Obstacle-cross driving and running mechanism

Abstract

The invention discloses an obstacle detouring drive running gear, belonging to the running system of vehicles. The technical proposal comprises a right half drive device of a mechanism composed of a differential obstacle detouring gear train and a fixed axis running gear train as well as a completely identical and symmetrical left half drive device which is symmetrically arranged on an inclination angle frame along the advancing direction. Drive force drives the obstacle detouring and the running gear trains simultaneously, so as to realize running states of the vehicles, such as normal driving, the obstacle detouring, steering, etc. By adopting a continuous running manner of mechanical forced obstacle detouring, the gear of the invention has strong capability of the obstacle detouring and reliable working.

Description

technical field [0001] The invention relates to an obstacle-surmounting drive traveling mechanism, which belongs to a vehicle traveling system. The mechanism adopts the continuous walking mode of mechanical forced obstacle surmounting, has strong ground adaptability, and can drive and walk on complex road surfaces under unfavorable operating conditions such as muddy slippery and uneven unevenness. technical background [0002] In order to travel on various uneven and complex road surfaces, the walking system is required to have strong obstacle-surmounting ability, high flexibility and adaptability, and various walking mechanisms have been designed to meet this demand. [0003] In the article "Design of Planetary Obstacle-Crossing Wheeled Lunar Rover" published in the Journal of Harbin Institute of Technology, No. 2, 2003, it is described that each planetary obstacle-crossing wheel of the lunar rover is a differential gear train with only one center wheel. It is fixedly conn...

AI Technical Summary

Problems solved by technology

Since the tie rod is not directly driven but passively rotated, its obstacle clearance ability is relatively low

[0004] The utility model patent "climbing wheel" with the application number of 94236978.5 describes that each climbing wheel is transformed between the planetary gear train and the fixed axle gear train. The control mechanism is used to drive different components. The second is to drive the tie rods of the wheel trains on both sides at the same time when overcoming obstacles, so that the wheel frames on both sides can overcome obstacles at the same time. The third is to only drive one center wheel when turning, while the other side is stationary. Steering and obstacle clearance are not flexible

The invention patent application number is 200580008392.5. Each wheel mechanism described is a differential gear train with two center wheels. The auxiliary power respectively drives the other center wheel of the corresponding wheel mechanism, which can control the straight running and steering of the vehicle. It is only suitable for walking on flat ground, and cannot overcome obstacles.

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