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A wheel lifting device, vehicle and active obstacle surmounting method
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A wheel and frame technology, which is applied in the field of wheel lifting and releasing devices, can solve the problems of large torque driving, easy damage and large load of lifting wheels.
Active Publication Date: 2022-04-12
NAT UNIV OF DEFENSE TECH
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However, when these two ways of lifting the wheel work, the wheel needs to be driven by a large torque, and the load on the active drive of the rotary joint is large and easily damaged, and the carrying capacity of the vehicle is reduced.
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Embodiment 1
[0093] A wheel lifting device, comprising:
[0094] Vehicle frame 1, two wheel lifting mechanisms symmetrically arranged on both sides of the vehicle frame 1, and a wheel frame for mounting wheels, the wheel lifting mechanism includes a balance suspension 2, a pillar 3 and a linear drive mechanism 4;
[0095] The balance suspension 2 includes a connected connecting arm 21, a front arm group 22 and a rear arm group 23. One end of the rear arm group 23 away from the connecting arm 21 is used for installing a wheel;
[0096] The pillar 3 is fixedly connected to the frame 1, and the pillar 3 extends upward perpendicular to the plane where the frame 1 is located;
[0097] The linear drive mechanism 4 is matched with the balance suspension 2; the linear drive mechanism 4 includes a base 41 and a telescopic rod 42, the telescopic rod 42 can be stretched relative to the base 41, and the linear drive The mechanism 4 is also provided with a telescopic power mechanism that drives the ...
Embodiment 2
[0107] A vehicle, comprising a vehicle body, a first wheel set, and a second wheel set, the vehicle also includes the wheel lifting device described in Embodiment 1, the vehicle body is installed on the vehicle frame 1, the The first wheel set includes a front wheel set and a middle wheel set, the front wheel set is rotatably mounted on the forearm set 22, and the middle wheel set is rotatably mounted on the rear arm set 23, The second wheel set is rotatably mounted on the wheel frame.
[0108] The method for using the above-mentioned vehicle to actively overcome obstacles includes the following steps:
[0109] When the vehicle is moving onto an obstacle:
[0110] First, the telescopic rod 42 shrinks toward the base 41, the connecting arm 21 rotates toward the direction close to the pillar 3, and the forearm group 22 rotates accordingly, and the front wheel group installed at one end of the forearm group 22 lift up, climb up an obstacle;
[0111] Then the telescopic rod 42 ...
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Abstract
The application discloses a wheel lifting device. The present application also provides a vehicle using the above-mentioned wheel lifting device, and a method for the vehicle to actively overcome obstacles. The wheel lifting device provided by this application consists of a plane four-bar mechanism composed of a vehicle frame, a balance suspension, a pillar and a linear drive mechanism. The telescopic movement of the linear drive mechanism in the linear direction is used to realize the rotation of the balance suspension to realize the rotation of the wheel. Lifting or lowering, strong load capacity, high reliability, large driving force, strong bearing capacity, and relatively stable movement process.
Description
technical field [0001] The present application relates to the technical field of obstacle-crossing vehicles, in particular to a wheel lifting device, a vehicle and an active obstacle-crossing method. Background technique [0002] Detection and rescue vehicles need to continue to work in dangerous areas and areas with complex terrain, and adapt to various road conditions. This requires vehicles to be able to autonomously avoid and overcome obstacles, overcome the impact of complex terrain, and ensure the smooth completion of work tasks. [0003] In order to improve the obstacle surmounting performance of the vehicle and enable the vehicle to overcome obstacles whose height is greater than the radius of its own wheels, among the existing improvement methods, the active wheel lifting device is one of the effective methods. The active wheel rotation is generally achieved by directly driving the joint rotation between the wheel and the frame, or by using the differential gear to ...
Claims
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Application Information
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