CN103129636A - Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis - Google Patents
Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis Download PDFInfo
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Abstract
The invention relates to a steerable crawler chassis of crawler engineering machinery and a get-off walking system with the steerable crawler chassis. This can turn to crawler chassis includes the chassis frame and connects the track assembly in above-mentioned chassis frame both sides respectively, and above-mentioned can turn to crawler chassis still includes: the chassis steering connecting part is arranged at a first position on the chassis frame and is used for being in running fit with an upper vehicle steering connecting part of an upper vehicle of the crawler engineering machinery, which is positioned above the steerable crawler chassis; and the chassis steering driving device is arranged at a second position on the chassis frame and is used for driving the chassis frame to rotate relative to the upper vehicle. According to the scheme, in the steerable crawler chassis, the chassis steering connecting part on the chassis frame can rotate relative to the upper vehicle steering connecting part on the upper vehicle of the chassis frame, and the chassis further comprises the steering driving device for driving the chassis frame to rotate relative to the upper vehicle, so that the active steering of the chassis is realized, and the steering is flexible and convenient.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to the turned to crawler body of caterpillar engineering machinery and have the running gear of getting off that this can turn to crawler body.
Background technology
At present, crawler body, especially multi-track chassis are usually used in the mining machinery such as Large Bucket, large-scale material conveyor field.Domestic to crawler body or to have the research of the running gear of getting off of a plurality of crawlers body less, mainly concentrate on the theoretical side of crawler belt and ground interaction power, but detailed construction and steering swivel system research to crawler body are few, cause domestic technology in this respect relatively to lack, also seldom have domestic manufacturer can manufacture and design this large-scale equipment.Therefore, be necessary to improve for the defects that exists in prior art.
Summary of the invention
Main purpose of the present invention is to provide a kind of turned to crawler body of caterpillar engineering machinery and has its running gear of getting off, and this can turn to crawler body to have improved structure, can active steering, and turn to flexible.
To achieve these goals, according to a first aspect of the invention, a kind of turned to crawler body of caterpillar engineering machinery is provided, comprise chassis frame and the track rail assembly that is connected to above-mentioned chassis frame both sides, the above-mentioned crawler body that turns to also comprises: the chassis turns to connecting portion, be arranged at the primary importance on above-mentioned chassis frame, be used for be positioned at above-mentioned turn to the crawler body top, above-mentioned caterpillar engineering machinery get on the bus get on the bus and turn to the connecting portion normal-running fit; The chassis steer-drive is arranged at the second place on above-mentioned chassis frame, is used for driving above-mentioned chassis frame with respect to the above-mentioned rotation of getting on the bus.
Further, above-mentioned chassis steer-drive comprises: the chassis drives connecting portion, is used for driving the connecting portion normal-running fit with above-mentioned getting on the bus of getting on the bus; Chassis actuator, first end are connected to above-mentioned chassis and drive connecting portion, and the second end is connected to said second position.
Further, it is the first spherical portion that above-mentioned chassis drives connecting portion, and above-mentioned the first spherical portion and above-mentioned getting on the bus drive the first ball pivot base normal-running fit of connecting portion.
Further, above-mentioned chassis actuator is push action cylinder, and the expansion end of above-mentioned push action cylinder is first end or second end of above-mentioned chassis actuator.
Further, the second end of above-mentioned push action cylinder is connected to the said second position of above-mentioned bottom vehicle frame by universal-joint.
Further, the above-mentioned crawler body that turns to also comprises: the chassis guide, be arranged on above-mentioned chassis frame, and be used for coordinating with the above-mentioned guide of getting on the bus of getting on the bus, rotate relative to above-mentioned getting on the bus along the guiding route to guide above-mentioned chassis frame.
Further, above-mentioned chassis guide is guide wheel, and the guide rail of above-mentioned guide wheel and the above-mentioned guide of getting on the bus cooperatively interacts.
Further, above-mentioned guide wheel is arranged on the 3rd position of above-mentioned chassis frame by guide wheel shaft, and can rotate around above-mentioned guide wheel shaft.
Further, above-mentioned chassis turns to connecting portion to be and above-mentioned mutual second spherical portion of normal-running fit of the second ball pivot base (3) of getting on the bus and turning to connecting portion.
Further, also be provided with the inclination angle restraint device on above-mentioned chassis frame, be used for preventing that the inclination angle between above-mentioned chassis frame and above-mentioned getting on the bus from surpassing predetermined value.
Further, above-mentioned inclination angle restraint device is the one or more pillars that are arranged at the upper surface of above-mentioned chassis frame.
Further, the both sides of above-mentioned chassis frame have respectively the crawler belt installation shaft, and above-mentioned crawler belt installation shaft can be inserted the vehicle frame mounting hole on above-mentioned track rail assembly, and have the external part that stretches out from above-mentioned vehicle frame mounting hole.
Further, be provided with baffle plate on the external part of above-mentioned crawler belt installation shaft, throw off from above-mentioned chassis frame to prevent above-mentioned track rail assembly.
Further, above-mentioned track rail assembly adopts motor-driven or fluid motor-driven.
Further, above-mentioned track rail assembly comprises track frame, vehicle frame mounting hole, caterpillar block, drive motor, driving speed reducer and drive wheel, track adjusting wheel, caterpillar wheel and upper track wheel.
Further, above-mentioned track rail assembly comprises track frame, vehicle frame mounting hole, caterpillar block, driving speed reducer and drive wheel, caterpillar wheel, upper track wheel, HM Hydraulic Motor and tensioning beam.
According to a second aspect of the invention, provide a kind of running gear of getting off of caterpillar engineering machinery, comprised a plurality of crawlers body, at least one in above-mentioned a plurality of crawlers body is according to above-mentioned the turned to crawler body of any one in aforementioned first aspect.
Further, above-mentioned a plurality of crawler body is three crawlers body that are triangularly arranged.
Further, above-mentioned triangle is equicrural triangle, and the above-mentioned crawler body that is arranged in the summit of above-mentioned equicrural triangle is according to above-mentioned the turned to crawler body of aforementioned first aspect any one.
Further, the above-mentioned crawler body that is arranged in above-mentioned leg-of-mutton any two summits is for according to above-mentioned the turned to crawler body of aforementioned first aspect any one.
Further, turn to crawler body above-mentioned, above-mentioned chassis steer-drive is arranged at an end at the close above-mentioned leg-of-mutton center of above-mentioned chassis frame.
According to technical scheme of the present invention, due in can turning to crawler body, chassis on chassis frame turns to connecting portion to turn to connecting portion to rotate with respect to getting on the bus on the getting on the bus of this chassis frame, this chassis also comprises be used to driving above-mentioned chassis frame with respect to the above-mentioned steer-drive of getting on the bus and rotating, thereby realized the active steering on this chassis, and turned to flexible.
Description of drawings
Figure of description is used to provide a further understanding of the present invention, consists of a part of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation that turns to crawler body of the present invention;
Fig. 2 is the structural representation of chassis frame of the present invention;
Fig. 3 is the front elevation of chassis frame of the present invention;
Fig. 4 is the cutaway view of guide wheel of the present invention and guide rail structure;
Fig. 5 is the structural representation of motor-driven track rail assembly of the present invention;
Fig. 6 is the structural representation of hydraulic motor-driven track rail assembly of the present invention;
Fig. 7 is the layout schematic diagram of the first embodiment of the running gear of getting off of the present invention;
Fig. 8 is the layout schematic diagram of the second embodiment of the running gear of getting off of the present invention.
The specific embodiment
Need to prove, in the situation that clearly do not limit or do not conflict, the feature in each embodiment of the present invention can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Fig. 1 is the structural representation that turns to crawler body of the present invention, as shown in Figure 1, can turn to crawler body to comprise chassis frame 2 and track rail assembly 1.Track rail assembly 1 is two, is arranged at respectively the both sides of chassis frame 2, and they contact with ground, and makes construction machinery and equipment (comprising the topside that this can turn to crawler body and be located thereon) to travel on the ground.
The caterpillar engineering machinery that the present invention relates to comprises can turn to crawler body and getting on the bus of being located thereon, wherein, the track rail assembly that this can turn to crawler body to comprise chassis frame and be connected to above-mentioned chassis frame both sides, the above-mentioned crawler body that turns to also comprises: the chassis turns to connecting portion, be arranged at the primary importance on above-mentioned chassis frame, be used for be positioned at above-mentioned turn to the crawler body top, above-mentioned caterpillar engineering machinery get on the bus get on the bus and turn to the connecting portion normal-running fit; The chassis steer-drive is arranged at the second place on above-mentioned chassis frame, is used for driving above-mentioned chassis frame with respect to the above-mentioned rotation of getting on the bus.
According to technical scheme of the present invention, due in can turning to crawler body, chassis on chassis frame turns to connecting portion to turn to connecting portion to rotate with respect to getting on the bus on the getting on the bus of this chassis frame, this chassis also comprises be used to driving above-mentioned chassis frame with respect to the above-mentioned steer-drive of getting on the bus and rotating, thereby realized the active steering on this chassis, and turned to flexible.
Certainly, the track rail assembly 1 of chassis frame 2 both sides also can be respectively two or surpass two, thereby has enlarged the area of contact on this chassis and ground, has increased the stationarity of travelling.
Fig. 2 is the structural representation of chassis frame of the present invention, and Fig. 3 is the front elevation of chassis frame of the present invention.In conjunction with Fig. 1 as can be known, chassis frame 2 is connected with push action cylinder 7 by universal-joint 6, and push action cylinder 7 is connected with the first spherical portion 8.The first spherical portion 8 has spherical shape, itself and this can turn to the first ball pivot base (not shown) on the topside (also can referred to as getting on the bus) of crawler body to cooperatively interact, make the first spherical portion 8 can rotate along any direction in theory in this first ball pivot base, but in fact due to the impact of the connection structure between the first spherical portion 8 and push action cylinder 7, although the first spherical portion 8 has larger rotational freedom in this first ball pivot base, also be subject to certain restriction.
Push action cylinder 7 has expansion end, and the first end that it can be used as push action cylinder 7 is connected to the first ball pivot base that this is got on the bus, and also can be used as the second end of push action cylinder 7, is connected to universal-joint 6, and then is connected to chassis frame 2.Thus, push action cylinder 7 is as actuator, and the first spherical portion 8 is as drive division, and their common formations can turn to the steer-drive on crawler body; And in getting on the bus, above-mentioned the first ball pivot base conduct drives connecting portion with the chassis that described drive division cooperatively interacts.
When the extension elongation of the expansion end that changes push action cylinder 7 by unshowned hydraulic efficiency pressure system, due to the first ball pivot base in getting on the bus and the actual distance between universal-joint 6 also along with variation, rotate with respect to getting on the bus thereby make chassis frame 2, and then drive this and can turn to crawler body and begin to turn to respect to getting on the bus.
In order to coordinate described steering operation, the crawler body that turns to of the present invention also comprises the second ball pivot base 3, and it is arranged on chassis frame 2 by modes such as welding or bolt connection.The second spherical portion (not shown) in the second ball pivot base 3 and above-mentioned getting on the bus cooperatively interacts, thereby allows chassis frame 2 with respect to this rotation of getting on the bus.With cooperatively interacting relation object seemingly between aforementioned the first spherical portion 8 and the first ball pivot base, the second spherical portion and the second ball pivot base 3 permission chassis frames 2 are got on the bus with this and are had larger rotational freedom, the surface state that can adapt to various complexity, in the process of moving, can make the relative plateau of maintenance of getting on the bus.As shown in Figure 2, surpass the top definite value in order to prevent the inclination angle between chassis frame 2 and described getting on the bus, also be provided with one or more pillars 202 on chassis frame 2, as the inclination angle restraint device.
Thus, the second ball pivot base 3 turns to connecting portion as the chassis on chassis frame 2, the second spherical portion is as turning to getting on the bus that connecting portion cooperatively interacts to turn to connecting portion with described chassis in getting on the bus, and this chassis turns to connecting portion and gets on the bus and turns between connecting portion and can relatively rotate.By such structure, when aforementioned steer-drive driving chassis frame 2 rotates with respect to getting on the bus, chassis frame 2 turns to connecting portion that corresponding rotation occurs with getting on the bus can rely on above-mentioned chassis turn to connecting portion and get on the bus, thereby initiatively changes this travel direction that can turn to crawler body and turn radius.
With reference to Fig. 2 and 3, also be provided with guide wheel 5 on chassis frame 2.Guide wheel 5 is arranged on chassis frame 2 by guide wheel shaft 9, and can rotate in perpendicular around guide wheel shaft 9.With reference to Fig. 1, can turn to also to be provided with corresponding guide rail 10 in the getting on the bus of crawler body, it is curved in plane of travel.In conjunction with shown in Figure 4, guide rail 10 is the U-lag structure to a side opening, and guide wheel 5 can roll in the U-lag of guide rail 10.
Thus, guide wheel 5 is as the chassis guide of chassis frame 2, and guide rail 10 is as the guide of getting on the bus of getting on the bus, and when chassis frame 2 rotated with respect to getting on the bus, this guide of getting on the bus can guide chassis frame 2 to rotate along the moving line that limits.Certainly, guide wheel 5 can contact with the bottom surface of the U-shaped groove of guide rail 10 or at least one in end face, although guide rail 10 has limited most of degree of freedom of guide wheel 5 in the vertical directions, also can allow guide wheel 5 to carry out by a small margin up-and-down movement in guide rail 10.
Fig. 5 is the structural representation of motor-driven track rail assembly of the present invention, and Fig. 6 is the structural representation of hydraulic motor-driven track rail assembly of the present invention.In the present invention, track rail assembly can adopt motor-driven or hydraulic motor-driven.As shown in Figure 5, this motor-driven track rail assembly comprises track frame 101, vehicle frame mounting hole 102, caterpillar block 103, drive motor 104, driving speed reducer and drive wheel 105, track adjusting wheel 106, caterpillar wheel 107 and upper track wheel 108.As shown in Figure 6, the structure of this hydraulic motor-driven track rail assembly is consistent with the basic structure of motor-driven track rail assembly shown in Figure 5, difference is that this hydraulic motor-driven track rail assembly does not comprise drive motor 104, the substitute is HM Hydraulic Motor 109, also replaced track adjusting wheel 106 with tensioning beam 110 in addition.
In conjunction with Fig. 2, Fig. 5 or Fig. 6 and Fig. 1 as can be known, be respectively arranged with crawler belt installation shaft 201 in the both sides of chassis frame 2, it can insert on track rail assembly 1 in corresponding vehicle frame mounting hole 102, thereby two track rail assemblys 1 is arranged on respectively the both sides of chassis frame 2.In addition, crawler belt installation shaft 201 can have the external part that stretches out a part from corresponding vehicle frame mounting hole 102, baffle plate 4 can be by being arranged on described external part such as bolt etc., thereby prevent track rail assembly 1 along the axial direction generation play of this crawler belt installation shaft 201, and then throw off with chassis frame 2.Crawler belt installation shaft 201 can adopt cylinder-like structure, to reduce himself weight.
As previously mentioned, according to embodiments of the invention, chassis frame 2 and two track rail assemblys 1 will form two revolute pairs, and guide wheel 5 will form a planar contact pair with guide rail 10, and 3 static determinacy that consist of thus chassis frame 2 connect.
The present invention also provides a kind of running gear of getting off, this system comprises a plurality of crawlers body, and at least one turned to crawler body of describing for the previous embodiment according to the present invention wherein, due to this can turn to crawler body can active steering, make this system turn to flexibly.
Fig. 7 is the layout schematic diagram of the first embodiment of the running gear of getting off of the present invention, and as shown in Figure 7, this running gear of getting off comprises three crawlers body, and they are triangularly arranged.Wherein, be positioned at the aforementioned crawler body that turns to that is at these leg-of-mutton two summit B and C place, what be positioned at A place, another summit is common crawler body, and it also has the second ball pivot base, but there is no steer-drive, therefore there is no the active steering function.Aforementioned A, B, 3 of C can be the centers of the second ball pivot base of each crawler body.
With reference to Fig. 7, the bearing of trend on the initial travel direction P of this running gear of getting off and summit B and C residing one side overlaps.When needs turn to, change the length of push action cylinder along direction of arrow O shown in Figure 7, can change the central axis of two chassis frames 2 that can turn to crawler body and the center B of the second ball pivot base separately, the angle theta of C line
ZThereby, change direction of travel and the turn radius of the running gear of getting off.
Fig. 8 is the layout schematic diagram of the second embodiment of the running gear of getting off of the present invention, and as shown in Figure 8, this running gear of getting off comprises three crawlers body, and they are the equicrural triangle arrangement.Wherein, be positioned at the aforementioned crawler body that turns to that is at C place, summit on this leg-of-mutton height, what be positioned at another two summit A and B place is common crawler body, and it also has the second ball pivot base, but there is no steer-drive, so there is no the active steering function.Aforementioned A, B, 3 of C can be the centers of the second ball pivot base of each crawler body.
With reference to Fig. 8, the initial travel direction P of this running gear of getting off overlaps with the high bearing of trend of this isoceles triangle shape.When needs turn to, change the length of push action cylinder along direction of arrow O shown in Figure 8, can change the angle theta between the height of the central axis of the chassis frame 2 that can turn to crawler body and this isoceles triangle shape
ZThereby, change direction of travel and the turn radius of the running gear of getting off.
Preferably, in the arrangement of above-mentioned Fig. 7 or Fig. 8, in each can turn to crawler body, steer-drive was arranged at (comprising such as push action cylinder etc.) end at this close described leg-of-mutton center that can turn to crawler body.Thus, be conducive to make the layout of getting on the bus compacter, also be conducive to realize in this middle unification of getting on the bus the driving of described steer-drive.
In the arrangement of above-mentioned Fig. 7 or Fig. 8, be connected with 3 static determinacy of employing of getting on the bus owing to comprising the aforementioned running gear of getting off of crawler body that turns to of the present invention, the direction of travel that can turn to crawler body by changing simultaneously one or more, thus the whole running gear of getting off is turned to.
The running gear of getting off that turns to crawler body and have it of the present invention has been described according to embodiment in the front, but be not limited in the parts described in described embodiment and/or annexation, for example, steer-drive is not limited to the actuator of push action cylinder formation etc., as long as can drive chassis frame with respect to getting on the bus rotation; The chassis drives connecting portion and the driving connecting portion of getting on the bus, and rotating junction and be rotationally connected seat, is not limited to adopt the spherical portion and the ball pivot base that cooperatively interact, but can adopts the various kinematic pairs that cooperatively interact and can mutually rotate; Get on the bus guide and chassis guide also is not limited to the form of guide rail and guide wheel, can be various cooperatively interacting with the member of constrained motion route; This running gear of getting off also is not limited to the arrangement of Fig. 7 or Fig. 8, can only can turn to crawler body to consist of by one, also can comprise a plurality of crawlers body and wherein at least one crawler body be the aforementioned crawler body that turns to.
The above is only the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (21)
1. the turned to crawler body of a caterpillar engineering machinery comprises chassis frame (2) and is connected to the track rail assembly (1) of described chassis frame both sides, and it is characterized in that, the described crawler body that turns to also comprises:
The chassis turns to connecting portion, is arranged at the primary importance on described chassis frame (2), be used for be positioned at described turn to the crawler body top, described caterpillar engineering machinery get on the bus get on the bus and turn to the connecting portion normal-running fit;
The chassis steer-drive is arranged at the second place on described chassis frame (2), is used for driving described chassis frame (2) with respect to the described rotation of getting on the bus.
2. the crawler body that turns to according to claim 1, is characterized in that, described chassis steer-drive comprises:
The chassis drives connecting portion, is used for driving the connecting portion normal-running fit with described getting on the bus of getting on the bus;
Chassis actuator, first end are connected to described chassis and drive connecting portion, and the second end is connected to the described second place.
3. the crawler body that turns to according to claim 2, is characterized in that,
It is the first spherical portion (8) that described chassis drives connecting portion, and described the first spherical portion (8) drives the first ball pivot base normal-running fit of connecting portion with described getting on the bus.
4. the according to claim 2 or 3 described crawlers body that turn to, is characterized in that, described chassis actuator is push action cylinder (7), and the expansion end of described push action cylinder is first end or second end of described chassis actuator.
5. the crawler body that turns to according to claim 4, is characterized in that, the second end of described push action cylinder (7) is connected to the described second place of described chassis frame (2) by universal-joint (6).
6. the crawler body that turns to according to claim 1, is characterized in that, the described crawler body that turns to also comprises:
The chassis guide is arranged on described chassis frame (2), is used for coordinating with the described guide of getting on the bus of getting on the bus, and rotates relative to described getting on the bus along the guiding route to guide described chassis frame (2).
7. the crawler body that turns to according to claim 6, is characterized in that,
Described chassis guide is guide wheel (5), and described guide wheel (5) cooperatively interacts with the guide rail (10) of the described guide of getting on the bus.
8. the crawler body that turns to according to claim 7, is characterized in that,
Described guide wheel (5) is arranged on the 3rd position of described chassis frame (2) by guide wheel shaft (9), and can rotate around described guide wheel shaft (9).
9. the crawler body that turns to according to claim 1, is characterized in that,
Described chassis turns to connecting portion to be and described mutual second spherical portion of normal-running fit of the second ball pivot base (3) of getting on the bus and turning to connecting portion.
10. the crawler body that turns to according to claim 9, is characterized in that, described chassis frame also is provided with the inclination angle restraint device on (2), is used for preventing that the inclination angle between described chassis frame (2) and described getting on the bus from surpassing predetermined value.
11. the crawler body that turns to according to claim 10 is characterized in that, described inclination angle restraint device is the one or more pillars (202) that are arranged at the upper surface of described chassis frame (2).
12. the crawler body that turns to according to claim 1, it is characterized in that, the both sides of described chassis frame (2) have respectively crawler belt installation shaft (201), described crawler belt installation shaft (201) can be inserted the vehicle frame mounting hole (102) on described track rail assembly (1), and has the external part that stretches out from described vehicle frame mounting hole (102).
13. the crawler body that turns to according to claim 12, it is characterized in that, be provided with baffle plate (4) on the external part of described crawler belt installation shaft (201), throw off from described chassis frame (2) to prevent described track rail assembly (1).
14. the crawler body that turns to according to claim 1 is characterized in that, described track rail assembly (1) adopts motor-driven or fluid motor-driven.
15. the crawler body that turns to according to claim 14, it is characterized in that, described track rail assembly (1) comprises track frame (101), vehicle frame mounting hole (102), caterpillar block (103), drive motor (104), driving speed reducer and drive wheel (105), track adjusting wheel (106), caterpillar wheel (107) and upper track wheel (108).
16. the crawler body that turns to according to claim 14, it is characterized in that, described track rail assembly (1) comprises track frame (101), vehicle frame mounting hole (102), caterpillar block (103), driving speed reducer and drive wheel (105), caterpillar wheel (107), upper track wheel (108), HM Hydraulic Motor (109) and tensioning beam (110).
17. the running gear of getting off of a caterpillar engineering machinery comprises a plurality of crawlers body, it is characterized in that, at least one in described a plurality of crawlers body is the described crawler body that turns to of any one according to claim 1 to 16.
18. the running gear of getting off according to claim 17 is characterized in that, described a plurality of crawlers body are three crawlers body that are triangularly arranged.
19. the running gear of getting off according to claim 18 is characterized in that,
Described triangle is equicrural triangle, and the described crawler body that is arranged in the summit of described equicrural triangle is the described crawler body that turns to of according to claim 1 to 16 any one.
20. the running gear of getting off according to claim 18 is characterized in that,
The described crawler body that is arranged in described leg-of-mutton any two summits is the described crawler body that turns to of according to claim 1 to 16 any one.
21. the according to claim 19 or 20 described running gears of getting off is characterized in that, turn to crawler body described, described chassis steer-drive is arranged at an end at the close described leg-of-mutton center of described chassis frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100583509A CN103129636A (en) | 2013-02-25 | 2013-02-25 | Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100583509A CN103129636A (en) | 2013-02-25 | 2013-02-25 | Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis |
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| CN103129636A true CN103129636A (en) | 2013-06-05 |
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| CN2013100583509A Pending CN103129636A (en) | 2013-02-25 | 2013-02-25 | Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427727A (en) * | 2016-10-12 | 2017-02-22 | 泉州市劲力工程机械有限公司 | Crawler type loader |
| CN108100065A (en) * | 2016-10-29 | 2018-06-01 | 熵零技术逻辑工程院集团股份有限公司 | A kind of crawler-type carrier vehicle |
| CN112119001A (en) * | 2018-05-18 | 2020-12-22 | 蒂森克虏伯工业解决方案股份公司 | Method for generating movement of a mobile system for surface mining |
| CN113276972A (en) * | 2021-05-31 | 2021-08-20 | 南阳市海创科技有限公司 | Double-electric-drive type crawler chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3137580A1 (en) * | 1981-09-22 | 1983-04-14 | Buckau-Walther AG, 4048 Grevenbroich | Steering device for a track-laying vehicle |
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2013
- 2013-02-25 CN CN2013100583509A patent/CN103129636A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3137580A1 (en) * | 1981-09-22 | 1983-04-14 | Buckau-Walther AG, 4048 Grevenbroich | Steering device for a track-laying vehicle |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106427727A (en) * | 2016-10-12 | 2017-02-22 | 泉州市劲力工程机械有限公司 | Crawler type loader |
| CN108100065A (en) * | 2016-10-29 | 2018-06-01 | 熵零技术逻辑工程院集团股份有限公司 | A kind of crawler-type carrier vehicle |
| CN112119001A (en) * | 2018-05-18 | 2020-12-22 | 蒂森克虏伯工业解决方案股份公司 | Method for generating movement of a mobile system for surface mining |
| CN112119001B (en) * | 2018-05-18 | 2024-01-19 | Fl史密斯公司 | Method for generating a movement of a mobile system for surface mining |
| CN113276972A (en) * | 2021-05-31 | 2021-08-20 | 南阳市海创科技有限公司 | Double-electric-drive type crawler chassis |
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Address after: 410007 Yuelu District, Hunan, silver basin Road, No. 361, No. Applicant after: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Address before: 410007 ZOOMLION grand pond Industrial Park, Yuanda Road, Changsha economic and Technological Development Zone, Changsha, Hunan 2, China Applicant before: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. |
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Application publication date: 20130605 |