck, point
It is not an axis 5, two axis 22, three axis 24, four axis 28, head and the tail connect cylinder piston rod upward when initial position, and intermediate connects downward
It connects, it is front and back symmetrical；Four sets of oscillating oil cylinder is an axis 4, two axis 18, three axis 25, four axis 26, an axis 4, four axis, 26 cylinder respectively
Body is fixed on lower car body, and two axis 18, three axis, 25 cylinder body are fixed on vehicle body upper portion, front and back symmetrical and non-interference；Right side
It is identical as left side number, and be arranged symmetrically.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
1. a kind of multiaxis wheeled atv, it is characterized in that：The vehicle is by car body, oscillating oil cylinder, rocking arm, driving wheel, pumping plant system
System, brake system, power-supply system, control system composition；
Car body, is in tower structure, and both sides are welded with inside and outside supporting and fixing plate, by installing interior outer bearing respectively in fixed plate
Seat, bearing and fixed more rocker arm shafts, rocker arm shaft can be rotated relative to car body and symmetrical distribution, rocker arm shaft are connected to shake
Arm and driving wheel, are also equipped with pumping station system, brake system, power-supply system and control system on car body；
Wheel is driven, it is made of driving motor or hydraulic motor, wheel hub, tire, wheel shaft, can be 6 wheels or 8 wheels, and control
It is symmetrically installed arrangement, driving motor or hydraulic motor are mounted in wheel hub, can rotate around motionless wheel shaft, be carried by electric wire or pipeline
For the energy and control, the advance, sternway and steering of vehicle are realized, and be fixed on the damping column lower end of both sides by wheel shaft, take turns
Tire is housed, driving motor or hydraulic motor side are fixed with brake disc on hub；
Rocking arm is made of rocker arm shaft, oscillating deck, rocker arm bracket, telescopic oil cylinder, guiding mechanism, lower fixed seat, damping column, under
It holds fixed driving wheel, upper end to be installed on the car body through rocker arm shaft, driving wheel can be driven to be realized relative to car body and swung；
Damping column is located at rocking arm bottom, is made of piston rod and damper cylinder, on each rocking arm there are two dresses, in bar and cylinder
Between be equipped with damper, have both damping and guide function, two piston rod upper ends are fixed on lower fixed seat, under two damper cylinders
End is fixed on the both sides of wheel hub, similarly hereinafter wide on two bars and two, and wheel can elasticity up and down relative to lower fixed seat with wheel shaft
Movement carrys out damping, and the lower pump of brake is further fixed on the damper cylinder of side, the mechanical braking of wheel is realized with brake disc cooperation；
Lower fixed seat lives telescopic oil cylinder for connecting telescopic oil cylinder, guiding mechanism and the two damping columns of lower section of top
Stopper rod, guiding mechanism guide rod and two damping column piston rods of lower section are fixed together, and can move integrally；
Mounted between rocker arm bracket and lower fixed seat rocking arm length is adjusted by the way that oil cylinder is flexible, to realize vehicle appearance in telescopic oil cylinder
The adjustment of height, be also equipped with bidirectional hydraulic lock on the oil cylinder, it can be achieved that rocking arm length any position in oil cylinder stroke locking；
Guiding mechanism, between rocker arm bracket and lower fixed seat, installation parallel with telescopic oil cylinder, by guide rod, guide sleeve and straight
Spool holds composition, and guide rod is fixed on lower fixed seat, linear bearing is housed, and be fixed on rocker arm bracket, the two in guide sleeve
Coaxial line is installed, scalable guiding, it coordinates with telescopic oil cylinder, and lower fixed seat can be prevented relative to the rotation of rocker arm bracket, thus
Wheel direction is consistent with car body when ensure that rocker telescopic；
Rocker arm bracket is located at rocking arm upper end, is fixed on rocker arm shaft one end, is used for connecting rocker arm axis, telescopic oil cylinder and guiding mechanism, will
Rocker arm shaft, telescopic oil cylinder cylinder body, guiding mechanism guide sleeve are fixed together, and can rotate integrally；
Rocker arm shaft, it is mounted on by interior outer bearing carrier on car body, and the fixed rocker arm bracket of car body is stretched out in one end, rocking arm can be driven to revolve
Turn, the fixed oscillating deck in inside, axis pin is installed on oscillating deck, is connect with the oscillating bearing of oscillating oil cylinder piston rod pin hole, passes through
Oscillating oil cylinder can drive oscillating deck and rocker arm shaft to rotate, to realize the large angle pendulum of rocking arm；
Oscillating oil cylinder, cylinder barrel one end are hinged on the bearing of car body, and other end piston rod pin hole is hinged with oscillating deck upper pin,
Oscillating deck and rocker arm shaft can be driven to rotate in this way, oscillating oil cylinder is flexible, to realize the large angle pendulum of rocking arm；On the oil cylinder also
Equipped with bidirectional hydraulic lock, it can be achieved that the locking of rocking arm swing angle any position in oil cylinder stroke；
Hydraulic power unit is oscillating oil cylinder, telescopic oil cylinder provides power source, to the vehicle equipped with hydraulic motor driving wheel, or
It provides power；
Brake system, by brake pedal, master cylinder, brake vacuum assist pump, brake line, drive wheel brake disc,
The compositions such as the lower pump of brake, realize mechanical braking and the parking of vehicle；
Power-supply system is made of storage battery and power-supply management system, is provided with the vehicle equipped with wheel-hub motor driven vehicle wheel for vehicle
Power source；
Control system is made of systems such as machinery or remote operation, electrical equipment control, hydraulic controls, is realized to oscillating oil cylinder, is stretched
The coordination control of oil cylinder, driving wheel electrical machine or hydraulic motor operation, the traveling and the obstacle detouring traffic capacity of effective guarantee vehicle.
2. multiaxis wheeled atv according to claim 1, it is characterized in that：The vehicle on a flat ground when driving,
It is to drive motor in wheel or motor rotation speed and direction to implement by adjusting control to advance with sternway, more wheel synchronizations
It is realized by electric control system or hydraulic motor control system with anti-slip function.
3. multiaxis wheeled atv according to claim 1, it is characterized in that：It is diverted through left and right two in the vehicle traveling
Side difference in wheel speed is realized, when ground steering drag is larger or pivot stud, can pass through the front and back rocking arm of oscillating oil cylinder rotation
Axis is lifted wheel, realizes that intermediate two-axle car is rotated to can also be achieved center no-radius in situ and turn to；Also one end can be only lifted
Wheel (front or rear) realizes three axis wheel steerings.
4. multiaxis wheeled atv according to claim 1, it is characterized in that：The vehicle is by controlling oscillating oil cylinder and stretching
Contracting oil cylinder, and under driving wheel braking and driving condition cooperation, realize the walking of vehicle gait and obstacle detouring function.
5. multiaxis wheeled atv according to claim 1, it is characterized in that：The vehicle can rely on vehicle-state perception and
Electric-control system can automatically adjust vehicle height off the ground and holding by controlling the action of telescopic oil cylinder and oscillating oil cylinder in traveling
Car body horizontal attitude.
6. multiaxis wheeled atv according to claim 1, it is characterized in that：The vehicle can be lifted by controlling oscillating oil cylinder
Wheel is risen to the above position in car body baseplane, the tailstock is installed again after outboard motor, it can be achieved that ship type navigation function in water.
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| CN201710019699.XA CN108297636B (en) | 2017-01-12 | 2017-01-12 | Multi-shaft all-terrain wheeled vehicle with swing arm telescopic wheel foot structure |
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| CN201710019699.XA CN108297636B (en) | 2017-01-12 | 2017-01-12 | Multi-shaft all-terrain wheeled vehicle with swing arm telescopic wheel foot structure |
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| CN111391587A (en) * | 2020-03-30 | 2020-07-10 | 武汉理工大学 | Fixed amphibious carries thing landing ship |
| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN113306653A (en) * | 2021-07-14 | 2021-08-27 | 辽宁工程技术大学 | Carry on unmanned aerial vehicle and patrol and examine unmanned vehicle of research dual-purpose in pit of arm |
| CN113844251A (en) * | 2021-10-22 | 2021-12-28 | 云南道坦新能源有限公司 | Amphibious soft-landing front-rear driving transport vehicle |
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